• Journal of the Korean Society of Industry Convergence
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• v.25 no.4_1
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• pp.521-531
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• 2022

This study proposed a new approach to intelligent control of a mobile robot system by back properpagation based on multi-layer neural network. A experiment result is given in which some artificial assumptions about the linear and the angluar velocities of mobile robots from recent literature are dropped. In this study, we proposed a new thinique to impliment the real time conrol of he position and velocity of mobile robots. With the proposed control techinique, mobile robots can now globally follow any path such as a straight line, a circle and the path approaching th toe origin using proposed controller. Computer simulations are presented, which confirm the effectiveness of the proposed control algorithm. Moreover, practical experimental results concerning the real time control are reported with several real line constraints for mobile robots with two wheel driving.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.7 no.1
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• pp.113-131
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• 1997

This study was performed to evaluate the exposure levels of worker exposed to welding fume and metals in confined spaces of a shipyard. The airborne concentration of welding fumes and metal elements in confined spaces were compared with those in open working areas. Results of the study were as follows. 1. The geometric mean of welding fume concentration in a confined space was $16.6mg/m^3$, which contained $3.9mg/m^3$ Fe, $1.2mg/m^3$ Mg, $0.8mg/m^3$ Zn, $0.008mg/m^3$ Cu, $0.008mg/m^3$ Pb, $0.005mg/m^3$ Ni, $0.003mg/m^3$ Cr, $0.003mg/m^3$ Cd. The geometric mean of welding fume concentration in open working areas was $5.2mg/m^3$, which contained $1.1mg/m^3$ Fe, $0.3mg/m^3$ Mg, $0.3mg/m^3$ Zn, $0.004mg/m^3$ Cu, $0.008mg/m^3$ Pb, $0.005mg/m^3$ Ni, $0.003mg/m^3$ Cr, $0.0003mg/m^3$ Cd. The geometric mean of welding fume concentration in confined spaces was 3,2 times higher than that in open working areas. The geometric mean concentrations of such metals as Fe, Mg, Zn, or Cu within fume in confined spaces were 2-4 times higher than those in open working areas, while little difference made such metals as Pb, Ni, Cr, Cd. 2. In 32 samples out of a total of 39 samples (82.1%) collected in confined spaces, the concentrations of welding fume exceeded TLV. while so did 19 samples out of 33 samples (57.6%) in open working areas. As for the concentrations of metals in welding flume from confined spaces, Fe exceeded TLV in 14 out of a total of 38 samples (36.8%), Mn exceeded TLV in 23 out of a total of 38 samples (60.5%). As for the concentration of metals in welding fume from open working areas, Fe exceeded TLV in 3 out of a total of 34 samples (8.8%), Mn exceeded TLV in 6 out of a total of 34 samples (17.6%). Considering additive effect among metals, in 31 out of a total of 39 samples (79.5%) collected in confined spaces, the concentrations of welding fume exceeded TLV, while so did 14 out of 38 samples (55.6%) in open working areas. 3. In respect of base metal and welding type the concentration of total welding fume by $CO_2$ gas W./mild steel was the highest, followed by semiauto MMA/mild steel, then followed by TIG or $CO_2$ gas W./stainless steel. ; as for concentration of metal within fume, a decreasing order was Fe, Zn, Mn, and Pb in $CO_2$ gas W./mild steel and semiauto MMA/mild steel, but Fe, Mn, Cr, and Ni in TIG or $CO_2$ gas W./stainless steel. 4. In case of welding base metal covered by paint, contents of Zn within red paint chip and within gray paint chip were 14.0% and 0.08% respectively, which showed a little difference, while the airborne concentrations of Zn within fume during welding base metal covered red paint and gray paint were $1.351mg/m^3$ and $1.018mg/m^3$ respectively, which showed little difference. As for Pb, contents of red paint chip and gray paint chip were 0.14% and 0.08% respectively, and the airborne concentrations within fume during welding base metal covered red paint and gray paint were $0.009mg/m^3$ and $0.007mg/m^3$ respectively, both of which showed little difference.

