• The Transactions of the Korea Information Processing Society
• /
• v.13 no.3
• /
• pp.111-121
• /
• 2024

Recently, thanks to the development of artificial intelligence technologies such as image recognition, research on unmanned aerial vehicles is being actively conducted. In particular, related research is increasing in the field of military drones, which costs a lot to foster professional pilot personnel, and one of them is the study of an intelligent framework for autonomous mission performance of reconnaissance drones. In this study, we tried to design an intelligent framework for unmanned aerial vehicles using the methodology of designing an intelligent framework for service robots. For the autonomous mission performance of unmanned aerial vehicles, the intelligent framework and unmanned aerial vehicle module must be smoothly linked. However, it was difficult to provide interworking for drones using periodic message protocols with model-based interfaces of intelligent frameworks for existing service robots. First, the message model lacked expressive power for periodic message protocols, followed by the problem that interoperability of asynchronous data exchange methods of periodic message protocols and intelligent frameworks was not provided. To solve this problem, this paper proposes a message model extension method for message periodic description to secure the model's expressive power for the periodic message model, and proposes periodic and asynchronous data exchange methods using the extended model to provide interoperability of different data exchange methods.

• Journal of Soil and Groundwater Environment
• /
• v.7 no.4
• /
• pp.77-86
• /
• 2002

Surfactant enhanced in-situ soil flushing was performed to remediate the soil and groundwater at an oil contaminated site, where had been used as a military vehicle repair area for 40 years. A section from the contaminated site (4.5 m $\times$ 4.5 m $\times$ 6.0 m) was selected for the research, which was composed of heterogeneous sandy and silt-sandy soils with average $K_d$ of 2.0$\times$$10^{-4}$cm/sec. Two percent of sorbitan monooleate (POE 20) and 0.07% of iso-prophyl alcohol were mixed for the surfactant solution and 3 pore volumes of surfactant solution were injected to remove oil from the contaminated section. Four injection wells and two extraction wells were built in the section to flush surfactant solution. Water samples taken from extraction wells and the storage tank were analyzed on a gas-chromatography (GC) for TPH concentration in the effluent with different time. Five pore volumes of solution were extracted while TPH concentration in soil and groundwater at the section were below the Waste Water Discharge Limit (WWDL). The effluent TPH concentration from wells with only water flushing was below 10 ppm. However, the effluent concentration using surfactant solution flushing increased to 1751 ppm, which was more than 170 times compared with the concentration with only water flushing. Total 18.5 kg of oil (TPH) was removed from the soil and groundwater at the section. The concentration of heavy metals in the effluent solution also increased with the increase of TPH concentration, suggesting that the surfactant enhanced in-situ flushing be available to remove not only oil but heavy metals from contaminated sites. The removal efficiency of surfactant enhanced in-situ flushing was investigated at the real contaminated site in Korea. Results suggest that in-situ soil flushing could be a successful process to remediate contaminated sites distributed in Korea.