• Proceedings of the Korean Society of Soil and Groundwater Environment Conference
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• 2002.09a
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• pp.24-27
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• 2002

The optimal designs of groundwater problems of contaminant containment and cleanup using linear programming and genetic algorithm are provided. In the containment problem, genetic algorithm shows the superior feature to linear programming. In cleanup problem, genetic algorithm makes reasonable optimal design. Un this study, it is demonstrated through numerical experiments that genetic algorithm can be applied to remedial designs of groundwater problems.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.487-495
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• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

• Proceedings of the KAIS Fall Conference
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• 2010.05b
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• pp.910-914
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• 2010

A collision between a barge and an oil tanker of Hebei Spirit caused the release of an estimated 12,547 tons of light crude oil into the Yellow Sea off the west coast of Taean-gun, Korea on December 7, 2007. This study was aimed to evaluate exposure conditions and acute health effects in soldiers participating in the Hebei Spirit oil spill cleanup activities and the association between these and the nature of the work and use of protection devices. The sample comprised 2,624 soldiers stratified by working area and number of working days. We divided working area into the coast of Taean-gun(highly polluted area) and other areas affected by Hebei Spirit oil spill. And we divided number of working days into 1-7 days, 8-14 days, 15-21 days and above 22 days. Data were obtained via a structured, self-administered questionnaire and included information on working area, type of working, number of working days, use of protective materials, and acute health effects. Acute health effects were classified into 5 groups: neurological, respiratory, dermatologic, ophthalmic and other symptoms. Data analysis was performed using unconditional logistic regression used to compute odds ratios and 95% confidence intervals. On logistic regression analysis, working on the coast of Taean-gun was significantly associated with increased risk of acute health problems: headache, dizziness, nausea, general fatigue, insomnia, flushed face, sore throat, dry throat, runny nose, cough, sputum, skin irritation, sore eyes, injection of conjunctiva, tear, and low back pain. Furthermore soldiers working more than 21 days were significantly associated with increased risk of acute health problems: insomnia, flushed face, sore throat, runny nose, cough, sputum, tear, low back pain and fever. Accordingly, the exposure to the oil and the subsequent cleanup efforts were suggested to inflict acute health problems on soldiers participating in the Hebei Spirit oil spill cleanup activities.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.2
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• pp.508-516
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• 2010

An autonomous and automatic home mess-cleanup robot is newly developed in this paper. Thus far, vacuum-cleaners have lightened the burden of household chores but the operational labor that vacuum-cleaners entail has been very severe. Recently, a cleaning robot was commercialized to solve but it also was not successful because it still had the problem of mess-cleanup, which pertained to the clean-up of large trash and the arrangement of newspapers, clothes, etc. Hence, we develop a new home mess-cleanup robot (McBot) to completely overcome this problem. The robot needs the capability for agile navigation and a novel manipulation system for mess-cleanup. The autonomous navigational system has to be controlled for the full scanning of the living room and for the precise tracking of the desired path. It must be also be able to recognize the absolute position and orientation of itself and to distinguish the messed object that is to be cleaned up from obstacles that should merely be avoided. The manipulator, which is not needed in a vacuum-cleaning robot, has the functions of distinguishing the large trash that is to be cleaned from the messed objects that are to be arranged. It needs to use its discretion with regard to the form of the messed objects and to properly carry these objects to the destination. In particular, in this paper, we describe our approach for achieving accurate localization using RFID for home mess-cleanup robots. Finally, the effectiveness of the developed McBot is confirmed through live tests of the mess-cleanup task.

• Journal of Soil and Groundwater Environment
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• v.21 no.6
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• pp.1-13
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• 2016

The programmable logic array to match the treatment technology to the soil contaminated site based on the site properties in Korea was developed. Based on the previous technology screening system of FRTR (Federal Remediation Technology Roundtable) in USA, total 9 evaluation factors indicating the site characteristics were used for the technology matching process and 8 factors among them were quantitatively weighed in the order of importance. The class interval for each evaluation factor was linearly distributed to give the weighed score and 8 scores were summed up to prioritize the treatment technology. The optimal treatment technology for a specific site was determined according to the total score acquired from 8 evaluation factors used in this technology matching process. The reliability test for the developed technology matching system was done by using information of two real cleanup sites in Korea, suggesting that this guideline will be available to determine the most effective treatment technology to cleanup the soil contaminated site and also to assist the government or the company to design a successful and cost-effective site cleanup plan in Korea.

