• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.487-495
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• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

• Atmosphere
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• v.20 no.3
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• pp.221-228
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• 2010

Aerosol particles with different size-cuts ($PM_{10}$, $PM_{2.5}$, and $PM_{1.0}$) were collected at Gosan Superstation on Jeju Island from August 2007 to June 2008. Mean concentrations of $PM_{10}$, $PM_{2.5}$ and $PM_{1.0}$ were $29.28{\mu}gm^{-3}$, $17.83{\mu}gm^{-3}$, and $14.30{\mu}gm^{-3}$, respectively. Soluble ions comprised 45.7%, 53.9%, and 60.3% of the total mass of $PM_{10}$, $PM_{2.5}$, and $PM_{1.0}$, respectively. While sulfate was the most dominant species of fine mode ($PM_{1.0}$), nitrate was enriched in coarse mode ($PM_{1.0-10}$). When the concentrations of coarse mode particles were greatly increased, nitrate tended to be enhanced in coarse mode with high calcium but low sulfate concentrations. During the high $PM_{1.0}$ events, however, nitrate was increased with sulfate at fine mode. Particularly, nitrate concentrations were substantially enhanced during high particle episodes, leading high ratios of nitrate to sulfate in air under northwest wind during wintertime. On the other hand, the levels of nitrate were lower than those of sulfate at average particle concentrations. The backward air mass trajectories indicated that nitrate concentrations were elevated in air arriving Gosan passing through Santung peninsula or near South Korea.

• Journal of Korean Society for Atmospheric Environment
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• v.20 no.4
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• pp.555-569
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• 2004

Size -segregated measurements of aerosol composition using 8-stage DRUM impactor are used to determine the transport of natural and anthropogenic aerosols at Gosan site from 29 March to 30 May in 2002. Separation of ambient aerosols by DRUM impactor offers many Advantages over other standard filtration techniques. Some of the most important advantages are the ability to segregate into details by particle tire, to better preserve chemical integrity since the air stream doesn＇t pars through the deposit, to collect samples as a function of time, and to have a wide variety of impaction surfaces available to match analytical needs. Although the transport of Yellow sand is a well-known phenomenon in springtime, the result of measurement shows that not only soil dust but also anthropogenic aerosols, including sulfur, enriched trace metals such as Pb, Ni, Zn. Cu, Cr, As, Se, Br, are transported to Gosan in springtime. This study combines the size- and time-resolved aerosol composition measurements with isentropic, backward air-mass trajectories in order to identify some potential source regions of anthropogenic aerosols. As a result, during the NYS period, the average concentration of PM$_{10}$ was 46$\mu\textrm{g}$/㎥, Si, Al. S, Fe, Cl, K, Ca were higher than 1,000 ng/㎥ and Ti was about 100 ng/㎥. The concentrations of Zn, Mn, Cu. Pb, Br, Rb, V, Cr, Ni. At, Se ranged between 1 and 70 ng/㎥. More than 50% typical soil elements, tuck as Al, Si, Fe, Cd. Ti, Cr, Cu, Br. were distributed in a coarse particle range(5.0-12${\mu}{\textrm}{m}$). In other hand, anthropogenic pollutants, luck as S, N, Vi, were mainly distributed in a fine particle range (0.09-0.56${\mu}{\textrm}{m}$). During the YS period, PM$_{10}$ increased about 8 times than NYS period, and main soil elements, such as Al, Si, S, K, V, Mn, Fe also doubled in coarse particle range (1.15-12${\mu}{\textrm}{m}$). But Zn, As, Pb, Cu and Se, which distributed in the time aerosols (0.09-0.56${\mu}{\textrm}{m}$), were on the same level with or decreased than NYS period. Finally. except the YS Period, coarse particles (2.5-12${\mu}{\textrm}{m}$) are inferred to be influenced by soil, coal combustion, waste incineration, ferrous and nonferrous sources through similar pathways with Yellow Sand. But fine particles have different sources, such as coal combustion, gasoline vehicle, biomass burning, oil or coal combustion, nonferrous and ferrous metal sources, which are transported from China, Korea peninsula and local sources.ces.

