• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.5
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• pp.277-286
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• 2017

This paper introduces mathematical modelling and control algorithm of expendable mine disposal vehicle. This vehicle has two longitudinal thrusters, one vertical thruster and internal mass moving system which can control pitch rate. Also, the vehicle has an optical camera and forward looking sonar for underwater mine detection and classification. The vehicle is controlled via an optical cable connected with operating console on the mother ship. We describe the vehicle's 6DOF dynamic model and controller which can track the desired trajectory for the way-point tracking. These simulation results shows guidance and maneuvering performance which has other sensor data or not.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.805-812
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• 2013

This paper describes the design, control, and localization which comprise major aspects of the development of underwater robots for the mine disposal. The developed robots are called the Mine Killer (MK-1) and MK-2. MK-1 had been developed from September 2009 and was presented at the 9-th International Symposium at NPS Monterey CA, on May 17-21, 2010[1]. The paper presents design of MK-1 and MK-2 in detail with comparison of these two versions of MKs. Then it derives hydrodynamic coefficients of MK-1. Based on the coefficients, the motion of MK-1 is simulated for straight line motion and circular motion. Also simulation results for PD control, LQ control and sliding mode control are presented. Finally, it shows a particle filter method for localization of MK-1 and MK-2 using simple range data from acoustic beacons.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.21 no.1
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• pp.23-41
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• 2023

Coupled thermo-hydraulic-mechanical (THM) processes are essential for the long-term performance of deep geological disposal of high-level radioactive waste. In this study, a numerical sensitivity analysis was performed to analyze the effect of rock properties on THM responses after the execution of the heater test at the Kamaishi mine in Japan. The TOUGH-FLAC simulator was applied for the numerical simulation assuming a continuum model for coupled THM analysis. The rock properties included in the sensitivity study were the Young's modulus, permeability, thermal conductivity, and thermal expansion coefficients of crystalline rock, rock salt, and clay. The responses, i.e., temperature, water content, displacement, and stress, were measured at monitoring points in the buffer and near-field rock mass during the simulations. The thermal conductivity had an overarching impact on THM responses. The influence of Young's modulus was evident in the mechanical behavior, whereas that of permeability was noticed through the change in the temperature and water content. The difference in the THM responses of the three rock type models implies the importance of the appropriate characterization of rock mass properties with regard to the performance assessment of the deep geological disposal of high-level radioactive waste.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39C no.12
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• pp.1243-1249
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• 2014

The naval mine is the explosives that are installed in the water in order to attack surface ships or submarines. So mine warfare is a very important component of naval operations. In this paper, first, understanding of the general concept about mine warfare. Second, introduce the mine hunting progress and mine sweeping progress. And then, suggest the system design method of mine counter measure warfare using several functions. The functions are mine area detection algorithm for side scan sonar image using Adaboost algorithm, and calculation to mine hunting progress rate and mine sweeping progress rate. And techniques that lead the mine disposal vehicle(MDV) to mine.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.4
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• pp.579-589
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• 2011

One of the most significant UUV(Unmanned Underwater Vehicle) applications is MCM(Mine Countermeasure), which makes good use of UUV characteristics to provide covert, rapid, controlled and efficient survey of a potential minefield without risking a human operator. In this paper, a survey of the today's MCM missions where UUVs will play a role, the vehicle systems that are either under development or planned in the future are presented. And examines principal technical challenges and outline new enabling technologies. Particularly, this paper analyses current approaches to tacking these technologies and technological limitation of UUVs as a MCM platform, and research efforts to develop the technology necessary to meet the domestic MCM mission needs.

• Tunnel and Underground Space
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• v.34 no.1
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• pp.54-70
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• 2024

Utilization of completed open-pit for mining waste disposal is an alternative method of tailing storage facility (TSF), which can minimize the area and cost required for the installation of TSF. However, long-term tailing disposal into open-pit has a potential risk of reducing mechanical stability of surrounding rock mass by acting as an additional load. In this research, a realistic open-pit tailing disposal scenario of 60,400 hours was established based on the case of Marymia gold mine, Australia. Mechanical stability of surface pillar between open-pit and underground stope was analyzed numerically by using Sigma/W, under different stope geometry and rock mass conditions. Simulation results showed that long-term tailing disposal into open-pit can significantly increase the failure probability of surface piller. This result suggests that mechanical stability of mine geometry should be conducted beforehand of open-pit tailing disposal.

