This paper presents a study of path-planning method for AGV(automated guided vehicle) based on path-tracking. It is important to find an optimized path among the AGV techniques. This is due to the fact that the AGV is conditioned to follow the predetermined path. Consequently, the path-planning method is implemented directly affects the whole AGV operation in terms of its performance efficiency. In many existing methods are used optimization algorithms to find optimized path. However, such methods are often prone with problems in handling the issue of inefficiency that exists in system's operation due to inherent undue time delay created by heavy load of complex computation. To solve such problems, we offer path-planning method using modified binary tree. For the purpose of our experiment, we initially designed a AGV that is equiped with laser navigation, two encoders, a gyro sensor that is meant to be operated within actual environment with given set of constrictions and layout for the AGV testing. The result of our study reflects the fact that within such environments, the proposed method showed improvement in its efficiency in finding optimized path.

In this research, we measured the number of lanes, distance, disposition of apartment that are affecting the road traffic noise to evaluate the current condition of G city’s road traffic noise. We decide on a basis regarding an apartment price formation factor, and the apartment current price and the results that compared. To have a point scale, we set the maximum road traffic noise at a 8 lane road for 5 points, give 4 points for a 6 lane road, which has a 2.1～2.5 dB(A) difference compared to a 8 lane road, give 3 points for a 4 lane road, which has a 5.2～5.5 dB(A) difference compared to a 8 lane road, and set 2 points for a 2 lane road and lower. If we set the standard floor plan as horizontal and a living room facing the roadside, the horizontal and living room facing the opposite side of the road is 1 point because it differs by 14.1 dB(A), and the vertical is 3 points since the difference is 5.3 dB(A). If we make grades by the distance, making standard the fifth floor with little soundproof effect from apartment to road, we observe a measurement below 2.9 dB(A) at a distance of less than 10 m and 5 dB(A), decreased at a distance of 20 m. Therefore, 4 points were given for less than 10m, 3 points for 10～20 m, 2 points for more than 20 m as we can apply the effect of a decay distance of line sound source and the decrease in noise effects of more than 6 dB(A), 1 point for more than 40m, and 0 points for more that 80 m since it is negligible. 28 apartments got 0 points because there is no effect of road traffic noise from other apartments, and 50 apartments where only the road at one side effect them got 5～10 points. 4 apartments (17-2, 6-3, 10-4, 3-3) received over 20 points. 15 cases showed a difference between developer price and resale price, and 11 cases (73%) among them showed the same trend (price increases with a low road traffic noise restriction factor point) with the point of road traffic noise restriction factor. 4 cases demonstrated the opposite trend, showing price increases with a high restriction factor point. Among the 4 cases, case numbers 2,6 and 9 appear to be more affected by the location factor (business district) than the road traffic noise restriction factor, and case number 1 appears to be affected by the building factor (openness and direction).

A laboratory experiment was conducted to investigate nitrogen removal from plating wastewater by a soil reactor. A combination of soil, waste oyster shell and activated sludge were used as a loading media in a soil reactor. The addition of 20% waste oyster shell and activated sludge to the soil accelerated nitrification (88.6% NH4+-N removal efficiency) and denitrification (84.3% NO3--N removal) in the soil reactor, respectively. In continuous removal, the influent NH4+-N was mostly converted to nitrate nitrogen in the nitrification soil reactor and only a small amount of NH4+-N was found in the effluent. When methanol was added as a carbon source to the denitrification soil reactor, the average removal efficiency of NO3--N significantly increased. The NO3--N removal by methanol addition in the denitrification soil reactor was mainly due to denitrification. The phosphorus was removed by the waste oyster shell media in the nitrification soil reactor. Moreover, the phosphorus removal in the denitrification soil reactor was achieved by synthesis of bacteria and the denitrification under anaerobic conditions. The approximate number of nitrifiers and denitrifiers was 3.3×105 MPN/g soil at a depth of 1～10 cm and 3.3×106 MPN/g soil at a depth of 10～20 cm, respectively, in the soil reactor mixed with a waste oyster shell media and activated sludge.

