• 제어로봇시스템학회논문지
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• 제11권12호
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• pp.1011-1019
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• 2005

In this paper, Ubiquitous Home Mess-Cleanup Robot(UHMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of tile self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulate,, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and UHMR. Finally, the good performance of the designed UHMR is confirmed through the results of the mess clean-up and arrangement.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1612-1616
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• 2005

In this paper, a Home Mess-Cleanup Robot(HMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of the self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulator, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and HMR. Finally, the good performance of the designed HMR is confirmed through the results of the mess clean-up and arrangement.

• 청정기술
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• 제27권1호
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• pp.39-46
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• 2021

4 HP, 80 LPM 급 초미세기포수 발생장치를 탑재한 도로 구조물 세척차량을 이용하여 도시 내 아파트 단지 주변 차량 통행이 많은 터널 내 콘크리트 표면과 타일 벽면을 세척하였다. 초미세기포 생성은 대기 중 공기를 2 ~ 3 LPM 으로 기액혼합 자흡펌프로 가압된 공기를 임펠러 회전력을 이용하여 마이크로 크기의 미세기포(fine-bubble)를 생성한다. 생성된 기포를 다단충돌판과 회전 노즐을 통과하면서 평균 직경 크기는 164.5 nm, 6.81 × 107 particles mL-1의 초미세기포(ultrafine bubble)를 생산하였다. 생산된 초미세기포를 함유한 세척수는 압력 150 bar, 토출량 30 LPM 으로 도로 구조물 표면에 흡착된 분진을 고압세척 분사하여 제거하였다. 분석실험은 세척 전과 후로 구분하여 표면에 흡착한 분진을 ISO 8502-3의 표면 오염 측정방법을 적용하였으며, 테이프 흡착으로 분진 입자를 채취하였다. 수집된 테이프는 중량법과 소프트웨어 ImageJ를 적용하여 분진의 무게와 입자 개수에 대한 제거율을 산정하였다. 실험 결과, 타일 벽면 표면에 흡착된 분진 입자 개수는 세척 전과 후로 각각 3,063 ± 218 particles mL-1, 20 ± 5 particles mL-1, 중량은 580 ± 82 mg, 13 ± 4 mg 으로 나타났다. 콘크리트 구조물 표면에서의 입자개수는 세척 전과 후로 각각 8,105 ± 1,738 particles mL-1, 39 ± 6 particles mL-1이었으며, 중량은 1,448 ± 190 mg, 118 ± 32 mg으로 나타났다.

• 한국응용과학기술학회지
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• 제32권3호
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• pp.372-376
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• 2015

The experiment was performed using the cleaning precipitator To investigate the absorption efficiency of the $SO_X/NO_X$ of the aqueous ammonia solution. Concentration of the cleaning liquid is 0.1, 0.5, and 1.0% with increasing absorption efficiency has improved. However, the reaction shown only a difference in time. Absorption efficiency has improved in accordance with the gas residence time. When the direction of the same gas and the cleaning liquid is determined that there is the effect of increasing the residence time. The relative impact of $SO_X$ and $NO_X$ is this likely to react slower than $SO_X/NO_X$. The yield is determined to require adjustment of the cleaning dust collector according to the concentration of the next gas.

• 한국산학기술학회논문지
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• 제15권3호
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• pp.1229-1235
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• 2014

LPG차량의 공기 흡입 시스템에서 먼지 입자의 대부분은 공기 청정기를 통해 제거되지만, 아주 작은 입자는 제거되지 않고 흡기계통에 축적되게 된다. 이 축적된 카본은 공회전 속도 제어와 센서신호 그리고 배출가스에 영향을 주게 된다. 또한 엔진 채터링 현상이나 자동변속기의 변속시점 불량등을 야기시킨다. 이 연구는 세척액을 사용하여 흡기계통을 세척하는 것에 관한 것이다. 워밍업된 챠량에서 흡입호스를 제거하고 세척액을 사용하여 가속시에 세척액을 흡입장치에 분사시켜 흡기계통을 세척하는 것이다. 세척액을 사용하여 스로틀 바디, ISC, 서지탱크, 흡입매니폴드, 흡기밸브, 연소실까지 세척함으로서 다음과 같은 실험결과를 얻을 수 있다. 스로틀 밸브가 정확하게 작동되어 TPS의 센서 신호 전압이 개선되었으며, 차량이 정지하는 경우 ISC 시스템은 공회전 속도 제어를 원활하게 작동하였다. 또한 일산화탄소는 약 0.15 %, 탄화수소는 약 20~100PPM으로 각각 감소되어 배기가스가 현저하게 개선되었다.

• Nuclear Engineering and Technology
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• 제33권4호
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• pp.355-364
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• 2001

In order to evaluate and finally optimize the vitrification condition for combustible dry active waste (DAW), dust and gas generation characteristics were investigated for PE, cellulose, and mixed waste Tests were conducted by varying the operation variables such as melter configuration, excess oxygen amount, and waste feeding rate. Results showed that dust generation characteristics were affected by the operation parameters and the melter＇s configuration is the dominant one. For all tested DAWs, dust generation was reduced by increasing the waste feeding rate and the excessive oxygen amount in the melter. Among waste types, dust amount was decreased by the order of mixed wastes, PE, and cellulose. Other parameters such as temperature variation and operation time have also affected the dust generation. The optimum condition for the DAW vitrification was determined as the melter＇s configuration equipped for minimizing the waste dispersion with 20 kg/h of waste feeding rate and 100% of excessive oxygen supply. CO gas concentration in the off-gas was immediately influenced by the combustion state in the melter, but showed similar trend as the dust generation. For the NOx production during the vitrification process, thermal NOx, which is generated from the Post Combustion Chamber (PCC), rather than fuel NOx was assumed to be dominant. The gas cleaning of efficiencies of the PCC, wet scrubber, and Selective Catalytic Reduction system (SCR) were found to be high enough to keep the concentration of pollutants (CO, NOx, SOx, HCI) in the stack below their relevant emission limits.

