최근 기상청 및 소방방재청의 연구결과 백두산 화산은 가까운 장래에 폭발할 것이라고 전망하고 있다. 화산 폭발의 영향은 화산마다 다르지만 폭발 기간이 적게는 수시간, 많으면 10년 이상 지속된다. 화산에 의한 대표적인 피해유형으로 화산가스, 화산력 및 화산재, 화쇄류, 용암류, 토석류, 융설형 화산이류로 인한 피해가 대표적이다. 이중 화산재는 직접적인 인명에 대한 직접적인 사상 위험성은 없으나, 피해 범위가 광범위하다. 또한 인체 건강, 사회기반시설, 환경기초시설, 건물, 산업시설 등 경제적·산업적으로 막대한 국가적 손실을 일으키게 된다. 이를 통해 빠르고 효율적으로 화산재를 처리하는 기술 확보로 화산재로 인한 국가적인 손실을 최소화하고자 한다. 본 연구에서는 국내외 도로 청소차 등의 장비 운영사례를 분석하여, 백두산 화산폭발에 대비한 도로에서의 화산재 청소 방안에 대해서 제시하고자 한다.

In this paper, developing of a pool cleaning robot is addressed. First, we analyze commercial pool cleaning robot mechanisms, and the merits and demerits of wireless version of a pool cleaning robot is introduced. And then the water-jet moving mechanism for a pool cleaning robot is proposed to improve energy efficiency and mechanical design advantage, which is one of the strong candidates for wireless pool cleaning robots. Next, the method of cleaning performance evaluation of pool cleaning robots is firstly defined with five key factors, and it was verified by experimental results. If the cleaning performance can be quantitatively defined, we can design optimally a pool cleaning robot, which results in the cost down.

This paper presents a graphic user interface system consisting of graphic simulator and remote control system for a building cleaning robot. It provides a tool of convenient 3D graphical map construction for real world. The 3D map is reconstructed from existing 2D building CAD data with DXF format by using OpenGL graphic API. Through this system, graphic display of robot's status information, remote control and cleaning scheduling can be done for a building cleaning robot. This proposed system is expected to give efficient way of graphic simulation and remote monitoring and control system for a building cleaning robot.

Recently researches on the window cleaning robot are being conducted actively. Moving mechanisms of these window cleaning robots are divided into two categories, which are towed type and walking type. Towed type is focused on fast cleaning on the flat surface of building and walking type has priority on cleaning task on relatively complex surface with overcoming obstacles. Currently commercialized towed type window cleaning robot has weakness that it is hard to adhere closely with the wall and easy to be affected by wind. In case of walking type it has the problem that the position errors are continuously accumulated during motion. In this paper, we propose new towed and walking type mechanism which can compensate previous weaknesses. After that we estimate the performance of each proposed mechanism by simulation.

본 연구에서는 수중청소로봇의 추종 성능과 통합 제어시스템 성능을 가시적으로 예측할 수 있는 3차원 시뮬레이터를 개발하였다. 수중청소로봇의 동역학적 해석을 기반으로, 시뮬레이터에는 실제 개발 중인 3차원형상의 수중청소로봇을 적용하고 로봇의 위치와 속도 등을 나타내는 창을 표시하였다. 또한 조이스틱을 사용하는 입력 및 제어 장치를 직접 제작하여 시리얼 통신을 통하여 시뮬레이터의 입력 및 제어에 사용하였다. 그리고 통합 항법 제어시스템을 설계하고, PI 기반의 퍼지 제어기를 포함하는 way-point tracking 시뮬레이션을 통하여 성능을 검증하였다.

This paper presents a remote monitoring and simulation system for a building cleaning mobile robot. It provides a tool of convenient 3D graphical map construction including network camera image viewer and status information of the robot. The 3D map is reconstructed from existing 2D building CAD data with DXF format using OpenGL graphic API. Through this system, it is possible to monitor and control the cleaning mobile robot from remote place. A practical experiment is performed to show the reliability and convenience of the monitoring system. The proposed system is expected to give efficient the way of control and monitoring to building cleaning mobile robot.

