• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.318-322
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• 1996

This paper presents a technique to control a robot which has a flexible manipulator moving in a vertical plane. The flexible manipulator is modeled as an Euler-Bernoulli beam. Elastic deformation is represented using the assumed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. A control algorithm is developed using a simple PID control technique. The proportional, integral and derivative control gains are determined based on the dominant pole placement method and tuned to show no overshoot and having a short settling time. The effectiveness of the developed control scheme is showed experimentally. In the position control experiment, three different end masses are used. The experimental results shows little overshoot, no steady state error, and less than 2.5 second settling time in case of having an end mass which is equivalent to 45% of the total system weight. Also the residual vibration of the end point is effectively controlled.

• 자원환경지질
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• 제32권1호
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• pp.53-62
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• 1999

The possibility of heavy metal pollution by contaminated roadside soils was studied under controlled conditions. The soil samples from roadside and those from a retention pond consisting of settling particles were characterized by the XRD analyses and the sequential extraction experiments. Characterization by sequential extraction, for roadside soil indicates elevate total concentrations of heavy metals. The leaching behavior of the samples under different pH and time conditions were also studied. Differences between both types of samples result mainly from the buffering effect of carbonates, present in roadside soils and lacking from settling particles. Acid leaching of the settling particles is equivalent to the sum of FI+FII+FIII, while the amounts leached from roadside soil are lower probably from kinetic reasons. The buffering effects of carbonates were found to greatly delay the onset of the leaching reactions and the extent of dissolution in most metals except for Ca and Mn. The study of leaching kinetics at pH of 6.5 and 5 showed that Cd and Zn reached the maximum possible concentration within 3 days, while Pb did not show any sign of dissolution at both ph values. The absolute amounts of dissolved Cd and Zn increased by 7 to 9 times by decreasing the pH from 6.5 to 5, indicating slightly acidified rain may result in significant metal dissolution. As deduced from both sequential extraction and leaching experiments, the relative mobility of heavy metals is found to be : Mn=Cd>Zn>>Pb>Fe, in spite of large differences in heavy metal contents and localizations.

• 상하수도학회지
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• 제27권3호
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• pp.383-394
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• 2013

A sedimentation basin is used to remove suspended sediments which can cause abrasive and erosive wear on hydraulic turbines of hydropower plants. This sediment erosion not only decreases efficiency of the turbine but also increases maintenance costs. In this study, the three-dimensional numerical simulations were carried out on the overseas hydropower project. The simulations of flow and suspended sediment concentration were obtained using FLOW-3D computational fluid dynamics code. The simulations provide removal efficiency of a sedimentation basin based on particle sizes. The influence of baffles on the flow field and the removal efficiency of suspended sediments in the sedimentation basin has been investigated. This paper also provides the numerical simulations for sediment-induced density currents that may occur in the sedimentation basin. The simulation results indicate that the formation of density currents decreases the removal efficiency. When a baffle is installed in the sedimentation basin, the baffle provides intensive settling zones resulting in increasing the sediments settling. Thus the enhanced removal efficiency can be achieved by installing the baffle inside the sedimentation basin.

• 한국중재학회지:중재연구
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• 제23권1호
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• pp.85-105
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• 2013

The entertainment industry has developed along with current Korean wave fever, and so entertainment-related disputes are increasing rapidly. Litigation is a poor fit for entertainment disputes because of characteristics such as temporal sensitivity. Thus, in the US, the entertainment industry resolves these disputes through ADR mechanisms like arbitration, but cases of settling such disputes through arbitrations are very rare in Korea. This study examined the characteristics and types of entertainment disputes and considered the compatibility of arbitration as a method for settling disputes, and then suggested tasks for revitalizing arbitration systems as entertainment dispute resolution procedures. Arbitrations have many merits, such as the rapid pace of procedures, confidentiality, satisfying the long-term desires of business relationships, the low cost of settling disputes, judgments rendered by experts, etc.; thus, it is a very suitable mechanism to settle entertainment-related disputes. The study proposes necessary steps for revitalizing arbitration systems for entertainment disputes. First, awareness of entertainment industry workers about the arbitration system should be raised. Second, special educational programs for members the of Korean Commercial Arbitration Board related to entertainment should be set up and operated together with encouraging positive attitudes toward actions like establishing a dedicated arbitration unit on entertainment disputes. Third, neutral, professional arbitrators should be secured and aggressive disclosures made. Fourth, a professional ADR organization such as an "Entertainment Arbitration Committee" should be established.

