본 연구는 ANP법을 이용하여 수색 구조선의 할당순위를 평가하였다. 이러한 평가를 위해서 본 연구에서는 퍼지추론 및 계층분석법을 이용하여 인명피해, 선박피해, 환경오염피해에 대해 위험성을 평가하였다. 또한 DEA법 및 리커트 척도법을 이용하여 수색 구조선의 정량적, 정성적 운영효율성을 평가하였다. 마지막으로는 위험성평가와 운영효율성 평가를 ANP법을 이용하여 종합 평가치를 산출하였다. 그 결과 MP, YS RCC/RSC 구역이 수색 구조선의 할당순위가 비교적 높은 것으로 나타났다.

Technical developments, particularly in communications, increase the potential for effective maritime search and rescue(SAR). The paper identifies some of the questions those seeking to proveid effective SAR service should ask, and outlines possible answers.

This paper deals with the paddle type end of arm tool for rescue robot instead of rescue worker in dangerous environments such as fire, earthquake, national disaster and defense. It is equipped at the dual arm manipulator of the rescue robot to safely lift up an injured person. It consists of the paddle for lifting person, sensors for detecting insertion of person onto the paddle, sensor for measuring the tilting angle of the paddle, and mechanical compliance part for preventing incidental injuries. The electronics is comprised of the DAQ module to acquire the sensors data, the control module to treat the sensors data and to manage the errors, and the communication module to transmit the sensors data. After optimally designing the mechanical and electronical parts, we successfully made the paddle type end of arm tool and evaluated its performance by using specially designed jigs. The developed paddle type end of arm tool is going to be applied to the rescue robot for performance verification through field testing.

Robot arms are being increasingly used in various fields with special attention given to unmanned systems. In this research, we developed a high payload dual-arm robot, in which the forearm module is replaceable to meet the assigned task, such as object handling or lifting humans in a rescue operation. With each forearm module specialized for an assigned task (e.g. safety for rescue and redundant joints for object handling task), the robot can conduct various tasks more effectively than could be done previously. In this paper, the design of the high payload dual-arm robot with replaceable forearm function is described in detail. Two forearms are developed here. Each of forearm has quite a different goal. One of the forearms is specialized for human rescue in human familiar flat aspect and compliance parts. Other is for general heavy objects, more than 30 kg, handling with high degree of freedom more than 7.

Dual arm manipulators have been developed for the entertainment purpose such as humanoid type or the industrial application such as automatic assembly. Nowadays, there are some issues for applying the dual arm robot system into the various fields. Especially, robots can substitute human and perform the dangerous activity such as search and rescue in the battle field or disaster. In the paper, the dual arm manipulator which can be adapted to the rescue robot with the mobile platform was developed. The kinematic design was proposed for the rescue activity and the required specification was determined through the kinematic analysis and the dynamic analysis in the various conditions. The proposed dual arm manipulator was manufactured based on the vibration analysis result and its performance was proved by the experiment.

For a practical mobile robot team such as carrying out a search and rescue mission in a disaster area, the localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a global positioning system (GPS) is unavailable. The proposed architecture supports localizing robots seamlessly by finding their relative locations while moving from a global outdoor environment to a local indoor position. The proposed schemes use a cooperative positioning system (CPS) based on the two-way ranging (TWR) technique. In the proposed TWR-based CPS, each non-localized mobile robot act as tag, and finds its position using bilateral range measurements of all localized mobile robots. The localized mobile robots act as anchors, and support the localization of mobile robots in the GPS-shadow region such as an indoor environment. As a tag localizes its position with anchors, the position error of the anchor propagates to the tag, and the position error of the tag accumulates the position errors of the anchor. To minimize the effect of error propagation, this paper suggests the new scheme of full-mesh based CPS for improving the position accuracy. The proposed schemes assuring localization were validated through experiment results.

Myo-inositol-1,2,3,4,5,6-hexakisphosphate (InsP6), also known as phytic acid, accumulates in large quantities in plant seeds, serving as a phosphorus reservoir, but is an animal antinutrient and an important source of water pollution. Here we report that Gle1 (GLFG lethal 1) in conjunction with InsP6 functions as an activator of the ATPase/RNA helicase LOS4 (Low expression of osmotically responsive genes 4), which is involved in mRNA export in plants, supporting the Gle1-InsP6-Dbp5 (LOS4 homolog) paradigm proposed in yeast. Interestingly, plant Gle1 proteins have modifications in several key residues of the InsP6-binding pocket, which reduce the basicity of the surface charge. Arabidopsis Gle1 variants containing mutations that increase the basic charge of the InsP6-binding surface show increased sensitivity to InsP6 concentrations for the stimulation of LOS4 ATPase activity in vitro. Expression of the Gle1 variants with enhanced InsP6 sensitivity rescues the mRNA export defect of the ipk1 (inositol 1,3,4,5,6-pentakisphosphate 2-kinase) InsP6-deficient mutant, and furthermore, significantly improves vegetative growth, seed yield, and seed performance of the mutant. These results suggest that Gle1 is an important factor responsible for mediating InsP6 functions in plant growth and reproduction, and that Gle1 variants with increased InsP6 sensitivity may be useful for engineering high-yielding low-phytate crops.

