• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.161.3-161
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• 2001

This paper describes design features of a cleaning robot for use in a radioactive zone of the Isolation room of the Irradiated Material Examination Facility (IMEF) at Korea Atomic Energy Research Institute (KAERI). This cleaning robot is intended to completely eliminate human interaction with hazardous radioactive contaminants. The clean ing robot that is operated either by manual mode or by autonomous mode is designed to be capable of cleaning the isolation room´s floor surface and collecting dry nuclear fuel debris and other radioactive waste placed on the floor. The functional, mechanical and electrical design considerations of the cleaning robot in terms of remote cleanup operation and remote maintenance at a radioactive environment are presented. A graphical representation of the cleaning ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.849-854
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• 2003

The Korea Atomic Energy Research Institute has developed a teleoperated cleaning robot for use in the radioactive zone of the isolation room of the Irradiated Material Examination Facility where direct human access to the interior is strictly limited. The teleoperated cleaning robot that was designed to completely eliminate human interaction with the hazardous radioactive contaminants has five remotely replaceable submodules - a mobile module for navigation, a cleaning module for dislodging and sucking contaminated waste, a sensing module for obstacle avoidance, a collection module for storing the acquired waste, and a cover module for protecting the collection module. This cleaning robot is capable of cleaning the contaminated floor surface of the isolation room and collecting loose dry spent nuclear fuel debris and other radioactive waste fixed or scattered on the floor surface. The developed cleaning robot is operated either by a manual control or by autonomous control in conjunction with a graphical simulator, by which the human operator can monitor and intervene the robot performing cleanup tasks in the isolation room. In this paper, we present the mechanical and environmental design considerations and development of the teleoperated cleaning robot for radioactive isolation room use. We also demonstrate its mock-up performance test results from the viewpoint of a remote cleanup operation and remote maintenance.

• Journal of Animal Science and Technology
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• 제62권5호
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• pp.682-691
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• 2020

Careful cleaning and disinfection of pigpens is essential to prevent disease spread and avoid the resultant economic losses. Hygiene in pigpens is generally evaluated by visual monitoring supplemented with bacteriological monitoring, which includes counting the total aerobic bacteria (TAB) and/or fecal indicator bacteria (FIB). However, these methods present drawbacks such as time and labor requirements. As adenosine triphosphate (ATP) is ubiquitous in all living organisms including microorganisms, this study aimed to directly compare the results of microbial assessment and ATP quantification, and to suggest possible detailed application methods of the ATP test for hygiene evaluation in pigpens of a farrowing unit. Before and after standard cleaning procedures, samples were collected from the floor corner, floor center, and feeding trough of four pigpens at different time points. No FIB were detected and both the TAB and ATP levels were significantly decreased in the floor center area after cleaning. FIB were continuously detected after cleaning and disinfection of the floor corners, and there was no significant ATP level reduction. The feeding trough did not show any significant difference in these values before and after cleaning, indicating insufficient cleaning of this area. The levels of TAB and ATP after cleaning were significantly correlated and the average ATP value was significantly lower in the absence of FIB than in their presence. In the absence of standard references, a more thorough hygiene management could be achieved evenly by supplementing cleaning or disinfection based on the lowest ATP results obtained at the cleanest test site, which in the present study was the floor center. Overall, these results indicate that the on-farm ATP test can be used to determine the cleanliness status, in addition to visual inspection, as an alternative to laboratory culture-based testing for the presence of microorganisms.