The activated sludge obtained from wastewater coke oven plant was immobilized by entrapment with polyethylene glycol (PEG). The effects of several factors on the biodegradation of CN- from synthetic wastewater were investigated using batch and continuous reactors. The degradation rate of CN- increased with increasing of the immobilized bead volume in the reactor. Approximately 7.65 mg/L of NH4-N was produced upon the degradation of 35 mg/L of CN-. When high concentrations of the toxic cyanide complex were used in the testing of cyanide degradation, the free activated sludge could be inhibited more than that of the immobilized activated sludge. When the phenol concentration was higher than 400 mg/L in the synthetic wastewater, approximately 98.4% of CN- was removed within 42 hours by the immobilized activated sludge. However, the cyanide was not completely degraded by the free activated sludge. This indicates that high phenol concentrations can act as a toxic factor for the free activated sludge. A CN- concentration of less than 1 mg/L was achieved by the immobilized sludge at the loading rate of 0.025 kg CN-/m3-d. Moreover, it was found that the HRT should be kept for 48 hours in order to obtain stable treatment conditions.

This research helps you understand the road traffic noise levels by using a noise map. We have observed the change of the road traffic noise levels around 07:00～08:30 and 22:00～23:00 using the noise map in the city. The road traffic noise level is very high both at noon and at night around a beltway and an interchange that is linked with a highway. It seems that the main route of so many vehicles, which are at neighboring cities such as N city and D and H districts and which avoid traffic jams in the city, is the beltway and interchange. The road traffic noise level of a nearby express bus terminal, railroad station, and airport is more than 75 dB at noon and 65 dB at night. The road traffic noise level of G city at night is observed to be more than 55 dB. The noise levels of a residence area and a university are higher than a road with high noise levels when the commuters drive to work. The end of the day exceeds 11 o'clock because of a culture level of development that arouses spare time, eating out, adults' drinking culture, nightlife of the youth, etc. Therefore, the road traffic noise level is high during late night hours, and it exceeds regulatory guidelines (55 dB(A)). It also damages the residence area that is located near the road.

A laboratory experiment was performed to investigate nitrogen removal by the soil column. The addition of 20% waste oyster shell to the soil accelerated nitrification in soil column. The NO3--N concentration in the effluent decreased with the decrease of HRT(Hydraulic Retention Time). When methanol and glucose added as carbon sources, the average removal rates of T-N(Total Nitrogen) were 82% and 77.9%, respectively. The NO3--N removal by methanol supplementation in soil column can likely be attributed to denitrification. In continuous removal of nitrogen using the soil column, the COD(Chemical Oxygen Demand) and NH4+-N removed simultaneously in organic matter decomposing column. The greater part of NH4+-N was nitrified by the percolated through nitrification column, and the little NH4+-N was found in the effluent. The T-N of 87.4% removed at HRT of 36 hrs in denitrfication column. Because of nitrified effluents from nitrification column are low in carbonaceous matter, an external source of carbon is required.

Anoxic-oxic process were analyzed numerically for the each unit and final TN effluent by Water Quality Management(WQM) model and the results were compared data from these sewage or wastewater treatment plants. No bugs and logic error were occurred during simulation work. All of the simulation results tried to two times were obtained and both results were almost same thus this model has good reappearance. A few of simulation results were deviated with measured data because lack of influent water qualities are reported however simulation results have wholly good relationship with measured data. Also each unit of simulation result was kept good relationship with that of measured data therefore this WQM model has good reliance. Finally, WQM model predicts final TN effluent within ±4.1 ㎎/ℓ.

