• Korean Journal of Remote Sensing
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• v.38 no.6_3
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• pp.1827-1836
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• 2022

Disasters that occur unexpectedly are difficult to predict. In addition, the scale and damage are increasing compared to the past. Sometimes one disaster can develop into another disaster. Among the four stages of disaster management, search and rescue are carried out in the response stage when an emergency occurs. Therefore, personnel such as firefighters who are put into the scene are put in at a lot of risk. In this respect, in the initial response process at the disaster site, robots are a technology with high potential to reduce damage to human life and property. In addition, Light Detection And Ranging (LiDAR) can acquire a relatively wide range of 3D information using a laser. Due to its high accuracy and precision, it is a very useful sensor when considering the characteristics of a disaster site. Therefore, in this study, development and experiments were conducted so that the robot could perform real-time monitoring at the disaster site. Multi-sensor module was developed by combining LiDAR, Inertial Measurement Unit (IMU) sensor, and computing board. Then, this module was mounted on the robot, and a customized Simultaneous Localization and Mapping (SLAM) algorithm was developed. A method for stably mounting a multi-sensor module to a robot to maintain optimal accuracy at disaster sites was studied. And to check the performance of the module, SLAM was tested inside the disaster building, and various SLAM algorithms and distance comparisons were performed. As a result, PackSLAM developed in this study showed lower error compared to other algorithms, showing the possibility of application in disaster sites. In the future, in order to further enhance usability at disaster sites, various experiments will be conducted by establishing a rough terrain environment with many obstacles.

• Korean Journal of Mineralogy and Petrology
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• v.37 no.1
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• pp.1-11
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• 2024

World stone production in 2021 stood at 162.5 million tons, up by 7.5 million tons, or 4.8 percent, compared to the previous year when the production came in at 155 million tons. Six top countries with the most of stone production were China, India, Turkey, Brazil, Iran and Italy and these six countries accounted for 72.8 percent of total production in the world. Stone exports stood at $21.68 billion in 2021, up by $2.3 billion from the previous year. Exports of raw materials and processed stones stood at 54.4 million tons, up by 2.98 million tons from the previous year. In terms of aggregate exports, exports of natural stones increased by $2.3 billion to $21.7 billion while exports of artificial stones rose $2.6 billion to $13.6 billion in 2021 compared to the previous year. The average price of stone (Code: 68.02) was up by $65.2 per ton to $794.82. The price of board, processed stone, an ingredient for building materials, increased by $3.52 per square meter to $42.96 per square meter. Recycling was always the problem as the volume of the total quarry was 333.5 million tons, of which only 28.8 percent were finished products and the remaining 71.2 percent were waste generated from stone extraction and processing. Korea's stone exports stood at $1.97 million in 2021, down 38.3 percent on year, while imports were up 8.6 percent to $758.9 million. Stone exports are expected to grow to 66.1 million tons in 2025, while usage is expected to reach 108.92 million tons, or 2 billion square meters.