• Proceedings of the Korea Information Processing Society Conference
• /
• 2019.10a
• /
• pp.660-663
• /
• 2019

본 논문은 진공을 이용한 흡착방식과 바퀴형 이동방식을 사용하는 벽면이동로봇의 균열 위치 추정에 관한 연구로써, 로봇의 Yaw값에 대해 PID제어를 통해 로봇의 방향을 제어 하고 이를 바탕으로 엔코더 모터의 홀센서와 IMU를 기반으로 하여 균열 위치를 추정 한다. 위치 추정 성능을 검증하기 위해 실제 위치와 추정된 위치를 비교하고 결과를 제시하였다.

• Journal of Korean Society of Environmental Engineers
• /
• v.31 no.10
• /
• pp.909-918
• /
• 2009

As a part of dissolved organic matter, dissolved organic carbon (DOC) or biodegradable DOC (BDOC) fraction in particular is one of important issues in water treatment. Due to role as a nutrient source for bacteria, BDOC, therefore, may cause regrowth problems in water distribution system. The main objectives of this study were to investigate the possibility to minimize the concentration of BDOC in advance water treatment process. DOC in water is fractionized into four fractions such as AnBDOC (adsorbable and non-biodegradable DOC) which possesses adsorption properties but no biodegradation ability; nABDOC (biodegradable and non-adsorbable DOC) which has biodegradation properties but no adsorption ability; ABDOC (adsorbable and biodegradable DOC) which has adsorption properties and biodegradable characteristic; and non-removal DOC (nAnBDOC) which do not have either adsorbability or biodegradability. BAC process was effective for adsorbable DOC (AnBDOC+ABDOC) removal. However, in some cases, the removal ratio of adsorbable DOC was not sufficient. BDOC removal rate is very low or irremovable. Thus, for the control of residual DOC, it is necessary to change the operation condition by BAC process. From the analysis results of DOC fractions, water treatment processes appeared to be effective because it could grasp a remarkable amount of biodegradable, adsorbable and non-removal DOC. The concentration of AOX in non-prechlorination process was reduced from 7.1 ${\mu}g$/L to 0.51 ${\mu}g$/L in BAC process followed by ozonation.

• Korean Journal of Crystallography
• /
• v.2 no.1
• /
• pp.17-22
• /
• 1991

The crystal structure of an acetylene sorption complex of vacuum dehydrated fully Cda+ _exchanged zeolite A has been determined from three-dimensional X-ray diffraction data gathered by counter method. The structure was solved and refined in the cubic space group Pm3m at 294(1) K, a=12.202(3) A and Z=1. We crystal was prepared by dehydration at 723 K and 2.67×104 Pa for 2 days, followed by exposure to 1.60×104 Pa of acetylene gas at 298(1) K. All six Cd2+ions per unit cell are associated with 6-oxgen rings of the aluminosilicate framework. They are distributed over two distinguished threefold axes of unit cell; two of these Cd2+ ions are recessed 0.694 into the sodalite unit from (111) plane of three 0(3)'s and each approaches three framework oxides; the other four Cd2+ ions extend approximately 0.586A into the large cavity. The four Cd2+ ions are in a near tetrahedral environment, 2.220(9)A from·three framework oxide ions and 2.74(7) A from each carbon atom of an acetylene molecule(which is here counted as a monodentate ligand). Full matrix least squares refinement converged to the final error indices R1=0.093 and R2=0.105 using the 292 independent reflections for which I>3σ(I).