• Particle and aerosol research
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• v.15 no.3
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• pp.91-104
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• 2019

In this study, hourly measurements of $PM_{2.5}$ and its major chemical constituents such as organic and elemental carbon (OC and EC), and ionic species were made between January 15 and February 10, 2018 at the air pollution intensive monitering station in Gwangju. In addition, 24-hr integrated $PM_{2.5}$ samples were collected at the same site and analyzed for OC, EC, water-soluble OC (WSOC), humic-like substance (HULIS), and ionic species. Over the whole study period, the organic aerosols (=$1.6{\times}OC$) and $NO_3{^-}$ concentrations contributed 26.6% and 21.0% to $PM_{2.5}$, respectively. OC and EC concentrations were mainly attributed to traffic emissions with some contribution from biomass burning emissions. Moreover, strong correlations of OC with WSOC, HULIS, and $NO_3{^-}$ suggest that some of the organic aerosols were likely formed through atmospheric oxidation processes of hydrocarbon compounds from traffic emissions. For the period between January 18 and 22 when $PM_{2.5}$ pollution episode occurred, concentrations of three secondary ionic species ($=SO{_4}^{2-}+NO_3{^-}+NH_4{^+}$) and organic matter contributed on average 50.8 and 20.1% of $PM_{2.5}$, respectively, with the highest contribution from $NO_3{^-}$. Synoptic charts, air mass backward trajectories, and local meteorological conditions supported that high $PM_{2.5}$ pollution was resulted from long-range transport of haze particles lingering over northeastern China, accumulation of local emissions, and local production of secondary aerosols. During the $PM_{2.5}$ pollution episode, enhanced $SO{_4}^{2-}$ was more due to the long-range transport of aerosol particles from China rather than local secondary production from $SO_2$. Increasing rate in $NO_3{^-}$ was substantially greater than $NO_2$ and $SO{_4}^{2-}$ increasing rates, suggesting that the increased concentration of $NO_3{^-}$ during the pollution episode was attributed to enhanced formation of local $NO_3{^-}$ through heterogenous reactions of $NO_2$, rather than impact by long-range transportation from China.

• Korean Journal of Remote Sensing
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• v.30 no.2
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• pp.241-249
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• 2014

The continuous observations for atmospheric aerosol were carried out during 3 years (2009-2011) by using a multi-wavelength Raman lidar at the Gwangju Institute of Science and Technology (GIST), Korea ($35.11^{\circ}N$, $126.54^{\circ}E$). The particle depolarization ratios were retrieved from the observations in order to distinguish the Asian dust layer. The vertical information of Asian dust layers were used as input parameter for the Hybrid Single Particle Lagrangian Integrated Trajectory (HYSPLIT) model for analysis of its backward trajectories. The source regions and transport pathways of the Asian dust layer were identified. The most frequent source region of Asian dust in Korea was Gobi desert during observation period in this study. The statistical analysis on the particle depolarization ratio of Asian dust was conducted according to their transport route in order to retrieve the variation of optical properties of Asian dust during long-range transport. The transport routes were classified into the Asian dust which was transported to observation site directly from the source regions, and the Asian dust which was passed over pollution regions of China. The particle depolarization ratios of Asian dust which were transported via industrial regions of China was ranged 0.07-0.1, whereas, the particle depolarization ratio of Asian dust which was transported directly from the source regions to observation site were comparably higher and ranged 0.11-0.15. It is considered that the pure Asian dust particle from source regions were mixed with pollution particles, which is likely to spherical particle, during transportation so that the values of particle depolarization of Asian dust mixed with pollution was decreased.

