• 한국산업융합학회 논문집
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• 제25권4_1호
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• pp.521-531
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• 2022

This study proposed a new approach to intelligent control of a mobile robot system by back properpagation based on multi-layer neural network. A experiment result is given in which some artificial assumptions about the linear and the angluar velocities of mobile robots from recent literature are dropped. In this study, we proposed a new thinique to impliment the real time conrol of he position and velocity of mobile robots. With the proposed control techinique, mobile robots can now globally follow any path such as a straight line, a circle and the path approaching th toe origin using proposed controller. Computer simulations are presented, which confirm the effectiveness of the proposed control algorithm. Moreover, practical experimental results concerning the real time control are reported with several real line constraints for mobile robots with two wheel driving.

• 한국산업보건학회지
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• 제7권1호
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• pp.113-131
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• 1997

This study was performed to evaluate the exposure levels of worker exposed to welding fume and metals in confined spaces of a shipyard. The airborne concentration of welding fumes and metal elements in confined spaces were compared with those in open working areas. Results of the study were as follows. 1. The geometric mean of welding fume concentration in a confined space was $16.6mg/m^3$, which contained $3.9mg/m^3$ Fe, $1.2mg/m^3$ Mg, $0.8mg/m^3$ Zn, $0.008mg/m^3$ Cu, $0.008mg/m^3$ Pb, $0.005mg/m^3$ Ni, $0.003mg/m^3$ Cr, $0.003mg/m^3$ Cd. The geometric mean of welding fume concentration in open working areas was $5.2mg/m^3$, which contained $1.1mg/m^3$ Fe, $0.3mg/m^3$ Mg, $0.3mg/m^3$ Zn, $0.004mg/m^3$ Cu, $0.008mg/m^3$ Pb, $0.005mg/m^3$ Ni, $0.003mg/m^3$ Cr, $0.0003mg/m^3$ Cd. The geometric mean of welding fume concentration in confined spaces was 3,2 times higher than that in open working areas. The geometric mean concentrations of such metals as Fe, Mg, Zn, or Cu within fume in confined spaces were 2-4 times higher than those in open working areas, while little difference made such metals as Pb, Ni, Cr, Cd. 2. In 32 samples out of a total of 39 samples (82.1%) collected in confined spaces, the concentrations of welding fume exceeded TLV. while so did 19 samples out of 33 samples (57.6%) in open working areas. As for the concentrations of metals in welding flume from confined spaces, Fe exceeded TLV in 14 out of a total of 38 samples (36.8%), Mn exceeded TLV in 23 out of a total of 38 samples (60.5%). As for the concentration of metals in welding fume from open working areas, Fe exceeded TLV in 3 out of a total of 34 samples (8.8%), Mn exceeded TLV in 6 out of a total of 34 samples (17.6%). Considering additive effect among metals, in 31 out of a total of 39 samples (79.5%) collected in confined spaces, the concentrations of welding fume exceeded TLV, while so did 14 out of 38 samples (55.6%) in open working areas. 3. In respect of base metal and welding type the concentration of total welding fume by $CO_2$ gas W./mild steel was the highest, followed by semiauto MMA/mild steel, then followed by TIG or $CO_2$ gas W./stainless steel. ; as for concentration of metal within fume, a decreasing order was Fe, Zn, Mn, and Pb in $CO_2$ gas W./mild steel and semiauto MMA/mild steel, but Fe, Mn, Cr, and Ni in TIG or $CO_2$ gas W./stainless steel. 4. In case of welding base metal covered by paint, contents of Zn within red paint chip and within gray paint chip were 14.0% and 0.08% respectively, which showed a little difference, while the airborne concentrations of Zn within fume during welding base metal covered red paint and gray paint were $1.351mg/m^3$ and $1.018mg/m^3$ respectively, which showed little difference. As for Pb, contents of red paint chip and gray paint chip were 0.14% and 0.08% respectively, and the airborne concentrations within fume during welding base metal covered red paint and gray paint were $0.009mg/m^3$ and $0.007mg/m^3$ respectively, both of which showed little difference.