• Economic and Environmental Geology
• /
• v.54 no.6
• /
• pp.709-716
• /
• 2021

In this study, an adsorbent prepared by natural drying of iron hydroxide-based sludge collected from settling basin at a mine drainage treatment facility located in Gangneung, Gangwon-do was used to remove fluoride in an artificial fluoride solution and mine drainage, and the adsorption characteristics of the adsorbent were investigated. As a result of analyzing the chemical composition, mineralogical properties, and specific surface area of the adsorbent used in the experiment, iron oxide (Fe₂O₃) occupies 79.2 wt.% as the main constituent, and a peak related to calcite (CaCO₃) in the crystal structure analysis was analyzed. It was also identified that an irregular surface and a specific surface area of 216.78 m²·g^-1. In the indoor batch-type experiment, the effect of changes in reaction time, pH, initial fluoride concentration and temperature on the change in adsorption amount was analyzed. The adsorption of fluoride showed an adsorption amount of 3.85 mg·g^-1 16 hours after the start of the reaction, and the increase rate of the adsorption amount gradually decreased. Also, as the pH increased, the amount of fluoride adsorption decreased, and in particular, the amount of fluoride adsorption decreased rapidly around pH 5.5, the point of zero charge at which the surface charge of the adsorbent changes. Meanwhile, the results of the isotherm adsorption experiment were applied to the Langmuir and Freundlich isotherm adsorption models to infer the fluoride adsorption mechanism of the used adsorbent. To understand the thermodynamic properties of the adsorbent using the Van't Hoff equation, thermodynamic constants 𝚫H° and 𝚫G° were calculated using the adsorption amount information obtained by increasing the temperature from 25℃ to 65℃ to determine the adsorption characteristics of the adsorbent. Finally, the adsorbent was applied to the mine drainage having a fluoride concentration of about 12.8 mg·L^-1, and the fluoride removal rate was about 50%.

• Economic and Environmental Geology
• /
• v.42 no.5
• /
• pp.435-444
• /
• 2009

In situ stabilization of heavy metals through adsorption onto indigenous bacterial biofilm developed on soil particles was investigated. Biofilms were developed in soil columns by supply of various carbon sources such as acetate, lactate and glucose. During development of biofilms, acetate, lactate, and glucose solutions were flew out from the soil columns with volume ratios of 98.5%, 97.3%, and 94.7%, respectively, when compared with soil column supplied with deionized water. Decrease in effluent amounts through the soil columns amended with carbon sources over time indicated the formation of biofilms resulting in decrease of soil porosity. Solutions of Cd, Cr(VI), Cu, Pb, and Zn were injected into the biofilms supported on soil particles in the columns, and the dissolved heavy metals in effluents were determined. Concentrations of dissolved Cd, Cr(VI), Cu, and Zn in the effluents through biofilm columns were lower than those of control column supplied with deionized water. The result was likely due to enhanced adsorption of the metals onto biofilms. Efficiency of metal removal by biofilms depended on the type of carbon sources supplied. The enhanced removal of dissolved heavy metals by bacterial biofilms in this study may be effectively applied to technical development of in situ stabilization of heavy metals in natural soil formation contaminated with heavy metals.

• The Journal of Engineering Geology
• /
• v.17 no.1 s.50
• /
• pp.143-150
• /
• 2007

AMD (Acid mine drainage) from disused mines is one or the most significant pollutant problems to make harmful effect to human health. We demonstrated the mechanism of resolution and adsorption reaction for arsenic, manganese and zink from the soil and mine tailings which were located in the vicinity of a disused mine in Kyoungnam area. The resolution experiments were carried with a column test f3r 45 days continuously. Metal chemical forms in water were changed with the condition of solution pH and ORP (oxidation-reduction potential). Metal chemical forms affected on the reaction of resolution and adsorption of metals in water environments. Even though the sampling was carried in very closed location, there was significant different results of pollution level and ORP changes in terms of column operations. Hence It was important to note the pH and ORP in AMD to evaluate a risk assessment and a soil management using monitoring metals. When we operate AMD management with the mechanism of resolution and adsorption it can be achieved better economic solution.