• Journal of the Korean earth science society
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• v.34 no.7
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• pp.693-710
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• 2013

This study investigates the distribution of suspended particulates during the Asian dust period in Busan, Korea in the spring of 2009. Weather map and automatic weather system (AWS) data were used to analyze the synoptic weather conditions during the period. Particulate matter 10, laser particle counter data, satellite images and a backward trajectories model were used to analyze the aerosol particles distribution and their origins. In Case 1 (20 February 2009), when the $PM_{10}$ concentration increased, the aerosol volume distribution of small ($0.3-1.0{\mu}m$) particles decreased, while the concentration of large ($1.0-10.0{\mu}m$) particles increased. When the $PM_{10}$ concentration decreased, the aerosol volume distribution was observed to decrease as well. The prevailing winds changed from weak northerly winds to strong southwesterly winds when the concentration of the large particles increased. The correlation coefficient between the $PM_{10}$ concentration and aerosol volume distribution of large particles showed a high positive value of over 0.9. The results from the trajectory model show that the Asian dust originated in the Gobi desert and the Nei Mongol plateau. In Case 2 (25 April 2009), when the $PM_{10}$ concentration increased, the aerosol volume concentration of small ($0.3-0.5{\mu}m$) particles decreased, but the concentration of large ($0.5-10.0{\mu}m$) particles increased. The opposite was observed when the $PM_{10}$ concentration decreased. The prevailing winds changed from northeasterly winds to southwesterly and northeasterly winds. The correlation coefficient between the $PM_{10}$ concentration and aerosol volume distribution of large particles ($1.0-10.0{\mu}m$) showed a high positive value of about 0.9. The results from the trajectory model show that the Asian dust originated in Manchuria and the eastern coast of China.

• Journal of Korean Society for Atmospheric Environment
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• v.34 no.4
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• pp.567-587
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• 2018

A severe haze event occurred in October 2015 in Gwangju, Korea. In this study, the driving chemical species and the formation mechanisms of $PM_{2.5}$ pollution were investigated to better understand the haze event. Hourly concentrations of $PM_{2.5}$, organic and elemental carbon, water-soluble ions, and elemental constituents were measured at the air quality intensive monitoring station in Gwangju. The haze event occurred was attributed to a significant contribution (72.3%) of secondary inorganic species concentration to the $PM_{2.5}$, along with the contribution of organic aerosols that were strongly attributed to traffic emissions over the study site. MODIS images, weather charts, and air mass backward trajectories supported the significant impact of long-range transportation (LTP) of aerosol particles from northeastern China on haze formation over Gwangju in October 2015. The driving factor for the haze formation was stagnant atmospheric flows around the Korean peninsula, and high relative humidity (RH) promoted the haze formation at the site. Under the high RH conditions, $SO{_4}^{2-}$ and $NO_3{^-}$ were mainly produced through the heterogenous aqueous-phase reactions of $SO_2$ and $NO_2$, respectively. Moreover, hourly $O_3$ concentration during the study period was highly elevated, with hourly peaks ranging from 79 to 95ppb, suggesting that photochemical reaction was a possible formation process of secondary aerosols. Over the $PM_{2.5}$ pollution, behavior and formation of secondary ionic species varied with the difference in the impact of LTP. Prior to October 19 when the influence of LTP was low, increasing rate in $NO_3{^-}$ was greater than that in $NO_2$, but both $SO_2$ and $SO{_4}^{2-}$ had similar increasing rates. While, after October 20 when the impact of haze by LTP was significant, $SO{_4}^{2-}$ and $NO_3{^-}$ concentrations increased significantly more than their gaseous precursors, but with greater increasing rate of $NO_3{^-}$. These results suggest the enhanced secondary transformation of $SO_2$ and $NO_2$ during the haze event. Overall, the result from the study suggests that control of anthropogenic combustion sources including vehicle emissions is needed to reduce the high levels of nitrogen oxide and $NO_3{^-}$ and the high $PM_{2.5}$ pollution occurred over fall season in Gwangju.