• Proceedings of the Korean Society of Soil and Groundwater Environment Conference
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• 2001.04a
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• pp.19-21
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• 2001

The Shiheung mine was closed in 1972 and has been abandoned since then. Although some restoration work has been done, there still remain mine failings in and around the mine, posing a potential environmental hazard. Mine tailings and the porewater extracted from the tailing were investigated to see any evidence of elemental release and migration to adjacent groundwater and soil in the field. The pHs of the tailing range from 6.24 to 7.23. Calcite in the studied area seems to influence on such neutral pH range. Depth profile of mine tailing demonstrate elements have been leached and removed as a consequence of weathering during disposal. This is also supported by the findings from porewater analysis, corresponding the trends in the mine tailings. The concentrations of Cu, Cd, Pb, Zn in the tailing porewater exceed the standard value of EPA for drinking water and this implies groundwater can be contaminated through infiltration of the porewaters, which ultimately will be discharged as leachate from the mine tailing. Groundwater samples collected near the mine area do not show high metal concentrations, except for Fe, which were detected over drinking water standard.

• Geomechanics and Engineering
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• v.19 no.5
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• pp.383-392
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• 2019

How to safely and economically dispose mining tailings is a challenge to mine operators. This paper presents an alternative upstream method for tailings dam construction, termed as the template construction method (TCM), which has been successfully implemented at Zhelamuqing tailings impoundment since 2004. By the beginning of 2015, the tailings dam wall had reached 95 m in height for the 46 upstream raises, with the total height of the dam including the starter dyke being 128 m. The proposed TCM is relatively simple and cost-effective and provides a good way for constructing rapidly raising tailings dam based on this case.

• International Journal of Ocean System Engineering
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• v.1 no.2
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• pp.102-109
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• 2011

This paper describes the implementation of a precise underwater navigation solution using a multiple sensor fusion technique based on USBL, GPS, DVL and AHRS measurements for the operation of a remotely operated mine disposal vehicle (MDV). The estimation of accurate 6DOF positions and attitudes is the key factor in executing dangerous and complicated missions. To implement the precise underwater navigation, two strategies are chosen in this paper. Firstly, the sensor frame alignment to the body frame is conducted to enhance the performance of a standalone dead-reckoning algorithm. Secondly, absolute position data measured by USBL is fused to prevent cumulative integration error. The heading alignment error is identified by comparing the measured absolute positions with the DR algorithm results. The performance of the developed approach is evaluated with the experimental data acquired by MDV in the South-sea trial.

• Korean Journal of Ecology and Environment
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• v.40 no.4
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• pp.560-568
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• 2007

The objectives of this study were to analyze ecological effects on effluents from the Sagok Stream (Chonnam province) as an abandoned mine drainage through necropsy-based health assessments and fish exposure tests, and to conduct In situ field pilot tests for restoration of stream water. Also, we analyzed water quality including general parameters and heavy metals. The tests were performed three times on April 2005, April 2006, and April 2007. Also, we constructed a reactor facility in the outflowing point of the abandoned mine for the remediation of AMD wastewater. In lab test, death rates in all three treatments were ${\geq}50%$ in the experiments. Necropsybased fish tissue assessments using the Health Assessment Index (HAI), indicated that the most frequently damaged tissue was liver (average: 20.8). Values of Health Assessment Index were lower in the control than any other treatments of T1, T2, and T3 and three treatments showed a distinct toxicity impacts by the AMD. In situ lethal test, concentration of Fe, Al and Zn decreased particularly by 85%, 99% and 94%, respectively through the disposal facility. Values of pH, ranged from 3.1 to 7.0, increased by 2.3 fold (mean=5.1) along with the reduction of metal contents. All fishes in P1 cage died 100% on 3 days later after the experimental setting, while all fishes in the P6 died 100% on 9 days later. Overall, these results evidently provide a key methodology for pilot test using the disposal facility and also clarify the toxicity of AMD once again, so this approach used in the pilot facilities here may reduce the acidic and toxic effects in the abandoned mining drainage.