A laboratory experiment was performed to investigate phosphorus and nitrogen removal from synthetic wastewater by intermittently aerated activated sludge process packed with aluminum and silver plate. Three continuous experimental processes, i. e. an intermittently aerated activated sludge process(Run A), an intermittently aerated activated sludge process with an aluminum and silver plate packed into the reactor(Run B), and a reactor post stage(Run C) were compared. In the batch experiments, the phosphorus removal time in the reactor packed with aluminum and silver plate simultaneously was faster than that of the reactor packed with only an aluminum plate. More phosphorus was removed with an increase of NaCl concentration. The pitting corrosion of aluminum does not affect the performance of the biological treatment. The total nitrogen removal efficiency in Run B was 57% and 43.6% at the HRT of 12 and 6 hours respectively. The effluent PO4-P concentration as low as 1.0 mg/L could be obtainable through the continuous experiment in Run B at HRT of 6 hours.

The effect of UV on the mortality rate of toxic dinoflagellate Amphidinium carterae causing a red tide in the coastal area of south Korea was investigated in the batch and continuous-scale reactor equipped with ultraviolet irradiation-apparatus. Degussa P25 titanium oxide, a photocatalyst proved to be effective for the mortality of Amphidinium carterae supplied with photocatalyst and UV radiation were greater than 95% in 2 minutes of UV radiation and the rate were higher than that by UV-radiation without titanium dioxide in the batch and continuous-flow scale reactor. The mortality time of Amphidinium carterae increased with the cell density under UV-illumination in the batch scale reactor. The mortality rate in the density of 5.0×104 cells/mL at the same experimental condition was more than 90% in 4 minutes in the continuous flow scale reactor. The percentage of 99.9±0.1% of Amphidinium carterae in the density of 5.0×104 cells/mL was died in 20 minutes when the phytoplankton was illuminated with UV-radiation without photocatalyst.

Laboratory experiments were performed to investigate the effects of various factors on the phosphorus removal by electrolysis with aluminium electrodes. The efficiency of phosphorus removal increased with increasing of voltage applied, surface area of electrodes and electrolyte concentration, and decreasing of electrode distance. The phosphorus removal was not affected by the connection number of an electric circuit. The amount of aluminium ion eluted from electrodes according to Faraday's law was 4.47 ㎎ and the Al/P mole ratio was 2.14 at the electric current value of 20 ㎃.

The fundamental experiments on the phosphorus removal from water were carried out by the batch and continuous reactors which used aluminium and copper plate. In this systems, the phosphorus was removed by aluminium ion generated with the electrochemical interaction (pitting corrosion) of aluminium and copper. In the batch experiments, the efficiencies of phosphorus removal increased when the surfaces of aluminium and copper plate were brushed. The phosphorus removal by aluminium ion was affected the copper plate and NaCl in this system. The optimal pH values were 5 and 6 for the phosphorus removal. The efficiency of phosphorus removal increased with increasing NaCl concentration, surface area of aluminium and copper plate. The CuSO4·5H2O instead of copper plate could be used as Cu source. The effluent PO4-P concentration as low as 2㎎/ℓ could have been obtained during the continuous experiment at HRT of 48 hrs.

The Dongbok lake water before and after alum coagulation and activated carbon adsorption were analyzed in terms of organic contents, molecular weight distributuin (MWD), and UV-absorbance. Dissolved organic compounds in the Dongbok lake were fractionated into three molecular size classes by gel permeation chromatography. The fractionation was reasonably successful in isolating compounds with MW>10,000 (Fraction Ⅰ) and those with 3,000MW (Fraction Ⅲ. The bulk of the dissolved carbon was present in compounds of molecular weight in the range of 3,000∼10,000. Alum coagulation preferentially treated molecules of high molecular weight, which has molecules larger than 10,000. The dissolved organic carbon (DOC) removal after activated carbon adsorption was high in the Fraction Ⅱ, Ⅲ. The A_260/DOC ratio after alum and activated carbon treatment was high in the Fraction Ⅰ, Ⅱ. This results suggest that the organics remaining after each treatment has a trihalomethane formation potential