• 한국지하수토양환경학회지:지하수토양환경
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• 제19권3호
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• pp.82-93
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• 2014

A starch ball was devised to conveniently supply carbon source to indigenous microorganisms and to enhance biotransformation of explosive compounds(TNT and RDX) in the sediments of settling basins installed in military shooting ranges. To identify optimum dose/sediment ratio for degradation of explosives in the basin, a series of bench scale settling basin experiments were performed for 30 days while monitoring supernatant pH, DO, concentrations of nitrite, nitrate, sulfate, explosive compounds, and acute toxicity measured by bacterial luminescence. Addition of starch ball induced changes in oxidation conditions from oxic to anoxic in the benthic zone of the basin, which resulted in subsequent reductive degradation of both TNT and RDX in the liquid and solid phase of basin. However, fermentation products of excess starch, acetic acid and formic acid, caused acute toxicity in the liquid phase. The optimum ratio of starch ball/sediment for explosive compounds degradation by inducing changes in bio-geochemical environments without increase in acute toxicity, was found to be 0.009~0.017.

• 상하수도학회지
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• 제20권2호
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• pp.273-280
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• 2006

The sludge settleability is a key factor for operating activated sludge process as well as BNR (biological nutrient removal) process, because the poor sludge settling causes an increase of suspended solid in the effluent. In order to improving the sludge settleability, a settling agent such as iron dust can be applied. In this study, the effect of sludge settleability on the performance of DNR (Daewoo nutrient removal) process was investigated with GPS-X, which is the popular wastewater treatment process model program, and the result of modeling was verified with operating lab-scale DNR process. As a result, if the sludge blanket keeps stable in the secondary settling tank, the effluent quality is similar in spite of different SVI values. And in case of the good sludge settleability, short HRT or long SRT increased the biomass concentration in the bioreactor, and improved the pollutant removal efficiency. In spite of daily influent changing, the good sludge settleability also guaranteed the stable effluent quality. And the results of the lab-scale DNR process experiment could support the simulated results.

• Geomechanics and Engineering
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• 제33권2호
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• pp.121-131
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• 2023

Clay sedimentation has been widely analyzed for its application in a variety of geotechnical constructions such as mine tailing, artificial islands, dredging, and reclamation. Chemical flocculants such as aluminum sulfate (Al₂(SO₄)₃), ferric chloride (FeCl₃), and ferric sulfate (Fe(SO₄)₃), have been adopted to accelerate the settling behaviors of clays. As an alternative clay flocculant with natural origin, this study investigated the settling of xanthan gum-treated kaolinite suspension in deionized water. The sedimentation of kaolinite in solutions of xanthan gum biopolymer (0%, 0.1%, 0.5%, 1.0%, and 2.0% in a clay mass) was measured until the sediment height was stabilized. Kaolinite was aggregated by xanthan gum via a direct electrical interaction between the negatively charged xanthan gum molecules and positively charged edge surface and via hydrogen bonding with kaolinite particles. The results revealed that the xanthan gum initially bound kaolinite aggregates, thereby forming larger floc sizes. Owing to their greater floc size, the aggregated kaolinite flocs induced by xanthan gum settled faster than the untreated kaolinite. Additionally, X-ray computed tomography images collected at various depths from the bottom demonstrated that the xanthan gum-induced aggregation resulted in denser sediment deposition. The findings of this study could inspire further efforts to accelerate the settling of kaolinite clays by adding xanthan gum.

