• 제어로봇시스템학회논문지
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• 제13권3호
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• pp.249-255
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• 2007

Under the situation of a fire, it is difficult for a rescue robot to use sensors such as vision sensor, ultrasonic sensor or laser distance sensor because of diffusion, refraction or block of light and sound by dense smoke. But, braille blocks that are installed for the visaully impaired at public places such as subway stations can be used as a map for autonomous mobile robot's localization and navigation. In this paper, we developed a laser sensor stan device which can detect braille blcoks in spite of dense smoke and integrated the device to the robot developed to carry out rescue mission in various hazardous disaster areas at KIST. We implemented MCL algorithm for robot's attitude estimation according to the scanned data and transformed a braille block map to a topological map and designed a nonlinear path tracking controller for autonomous navigation. From various simulations and experiments, we could verify that the developed laser sensor device and the proposed localization method are effective to autonomous tracking of braille blocks and the autonomous navigation robot system can be used for rescue under fire.

• 제어로봇시스템학회논문지
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• 제22권11호
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• pp.895-903
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• 2016

In a fire disaster in a tunnel, people should be rescued immediately using the information obtained from cameras or sensors. However, in heavy smoke from a fire, people cannot be clearly identified by a mounted CCTV, which is only effective in a clear environment. A thermal camera can be an alternative to this in smoky situations and is capable of detecting people from their emitted thermal energy. On the other hand, the thermal image camera has a smaller field of view than an ordinary camera due to its lens characteristics and temperature error, etc. In order to cover a relatively wide area, panoramic image construction needs to be implemented. In this work, a template-based similarity matching algorithm for constructing the panorama image is proposed and its performance is verified through experiments. This scheme provides guidelines for coping with difficulty in image construction, which requires an exact correspondence search for two images in cases of heavy smoke.

• 제어로봇시스템학회논문지
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• 제13권2호
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• pp.121-127
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• 2007

Frequent occurrences of a fire cause tremendous loss of human lives and their property. Recently, in order to cope with such catastrophic accidents, researches on fire-fighting robots are carried out in developed countries. Under the dangerous situations, it is sometimes impossible for fire-fighting men to access the firing place because of explosive materials, smoke, high temperature and so on. In such an environment, fire-fighting robots can be useful to extinguish the fire. It is usually very dangerous place where fire-fighting robots operate. Hence, these robots should be controlled by remote users who are for away from the firing place exploiting remote communication systems. This paper considers the communication systems between fire-fighting robots and remote users. The communication systems consist of two parts; digital packet communication systems and analog image communication systems. Digital packet communication systems transfer data packets in order to control fire-fighting robots and to check the state of the fire-fighting robots. Remote users watch the video around the fire-fighting robots by exploiting the analog image communication systems. In the future, the more prosperous the commercial communication network systems will be, the more evolved the communication systems for fire-fighting robots are.

• Toxicological Research
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• 제20권4호
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• pp.365-374
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• 2004

Inhalation toxicity, mutagenicity, and immunotoxicity tests were performed using a smoke generation system to investigate the safety of Herbrette, a tobacco substitute made with the leaves of Perilla frutescens. ICR mice were exposed to nicotine-free Herbrette smoke with concentrations of 0 (control), 4.08 $\pm$ 1.32 mg/$m^3$ (low dose), 7.72 $\pm$ 2.14 mg/$m^3$ (medium dose) and 12.83 $\pm$ 1.69 mg/$m^3$ (high dose) total particulate matters (TPM) for 4 weeks. When compared to the control group, the body weights, organ weights in the exposed groups did not show any significant differences. However, certain change of several serum chemical data and biochemical parameters were observed, however, the changes were within normal physiological ranges. Moreover, no changes in organ weight, and no gross/microscopic changes were observed between the exposed and control groups. Salmonella typhimurium reverse mutation, in vivo chromosomal aberration and micronucleus assays revealed that Herbrette did not induce mutagenicity. Upon evaluation of peripheral cellular immunity of mice through in vitro lymphocyte proliferation assay, no significant difference was observed in mean stimulation index between the exposed and control groups. Taken together, our results strongly suggest that Herbrette may not cause toxicity on mice under current condition.

• 한국터널지하공간학회 논문집
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• 제21권6호
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• pp.887-895
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• 2019

인구 초과밀화 현상이 심해지고 있는 국내 수도권 및 대도시에서 발생되고 있는 교통문제 해결을 위해 지하도로 개발 사업이 늘어나고 있으며, 시공성과 경제성의 이점을 가지는 복층터널 기술을 적용하여 다수의 지하도로를 계획하고 있는 추세이다. 복층터널은 하나의 굴착단면을 두 개로 나눠 상하행선으로 사용하는 방식으로 대부분 층고가 낮아 소형차량 전용도로로 사용되고 있는 실정이다. 또한, 이러한 소단면 특성으로 인해 환기 및 방재 측면에서도 일반 도로터널과 상이한 특성을 가지게 된다. 본 연구에서는 복층터널과 같이 층고가 낮은 소단면 터널에 반횡류식 환기방식의 하나인 대배기구 방식을 적용한 운영안을 제시하고 FDS 시뮬레이션을 통해 화재발생 위치와 대배기구 배연 방식 등에 따른 배연 특성을 비교하여 분석하였다. 그 결과 균일배기와 달리 대배기구를 이용하여 집중배연시 연기의 확산지연 효과가 최대화 되고 연기가 화재지점 상하류 50 m안에 제한시킬 수 있었다.

