• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.149-158
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• 2024

This paper presents a robust autonomous navigation and reconnaissance system for tracked robots, designed to handle complex multi-floor indoor environments with stairs. We introduce a localization algorithm that adjusts scan matching parameters to robustly estimate positions and create maps in environments with scarce features, such as narrow rooms and staircases. Our system also features a path planning algorithm that calculates distance costs from surrounding obstacles, integrated with a specialized PID controller tuned to the robot's differential kinematics for collision-free navigation in confined spaces. The perception module leverages multi-image fusion and camera-LiDAR fusion to accurately detect and map the 3D positions of objects around the robot in real time. Through practical tests in real settings, we have verified that our system performs reliably. Based on this reliability, we expect that our research team's autonomous reconnaissance system will be practically utilized in actual disaster situations and environments that are difficult for humans to access, thereby making a significant contribution.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.4
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• pp.118-124
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• 2017

In this study, a numerical simulation was performed using commercial code Fluent(v.17.1). The underground Combined Cycle Power Plant (CCPP) was simplified to analyze the methane gas leakage with the crack size and position. In addition, extensive numerical simulations were carried out for different crack sizes from 10 mm to 20 mm. The crack position is the gas leakage, which is assumed to be near the pipe elbow and the gas turbine. A total of 4 cases were compared and analyzed. To analyze the gas leakage, the concept of the Lower Flammable Limit (LFL) was applied. The leakage distance was defined in the longitudinal direction, and the transverse direction was estimated and quantitatively analyzed. As a result, the leakage distance in the longitudinal direction varies by 52.3 % depending on the crack size at the same crack position. Moreover, the maximum difference was 34.8 % according to the crack position when the crack sizes are identical. As jet flow impacts on the obstacle and changes its direction, the recirculation flows are formed. These results are expected to provide useful data to optimize the location and number of gas detections in confined spaces, such as underground CCPP.

• Journal of Animal Environmental Science
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• v.1 no.2
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• pp.145-153
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• 1995

This study was conducted to determine the effects of non-climatic environmental factors on performances and behavioural patterns of growing pigs. Two hundred and seventy growing pigs were confined and administered with three levels of spaces per pig(0.33, 0.44 and 0.66$m^2$) and three different numbers of pigs per pen(12, 15 and 18 pigs) from 30kg to 60kg body weight. This study was designed by using 3 $\times$ 3 factorial arrangement(three levels of spaces $\times$ three different numbers of pigs) and investigated the effects of main factors and the relationship between each factors. The result of this study were summarized as follows; 1. The 0.44$m^2$ of floor space per pig improved(p<0.01) the weight gain and the feed/gain during the growing phase. 2. The 15 pigs per pen showed the faster gain and improved feed/gain than the 12 or 18 pigs per pen during the growing phase(p<0.05). 3. The reduction of floor space of growing pigs caused the reduction of resting, non-aggressive social behaviour but eating, aggressive behaviour was increased(p<0.01). 4. Group size affected the behavioural patterns significantly(p<0.01) of growing pigs. The aggressive and eating behaviour increased but resting behaviour decreased by crowding in the growing pigs. 5. Therefore we concluded that growing pigs need 0.44$m^2$ per pig and 15 pigs per pen for the better raising condition.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.34 no.2
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• pp.153-156
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• 2010

The effective thermal conductivity of two-phase materials such as unbonded silica sands saturated with a nanofluid was measured at high temperature using the transient thermal probe method. The nanofluid used in this study was a water-based mixture of 0.1 vol% $Al_2O_3$ nanoparticles with a diameter of 45 nm. The convection problem for fluids was prevented with this measurement method because the fluid was confined to within very small pore spaces. Based on the prediction model for unbonded sands, the thermal conductivities of the saturating nanofluid at high temperatures could be determined with the measured effective thermal conductivities for the two-phase material. In the results, increases in the thermal conductivity ratios of the nanofluid to pure water when temperatures were varied from $30^{\circ}$ to $80^{\circ}C$ were within the range of 4.87%~5.48%.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.23 no.4
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• pp.401-408
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• 2005

Presently many constructions establish in underwater, but approaching to underwater constructions are difficult, for comparing with ground, underwater environment is different in media. Usually measurement methods for underwater constructions are using tapes, using depth gauges, using acoustic positioning systems. But, tapes are hard to measure the correct distance, for applying a right tension is not easy in underwater. Depth gauges have a weakness in settling, for it takes long time to do it. Acoustic positioning systems don't work well in confined spaces and cost a lot. Hence, the purpose of this study is, at first, to understand rays path in multimedia like water, glass and air. The second thing is to perform a camera calibration at the field to compare with the interior orientation parameter. And the third thing is to find out whether photogrammetry is applied for underwater object in using cube for accuracy examination. The last thing is to perform underwater photogrammetry about underwater object, which is pier model and riverbed. We came to the conclusion through this experiment that the applying underwater photogrammerty for underwater constructions and underwater ground is possible.