• Journal of Mechanical Science and Technology
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• 제17권11호
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• pp.1801-1811
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• 2003

An experimental study was conducted to investigate the effects of air-side fouling and cleaning on the performances of various condenser coils used in unitary air-conditioning systems. A total of six condenser coils with different fin geometry and row number were tested. Performance tests were performed at three different conditions: clean-as-received, after fouling, and after cleaning. In all cases, it was observed that the fouling was mostly confined to the frontal face of the heat exchanger as reported in the previous investigations. The amount of deposited dust was more dependent on fin geometry for the single-row heat exchangers than for the double-row heat exchangers. The predominant effect of fouling was to cause a more significant increase in air-side pressure drop than a degradation in heat transfer performance. For the single-row heat exchangers, the pressure drop increased by 28 to 31%, while the heat transfer performance decreased by 7 to 12% at the standard air face velocity of 1.53 m/s depending on fin shape. For the double-row heat exchangers, the pressure drop increased by 22 to 37%, and heat transfer performance decreased by only 4-5% at the same air face velocity. Once the contaminated coils were cleaned according to the given cleaning procedure the original performance of the heat exchangers could almost be recovered completely. The pressure drop could be restored within 1 to 7% and the heat transfer performance could be recovered to within 1 to 5% of the originally clean heat exchangers. Therefore, it is concluded that a periodic application of the specified cleaning technique will be effective in maintaining the thermal performance of the condenser coils.

• 한국산학기술학회논문지
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• 제19권11호
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• pp.506-512
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• 2018

가정과 요식업 사업장에서 발생하는 미세먼지는 전체 미세먼지 배출량의 약 4%정도로 낮은 비율을 차지하고 있다. 하지만 요식업 사업장에서는 일시적 미세먼지 농도가 최대 60배 가까이 측정될 만큼 오염농도의 변화율이 매우 높다. 비산업 연소 사업장에서 발생하는 오염 물질은 입자상 미세먼지와 가스상 유기화합물로 구성되며, 이 오염물질을 제거하기 위해서 여러 집진원리 중 가스상 물질과 입자상 물질의 동시 제거에 효과적인 시스템인 세정집진을 적용하였다. 이는 이류체 분무 노즐을 이용한 가압수식 액체 분사 방법으로 브라운 운동의 확산 포집의 확률을 높인 방법이다. 제작된 미세먼지 제거 장치를 이용하여 노즐 분무 기압 조건과 각도 등에 따른 미세먼지 집진 시스템의 집진 효율성을 분석하였으며, 그 결과 미세먼지와 가스상 유기화합물 제거효율이 90% 이상을 만족하는 것을 확인하였다. 개발된 시스템은 기존 사업장 후드 시스템에 별도의 설치비용 없이 미세먼지 집진 제거가 가능하여 향후 높은 활용성이 기대된다.

• 한국산학기술학회논문지
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• 제9권4호
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• pp.886-891
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• 2008

이 연구는 필터 백을 사용하는 집진기에서 펄스밸브에 부착된 솔레노이드 밸브의 통전 시간과 공기소모량 사이의 관계를 실험적으로 규명하였으며 이 때 필터 백에 작용하는 압력파의 전달과정을 고찰하였다. 펄스당 공기소 모량이 집진기 운전비용의 주요 요소이므로 펄스제트의 전파과정을 관찰하고 압력파형과 공기소모량을 측정하였다. 또 주어진 조건하에서 필터 백의 길이의 영향을 고찰하고 효율적인 탈진작용을 할 수 있는 통전시간과 충격량 사이의 관계를 규명하였다 주어진 실험조건 범위에서는 통전시간이 짧을수록 더 큰 충격량을 얻을 수 있으며 동일한 통전 시간에 대하여는 여러 번의 짧은 펄스를 발생시키는 것이 더 효율적인 것으로 나타났다.

• 에너지공학
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• 제5권2호
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• pp.131-137
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• 1996

Typical size distribution of emission particulates is bi-modal in shape with particles in the fine mode (< 2.0 $\mu\textrm{m}$) and the coarse mode. An experimental study of pressure drop across the industrial gas cleaning filters has been conducted using particle mixture of fine alumina and coarse Arizona dusts with a rotating aerosol disperser to generate the bi-modal test aerosol. Pressure drop increased linearly with increasing mass loading. The pressure drop was found to be strongly dependent upon the mass ratio of fine to coarse particles. The smaller the mass ratio of fine to coarse particles and the higher face velocity are, the faster pressure drop rises. The fine particles and the greater inertia of the particle moving fast would cause a denser cake formation on the filter surface, resulting in a greater specific resistance to the gas flow.