• Journal of Preventive Medicine and Public Health
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• 제36권2호
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• pp.93-100
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• 2003

용접공은 용접과정에서 용접 흄, 중금속 및 bisphenol-A에 노출된다. 따라서 이 연구는 직무노출 메트릭스에 근거하여 근로자들의 내분비 교란물질의 노출실태를 파악하고자 하였다. 또한 생물학적 모니터링에 사용되는 뇨중 대사산물 농도에 영향을 미칠 것으로 생각되는 대사효소의 유전적 다형성 분포를 조사하였으며 이들 유전자가 뇨중 대사산물 배설에 미치는 영향을 연구하고자 하였다. 연구대상자는 경상남도에 있는 모 조선업체에 종사하는 근로자를 대상으로 하였다. 연구대상자는 총 84명으로 용접공 47명과 대조군 37명을 대상으로 하였다. 이름, 연령, 보호구 착용 여부, 흡연습관, 음주여부 등에 대하여 설문조사를 시행하였다. 시료채취는 건강검진이 진행되는 오후에 하였으며 뇨중 BPA는 뇨중 크레아티닌으로 보정하여 측정하였다. 대사효소의 유전자 다형성은 혈액의 백혈구로부터 DNA를 추출하여 제한 효소 절단 단편 다형성(restriction fragment length polymorphism, RFLP)법으로 검사하였다. 흄 중 BPA의 농도는 최대값 229.9 ng/mg, 최소값 5.7 ng/mg, 평균 61.9 ng/mg 이었다. 흄 총 중량과 흄중 BPA 양 간에 상관계수는 0.516으로 양적 선형관계를 보여주었다. 뇨중 BPA 농도는 대조군보다 용접공에서 유의하게 높았다. CYP1A1, CYP2E1, UGT1A6등의 유전자 다형성에 따라 뇨중 BPA 농도에는 차이가 없었다. 뇨중 BPA에 대한 다중회귀분석에서는 노출등급만이 유의한 변수였다. 용접 흄에 노출된 후 뇨중 BPA농도에 영향을 가장 큰 영향을 미치는 것은 노출등급이었으며, 대사효소의 유전적 다형성은 유의한 효과를 나타내지 못하였다.

• 문화기술의 융합
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• 제1권2호
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• pp.1-19
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• 2015

한국의 근대화 시기는 1920년대 식민지 시기와 1960년대 경제개발시기 두 시기 나누어진다. 근대화시기에 만들어진 공간들은 대다수 국가주도형으로 생산된 공공의 공간들이다. 이러한 근대공간들은 기능성이 강조되는 공공 생산의 장소이자 근대 국가시스템의 장소정체성을 상징하는 국가권력 공간들 이었다. 사회의 변화에 따라 근대공간들은 이제 더 이상 장소적 기능을 상실한 채 모뉴멘트 건축물로 존재하며 과거의 장소정체성에 새로운 가치를 부여할 개념규정이 필요한 시기이다. 간이역, 발전소, 탄광, 물류창고, 폐 공장 등... 근대공간에 새로운 장소정체성이 확립되는 과정과 장소와 기억의 문제를 영상기록 하여 근대화의 큰 특징인 사고의 변화과정과 공간에 투영된 근대적 개념들, 근대사회의 제도, 체계 수립 과정에서 장소성, 공간 속 사람들의 관계성에 주목하고자 한다. 근대공간과 기억의 관계는 < 서울역 >에서, 근대공간과 근대 기록의 관계는 <온양민속박물관>에서, 근대공간과 장소정체성은 <옥포 조선소>에서 찾아본다. 각 장소의 정체성과 기억의 관계는 구술목소리와 영상기록을 통하여 근대공간(장소성)과 개인구술(기억)의 모순된 힘의 관계를 알아본다.

• 한국산학기술학회논문지
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• 제18권9호
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• pp.18-23
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• 2017

조선소의 안벽공정은 복잡한 구조물의 내부에 많은 인원이 투입되어 다양한 작업이 동시 다발적으로 이루어 지고 있다. 이에 따라 폭발, 화재 등 중대재해 발생의 가능성이 높으나, 사고 발생 시 내부 인원에게는 사고 발생의 여부와 대피에 대한 정보가 효과적으로 전달되기 어려운 실정이다. 최근 조선소 안전사고의 증가에 따라 안전과 공정 모니터링에 대한 요구사항이 강화되고 있다. 이에 주요 조선소에서는 IT 기술을 접목하여 공정을 실시간으로 모니터링하고 작업자의 안전을 위해 작업 환경을 감지하기 위한 연구가 진행되고 있다. 본 연구에서는 밀집된 구역에 다수의 인원이 존재하는 상황에서 비상상황이 발생하는 경우 대형 인명사고를 줄이기 위하여 모바일을 기반으로 화재 발생 등 위험 구역 정보와 사용자가 입력한 위치를 기반으로 안전하고 정확한 대피경로를 생성하여 제공하는 방법에 대한 연구를 수행하였다. 이를 위하여 지상의 건물에 대하여 진행되고 있는 화재 대피 시스템의 동향을 분석하고 탈출 경로 계산을 위한 다양한 알고리즘을 비교하여 본 연구에 적합한 알고리즘을 선정하고 프로그래밍을 수행하였으며 비콘을 이용한 위치 파악 기술의 적용 가능성을 확인하기 위한 기초 실험을 수행하였다. 제안된 방법은 초대형 선박 건조 현장, 여객선 및 대형 공공시설 등에 활용되어 안전사고 시 인명사고를 감소시킬 수 있을 것으로 기대된다.

