• 대한임베디드공학회논문지
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• 제12권5호
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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.

• 제어로봇시스템학회논문지
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• 제19권9호
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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.

• 방사성폐기물학회지
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• 제21권1호
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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.

• 한국통신학회논문지
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• 제39C권12호
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• pp.1243-1249
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• 2014

기뢰는 수중에 설치되어 수상함과 잠수함을 공격하기 위한 폭발물로서, 기뢰전은 해군의 여러 가지 성분작전 중에서 매우 중요한 작전 중 하나이다. 본 논문은 기뢰전 일반 개념에 대한 이해로부터 기뢰탐색작전 및 소해작전의 소개와 본문에서 소개 할 몇 가지 기능을 통한 전반적인 기뢰전 체계 설계 방안을 제안한다. 기뢰전 체계의 기능으로는 소나 영상정보로부터 아다부스트 기법을 활용하여 기뢰영역을 탐지하는 기능과 기뢰탐색작전 및 소해작전의 수행 시 각각의 진행률을 계산하는 기능, 소나로부터 수신한 기뢰 표적으로 무인기뢰처리기를 유도하는 기능 등이 있다.

• 한국군사과학기술학회지
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• 제14권4호
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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.

• 터널과지하공간
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• 제34권1호
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• pp.54-70
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• 2024

생산이 완료된 노천광산 채굴적을 광미(광물찌꺼기) 적치 장소로 활용하는 방안은 기존 광미 적치 시설(TSF, Tailing storage facility)의 설치 공간 및 운영비용 문제 해결을 위한 대안으로 제시된다. 하지만 장기간에 걸쳐 적치된 광미는 주변 암반에 추가적인 하중으로 작용하여 광산의 역학적 안정성을 저해할 위험성이 존재한다. 본 연구에서는 호주 Marymia 광산의 사례를 참고하여 약 60,400 시간에 걸친 광미 적치 시나리오를 구축하였으며, 다양한 지하 채광장 형태 및 암반 조건에 따른 천반 수평필러의 역학적 안정성을 Sigma/W 해석 소프트웨어를 활용하여 분석하였다. 분석 결과, 광미 적치가 장기간 지속됨에 따라 천반 수평필러의 파괴 가능성이 유의미하게 증가함을 확인하였다. 해당 결과는 노천채굴적 내 광미 적치 시 광산 구조에 대한 역학적 안정성 고려가 필수적임을 시사한다.

• 한국지하수토양환경학회:학술대회논문집
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• 한국지하수토양환경학회 2001년도 총회 및 춘계학술발표회
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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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• 제19권5호
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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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• 제1권2호
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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.

• 생태와환경
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• 제40권4호
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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.