• 디지털산업정보학회논문지
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• 제5권3호
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• pp.39-45
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• 2009

In this paper we present a cleaning robot system for an autonomous mobile robot. Our robot performs goal reaching tasks into unknown indoor environments by using sensor fusion. The robot's operation objective is to clean floor or any other applicable surface and to build a map of the surrounding environment for some further purpose such as finding the shortest path available. Using its cleaning robot system for an autonomous mobile robot can move in various modes and perform dexterous tasks. Performance of the cleaning robot system is better than a fixed base redundant robot in avoiding singularity and obstacle. Sensor fusion using the clean robot improves the performance of the robot with redundant freedom in workspace and Map-Building. In this paper, Map-building of the cleaning robot has been studied using sensor fusion. A sequence of this alternating task execution scheme enables the clean robot to execute various tasks efficiently. The proposed algorithm is experimentally verified and discussed with a cleaning robot, KCCR.

• 한국레이저가공학회지
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• 제4권2호
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• pp.39-45
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• 2001

This paper introduces a cleaning process for removing submicron-sized particles from NiP hard disk substrates by the liquid-assisted laser cleaning technique. Measurements of cleaning Performance and time-resolved optical diagnostics are Performed to analyze the physical mechanism of contaminant removal. The results reveal that nanosecond laser pulses are effective for removing the contaminants regardless of the wavelength and that a thermal mechanism involving explosive vaporization of liquid dominates the cleaning process.

• Membrane and Water Treatment
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• 제6권2호
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• pp.141-160
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• 2015

This study aims to investigate the impacts of chemical cleaning on the performance of a reverse osmosis membrane. Chemicals used for simulating membrane cleaning include a surfactant (sodium dodecyl sulfate, SDS), a chelating agent (ethylenediaminetetraacetic acid, EDTA), and two proprietary cleaning formulations namely MC3 and MC11. The impact of sequential exposure to multiple membrane cleaning solutions was also examined. Water permeability and the rejection of boron and sodium were investigated under various water fluxes, temperatures and feedwater pH. Changes in the membrane performance were systematically explained based on the changes in the charge density, hydrophobicity and chemical structure of the membrane surface. The experimental results show that membrane cleaning can significantly alter the hydrophobicity and water permeability of the membrane; however, its impacts on the rejections of boron and sodium are marginal. Although the presence of surfactant or chelating agent may cause decreases in the rejection, solution pH is the key factor responsible for the loss of membrane separation and changes in the surface properties. The impact of solution pH on the water permeability can be reversed by applying a subsequent cleaning with the opposite pH condition. Nevertheless, the impacts of solution pH on boron and sodium rejections are irreversible in most cases.

• 에너지공학
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• 제28권1호
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• pp.57-64
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• 2019

본 연구에서는 산업용 발전설비 부품의 곡면을 표면처리 하기 위한 브라스팅 노즐을 설계한 후 압축성 유동해석을 통해 분사 성능을 살펴보았다. 이때 곡면 노즐의 출구는 부품의 표면을 따라 곡면으로 설계되었다. 3차원 프린팅으로 노즐을 제작한 후 실린더형 시편의 표면에 연마재를 분사하여 세정 성능시험을 수행하였다. 해석 후 얻은 유효 세정 면적과 실험 후 얻은 유효 세정 면적의 크기와 형상이 유사하였으며 이로부터 곡면형 노즐 설계의 타당성 및 실효성을 확인하였다.

• 한국입자에어로졸학회지
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• 제19권3호
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• pp.63-76
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• 2023

An electrostatic precipitator (ESP) has a low pressure drop and a high collection efficiency but its collection efficiency can be reduced due to dust accumulation on the collection plates during long-term operations. In order to maintain the initial dust collection efficiency, it is necessary to periodically clean the collection plates. The common cleaning methods are using physical impacts or water sprays. These cleaning methods can lead to damage to the collection plate or generate wastewater. Herein, we implemented an electrodynamic screen (EDS) for ESP cleaning and evaluated its surface cleaning performance of particles. The EDS is an electrostatic system that can electrostatically repel particles on surfaces, allowing it to clean the ESP without causing damage and wastewater generation. Our evaluation included the analysis of the effects of AC voltage characteristics, electrode configuration and environmental conditions on the cleaning performance of the EDS with the aim of achieving effective surface cleaning. It has been demonstrated that activating the EDS cleans up to 65% of the particles on the surface, which indicates about 94% of our target cleaning zone.