After examining the difference in the photosynthesis rate of corn according to the planting distance, the distance of 40 × 40 cm showed the lowest rate by 23 days after transplanting (May 31); however, there was no significant difference in the photosynthesis rate due to increased salt tolerance in the plant as time went by. As for the difference in growth features of a plant, the planting distance of 40×40cm showed a growing disorder due to the influence of salt by 23 days after transplantation (May 31); however, there was a desirable growth as time went by. For the difference in the salt content within a plant, the planting distance of 40×40cm tended to be higher than other planting distances, and the K⁺ content is much higher than other kinds of salt after examining the difference in salt absorption. As for the correlation between saline components within a plant, there was a significant negative correlation among K⁺, Ca²⁺, and Na⁺ while there was a significant positive correlation among Mg²⁺, Ca²⁺, and Na⁺. After examining the effectiveness of salt removal from soil according to corn cultivation, the planting distance of 30×30㎝ showed a remarkable decrease by 37 days, compared with 23 days, after transplantation in K⁺ by 28%, Ca²⁺ by 36.6 %, Mg²⁺ by 30.6 %, and Na⁺ by 22.9 %. And the salt content is higher in surface soil than in subsoil.

This study evaluated the technical feasibility of the application of TiO2 photocatalysis for the removal of volatile hydrocarbons(VHC) at low ppb concentrations commonly associated with non-occupational indoor air quality issues. A series of experiments was conducted to evaluate five parameters (relative humidity (RH), hydraulic diameter (HD), feeding type (FT) of VHC, photocatalytic oxidation (PCO) reactor material (RM), and inlet port size (IPS) of PCO reactor) for the PCO destruction efficiencies of the selected target VHC. None of the target VHC presented significant dependence on the RH, which are inconsistent with a certain previous study that reported that under conditions of low humidity and a ppm toluene inlet level, there was a drop in the PCO efficiency with decreasing humidity. However, it is noted that the four parameters (HD, RM, FT and IPS) should be considered for better VHC removal efficiencies for the application of TiO2 photocatalytic technology for cleansing non-occupational indoor air. The PCO destruction of VHC at concentrations associated with non-occupational indoor air quality issues can be up to nearly 100%. The amount of CO generated during PCO were a negligible addition to the indoor CO levels. These abilities can make the PCO reactor an important tool in the effort to improve non-occupational indoor air quality.

격막 및 무격막 방식의 전해수 처리에 의한 샐러리 및 생굴의 세정처리에 따른 살균 및 저장성 효과를 조사하였다. 샐러리를 대상으로 세정처리에 따른 저장중의 품질변화를 살펴본 결과, 총균수는 전해수 처리구에서 무처리구에 비하여 약 1/200∼1/1,000 수준, 대장균군수는 약 1/100 수준으로 감소하였다. 그리고 수분함량, pH, 경도, 비타민 C 및 잔류염소 함량 등의 변화는 저장 10일째까지 처리구에 관계없이 거의 유사한 경향을 보이거나 차

세정수로서의 전해산화수 효능을 증대시키기 위하여 다양한 식품첨가제를 첨가하여 제조한 이하의 세정수에 대한 냉각특성, 살균 및 갈변억제 효과를 조사하였다. 식품첨가제의 첨가비율은 NaCl 0.85%(w/v), ethanol 0.5%(v/v), 레몬과즙 0.5%(v/v), 유자과즙 0.5%(v/v), polysorbate 80은 1 ppm으로 결정하였다. 미생물 사멸효과는 초기 5.63 CFU/mL인 Escherichia coli KCTC 1039

전해산화수의 식품가공에의 적용 확대를 위해 전해산화수의 보관, 가열중 특성변화를 검토한 결과 저온 밀폐 용기에서의 보관이 산화환원전위, 차아염소산함량, pH 등의 전해산화 특성을 유지시킴에 있어 보다 효과적이었으며, 1개월 이상 1,150 mV의 산화환원전위를 유지시킬 수 있었다. 가열시 산화환원전위는 5까지는 가열 승온에 따라 점진적인 감소를 보인 후 95까지는 다시 증가하여 95에서는 1,150 mV 수준을 유지하였다. 차아염소산 함량도 산화

Vehicle occupant exposure to volatile organic compounds (VOCs) has been a subject of concern in recent years because of higher levels of VOCs inside vehicles as compared to the surrounding ambient atmosphere and because of the toxicity of VOCs. The effectiveness of two commercial ACDs for the removal of selected VOCs in the interior of automobiles was evaluated on 115 commutes through urban (Taegu) commutes by two cars and 9 idles. The idling and commuting studies conducted under four different driving conditions showed that the two commercial ACDs were not effective for the removal of VOCs in the interior of vehicles. The concentrations of all target VOCs except benzene were significantly higher (p<0.05) in the interior of older car than of newer car. The mean levels of benzene and toluene measured in this study were well excess of earlier other studies in the United States, besides Los Angeles with which was comparable. It was reported that the in-vehicle exposure to benzene and corresponding upper-bound cancer risk were about 8 times higher than those for outdoor environment, while they were about half of those from indoor environment.