수난 현장의 경우 부유물 등에 의하여 시계가 어두워 인명구조 및 인양에 어려움이 많다. 이에 시계뿐만 아니라, 시계를 대신해줄 수 있는 시스템이 필요로 한다. 최근 해상과 강에서의 사고가 빈번하게 일어나고 있으며, 이런 사고 구조 및 인양에는 잠수부들이 직접 들어가는 경우가 많다. 하지만 열악한 수중 환경으로 인하여 구조 및 인양에 어려움이 있고, 잠수부들의 2차 피해도 발생할 우려가 있다. 이러한 열악한 환경 중, 시계 환경의 열악함으로 잠수부들의 위치인식 불가, 구조물 확인 불가 등의 사유로 수난구조에 있어 중요한 정보들을 잃어버리는 경우가 많다. 현재 세계적으로 이러한 수중환경에서의 시계확보를 위한 초음파 카메라 등의 시스템이 제작 및 시판되고 있지만, 현재 개발 및 시판되는 시스템들은 시스템의 조작 및 이동에 두손이 사용되어져, 잠수부들이 구조 활동 중 구조물의 파악, 생존자의 구조 및 익사자의 인양 등에 사용 되어지는 두 손을 사용할 수 없는 단점이 있다. 이에 본 연구에서는 잠수부가 두 손을 자유롭게 사용할 수 있는 헬멧형 수난 구조탐색시스템을 개발하려고 한다. 헬멧형 수난구조 시스템을 개발함으로써 악조건의 수중환경에서도 시계 확보가 가능해지고, 잠수부들의 구조 활동 시 두 손의 사용이 자유로움으로 인해 구조 활동의 효율성이 오를 것으로 기대된다.

해양 재난은 해양시스템 자체가 대형 복잡 시스템이기에 재난 시 천문학적 인명 및 재산 피해가 발생할 수 있다는 특성을 가지고 있다. 이와 같은 심각한 피해의 발생을 막기 위해서는 재난의 발생 초기에 재난의 전파와 결과를 줄이는데 있어 최대한의 효과를 가진 적절한 대응 방책을 신속히 적용하는 것과 인명을 구조하고 피해를 복구하는 데 있어 효과적인 구난 작업을 신속히 수행할 수 있는 것이 무엇보다도 중요하다. 본 연구에서는 첨단 과학기술을 접목하고 발생할 수 있는 현장 상황을 고려한 효과적이고 신속한 대응 기술과 실 상황에서 적용할 수 있는 구난 작업 기술을 개발하는 것을 목적으로 하고 있다. 이를 위하여 해양재난 사고에 대응하기 위하여 다양한 기술 개발을 선박사고, 해적, 송유관, 유조선 등 재난 유형별 필요한 대응 능력을 분석하고 강화하고 파손 대비, 유류 자동 차단 시스템 개발, 수중 폭발 시 해양시스템 안전대책 강화기술 연구, 골든타임 인원 구출 체계 기술 개발, 웨어러블 스마트 재난구조 장비 연구 극지사고 대응 기술, 유무인 민군관 통합 재난 스마트 안전관리 시스템 구축, 해저 작업기술 및 인프라 개발 등 다양한 기술 개발을 추구하고 있다.

선박이 운항 중 해난 사고가 발생하여 선원이나 승객이 물에 빠지는 경우 신속히 이들을 구조하는 것은 매우 중요한 일이다. 대부 분의 해난 사고의 경우 물에 빠진 사람이 구명조끼를 입고 있으므로, 구명조끼에 GPS 및 Cospas-Sarsat 통신을 위한 모듈이 내장된다면 구 조가 용이할 것이다. 본 논문에서는 구명조끼에 내장이 가능하며 GPS 및 Cospas-Sarsat 통신을 위한 이중대역 안테나를 개발하고자 한다. 안테나는 두께 0.2mm 인 FR4 기판을 사용하여 유연성을 확보하였고, 1.575 GHz와 406MHz에서 동작하며, 구명조끼의 어깨 부근에 장착이 될 수 있는 안테나를 설계하였다. GPS 통신용 안테나는 원형편파 특성을 갖는 링 슬롯 안테나로 구현하였고, 미앤드 형태의 선형 편파 안테 나를 Cospas-Sarsat 통신용으로 사용하였다. 단일 마이크로스트립 선로를 통해 급전이 이루어지며, 두 공진 안테나간의 상호 간섭을 최소화 하기 위해 개방형 스터브를 사용하였다. 제작한 안테나를 구명조끼에 장착하여 반사손실 측정을 통해 GPS 및 Cospas-Sarsat 주파수에서 안 테나의 성능을 확인하였다.