• 국제학술발표논문집
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• The 9th International Conference on Construction Engineering and Project Management
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• pp.295-303
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• 2022

Residential heating systems in South Korea are largely based on the use of ondol pipelines. Heat is transferred to the floor by passing hot water through a metal or plastic pipe buried within the concrete of the floor. Consequently, it is difficult to clean the inside of these pipes after installation. Over time, foreign substances such as scale accumulate in the pipe when the ondol heating method is used for an extended period. Therefore, in the past, pipes were cleaned by removing foreign substances attached to the inside surfaces of the pipes using high-pressure water or by disassembling the pipes and removing foreign substances with chemical agents. Recently, a method for removing foreign substances through the cavitation effect of ultrasound has been proposed. This idea might lead to the development of new technologies for cleaning pipe interiors. Consequently, this study investigated the use of ultrasound to clean pipes embedded in concrete. In this study, devices that generated ultrasonic waves with various frequencies and directions were prepared. After preparing arbitrarily contaminated pipes, the appropriate frequency, output strength, and output direction for each foreign substance were determined through repeated experiments. The results of this experiment could provide important information for future methods of cleaning the interior of ondol piping systems.

• Safety and Health at Work
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• 제11권1호
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• pp.80-87
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• 2020

Background: Residential and commercial cleaning is a part of our daily routine to maintain sanitation around the environment. Health care of professionals involved in such cleaning activities has become a major concern all over the world. The present study investigates the risk of musculoskeletal disorders in professional cleaners involved in floor mopping tasks. Methods: A cross-sectional study was performed on 132 mopping professionals using a modified Nordic questionnaire. The Pearson correlation test was implemented to study the association of perceived pain with work experience. The muscle strain and postural risk were evaluated by means of three-channel electromyography and real-time motion capture respectively of 15 professionals during floor mopping. Results: Regarding musculoskeletal injuries, risk was reported majorly in the right hand, lower back, left wrist, right shoulder, left biceps, and right wrist of the workers. Work experience had a low negative association with MSDs in the left wrist, right wrist, right elbow, lower back, and right lower arm (p < 0.01). Surface EMG showed occurrence of higher muscle activity in upper trapezius and biceps brachii (BB) muscles of the dominant hand and flexor carpi radialis and BB muscles of the nondominant hand positioned at the upper and lower portion of the mop rod, respectively. Conclusion: Ergonomic mediations should be executed to lessen the observed risk of musculoskeletal injuries in this professional group of workers.

• 디지털산업정보학회논문지
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• 제5권3호
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• pp.39-45
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• 2009

In this paper we present a cleaning robot system for an autonomous mobile robot. Our robot performs goal reaching tasks into unknown indoor environments by using sensor fusion. The robot's operation objective is to clean floor or any other applicable surface and to build a map of the surrounding environment for some further purpose such as finding the shortest path available. Using its cleaning robot system for an autonomous mobile robot can move in various modes and perform dexterous tasks. Performance of the cleaning robot system is better than a fixed base redundant robot in avoiding singularity and obstacle. Sensor fusion using the clean robot improves the performance of the robot with redundant freedom in workspace and Map-Building. In this paper, Map-building of the cleaning robot has been studied using sensor fusion. A sequence of this alternating task execution scheme enables the clean robot to execute various tasks efficiently. The proposed algorithm is experimentally verified and discussed with a cleaning robot, KCCR.

• 한국산업보건학회지
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• 제30권2호
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• pp.174-184
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• 2020

Objectives: The purpose of this study was to improve the working environment by identifying the work satisfaction of the cleaning workers of the aircraft and measuring and assessing the harmful factors of the cleaning process. Methods: We asked 23 cleaning companies for questionnaires and got 100 answers from 5 companies. The A-E Airline health manager has been contacted to establish a site survey schedule. The in-flight and lounge were measured using direct reading equipment. The harmful factor to be measured are noise, dust, temperature, volatile organic compound, total airborne bacteria, and total airborne bacteria. Results: Uncomfortable positions when replacing blanket, cleaning the table, and cleaning the floor have been identified as factor that reduce work satisfaction. Noise when replacing newspapers and cleaning toilets has been identified as a factor that lowers work satisfaction. Temperature and humidity were found to reduce work satisfaction during in-flight disinfection. Measurements of aircraft cabin and lounge with direct read equipment have shown that none of the items exceed the exposure criteria. Conclusions: As a result of measuring direct-reading equipment, no items exceeded the exposure criteria for each harmful factor. A clear survey of the working environment is required based on the results, and additional research is needed using personal sample measurement.