• 해양환경안전학회지
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• 제26권7호
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• pp.858-863
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• 2020

본 연구에서는 활성탄소를 이용하여 해양환경으로 유출된 침강 HNS를 현장에서 대응하기 위한 기술 개발을 목적으로, 활용 가능한 활성탄소의 조건을 검토하고 예상 소요량을 산출하였다. 입자 크기별 7종의 활성탄소들을 대상으로 침강 속도를 측정하였고, 침강 HNS로 분류된 클로로포름(CHCl3)에 대한 흡착용량을 실험실 규모 실험(lab-scale test)으로 측정하였다. 또한 7종 활성탄소들에 대하여 유해물질함량과 용출 실험을 실시하여 용출된 유해물질 함량을 정량 분석하였다. 평균 침강속도(Mean particle-settling velocity)는 0.5~8 cm/sec의 범위로 8-20 mesh 경우를 제외하고 입자의 크기가 클수록 침강속도가 빨랐으며, 클로로포름에 대한 흡착효율은 대체로 입자가 작을수록 표면적이 넓어져 증가되었다. 또한 현장 투입 후 2차 오염가능성 확인을 위한 유해물질함량과 용출 실험 실험에서 >100 mesh의 활성탄소는 전함량분석결과가 아연(Zn)과 비소(As)가 수처리제기준보다 높고, 용출실험결과에서도 크롬(Cr), 아연(Zn), 비소(As)가 다른 활성탄소에 비해 높은 농도로 용출되었다. 흡착효율, 침강속도, 유해성분 용출량 등을 종합적으로 고려하여 현장 처리 적용 가능한 활성탄소는 20-60, 20-40, 2mm&down mesh 이었으며, 흡착용량을 최우선으로 판단하여 투입물량을 계산하면 최소 현장 투입 물량은 각각 0.82, 0.90, 1.28 ton/㎘ 이다.

• 한국지반환경공학회 논문집
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• 제23권9호
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• pp.33-40
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• 2022

본 연구에서는 산 오염수 전처리를 위한 침전 및 중화 공정에 대해 연구하였다. 침전 및 중화 공정은 오염물질 흡착, 휘발, 생분해 혹은 산화 등과 같은 제거공정 전에 필요한 전처리 공정으로 좀 더 효과적인 제거효율을 도출해 내기 위함이다. 침전 공정에선 일반적인 퇴적토인 부산 감천항의 퇴적토를 이용하여 침강 속도, 입자 균등계수, 곡률계수 및 입도지수를 파악하였고, 이를 위해 스테인리스 스틸로 구성된 표준체 판을 사용하였다. 각 표준체의 망 단위는 4, 10, 20, 40, 80, 100, 200이며 조립된 체 상부에 건조된 퇴적토를 투하시킨 후 진동을 가하여 입경별로 분류하였다. 입경별로 분류한 건조퇴적토는 1L 크기의 임호프콘(Imhoff cone)과 200mL 메스실린더에 침강시켰다. 각 입경별 침강속도를 구한 후 스토크스의 법칙(Stokes' law)에 따라 입자의 밀도를 계산하였다. 그 결과, 사용된 건조퇴적토의 평균 입자밀도는 1.93g/cm³였으며 침강속도가 가장 낮은 값은 0.11cm/s이였다. 침강속도와 입자 밀도를 통하여 화학사고 시 입자의 침전 위치나 퇴적 가능한 범위를 알아 대비할 수 있다. 중화 공정의 경우 강한 산성을 지니고 있는 질산과 황산을 사용하였고 중화제로 수산화나트륨과 산화칼슘을 사용하였다. 질산과 황산의 산도는 2, 3, 4, 5로 선정하였고 수산화나트륨과 산화칼슘(0.1, 0.01, 0.001M)를 사용하여 중화제 사용량이 pH 7의 조건을 맞췄을 때 5v/v% 미만으로 나올 수 있는 값을 도출하였다. 가장 농도가 높은 0.1M의 중화제의 경우 가장 낮은 pH 2를 제외하고 모두 5v/v% 미만으로 충족시켰고, 0.01M의 중화제는 일부 pH에서만 충족되었으며, 농도가 가장 낮은 0.001M의 중화제는 모든 pH에서 5v/v% 미만의 조건을 충족시키지 못 하였다. 질산과 황산 모두 산화칼슘이 수산화나트륨 보다 더 적은 부피비를 차지하였고 중화에 적합한 효과를 도출하였다.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2008년도 12th Asian Congress of Fluid Mechanics
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• pp.38.2-38.2
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• 2008