In this paper, we provide experimental results and verification for obstacle avoidance algorithm 'ELA(Emergency Level Around)', which is applicable to rescue robots. ELA is a low level intelligence-based obstacle avoidance algorithm, so can be used in fast mobile robots requiring high speed in operation with little computational load. Constructed system for experiments consist of laptop, sensors, peripheral devices and mobile robot platform VSTR(Variable Single-tracked Robot) to realize predetermined scenarios. Finally, experiment was conducted in indoor surroundings including miscellaneous things as well as dark environment to show fitness and robustness of ELA for rescue, and it is shown that VSTR navigates endowed area well with real-time obstacle avoidance based on ELA. Therefore, it is concluded that ELA can be a candidate algorithm to increase mobility of rescue robots in real situation.

On May 12th, 2007 a merchant vessel of Golden Rose (South Korea) sank into near 38 mile from Yentai in China after the vessel collided with a container vessel of Jinsung (China), leaving all 16 sailors, including seven South Koreans, missing. According to the official report. The Chinese vessel, authorities, and South Korean government did not coordination q rescue and salvage for the sailors and vessel properly as follows: 1) The Chinese vessel left the scene without rescue and salvage of the sailors, 2) Chinese authorities failed to comply with law of the sea that required them to report the collision to South Korea immediately after confirming the accident, and 3) The South Korean government is also being criticized for its slow response to the incident since the government did not set up a response team until 21 hours after the incident. In order to reduce this number of sailor missing in future incidents, this research is studied regarding assembling conferences, assigning SRR in ASEAN+3, simplicity to enter other territory waters and cooperative training and education for the SAR.

We propose a novel real-time obstacle avoidance method for rescue robots. This method, named the ELA(Emergency Level Around), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward safe position. In the ELA, we consider two sensor modules, PSD(Position Sensitive Detector) infrared sensors taking charge of obstacle detection in short distance and LMS(Laser Measurement System) in long distance respectively. Hence if a robot recognizes an obstacle ahead by PSD infrared sensors first, and judges impossibility to overcome the obstacle based on driving mode decision process, the order of priority is transferred to LMS which collects data of radial distance centered on the robot to avoid the confronted obstacle. After gathering radial information, the ELA algorithm estimates emergency level around a robot and generates a polar histogram based on the emergency level to judge where the optimal free space is. Finally, steering angle is determined to guarantee rotation to randomly direction as well as robot width for safe avoidance. Simulation results from wandering in closed local area which includes various obstacles and different conditions demonstrate the power of the ELA.

In buckwheat, interspecific hybrids with perennial species could provide the opportunity to introgress new and useful characters into annual species. An in vitro embryo rescue procedure, previously developed to produce interspecific hybrids of selfpollina

In search and rescue mission the leeway formula based on the field experiments are utilized for the estimation of wind effect on distressed targets. This paper summarized the leeway formula from the available references. In the summary the environmental data collection method and experimental conditions are described along with the formula. Also the formula currently used in CASP of the U.S. Coast Gurard and CANSARP of the Canadian Coast Guard are discussed.

Damage stability is generally very important as a part of rescue technique of damaged ship and also in connection with the requirements of MARPOL73/78[2]. Damage stability calculation program has been developed and suggest, which can be used on an onboard computer for any operating drafts. The program is based on lost buoyancy method for calculation of final drafts, and also based on added mass method for calculation of residual righting arm. The numerical method suggested by Hamamoto-Kim[6] is adopted for calculation of intact righting arm(GZ). The model experiments on damage stability are also carried out in a small tank with tanker model 2.385 meters long. The experimental results are compared with the calculations by the suggested method.

SART(Search and Rescue Radar Transponder) is a radar transponder capable of operating in the 9GHz band, which is one element of GMDSS. The fundamental function of the SART is to indicate its position. Thus, it is so much available to assist SAR operation when an emergency and casualty occur at any sea area. In the thesis, we designed, manufactured each part of circuit to develop the advanced SART and configured to test the characteristics in many ways. As the result of detailed things, we confirmed that the developed SART could be high possibility of production.

In Korea, the System of search and rescue in water have came into force on the basis of the Korea Life Saving and Rescue Act. 1961. But It's a premodern administration law which is not fit for an international system of the search and rescue and become disconnected with reality in Korea. Recently the marine casualties occur frequently in Korea coastal area, therefore, we need to amend the 1961 Act. The amendment which is carried out by the Korea Maritime Police Agency is a provision to receive International convention(SAR, 1979). The amendment of this Act will give a epoch-making change to Korean policy of the life-saving and rescue, security to marine safety and contribution to National positon on system of "Search and Rescue". In this thesis, I propose a development scheme to be conductive to original task on "Search and Rescue" of International Convention in Korea Life Saving and Rescue Act(Amendment, 1994).t(Amendment, 1994).