• Journal of Preventive Medicine and Public Health
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• v.36 no.2
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• pp.93-100
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• 2003

Objectives : Because shipyard workers are involved with various manufacturing process, they are exposed to many kinds of hazardous materials. Welders especially, are exposed to bisphenol-A (BPA) during the welding and flame cutting of coated steel, This study was conducted to assess the exposure status of the endocrine disrupter based on the job-exposure matrix. The effects of the genetic polymorphism of xenobiotic enzyme metabolisms involved in the metabolism of BPA on the levels of urinary metabolite were investigated. Methods : The study population was recruited from a shipyard company in the f province. A total of 84 shipbuilding workers 47 and 37 in the exposed and control groups, respectively, were recruited for this study. The questionnaire variables included, age, sex, use of personal protective equipment, smoking, drinking and work duration. The urinary metabolite was collected in the afternoon and correction made for the urinary creatinine concentration. The of the CYP1A1, CYP2E1 and UGT1A6 genotypes were investigated using polymerase chain reaction-restriction fragment length polymorphism (PCR-RFLP) methods with the DNA extracted from venous blood. Results : The urinary BPA level in the welders group was significantly higher than in the control group (p<0.05). The urinary BPA concentration with the wild type UGT1A6 was higher than the other UGT1A6 genotypes, but with no statistical significant. From themultiple regression analysis of the urinary BPA, the regression coefficient for job grade was statistically significant (p<0.05). Conclusions : The grade of exposure to BPA affected the urinary BPA concentration was statistically significant. However, the genetic polymorphisms of xenobiotics enzyme metabolism were not statistically significant. Further investigation of the genetic polymorphisms with a larger sample size is needed.

• The Journal of the Convergence on Culture Technology
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• v.1 no.2
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• pp.1-19
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• 2015

The history of modernization of Korea is divided into two folds of the colonial era in the 20's and the economic development era in the 60's. Most of the spaces built in the process of modernization were public spaces developed by the drive of the government. These spaces of modernization are functionality-oriented public places of production and at the same time, and they are the spaces of national power to symbolize the identity of national authorities. Along with changes in the society, modern spaces were reduced down to monument buildings without functionality and this requires new definition to renew the identity of modern spaces. Small stations, power plants, mines, warehouses, abandoned factories, and etc... the study has paid attention to the process of changing thought, one of the main characteristics of modernization, the relations of modern concepts projected in the spaces, framework of modern society, and placeness in the process of framework building and relations of people in the spaces with video records on the process of rebuilding new identity of modern spaces and memories of the spaces. The relations of modern spaces and memory were explored in < Seoul Station > while the relations between modern spaces and records and place identity were explored in < Onyang Folk Museum > and < Okpo Shipyard > respectively. In the relations between space identity and memory in each space, the ironic relations of power in modern spaces (placeness) and personal narrative (memories) were explored with oral narrative and video footage.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.9
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• pp.18-23
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• 2017

The shipyard quay process struggles to control workers and maintain a secure working environment because of the presence of at least 1,000 people. Therefore, safety accidents such as an explosion or a fire are likely to occur. With the recent increase in safety accidents at shipyards, the requirements for safety and process monitoring have been strengthened. Major shipyards are conducting researchto monitor the process in real time and to detect the work environment for safety. In this paper, we propose a safe and accurate evacuation route based on the information of the dangerous area and the user's location based on a mobile application to reduce the casualty accidents in the presence of many personnel in a concentrated area. To do this, we analyze the trend of the fire escape system on the ground building, compare various algorithms for escape route calculation, select appropriate algorithms for this study, and perform programming. A basic experiment was conducted to confirm the results. The proposed method is expected to be used in large ship construction sites, passenger ships and large public facilities to reduce accidents in the case of a safety accident.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.25 no.3
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• pp.301-311
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• 2015