• 한국산업보건학회지
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• 제25권3호
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• pp.301-311
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• 2015

Objectives: Operators of overhead traveling crane in a ship assembly factory perform work to transmit large vessel blocks to an appropriate working process. Hazardous matters such as metal dusts, carbon monoxide, carbon dioxide, ozone, loud noise and fine particles are generated by variable working activities in the factory. The operators could be exposed to the hazardous matters during the work. In particular, welding fumes comprised of ultra fine particles and heavy metals is extremely hazardous for humans when exposing a pulmonary through respiratory pathway. Occupational lung diseases related to welding fumes are increasingly on an upward tendency. Therefore, the objective of this study is to assess properly unknown occupational exposure to the welding fumes among the operators. Methods: This study intended to clearly determine an equivalence check whether or not chemical constituents and composition of the dusts, which existed in the driver's cab, matched up with generally known welding fumes. Furthermore, computational fluid dynamics program(CFD) was used to identify a ventilation assessment in respect of a contamination distribution of welding fumes in the air. The operators were investigated to assess personal exposure levels of welding fumes and respirable particulate. Results: The dust in an operation room were the same constituents and composition as welding fumes. Welding fumes, which caused by the welding in a floor of the factory, arose with an ascending air current up to a roof and then stayed for a long time. They were considered to be exposed to the welding fumes in the operation room. The personal exposure levels of welding fumes and respirable particulate were 0.159(n=8, range=0.073-0.410) $mg/m^3$ and 0.138(n=8, range=0.087-0.178) $mg/m^3$, respectively. They were lower than a threshold limit value level($5mg/m^3$) of welding fumes. Conclusions: These findings indicate that an occupational exposure to welding fumes can exist among the operators. Consequently, we need to be keeping the operators under a constant assessment in the operator process of overhead traveling crane.

• 한국산업보건학회지
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• 제8권2호
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• pp.209-223
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• 1998

The aim of this study was to evaluate welders' exposure to hexavalent chromium (Cr(VI)) and nickel (Ni) during welding operations in a Korean shipyard. The airborne Cr(VI) and Ni concentrations were measured during metal inert gas (MIG) welding on mild and stainless steel, and manual metal arc (MMA) welding on mild steel. The geometric mean (GM) of Cr(VI) concentrations inside the welding helmet during MIG welding on mild steel were $0.0018mg/m^3$ inside a ship section, and $0.0015-0.0026mg/m^3$ at the welding shops. All of the personal breathing zone air samples were below the American Conference of Governmental Industrial Hygienists (ACGIH) Threshold Limit Value ($TLV^{(R)}$) of $0.01mg/m^3$. Conversely, eighty-eight percent(21 of 24) of the personal breathing zone air samples exceeded the National Institute for Occupational Safety and Health (NIOSH) recommended exposure limit of $0.001mg/m^3$. Ni was not detected on 20 of 23 air samples collected during MIG welding on mild steel. The three Ni samples above the limit of detection ranged from 0.015 to $0.044mg/m^3$. The GM of Cr(VI) concentrations during MMA welding on mild steel were $0.0013mg/m^3$, but Ni was not detected in the air samples during this operation. It is assumed that the airborne Cr(VI) and Ni during mild steel welding were derived from the base metals which contained about 0.03% Cr and 0.03% Ni. The GM of airborne total Cr, Cr(VI) and Ni concentrations during MIG welding on stainless steel were 4.02, 0.13 and $0.86mg/m^3$, respectively, and the levels of Cr(VI) and Ni were above the ACGIH-$TLV^{(R)}$. Cr(VI) comprised about 35.5% of the total chromium(Cr) from MIG welding on mild steel, and about 8.4% of total Cr from MIG welding on stainless steel. The ratios of Cr(VI) to total Cr were significantly different among welding shops. It was concluded that welders were exposed to high levels of Cr(VI) and Ni during welding on stainless steel, and were exposed to low levels of Cr(VI) even during welding on mild steel.