• The Journal of the Korea Contents Association
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• v.17 no.6
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• pp.39-54
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• 2017

This study started from the consciousness that the community media practice studies have been confined to the traditional terrestrial broadcasting. The following research results and implications were obtained by analyzing Daedeok-valley Radio's case to elucidate characteristics of online-based community media and content production and distribution characteristics neglected in previous researches. First, online community media activities are civic/citizen media activities that capture the value of local communities, and this locality is realized through media content production and its online distribution. Second, contents of online community media link members of the community, and individuals become nodes, interacting both online and offline. Therefore, online-based citizen media activities can be utilized effectively as a means to enhance civic participation and to achieve the locality of community in online and offline spaces depending on strategies for online contents production and distribution. Utilizing online infrastructures for media content creation and distribution in Korea demonstrates potential opportunities of local online media to be considered as niche media that can increase its own sustainability.

• Journal of Biosystems Engineering
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• v.31 no.6 s.119
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• pp.489-499
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• 2006

Since the application of chemicals in confined spaces under the canopy of an orchard is hazardous work, it is needed to develop an autonomous guidance system for an orchard sprayer. The autonomous guidance system developed in this research could steer the vehicle by tracking an overhead guidance rail, which was installed on an existing frame structure. The autonomous guidance system consisted of an 80196 kc microprocessor, an inclinometer, two interface circuits of actuators for steering and ground speed control, and a fuzzy control algorithm. In addition, overhead guidance rails for both straight and curved paths were devised, and a trolley was designed to move smoothly along the overhead guidance rails. Evaluation tests showed that the experimental vehicle could travel along the desired path at a ground speed of 30 $\sim$ 50 cm/s with a RMS error of 5 cm and maximum deviation of less than 12 cm. Even when the vehicle started with an initial offset or a deflected heading angle, it could move quickly to track the desired path after traveling 2 $\sim$ 3 m. The vehicle could also complete turns with a curvature of 1 m. However, at a ground speed of 50 cm/s, the vehicle tended to over-steer, resulting in a zigzag motion along the straight path, and tended to turn outward from the projected line of the guidance rail.

• Environmental Analysis Health and Toxicology
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• v.24 no.3
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• pp.181-191
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• 2009

As an effort to prevent serious accidents involving oxygen deficiency and suffocation in confined spaces and to identify the causes of such accidents, the present study investigated relevant accidents and systems in Korea and other countries. This study also conducted a number of experiments at lethal concentration levels of oxygen deficiency using SD rats and observed the changes of experimental animals with humidity, organic gas (toluene), hydrogen sulfide, carbon monoxide and so on at the oxygen deficient environment. The results of the study are as follows. 1. The results from the experiment conducted using SD rats at lethal concentration levels of oxygen showed that there were no casualties at the 7% oxygen concentration level, but the mortality increase to 20% at 6% oxygen, it was jumped to 90% at 5% oxygen, and it was also dramatically reached 100% at 4% oxygen concentration. Therefore, 5.5% was calculated as the $LC_{50}$ (rat, 4hr) from these dose-response experiments with oxygen deficiency. 2. When we changed the level of toluene, $H_2S$, CO, humidity, and so on, in an oxygen deficient environment, it was observed that the small concentrations of $H_2S$ and CO make the highest effect on animals. In case of 350 ppm $H_2S$, it resulted in 30% mortality, and the 100% mortality was shown in 1,200 ppm CO concentration. The mortality increased as an oxygen deficient condition. However in the case of toluene up to 1,000 ppm, it were not affected with oxygen deficiency, and it did not indicate any significant differences in mortality as 20%, 90% humidities.

• Journal of the Korea Safety Management & Science
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• v.20 no.2
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• pp.9-20
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• 2018

This study is empirically intended to look into the effects of HVAC management on condensation cause and prevention in indoor swimming pools. The findings are summarized as follows. First, the experience of condensation in indoor swimming pools showed that 132 out of 142 people in total experienced the condensation in indoor swimming pools, which they had a high experience rate of 92.3%. For the location of condensation, the wall joints were 46.8% and the windows were 34.5%, which a total of 72.3% occurred in the wall joints and windows. Second, the effect of construction design, HVAC management and building construction on the cause of condensation in indoor swimming pools showed that building construction had an effect on the cause and location of condensation depending on the seasonal time, partially adopting hypothesis 1. Third, the effect of condensation-causing factors on condensation-preventing factors in indoor swimming pools showed that condensation had a close relationship with air and temperature conditions depending on the time and location of condensation, adopting hypothesis 2. As for the above-stated findings, the HVAC management in indoor swimming pools is an important concern factor that continues to cause condensation despite the development of advanced construction materials. Especially, building construction is a main factor that has a direct effect on condensation in the HVAC management of facilities. This implies that the window management is important in maintaining the wall joints - which can suppress the selective use and defect occurrence of construction materials - or confined spaces for a long time.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.18 no.4
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• pp.626-635
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• 1996

Odontogenic infections are usually locally confined, self-limiting processes. However, under certain circumstances, they may break through the bony, muscular, and mucosal barriers and spread into contiguous fascial spaces or planes far from the initial site of involvement, resulting in severe life-threatening complications, such as retropharyngeal spread, suppurative mediastinal extension, airway obstruction, pleuropulmonary suppuration, and hematogenous dissemination to distant organs. The mortality arte for mediastinitis from odontogenic infection ranges from 40% to 60%. Therefore rapid evalution and treatment is essential with a combination of life support, antibiotic therapy, and surgical intervention. Recently, we experienced three cases of retropharyngeal and mediastinal abscesses secondary to odonogenic infections. In all patients, early diagnosis was possible by CT scanning and physical examination. The prognosis was good in all patients by using urgent aggressive surgical and antibiotic therapy.