• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.661-665
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• 1996

An inverse kinemetics problem of a reclaimer which digs and transports ironstones or coals in the raw yard is investigated. Because of the special features of the reclaimer of which scooping buckets are attached around the rotating drum at the end of boom, kinematic redundancy occurs in determining the joint varialbes For a given reclaiming point in space the forward kinematics yields 3 equations, however the number of involved variables in the equations are four. A plane equation approximating the surface near a reclaiming point is obtained by considering 8 adjacent points surrounding the reclaiming point. One extra equation to overcome redunduncyis further obtained from the condition that the normal vector at a reclaiming point is perpendicular to the plane. An approximate solution for a simplified problem is first discussed, Numerical solution for the oritinal nonlinear porblem with a constraint equation is also investigated. Finally a closed form solution which is not exact but sufficiently close enough is proposed by exploiting geometric constraint.

• 한국환경과학회지
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• 제19권11호
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• pp.1423-1436
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• 2010

The effects of meteorological and reclaiming conditions on the reduction of suspended particles are investigated using a computational fluid dynamics (CFD) model with the k-$\varepsilon$ turbulence closure scheme based on the renormalization group (RNG) theory. Twelve numerical experiments with different meteorological and reclaiming conditions are performed. For identifying the meteorological characteristics of the target area and providing the inflow conditions of the CFD model, the observed data from the automatic weather station (AWS) near the target area is analyzed. Complicated flow patterns such as flow distortion, horse-shoe vortex, recirculation zone, and channeling flow appeared due to the topography and buildings in the domain. Specially, the flow characteristics around the reclamation area are affected by the reclaiming height, reclaiming size and windbreak height. Reclaiming height affected the wind speed above the reclaiming area. Windbreak induces more complicated flow patterns around the reclaiming area as well as within the reclaiming area. In front of the windbreak, flow is distorted as it impinges on the windbreak. As a result, upward flow is generated there. Behind the windbreak, a secondary circulation, so called, a recirculation zone is generated and flow is reattached at the end of the recirculation zone (reattachment point). At the lower part of the recirculation zone, there is a reverse flow toward the windbreak. Flow passing to the reattachment point starts to be recovered. Total amounts of suspended particles are calculated using the frictional and threshold frictional velocities, erosion potential function, and the number of surface disturbance. In the case of a 10 m-reclaiming and northerly wind, the amount of suspended particles is largest. In the presence of 5 m windbreak, the friction velocity above the reclaiming area is largely reduced. As a result, the total amount of the suspended particles largely decreases, compared to the case with the same reclaiming and meteorological conditions except for the windbreak The calculated suspended particle amounts are used as the emission rate of the dispersion model simulations and the dispersion characteristics of the suspended particles are analyzed.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 1996년도 가을 학술발표회 논문집
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• pp.37-43
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• 1996

The high Temperatures and long residence times in the combustion zones of cement kiln can use to burn liquid and solid wastes, such as fuel-wastes, sludges and tire-wastes. To the lastest time, treatment methods of industrial waste are incineration treatment, ocean dumping and land dumping. These are the main methods, but all of them may cause vatious kinds of secondary pollution, including air pollution and water pollution. From this point of view, to reuse the Reclaiming-Fuel in Cement Kiln is the most outstanding waste treatment plant in the world and dose not cause any pollution at all.

• 한국농공학회:학술대회논문집
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• 한국농공학회 2003년도 학술발표논문집
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• pp.555-558
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• 2003

This study carried out to analyze the characteristics of water concentration for Saemangeum reclaiming area during two seasons. Total nitrogen appeared by thing which all mean values are the biggest at two survey at ST.4 that is near with Mangyoung river. At the same time, change by range of tide was seen. Therefore, is thought that ST.4 suffers impact of river and seawater at the same time. But is thought that water of Mangyoung river exerts bigger effect than seawater because ST.4 appears that concentration is high clearly with different Sampling point. Therefore, is thought that pollution occurs better than different sampling point if ST.4's flowing deters.

• 제어로봇시스템학회논문지
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• 제3권5호
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• pp.469-475
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• 1997

A method for solving the inverse kinematic problem of reclaimer is presented in this paper. The reclaimers in the raw yard are being used to dig raws and transfer them to the blast furnaces. The kinematic configuration of the reclaimer is different from that of commercially available robots, because it has a rotating disk with several buckets at the end of the boom to dig raws. The reclaimer has a redundancy due to the rotating disk : the degrees of freedom are greater than the number of forward kinematic equations. A plane equation in the 3-dimensional space is determined by using several points adjacent to the reclaiming point of the raw ores pile. A constraint is obtained from the relation ship of the plane equation and trajectories of the bucket of the reclaimer. Finally, a solution of the inverse kinematics of the reclaimer is determined by a numerical method.

• 한국정밀공학회지
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• 제14권7호
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• pp.144-153
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• 1997

The inverse kinematics problem of a reclaimer which excavates and transports raw materials in a raw yard is investigated. Because of the geometric feature of the equipment in which scooping buckets are attached around the rotating disk, kinematic redundancy occurs in determining joint variable. Link coordinates are introduced following the Denavit-Hartenbery representation. For a given excavation point the forward kinematics yields 3 equations, however the number of involved joint variables in the equations is four. It is shown that the rotating disk at the end of the boom provides an extra passive degree of freedom. Two approaches are investigated in obtaining inverse kinematics solutions. The first method pre-assigns the height of excavation point which can be determined through path planning. A closed form solution is obtained for the first approach. The second method exploits the orthogonality between the normal vector at the excavation point and the z axis of the end-effector coordinate system. The geometry near the reclaiming point has been approximated as a plane, and the plane equation has been obtained by the least square method considering 8 adjacent points near the point. A closed form solution is not found for the second approach, however a linear approximate solution is provided.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2006년도 춘계 학술발표회 논문집
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• pp.1046-1053
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• 2006

In the large scale recent reclaiming works performed within the wide spatial boundary, evaluation of long-term consolidation settlement and residual settlement of the whole construction area is sometimes made with the results of the limited ground investigation and measurement. Then the reliability of evaluation has limitations due to the spatial uncertainty. Additionally, in case of large scale deep excavation works such as urban subway construction, there are a lot of hazardous elements to threaten the safety of underground pipes or adjacent structures. Therefore it is necessary to introduce a damage prediction system of adjacent structures and others. For the more accurate analysis of monitoring information in the wide spatial boundary works and large scale urban deep excavations, it is necessary to perform statistical and spatial analysis considering the geographical spatial effect of ground and monitoring information in stead of using diagrammatization method based on a time-series data expression that is traditionally used. And also it is necessary that enormous ground information and measurement data, digital maps are accumulated in a database, and they are controlled in a integrating system. On the abovementioned point of view, we developed Geomonitor 2.0, an Internet based real time monitoring program with a new concept by adding GIS and geo-statistical analysis method to the existing real time integrated measurement system that is already developed and under useful use. The new program enables the spatial analysis and database of monitoring data and ground information, and helps the construction- related persons make a quick and accurate decision for the economical and safe construction.