• Journal of Institute of Control, Robotics and Systems
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• v.13 no.3
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• pp.249-255
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• 2007

Under the situation of a fire, it is difficult for a rescue robot to use sensors such as vision sensor, ultrasonic sensor or laser distance sensor because of diffusion, refraction or block of light and sound by dense smoke. But, braille blocks that are installed for the visaully impaired at public places such as subway stations can be used as a map for autonomous mobile robot's localization and navigation. In this paper, we developed a laser sensor stan device which can detect braille blcoks in spite of dense smoke and integrated the device to the robot developed to carry out rescue mission in various hazardous disaster areas at KIST. We implemented MCL algorithm for robot's attitude estimation according to the scanned data and transformed a braille block map to a topological map and designed a nonlinear path tracking controller for autonomous navigation. From various simulations and experiments, we could verify that the developed laser sensor device and the proposed localization method are effective to autonomous tracking of braille blocks and the autonomous navigation robot system can be used for rescue under fire.

• International Journal of Precision Engineering and Manufacturing
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• v.6 no.4
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• pp.67-72
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• 2005

In a park or street, we can see many people jogging or walking with their dogs that are chasing their masters. In this study, a pet robot that imitates dog's behavior is developed. The task of robot is to chase a person who is recognized as the master. The physical structure and the sensor system are designed for the task and environment. A three-wheel type locomotion system is designed as the robot's physical structure which can follow a person who is jogging in outdoor environment like a park. A sensor system, which can detect relative position of the master to the robot in highly dynamic and hazardous worlds, is developed. This sensor system consists of a signal transmitter which is held by the master and ultrasonic sensor array which are mounted on the robot. The transmitter emits RF (radio frequency) and ultrasonic signals simultaneously. The ultrasonic sensor array detects the signals and calculates direction and distance between the robot and the transmitter. The developed RF-ultrasonic sensor is evaluated through experiments. A purely reactive behavior-based control architecture is used for the robot. The behavior control performance of the robot is assessed in outdoor and indoor tests.

• Transactions of the Korean Society of Pressure Vessels and Piping
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• v.15 no.1
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• pp.40-45
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• 2019

Unlike the welded pipes in the primary system of light water nuclear power plants being periodically inspected with in-Service inspection program, relatively small pipes with the outer diameter less than 2 inch have not been regularly inspected to date. However, after several failure reports on the occurrence of critical crack-like defects in small pipes, inspection for the small pipes has been more demanded because it could cause the provisional outage of nuclear power plants. Nevertheless, there's no particular method to examine the small pipes having access limitations for inspection due to various reasons; inaccessible area, excessive radiation exposure, hazardous surrounding, and etc. This study is to develop a reliable inspection technique using torsional and flexural modes of guided wave to detect defects that could occur in inaccessible area. The attribute of guided wave that can travel a long distance enables to inspect even isolated range of the pipe from accessible location. This paper presents a case study of the evaluation test on 3/4" small-bore pipes with guide wave method. The test result demonstrates the crack signal behavior and assures possibility to detect the crack signal in a flexural mode, which is clearly distinguishable from the symmetric structure signal in a torsional mode.

• International Journal of Computer Science & Network Security
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• v.24 no.5
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• pp.119-128
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• 2024

The moveable ad hoc networks are untrustworthy and susceptible to any intrusion because of their wireless interaction approach. Therefore the information from these networks can be stolen very easily just by introducing the attacker nodes in the system. The straight route extent is calculated with the help of hop count metric. For this purpose, routing protocols are planned. From a number of attacks, the wormhole attack is considered to be the hazardous one. This intrusion is commenced with the help of couple attacker nodes. These nodes make a channel by placing some sensor nodes between transmitter and receiver. The accessible system regards the wormhole intrusions in the absence of intermediary sensor nodes amid target. This mechanism is significant for the areas where the route distance amid transmitter and receiver is two hops merely. This mechanism is not suitable for those scenarios where multi hops are presented amid transmitter and receiver. In the projected study, a new technique is implemented for the recognition and separation of attacker sensor nodes from the network. The wormhole intrusions are triggered with the help of these attacker nodes in the network. The projected scheme is utilized in NS2 and it is depicted by the reproduction outcomes that the projected scheme shows better performance in comparison with existing approaches.

