• Journal of the Korea Society of Computer and Information
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• v.10 no.6 s.38
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• pp.345-354
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• 2005

A mobile manipulator - a serial connection of a mobile robot and a task robot - is a very useful system to achieve various tasks in dangerous environment, because it has the higher performance than a fixed base manipulator in terms of its operational workspace size as well as efficiency. A method for estimating the position of an object in the Cartesian coordinate system based upon the geometrical relationship between the image captured by 2-DOF active camera mounted on mobile robot and the real object, is proposed. With this Position estimation, a method of determining an optimal path for the mobile manipulator from the current position to the position of object estimated by the image information using homogeneous matrices. Finally, the corresponding joint parameters to make the desired displacement are calculated to capture the object through the control of a manipulator. The effectiveness of proposed method is demonstrated by the simulation and real experiments using the mobile manipulator.

• Korean Journal of Agricultural and Forest Meteorology
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• v.6 no.3
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• pp.149-163
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• 2004

Evapotranspiration (ET) is a critical component of the hydrologic cycle which influences economic activities as well as the natural ecosystem. While there have been numerous studies on ET estimation for homogeneous areas using point measurements of meteorological variables, monitoring of spatial ET has not been possible at landscape - or watershed - scales. We propose a site-specific application of the land surface model, which is enabled by spatially interpolated input data at the desired resolution. Gyunggi Province of South Korea was divided into a regular grid of 10 million cells with 30m spacing and hourly temperature, humidity, wind, precipitation and solar irradiance were estimated for each grid cell by spatial interpolation of synoptic weather data. Topoclimatology models were used to accommodate effects of topography in a spatial interpolation procedure, including cold air drainage on nocturnal temperature and solar irradiance on daytime temperature. Satellite remote sensing data were used to classify the vegetation type of each grid cell, and corresponding spatial attributes including soil texture, canopy structure, and phenological features were identified. All data were fed into a standalone version of SiB2(Simple Biosphere Model 2) to simulate latent heat flux at each grid cell. A computer program was written for data management in the cell - based SiB2 operation such as extracting input data for SiB2 from grid matrices and recombining the output data back to the grid format. ET estimates at selected grid cells were validated against the actual measurement of latent heat fluxes by eddy covariance measurement. We applied this system to obtain the spatial ET of the study area on a continuous basis for the 2001-2003 period. The results showed a strong feasibility of using spatial - data driven land surface models for operational monitoring of regional ET.

• Tunnel and Underground Space
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• v.34 no.1
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• pp.1-14
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• 2024

An image-reconstruction technology, involving the deployment of an unmanned mobility equipped with high-speed LiDAR (Light Detection And Ranging) has been proposed to reconstruct the shape of abandoned mine. Unmanned mobility operation is remarkably useful in abandoned mines fraught with operational difficulties including, but not limited to, obstacles, sludge, underwater and narrow tunnel with the diameter of 1.5 m or more. For cases of real abandoned mines, quadruped robots, quadcopter drones and underwater drones are respectively deployed on land, air, and water-filled sites. In addition to the advantage of scanning the abandoned mines with 2D solid-state lidar sensors, rotation of radiation at an inclination angle offers an increased efficiency for simultaneous reconstruction of mineshaft shapes and detecting obstacles. Sensor and robot posture were used for computing rotation matrices that helped compute geographical coordinates of the solid-state lidar data. Next, the quadruped robot scanned the actual site to reconstruct tunnel shape. Lastly, the optimal elements necessary to increase utility in actual fields were found and proposed.

• Journal of Korean Society of Environmental Engineers
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• v.35 no.11
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• pp.835-860
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• 2013

Recently, the consumption of nanomaterials has been significantly increased in both industrial and commercial sectors, as a result of steady advancement in the nano-technologies. This ubiquitous use of nanomaterials has brought up the concern that their exposure to environments may cause detrimental effects on human health as well as natural ecosystems, and it is required to characterize their behavior in various environmental media and to evaluate their ecotoxicity. For the sake of accomplishing those assessments, the development of methods to effectively separate them from diverse media and to quantify their properties should be requisitely accompanied. Among a number of separation techniques developed so far, this study focuses on Field-Flow Fractionation (FFF) because of its strengths, such as relatively less disturbance of samples and simple pretreatment, and we review overseas and domestic literatures on the separation of nanomaterials using the FFF technique. In particular, researches with Flow Field-Flow Fractionation (FlFFF) are highlighted due to its most frequent application among FFF techniques. The basic principle of the FlFFF is briefly introduced and the studies conducted so far are classified and scrutinized based on the sort of target nanomaterials for the purpose of furnishing practical data and information for the researchers struggling in this field. The literature review suggests that the operational conditions, such as pretreatment, selection of membrane and carrier solution, and rate (velocity) of each flow, should be optimized in order to effectively separate them from various matrices using the FFF technique. Moreover, it seems to be a prerequisite to couple or hyphenate with several detectors and analyzers for quantification of their properties after their separation using the FFF. However, its application has been restricted regarding the types of target nanomaterials and environmental media. Furthermore, domestic literature data on both separation and characterization of nanomaterials are extremely limited. Taking into account the overwhelmingly increasing consumption of nanomaterials, the efforts for the area seem to be greatly urgent.