Objectives: Operators of overhead traveling crane in a ship assembly factory perform work to transmit large vessel blocks to an appropriate working process. Hazardous matters such as metal dusts, carbon monoxide, carbon dioxide, ozone, loud noise and fine particles are generated by variable working activities in the factory. The operators could be exposed to the hazardous matters during the work. In particular, welding fumes comprised of ultra fine particles and heavy metals is extremely hazardous for humans when exposing a pulmonary through respiratory pathway. Occupational lung diseases related to welding fumes are increasingly on an upward tendency. Therefore, the objective of this study is to assess properly unknown occupational exposure to the welding fumes among the operators. Methods: This study intended to clearly determine an equivalence check whether or not chemical constituents and composition of the dusts, which existed in the driver's cab, matched up with generally known welding fumes. Furthermore, computational fluid dynamics program(CFD) was used to identify a ventilation assessment in respect of a contamination distribution of welding fumes in the air. The operators were investigated to assess personal exposure levels of welding fumes and respirable particulate. Results: The dust in an operation room were the same constituents and composition as welding fumes. Welding fumes, which caused by the welding in a floor of the factory, arose with an ascending air current up to a roof and then stayed for a long time. They were considered to be exposed to the welding fumes in the operation room. The personal exposure levels of welding fumes and respirable particulate were 0.159(n=8, range=0.073-0.410) $mg/m^3$ and 0.138(n=8, range=0.087-0.178) $mg/m^3$, respectively. They were lower than a threshold limit value level($5mg/m^3$) of welding fumes. Conclusions: These findings indicate that an occupational exposure to welding fumes can exist among the operators. Consequently, we need to be keeping the operators under a constant assessment in the operator process of overhead traveling crane.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.8 no.2
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• pp.209-223
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• 1998

The aim of this study was to evaluate welders' exposure to hexavalent chromium (Cr(VI)) and nickel (Ni) during welding operations in a Korean shipyard. The airborne Cr(VI) and Ni concentrations were measured during metal inert gas (MIG) welding on mild and stainless steel, and manual metal arc (MMA) welding on mild steel. The geometric mean (GM) of Cr(VI) concentrations inside the welding helmet during MIG welding on mild steel were $0.0018mg/m^3$ inside a ship section, and $0.0015-0.0026mg/m^3$ at the welding shops. All of the personal breathing zone air samples were below the American Conference of Governmental Industrial Hygienists (ACGIH) Threshold Limit Value ($TLV^{(R)}$) of $0.01mg/m^3$. Conversely, eighty-eight percent(21 of 24) of the personal breathing zone air samples exceeded the National Institute for Occupational Safety and Health (NIOSH) recommended exposure limit of $0.001mg/m^3$. Ni was not detected on 20 of 23 air samples collected during MIG welding on mild steel. The three Ni samples above the limit of detection ranged from 0.015 to $0.044mg/m^3$. The GM of Cr(VI) concentrations during MMA welding on mild steel were $0.0013mg/m^3$, but Ni was not detected in the air samples during this operation. It is assumed that the airborne Cr(VI) and Ni during mild steel welding were derived from the base metals which contained about 0.03% Cr and 0.03% Ni. The GM of airborne total Cr, Cr(VI) and Ni concentrations during MIG welding on stainless steel were 4.02, 0.13 and $0.86mg/m^3$, respectively, and the levels of Cr(VI) and Ni were above the ACGIH-$TLV^{(R)}$. Cr(VI) comprised about 35.5% of the total chromium(Cr) from MIG welding on mild steel, and about 8.4% of total Cr from MIG welding on stainless steel. The ratios of Cr(VI) to total Cr were significantly different among welding shops. It was concluded that welders were exposed to high levels of Cr(VI) and Ni during welding on stainless steel, and were exposed to low levels of Cr(VI) even during welding on mild steel.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.19 no.1
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• pp.1-7
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• 2014