• The Korean Journal of Emergency Medical Services
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• v.3 no.1
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• pp.7-19
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• 1999

Background : We are in the edge of some human made disasters such as hazardous materials and air pollution, for example, the world news reported that the city of Bhopal, India had serious victims related with a leaking out of the chemical materials, Methyl Isocyanate and many people in India were killed by. These situations many people who live in this world are world are worrying about are not others, but just ours and people consider about that kind of the disasters are the possible situation to happen to all the people. Therefore, we performed this basic study to recognize the risk of Methyl Isocyanate leak accident and to prepare local disaster plan with EMS system. Method : Trace 8.0, a simulation software made by the U.S. company Safer System was used as a tool to estimate the diffusion distance, area and its victims at the concentrations of 0.02ppm, 0.2ppm 5ppm respectively for an assumed B-city of 2 hundred thousands population count in which was presumed 500kg Methyl Isocyanate gas to leak out. Results : 1. During 1 hour, maximum diffusion distances of 0.02ppm 0.2ppm and 5ppm were 5.41km, 1.61km and 0.29km respectively on the plume impact. 2. Maximum population counts influenced by Methyl Isocyanate gas at the concentrations of 0.02ppm 0.2ppm and 5ppm were 40838, 4346 and 222 on the plume impact, while those were 138238, 17261 and 1588 on the vulnerability impact, respectively. 3. Therefore, 17261 persons must put on respiratory device and 138283 persons must be evacuated to safety place within 1 hour. Conclusions : Only small amount leak of Methyl Isocyanate may cause tremendous chemical disaster in urban area, so its disaster plan must be prepared with an accident simulation program and Material Safety Data Sheets(MSDS). Especially, nearby emergency center of an industrial complex must have a strong position about preparation of chemical disaster plan and perform a disaster dill of hazardous material accident annually.

• Korean Chemical Engineering Research
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• v.57 no.1
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• pp.42-50
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• 2019

As the industry develops in Korea, the use of hazardous chemicals is increasing rapidly and chemical accidents are increasing accordingly. Most of the chemical accidents are caused by leaks of hazardous chemicals, but there are also accidents in which all the substances are released instantaneously due to sudden high temperature/pressure or defection of the storage tanks. This is called catastrophic failure and its frequency is very low, but consequence is very huge when it occurs. In Korea, there were 15 casualties including three deaths due to catastrophic rupture of water tank in 2013, and 64 instances of failures from 1919 to 2004 worldwide. In case of catastrophic failure, it would be able to overflow outside the bund that reduces the evaporation rate and following consequence. This incident is called overtopping. Overseas, some researchers have been studying the amount of external overflow depending on bund conditions in the event of such an accident. Based on the previous research, this study identified overtopping fraction by condition of bund in accordance with Korea Chemicals Controls Act Using CFD simulation. As a result, as the height increases and the distance to the facility decreases while meeting the minimum standard of the bund capacity, the overtopping effect has decreased. In addition, by identifying the effects of overtopping according to atmospheric conditions, types of materials and shapes of bunds, this study proposes the design of the bund considering the effect of overtopping caused by catastrophic failure with different bund conditions.

• The Journal of the Convergence on Culture Technology
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• v.10 no.2
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• pp.407-417
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• 2024