• 대한인간공학회지
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• 제36권5호
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• pp.411-420
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• 2017

Objective: The purpose of this study is to analyze the accident characteristics according to the gender of the injured workers in building cleaning and to reflect them in the Industrial Accident Prevention Policy. Background: An analysis of industrial accidents is an essential process for establishing systematic industrial accident prevention measures. In order to establish industrial accident prevention measures for workers effectively, it is necessary to analyze accident characteristics by job type for workers who do the same work. Method: In this study, we analyzed the accident characteristics of 1,645 janitors who were approved of work-related injuries in 2015. We also analyzed the characteristics according to gender by dividing them into worker-related factors and accident-related factors. Results: The accidents caused to the janitors showed different characteristics according to gender, age, work experience, agency of accident, and distribution of original cause materials. In other words, 70.2% occurred to workers over 60 years old and 56.2% occurred to unskilled workers with less than a year of work experience. In the case of accident pattern, 79.1% occurred in tripping (slip) hazards, and 68.2% of accidents occurred on the floor (including the ground) and the stairs, indicating that the accident occurred most frequently during cleaning work on the floor or stairs. Conclusion and Application: The results of the study on the accident characteristics of the janitors can be used as basic data for systematic preventive measures against accidents occurring to the elderly female workers in the service industry.

• Fibers and Polymers
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• 제6권4호
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• pp.318-321
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• 2005

Demand for the fabric wipes is growing continuously. Wipes in industry are used for cleaning purpose. Cleaning involves rubbing action, so it is very important to know how much frictional force is encountered during the cleaning action. In this study the effects of normal load, sliding speed on frictional characteristics of nonwoven and woven wipes, both dry and wetted with different liquids, against glass and floor tile surfaces have been reported. With the increase in the normal load the coefficient of friction goes on decreasing for both nonwoven and woven wipes and this trend is observed in both dry and wet wipes. The coefficient of friction of both nonwoven and woven wipes against glass surface is in general higher than the floor tile surface. The wipes wetted with water shows an increase in coefficient of friction as compared to dry sample, but there is reduction in the coefficient of friction when the wipe samples are wetted with vegetable oil. In case of dry wipes, the coefficient of friction in case of nonwoven wipe is higher than the woven wipe. In case of woven wipes, the ranges of coefficient of friction either due to change in liquid type, normal load or sliding speed are in general smaller than that in case of nonwoven fabrics.

• 유기물자원화
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• 제15권4호
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• pp.138-146
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• 2007

서울시에는 아직도 생활하수와 빗물이 함께 흘러가는 합류식 하수관거지역이 많다. 이들 지역의 모든 건물들은 화장실 세정수로부터 고체상 물질을 분리해서 저장하는 정화조가 설치되어 있다. 정화조는 연 1회 이상 청소를 해야 하며 이 과정에서 분뇨가 수거된다. 수거분뇨는 처리시설이 필요로 하며, 과부족이 없는 처리시설을 확보하기 위해서는 장래에 발생할 분뇨수거량을 예측해야 한다. 본 연구에서는 그 분뇨수거량의 예측방법을 검토하였다. 여러 가지 예측인자 중 건물연면적이 가장 신뢰할 수 있었고, 수거분뇨는 처리 시설이 필요로 하며, 과부족이 없는 처리시설을 확보하기 위해서는 장래에 발생할 분뇨수거량을 예측해야 한다. 본 연구에서는 그 분뇨수거량의 예측방법을 검토하였다. 여러 가지 예측인자 중 건물연면적이 가장 신뢰할 수 있었고, 분뇨수거량이 꾸준하게 증가해서 2020년 서울시에서는 1일 13,149kL이 발생할 것으로 평가되었다. BOD의 변화도 예측이 가능하였다.