• 한국해양학회지:바다
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• 제19권1호
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• pp.1-7
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• 2014

Tribuyltin (TBT)을 포함한 유기주석 방오도료의 국내 사용규제에 따른 저감효과를 평가하기 위해서, 국내에서 가장 큰 산업항 중 하나인 울산항 주변에서 2009년과 2011년에 채취한 퇴적물 내 유기주석화합물(butyltin compounds; BTs)을 정량하여 잔류수준과 공간적 분포를 조사하였다. 또한 2003년 조사결과와 비교하여 퇴적물 내 유기주석화합물 잔류의 장기경향을 조사하였다. 퇴적물 내 TBT의 농도범위는 14.2~1204 ng Sn $g^{-1}$ dry wt이었고, dibutyltin은 19.5~980 ng Sn $g^{-1}$ dry wt을 보였다. BTs의 가장 높은 농도는 대형조선소 부근에서 조사되었고, 다음으로 높은 농도는 울산항 컨테이너선 정박지 부근에서 조사되었다. 이것은 울산만에서 TBT의 가장 중요한 배출원은 선박활동을 포함한 해운산업과 관련 있음을 의미한다. 2003년, 2009년, 2011년의 BTs 농도를 비교한 결과, 퇴적물 내 TBT 농도는 유의한 수준으로 감소하고 있어서 국내 사용규제에 따른 저감 효과가 울산만에서도 나타나고 있었다. 해수와 생물내 농도감소는 보고된 적이 있지만, 규제 이후 퇴적물에서 유기주석화합물의 농도감소는 이번 연구에서 처음 보고되는 결과이다. 하지만, 퇴적물 내 BTs의 잔류수준은 생물학적 영향농도보다 높은 수준이었다. 따라서 울산만에서 유기주석화합물로 인한 오염에 대한 저감노력과 지속적인 모니터링이 필요하다.

• 한국산업보건학회지
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• 제22권1호
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• pp.42-51
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• 2012

Objectives: To compare the exposure level of extremely low frequency (ELF) magnetic fields among semiconductor workers, shipyard welders and office workers. Methods: To measure the ELF magnetic field concentration, EMDEX LITE (Enertech, USA) were used and monitored for eight hours continuously. Five companies handling the electric and magnetic field (EMF) source were investigated, which the exposure groups were classified into three groups: semiconductor workers, welders, and office workers. Welder group was chosen as a high exposed group and office group as a low exposed group. Results: The arithmetic mean (${\pm}SD$) and geometric mean (GSD) of personal exposure level of semiconductor workers were 0.73 (${\pm}1.33$) ${\mu}T$, 0.43 (2.88) ${\mu}T$, respectively. The ceiling value ranged between 0.18 and 123.2 ${\mu}T$. Welders were exposed high with the arithmetic mean value of 3.46 (${\pm}\;13.46$) ${\mu}T$ and geometric mean value of 0.45 (4.70) ${\mu}T$, respectively, and ceiling value range of 75.5~129.6 ${\mu}T$. The exposure levels of office workers were low compared to other exposed groups; the arithmetic mean 0.05 (${\pm}0.13$) ${\mu}T$, geometric mean 0.03 (2.38) ${\mu}T$ and ceiling value range 0.37~3.35 ${\mu}T$. This study revealed statistically significant differences of the mean ELF magnetic field exposure doses among three groups (p < 0.01). Conclusions: The average ELF magnetic field exposure doses of semiconductor workers were much higher than those of office workers in control group, but were lower than those of welders in high exposure group.

• Journal of Preventive Medicine and Public Health
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• 제22권3호
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• pp.328-336
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• 1989

27 shipyard welders were diagnosed as pneumoconiosis and suspected pneumoconiosis(1976-1988) by chest radiographs and were observed over three years. 27 welders were divided into three groups by the state of exposure to welding fume i.e. cessation, decresase or continuity of exposure. And we observed the changing pattern of the chest radiographs of 27 welders with the passage of time. The results were as follows; 1. Grour I (ceased exposure to welding fume) were 10 cases(3 cases: suspected pneumoconiosis,7 cases: pneumoconiosis). Chest radiographs of all cases were improved. The shape and size of small opacities was improved in 6 cases(85.7%) and did not changed in 1 case(14.3%) out of 7 pneumoconiosis welders. 2. Group II (decreased exposure to welding fume) were S cases(2 cases: suspected pneumoconiosis, 3 cases: pneumoconiosis). Chest radiographs were progressed in 2 cases(40%), did not changed in 1 case(20%), were improved in 2 cases(40%) out of 5 cases. The shape and size of small opacities was progressed in 1 case(33.3%) and was improved in 2 cases(66.7%) out of 3 pneumoconiosis welders. 3. Group III(continued expoxsure to welding fume) were 12 cases(1 case: suspected pneumoconiosis, 11 cases: pneumoconiosis). Chest radiographs were progressed in 9 cases(75%), did not changed in 3 cases(25%) out of 12 cases. The shape and size of small opacities was progressed in 1 case(9.1%) and did not changed in 10 cases(90.9%) out of 11 pneumoconiosis welders. 4. The average duration for development into suspected pneumoconiosis was 6.6 years and for progression of each one category after that was 2.2 years(p<0.01). The radiological appearance of pneumoconiosis had disappeared or decreased after cessation of exposure to the welding fume. So that, early detection and control e.g., change of department of pneumoconiosis of welders by screening program will be important for medical surveillance of welders.