• 한국산업보건학회지
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• 제15권1호
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• pp.36-44
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• 2005

A push pull hood system is frequently applied to control contaminants evaporated from an open surface tank in recent years. Efficiency of push pull hood system is affected by various parameters, such as cross draft, vessel shapes, size of tanks surface, liquid temperature, and so on. Among these, velocity of cross draft might be one of the most influencing factor for determining the ventilation efficiency. To take account of the effect of cross draft velocities over 0.38m/s, a flow adjustment of ${\pm}$20% should be considered into the push and +20% into the pull flow system Although there are many studies about the efficiency evaluation of push pull hood system based on CFDs(Computational Fluid Dynamics) and experiments, there have been no reports regarding the influence of velocities and direction of cross-draft on push-pull hood efficiency. This study was conducted to investigate the influence of cross draft direction and velocities on the capture efficiency of the push-pull ventilation system. Smoke visualization method was used along with mock-up of push-pull hood systems to verify the ventilation efficiency by experiments. When the cross-draft blew from the same origins of the push flows, the efficiency of the system was in it's high value, but it was decreased significantly when the cross-draft came from the opposite side of push flows Moreover, the efficiency of the system dramatically decreased when the cross-draft of open surface tank was faster than 0.4m/s.

• 제어로봇시스템학회논문지
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• 제14권5호
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• pp.496-501
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• 2008

Recently, many automotive companies tend to apply an air quality system (AQS), which prevents polluted air such as smoke or dust by controlling air intake actuator of vehicle, to satisfy the consumer's need for agreeable in-vehicle environment. However, performance of the traditional AQS is not satisfactory because a polluted air may enter into the inside of vehicle through the breaks of windows. Especially, the commercial vehicles such as bus or truck need to be prevented polluted air from the breaks of vehicle. Hence, as an alternative to the traditional AQS, this paper presents the architecture of smart AQS for commercial vehicle and implementation of the smart AQS. Also, the performance of the suggested system is evaluated through an experimental testbed.

• 한국화재소방학회논문지
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• 제24권1호
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• pp.90-94
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• 2010

본 연구에서는 횡류환기방식의 균일배기방식(balanced exhaust)에 대한 터널 내 풍속, 배연풍량에 따른 수치해석을 수행하여 연기의 이동거리를 분석하고 기존의 유동가시화 실험결과와 비교하였다. 그 결과 균일배기방식의 배연시스템에서는 풍속이 존재하지 않는 경우 배연풍량을 연기발생량(Vc = 0)일 때 건설교통부의 도로터널방재시설 지침에 의한 피난연결통로의 간격 250m 이내로 연기가 제한되었으며, 배연효율은 본 실험범위에서 55.1%에서 95.8%로 나타났다. 터널 내 풍속이 존재하면 연기를 배연하기 위한 배연풍량이 급격하게 증가하는 경향을 보이는 것으로 알 수 있으며, 배기구의 풍속이 증가하면 배연효율이 감소하며, 연기의 이동거리를 목표로 하는 거리로 제한하기 위해서 배연풍량은 연기발생량 보다 최대 1.8배에서 1.04배까지 증대하는 것으로 나타나고 있다. 본 연구에서 평가기준으로 선정한 250m 이내로 연기의 이동거리를 제한하기 위한 배연풍량은 터널 내 풍속이 존재하지 않는 경우에는 배연풍량은 최소 $84m^3/s{\cdot}250m$, 1.75m/s인 경우에 배연풍량은 최소 $393m^3/s{\cdot}250m$($Q_E$= 80 + 5Ar)으로 나타났다.

• Wind and Structures
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• 제19권2호
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• pp.185-197
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• 2014

Ventilation and fire safety design in road tunnels are one of the most complex issues that need to be carefully considered and analysed in the designing stage of any potential upgrade of ventilation and other fire safety systems in tunnels. Placement road tunnels space has an important influence on fire safety, especially when considering the effect of adverse wind conditions that significantly influence ventilation characteristics. The appropriate analysis of fire and smoke control is almost impossible without the use of modern simulation tools (e.g., CFD) due to a large number of influential parameters and consequently extensive data. The impact of the strong wind is briefly presented in this paper in the case of a longitudinally ventilated road tunnel Kastelec, which is exposed to various severe wind conditions that significantly influence its fire safety. The possibility of using CFD simulations in the analysis of the tunnel placement in space terms negative effect of wind influence on the tunnel ventilation is clearly indicated.

• International Journal of Automotive Technology
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• 제6권2호
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• pp.95-105
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• 2005

Diesel engines have low specific fuel consumption, but high particulate emissions, mainly soot. Diesel soot is suspected to have significant effects on the health of living beings and might also affect global warming. Hence stringent measures have been put in place in a number of countries and will be even stronger in the near future. Diesel engines require either advanced integrated exhaust after treatment systems or modified engine models to meet the statutory norms. Experimental analysis to study the emission characteristics is a time consuming affair. In such situations, the real picture of engine control can be obtained by the modeling of trend prediction. In this article, an effort has been made to predict emissions smoke and NO$_{x}$ using cylinder combustion derived parameters and diesel particulate filter data, with artificial neural network techniques in MATLAB environment. The model is based on three layer neural network with a back propagation learning algorithm. The training and test data of emissions were collected from experimental set up in the laboratory for different loads. The network is trained to predict the values of emission with training values. Regression analysis between test and predicted value from neural network shows least error. This approach helps in the reduction of the experimentation required to determine the smoke and NO$_{x}$ for the catalyst coated filters.