• Korean Journal of Crystallography
• /
• v.4 no.2
• /
• pp.54-62
• /
• 1993

The crystal shnture of dehydrated fully Cd2+-exchanged zeolite A evacuated at 2 × 10-6 Torr and 650℃ (a:12.189(2) A) and of its iodine sorption corrplex (a:12.168(2)A) have been netsmlmn by single uystal x-ray diffraction techliques in the cubic space group hkTn at 21(1)℃. The strutures were refined to final error indices, Ri:0.057 and R2 =0.063 with 186 reflections and Rl:0.082 and R2:0.085 with 181 reflections, respectively, for which 1>3σ(In both structure, six lie at two distinguished threefold axes of unit cell ten the crystal structure of an iodine sorption complex of Cd6-A four Cd2+ ions are recessed 0.69(1) A into the large cavity to complex each with from the (111) plane of 0(3), whereas two Cd2+ ions recessed 0.68(1) A into the sodalite unit Awximately 4.0 l3ions per nit cell are sorbed. Each bridge between a Cd2+ ion and 8-ring oxygens ((I-I-I)= 117(1) ˚ and 0(1)-I(1)-I(2)=172(1)). The near linear I-I-0 angle and its interatomic distance (I-0=3.57(3) A) are indicative of a weak charge transfer interacticn between the frarrework oxygen and iodine. The existence of In3 inside the large cavity indicates that the If ions and H ions may be produced by reaction of In vapor with water molecules which maybe associated with Cd2+ ions in partially dehydrated Cd6-A In3- ions may be produced by the combination of I- and I2.

• Korean Journal of Soil Science and Fertilizer
• /
• v.43 no.3
• /
• pp.304-314
• /
• 2010

This study was carried out to find out potential use of ochre as an agent to reduce phosphorus content in water. Ochre is a by-product from treatment of acid mine drainage (AMD) which is composed mostly of $Fe_2O_3$, $Fe_2O_3{\cdot}H_2O$, $FeO{\cdot}OH$ and $Fe(OH)_3$. Three ochre samples (ochre-H, ochre-D and ochre-S) were collected from three treatment facilities in Gangwon province. Physico-chemical characteristics of three ochre samples including pH, electrical conductivity, total phosphorus, available phosphorus, particle size distribution were analyzed. Scanning electron microscopy (SEM) energy dispersive spectroscopy (EDS), X-ray diffraction (XRD) and X-ray fluorescence (XRF) analysis were also carried out. In addition, experiments for phosphorus removal from water was performed. Calcium content of ochre-H was higher than that of ochre-D and ochre-S, whereas iron content of ochre-H was lower than that of ochre-D and ochre-S. All the phosphorus in water up to maximum 191,411 mg $kg^{-1}$ per unit mass of ochre was removed with ochre-H. Ochre has immense potential as an agent to reduce phosphorus content in water.

• Ecology and Resilient Infrastructure
• /
• v.5 no.1
• /
• pp.19-24
• /
• 2018

Water quality is affected by the pollutants flowing into rivers since the interaction between water bodies and sediments in various environmental conditions. Especially, accumulation of sediments increases in the stagnant water areas due to a relative long hydrological retention time in the water bodies. Therefore, it is an important factor of water quality to understand characterization of the material behavior in water bodies and sediments. In this study, the objective of the conditional experiments was small and medium sized streams located in Gyeonggi-do. To estimate how the changes of fluoride behavior, depending on the pH, ion type, concentration, and clay contents. The pH results showed a trend that adsorption amount of fluorine decreased and the dissolution of fluorine increased following by pH increasing. The concentration and type of ions results showed that $Cl^-$ and $SO{_4}^{2-}$ ions had no significant effect on the adsorption ability of fluorine, the amount of dissolution was increased because $OH^-$ ion had active competition with fluorine in the reaction. The ingredient of sediment results showed that the amounts of fluoride adsorption and dissolution were reduced in samples, which contain relatively large amounts of Silt and Clay components. This means that the environmental conditions of water bodies greatly affect the adsorption and dissolution of fluoride in the sediments, so that proper management of fluoride in the sediments must precede an understanding of the environmental conditions of the water bodies.

• Journal of the Korean Chemical Society
• /
• v.49 no.1
• /
• pp.29-34
• /
• 2005