Butyltin compounds (BTs) were determined in surface sediment samples from Ulsan Bay in 2009 and 2011, to assess the contamination status and the effectiveness of tributylin (TBT) restriction of Korea. Dibutyltin and TBT concentrations in sediments in 2011 ranged from 19.5 to 980 and 14.2 to 1204 ng Sn $g^{-1}$ dry weight, respectively. The highest TBT concentration was found in a big shipyard complex and the next highest was found in harbor, suggesting that harbor and shipyard activities are a major contamination source of TBT in Ulsan Bay. Concentrations of BTs in Ulsan Bay sediments were significantly lower in 2009 and 2011 than that in 2003 survey previously reported, probably as a consequence of the legislative action in Korea. However, TBT concentrations in sediments still exceeded ecotoxicological values. Therefore, it will be important to monitor and reduce TBT contamination in sediments until the levels fall well below ecotoxicological levels.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.22 no.1
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• pp.42-51
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• 2012

Objectives: To compare the exposure level of extremely low frequency (ELF) magnetic fields among semiconductor workers, shipyard welders and office workers. Methods: To measure the ELF magnetic field concentration, EMDEX LITE (Enertech, USA) were used and monitored for eight hours continuously. Five companies handling the electric and magnetic field (EMF) source were investigated, which the exposure groups were classified into three groups: semiconductor workers, welders, and office workers. Welder group was chosen as a high exposed group and office group as a low exposed group. Results: The arithmetic mean (${\pm}SD$) and geometric mean (GSD) of personal exposure level of semiconductor workers were 0.73 (${\pm}1.33$) ${\mu}T$, 0.43 (2.88) ${\mu}T$, respectively. The ceiling value ranged between 0.18 and 123.2 ${\mu}T$. Welders were exposed high with the arithmetic mean value of 3.46 (${\pm}\;13.46$) ${\mu}T$ and geometric mean value of 0.45 (4.70) ${\mu}T$, respectively, and ceiling value range of 75.5~129.6 ${\mu}T$. The exposure levels of office workers were low compared to other exposed groups; the arithmetic mean 0.05 (${\pm}0.13$) ${\mu}T$, geometric mean 0.03 (2.38) ${\mu}T$ and ceiling value range 0.37~3.35 ${\mu}T$. This study revealed statistically significant differences of the mean ELF magnetic field exposure doses among three groups (p < 0.01). Conclusions: The average ELF magnetic field exposure doses of semiconductor workers were much higher than those of office workers in control group, but were lower than those of welders in high exposure group.

• Journal of Preventive Medicine and Public Health
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• v.22 no.3 s.27
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• pp.328-336
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• 1989

27 shipyard welders were diagnosed as pneumoconiosis and suspected pneumoconiosis(1976-1988) by chest radiographs and were observed over three years. 27 welders were divided into three groups by the state of exposure to welding fume i.e. cessation, decresase or continuity of exposure. And we observed the changing pattern of the chest radiographs of 27 welders with the passage of time. The results were as follows; 1. Grour I (ceased exposure to welding fume) were 10 cases(3 cases: suspected pneumoconiosis,7 cases: pneumoconiosis). Chest radiographs of all cases were improved. The shape and size of small opacities was improved in 6 cases(85.7%) and did not changed in 1 case(14.3%) out of 7 pneumoconiosis welders. 2. Group II (decreased exposure to welding fume) were S cases(2 cases: suspected pneumoconiosis, 3 cases: pneumoconiosis). Chest radiographs were progressed in 2 cases(40%), did not changed in 1 case(20%), were improved in 2 cases(40%) out of 5 cases. The shape and size of small opacities was progressed in 1 case(33.3%) and was improved in 2 cases(66.7%) out of 3 pneumoconiosis welders. 3. Group III(continued expoxsure to welding fume) were 12 cases(1 case: suspected pneumoconiosis, 11 cases: pneumoconiosis). Chest radiographs were progressed in 9 cases(75%), did not changed in 3 cases(25%) out of 12 cases. The shape and size of small opacities was progressed in 1 case(9.1%) and did not changed in 10 cases(90.9%) out of 11 pneumoconiosis welders. 4. The average duration for development into suspected pneumoconiosis was 6.6 years and for progression of each one category after that was 2.2 years(p<0.01). The radiological appearance of pneumoconiosis had disappeared or decreased after cessation of exposure to the welding fume. So that, early detection and control e.g., change of department of pneumoconiosis of welders by screening program will be important for medical surveillance of welders.