• 한국레이저가공학회지
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• 제6권2호
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• pp.27-33
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• 2003

A laser shock cleaning technology is a new dry cleaning methodology for the effective removal of small particles from the surface. This technique uses a plasma shock wave produced by a breakdown of air due to an intense laser pulse. In order to optimize the laser shock cleaning process, it needs to evaluate the cleaning performance quantitatively by using a monitoring technique. In this paper, an acoustic monitoring technique was attempted to investigate the laser shock cleaning process with an aim to optimize the cleaning process. A wide-band microphone with high sensitivity was utilized to detect acoustic signals during the cleaning process. It was found that the intensity of the shock wave was strongly dependent on the power density of laser beam and the gas species at the laser beam focus. As a power density was larger, the shock wave became stronger. It was also seen that the shock wave became stronger in the case of Ar gas compared with air and N$_2$ gas.

• 한국건설순환자원학회논문집
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• 제10권1호
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• pp.56-65
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• 2022

본 연구에서는 시설물의 자기정화성능을 확보하기 위하여 이산화티탄 광촉매 용액을 코팅한 모르타르의 자기정화성능을 분석하였다. 광촉매 코팅 용액의 농도(1.5 %와 3.0 %), 초친수강화 용액 적용 유무 및 프라이머 용액의 사용 유무를 실험변수로 고려하였다. 광촉매 농도가 증가할수록 메틸렌블루 수용액의 색상 변화율이 증가하였으며, 이는 광촉매 농도가 증가할수록 자기정화성능이 증가하는 것을 나타낸다. 초친수성 광촉매 용액의 적용은 일반 광촉매 용액에 비해 자기정화성능을 다소 감소시킬 가능성이 있음을 나타낸다. 또한, 프라이머를 사용한 모르타르의 자기정화성능은 프라이머를 사용하지 않은 모르타르의 자기정화성능과 뚜렷한 차이를 나타내지 않는다. 한편, 낮은 농도(1.5 %)로 코팅된 모르타르에 비해 높은 농도(3.0 %)로 코팅된 모르타르 시편 표면의 코팅 균열이 미세하여 상대적으로 큰 광촉매 반응면적을 확보하고 자기정화성능 증가에 유리한 영향을 미친 것으로 판단된다.

• 한국레이저가공학회:학술대회논문집
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• 한국레이저가공학회 2000년도 추계학술발표대회 논문개요집
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• pp.23-26
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• 2000

This paper introduces a cleaning process for removing submicron-sized particles from NiP hard disk substrates by the liquid-assisted laser cleaning technique. Measurements of cleaning performance and time-resolved optical diagnostics are performed to analyze the physical mechanism of contaminant removal. The results reveal that nanosecond laser pulses are effective for removing the contaminants regardless of the wavelength and that a thermal mechanism involving explosive vaporization of liquid dominates the cleaning process.

• 로봇학회논문지
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• 제5권1호
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• pp.14-22
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• 2010

Recently researches on the window cleaning robot are being conducted actively. Moving mechanismsof 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.

• 한국분무공학회지
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• 제9권3호
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• pp.15-21
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• 2004

The removal of the dusts in the subway stations, tunnels, factories and buildings becomes issue for comfortable indoor and outdoor conditions. There has been used an automatic self-cleaning filter system to collect the dusts. In general, the collected particles are removed by water spray nozzles. The new design for improving the cleaning efficiency of collected dusts and reducing the supplied water is the concept of the plane array of demister filters and the twin-fluid nozzle for mixing compressed air and water in the automatic self-cleaning filter system. Results show that the cleaning efficiency of twin-nozzle filter systems is 99.1%, compared to 47% in the conventional filter system. Therefore the automatic self-cleaning filter system using twin-fluid nozzle filter systems reduces water supplied in the filter system, and increases cleaning efficiency and drying efficiency.