The objective of this study is to predict and reduce potential damage caused by chlorine gas leaks, a hazardous material, when vehicles transporting it overturn due to accidents or other incidents. The goal is to forecast the anticipated damages caused by chlorine toxicity levels (ppm) and to design effective response strategies for mitigating them. To predict potential damages, we conducted quantitative assessments using the ALOHA program to calculate the toxic effects (ppm) and damage distances resulting from chlorine leaks, taking into account potential negligence of drivers during transportation. The extent of damage from toxic gas leaks is influenced by various factors, including the amount of the leaked hazardous material and the meteorological conditions at the time of the leak. Therefore, a comprehensive analysis of damage distances was conducted by examining various scenarios that involved variations in the amount of leakage and weather conditions. Under intermediate conditions (leakage quantity: 5 tons, wind speed: 3 m/s, atmospheric stability: D), the estimated distance for exceeding the AEGL-2 level of 2 ppm was calculated to be 9 km. This concentration poses a high risk of respiratory disturbance and potential human casualties, comparable to the toxicity of hydrogen chloride. In particular, leaks in urban areas can lead to significant loss of life. In the event of a leakage incident, we proposed a plan to minimize damage by implementing appropriate response strategies based on the location and amount of the leak when an accident occurs.

• Journal of Korean Society of societal Security
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• v.2 no.2
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• pp.49-54
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• 2009

High incident of accidents in construction jobsite became a social problem. According to the International Labour Organization (ILO), more than 60,000 fatal accidents occur each year in construction workplace worldwide. This number of accidents accounts for about 17 percent of all fatal workplace accidents. Especially, accidents from struck-by and falls comprise of over 60 percent of construction fatalities. This paper introduces a prototype of a received signal strength index (RSSI)-based safety monitoring to mitigate the potential accidents caused by falls and struck-by. Correlation between signal strength and noise index is examined to create the distance profile between a transmitter and a receiver. Throughout the distributed sensor nodes attached on potential hazardous objects, the proposed prototype envisions that construction workers with a tracker-tag can identify and monitor their current working environment in construction workplace, and early warning system can reduce the incidents of fatal accident in construction job site.

• Journal of Korean Society for Atmospheric Environment
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• v.28 no.2
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• pp.172-181
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• 2012

Mercury is one of the most hazardous air pollutants. Recently, mercury has been a concern in domestic and overseas because it has lethal toxicity, long distance transport, persistence and bioaccumulation in the environment. Stationary combustion sources such as coal-fired power plants, waste incinerators, and cement kilns are the major sources of mercury emissions. The objectives of this study were to measure the concentration for mercury from coal-fired power plants and to calculate emission factor to estimate its emission. The results showed that the mercury concentrations in the flue gas were 1.63-3.03 mg/$Sm^3$ in anthracite-fired power plants (average 2.32 mg/$Sm^3$) and 1.95-3.33 mg/$Sm^3$ in bituminous-fired power plants (average 2.6 mg/$Sm^3$). Mercury emission factor was estimated as 25.74 mg/ton for anthracite-fired power plants and 12.48 mg/ton for bituminous-fired power plants. Because actual measurements are limited in quantity, it is desirable to refine our estimates by extending the actual measurements.

• Tribology and Lubricants
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• v.33 no.1
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• pp.15-22
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• 2017

Because the running speed of vehicles is increasing and a shorter braking distance is required, high heat-resistant brake pads are needed to satisfy the requirements of customers and car makers. In the near future, hazardous materials such as Cu, Cr, Zn, and Sb will be restricted from use in friction materials. Ceramic composites reinforced by carbon fibers are good candidates for eco-friendly friction materials. In this study, we develop ceramic composite friction materials. The friction materials are composed of carbon fibers, Si, SiC, graphite, and phenol resin and are prepared by hot forming and heat treatment at high temperatures. The density, void ratio, and compressive strength are $1.59-1.66g/cm^3$, 16.6-20, and 70-90 MPa, respectively. Friction and wear tests are performed using a pin-on-plate-type reciprocating friction tester at 25, 100, and $200^{\circ}C$. The counterpart material is a CrMoV steel extracted from a KTX brake disc. Friction coefficient, wear amount, and wear mechanism are measured and examined. We determine that the friction coefficients depend on the temperature and the fluctuation of the friction coefficients is larger at higher temperatures. The amount of wear increases with the surface temperatures of the specimens. The tribological properties of the developed composites are similar to those of a Cu-based sintered friction material. Through this study, it is confirmed that ceramic composite materials can be used as friction materials.