We propose a method for developing an in-pipe inspection robot based on multiple inertial sensors. Estimating the position of underground pipelines where satellite signals do not reach remains challenging. High-precision inertial sensors and high-tech mobile robots can be solutions, but their high price limits their general use. We developed an in-pipe inspection robot by combining various low-cost sensors with a microcomputer-based RC car platform. First, we fabricated a multi-inertial sensors module by combining commercial grade low-cost MEMS inertial sensors. The sensor values measured by the multi-inertial sensor are transmitted to the main computer through the MCU, and the attitude angle of the vehicle is finally calculated through the inverse variance weighted average. The travel distance of the robot is estimated by using hall sensors and neodymium magnets attached to the inside of the wheels. Also, we measured the pipe diameter using multiple ultrasonic sensors. We verified the estimation accuracy of each sensor through experiments and consequently estimated the 3D trajectory of the in-pipe robot.

This study aims to suggest the methodology to improve to estimate back-calculated fish growth parameters using weighted average. It is to contribute to correct errors in the calculation of back-calculated growth equation with unequal numbers of sample by age. If the numbers of sample were evenly collected by age, each back-calculated length at age was equal between arithmetic and weighted averages. However, most samples cannot be evenly collected by age in reality because of different catchability by fishing gear and limitation of environment condition. Therefore, the estimation of back-calculated length by weighted average method is essential to calculate growth parameters. There were some published growth equations from back-calculated length using a simple arithmetic average with different numbers of samples by age when searching for back-calculated growth equations from 91 relevant papers. In this study, the process of deriving growth equation was investigated and two different average calculations were applied to a fish growth equation, for example of Acheilognathus signifer. Growth parameters, such as L∞, k and t0, were estimated from two different back-calculated averages and the growth equations were compared with growth performance index. Based on the correction of back-calculated length using weighted average by age, the changes by female and male were -14.19% and -5.23% for L∞, and 59.28% and 18.91% for k, respectively. The corrected growth performance index by weighted average improved at 7.05% and 2.46% by female and male, respectively, compared to the arithmetic averages.

Information on time spent in microenvironments has a critical role in individuals’ exposure assessment. Time-activity studies have become an integral part of comprehensive exposure assessment and personal exposure modeling. The aims of this study were to estimate the exposure level of NO₂, PM₁₀ and VOCs, and to compare the estimated exposure by using time-activity pattern and indoor air concentration. This study was performed upon 28 university students living in Daegu. We measured air pollutants of NO₂, PM₁₀ and VOCs at houses where the university students spent most their times. In this study, according to the summer and winter, time-activity patterns of university students were different. The 28 university students average spending times in house indoors and other indoors time were 11.52±2.14 and 7.63±2.65 hours in summer, and 14.78±3.30 and 6.59±3.03 hours in winter, respectively. The university students personal exposure NO₂ concentrations were average 21.62±5.88 ppb and I/O ratio was 0.89±0.27. Personal average exposure of PM₁₀ concentration was between house indoors and outdoors concentrations which indoor house concentration was 37.68±7.57 μg/m³ and outdoor house concentration was 43.85±9.80 μg/m³ with 0.88±0.17 of I/O ratio. Personal exposure to benzene and the average concentration of benzene did not exceed in atmosphere environmental standard (annual 1.5 ppb) and the outdoor houses concentration was much higher than indoor houses.

The capital cost of the company is one that must be paid to the money owner as the price by using the money. The capital cost according to the source of money supply can be estimated by the expected profit rate undertaken by the use of the capital. But in the area of pre-existent economic evaluation, the evaluation of the company investment has been treated by the profit rate of the capital after considering the repayment conditions of the other's money or the interest. Thus in this study, in case the company makes an investment on various kinds of the capital at the same time, not make use of the capital as a one source, the economic evaluation of an investment should be handled by taking the weighted average cost of capital into consideration in proportion to the constitution of the capital cost by the sources of money supply, Especially, as the cost of the private money is very much connected with the profit rate through the stock market, the Capital Asset Pricing Model (CAPM) will be applied. This kind of economic evaluation method can be said to have much to do with the Economic Value Added : EVA) as well as to be highly thought as a standard to estimate the company' value recently To certify the usefulness of this approach, the case study of the output of the capital cost will be made for the purse of the economic evaluation of the alternative investment by using the financial statements of a motor company H.

강우-유출 모형을 이용하여 직접유출량을 산정할 경우, 유역의 유효우량을 산정하기 위하여 NRCS-CN 방법을 주로 사용한다. 유출곡선지수(CN)을 이용하여 유역의 유효우량을 산정하는 대표적인 방법은 유역의 평균 CN값을 산정하고 유효우량을 산정하는 방법으로 가중평균 CN 방법이라 한다. 하지만, 이 방법은 유효우량을 과다 또는 과소 산정하게 된다. 본 연구에서는 NRCS-CN 방법을 통하여 우리나라 유역 특성에 적절한 유효우량 산정방법을 제시하기 위하여 유역의 경사효과를 고려한 CN값을 적용하여 유효우량을 산정하였으며, 유역의 유효우량을 산정하기 위한 2가지의 가중평균방법(가중평균 CN 방법, 가중평균 유효우량 방법)을 적용하였다. 강우-유출의 관측사상에 대한 자료를 이용하여 관측 직접유출량을 추정하고, 통계학적 오차분석 및 Skill Score 분석을 통하여 여러 가지 수문조건 및 지형특성에 대한 유출곡선지수 및 유효우량을 비교·분석하였다. 본 연구 결과, 경사도를 고려하여 CN값을 보정할 경우 유효우량이 전반적으로 크게 산정되었으며, 가중평균 유효우량 방법은 가중평균 CN 방법보다 유역의 유효우량을 전반적으로 크게 산정하는 것을 확인하였다. 통계학적 오차 분석을 수행한 결과, 전체적으로 수문조건 및 지형특성을 고려하였을 경우 경사도로 보정한 CN값을 적용한 가중평균 유효우량 산정방법이 관측 직접유출량과 높은 정확성을 가지는 것으로 나타났다. 또한, Skill Score 분석에 의하면, 유역경사로 보정한 CN값을 이용한 가중평균 유효우량 방법이 기존의 방법(가중평균 CN 방법)에 비해 상대적으로 관측값에 가까운 값을 제공하는 것으로 나타났다.