• Proceedings of the Korean Society of Soil and Groundwater Environment Conference
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• 2003.04a
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• pp.413-417
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• 2003

The last few decades have seen drastic growth in the use of brominated flame retardants(BFRs). There is the problems of polybrominated dibenzo-p-dioxins(PBDDS) and polybrominated dibenzofurans(PBDFs) generation as by-products in combustion process of BFRs. PBDDs/PBDFs are highlighted the new pollutants of environmental contamination, recently. In this study, the 10 kinds of PBDDs/PBDFs standards were used to perform the experiments of recoveries. The analysis of PBDDs/PBDFs in soil environmental samples. was carried out. In silica gel column cleanup, PBDDs/PBDFs eluted until 80mL of n-hexane, and the recovery was obtained 73∼105%. In multi-layer silica gel column cleanup, the recovery was obtained 56∼125% with various elution solvents. In alumina clean process, the standard mixture(PBDES, PBDDs/PBDFs) eluted the first fraction of 2% dichloromethane with n-hexane in the range of 0∼100mL, PBDEs compounds eluted in the second fraction of 50% dichloromethane with n-hexane. In activated carbon column cleanup, the PBBEs eluted to the first fraction(n-hexane) and second fraction(toluene), but PBDDs/PBDFs only eluted to the second fraction. The analytical methods of PBDDs/PBDFs for soil was established based on the experimental results of the environmental samples.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1824-1832
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• 2011

In this paper, a smart home service robot McBot II is newly developed in much more practical and intelligent system than McBot I which we had developed a few years ago. Thus far, vacuum-cleaners have lightened the burden of household chores but the operational labor that vacuum-cleaners entail has been very severe. Recently, a cleaning robot was commercialized to solve but it also was not successful because it still had the problem of mess-cleanup, which pertained to the clean-up of large trash and the arrangement of newspapers, clothes, etc. Hence, we develop a new home mess-cleanup robot McBot II to completely overcome this problem on real environments. The mechanical design and the basic control of McBot II, which performs mess-cleanup function etc. in house, is actually focused in this paper. McBot II is mechanically modeled in the same method that the human works in door by using the waist and the hands. The big-ranged vertical lift and the shoulder joints to be able to forward move are mechanically designed for the operating function as the human's waist when the robot works. The mobility of McBot II is designed in the holonomic mobile robot for the collision avoidance of obstacle and the high speed navigation on the small area in door. Finally, good performance of McBot II, which has been optimally desinged, is confirmed through the experimental results for the control of the robotic body, mobility, arms and hands in this paper.

• Molecules and Cells
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• v.45 no.2
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• pp.98-100
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• 2022

• Journal of Environmental Science International
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• v.12 no.7
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• pp.783-789
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• 2003

This study was conducted to reuse the rice straw ash as washing agent for oil contaminated soils. The results are summarized as follows. The physical characteristics of rice straw before and after burning were as follows ; In case of burning rice straw 1g, the rice straw ash was generated 0.14g and pH was changed neutrality into alkali(pH 10.9) and specific surface area was increased to five times and particle distribution was corresponded to fine silt.(under 0.05mm) The physical characteristics of rice straw ash were Carbon 10.9%, Hydrogen 1.5%, Oxygen 23.4%, Nitrogen 5.2%, Sulfate 1.2% and chemical characteristics were Si 189.2ppm, Ca 10.2ppm, Mg 4.7ppm. Oil cleanup ratio by pH variation were about 40∼50% of initial concentration of oil by pH 10∼11. As the result of cleanup comparative experiment, the rice straw ash was about 20∼30%, the tritonX-100 about 40∼50% of washing efficiency, and then in the future it will be possibility of substitute washing agent.

• Journal of Environmental Health Sciences
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• v.23 no.1
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• pp.66-73
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• 1997

This procedure describes the method for gas chromatographic determination of 31 organophosphorus and 28 organochlorine pesticides in 10g of spinach, tomato and onion. After the pesticides were extracted with several solvents, the amount of coextractives and recovery rates of acephate and methamidophos were calculated. Samples for organochlorine pesticides were cleaned up with florisil solid phase extraction columns. NaBH$_4$ was added to onion extracts, which contained sulfur compound. All the concentrated extracts were analyzed by gas chromatography with ECD and NPD. The smallest amount of coextractives resulted from the spinach samples extracted with 5% MeOH in ethyl acetate. 5% EOH in ethyl acetate had the highest extractability for acephate and methamidophos and gave the best overall performance as an extraction solvent. The ability of 5% EOH in ethyl acetate to extract various organophosphorus and organochlorine pesticides from spinach, tomato and onion was examined. Recovery of 59 insecticides ranged from 58.0% to 110.5%. The average recoveries of fortified spinach, tomato and onion were 90.08%, 94.54% and 84.90%, respectively.