• The Journal of Korea Robotics Society
• /
• v.16 no.4
• /
• pp.299-305
• /
• 2021

In this study, the task of robotic tidy-up is to clean the current environment up exactly like a target image. To perform a tidy-up task using a robot, it is necessary to estimate the pose of various objects and to classify the objects. Pose estimation requires the CAD model of an object, but these models of most objects in daily life are not available. Therefore, this study proposes an algorithm that uses point cloud and PCA to estimate the pose of objects without the help of CAD models in cluttered environments. In addition, objects are usually detected using a deep learning-based object detection. However, this method has a limitation in that only the learned objects can be recognized, and it may take a long time to learn. This study proposes an image matching based on few-shot learning and Siamese network. It was shown from experiments that the proposed method can be effectively applied to the robotic tidy-up system, which showed a success rate of 85% in the tidy-up task.

• Korean Journal of Child Studies
• /
• v.28 no.4
• /
• pp.1-17
• /
• 2007

Participants in this study on links between toddlers' compliance and variables were 97 toddlers and their mothers. Instruments were the Toddler Behavior Assessment Questionnaire (Goldsmith, 1988) and the Child Rearing Practice Report-Q Sort (Block, 1981). Toddlers' compliance was observed on clean-up and behavior-delay tasks. Data analysis was by logistic and regression analyses. Results on the clean-up task indicated lower compliance by difficult children and higher compliance by girls. On the behavior-delay task, boys with less difficult temperament showed higher compliance by mother's higher punishment attitudes, whereas highly difficult boys were more compliant by mother's lower punishment attitudes. Girls' compliance was higher than boys in the low inhibition group whereas boys' compliance was higher than girls in the high inhibition group.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1444-1447
• /
• 2004

The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which is the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash and has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. In this paper, a Home Mess-Cleanup Robot(HMR), which has a practical function of the automatic mess-cleanup, is developed. It need functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of the self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulation system, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It need to also has the entertainment functions for the good communication between the human and HMR. Therefore, the Home Mess-cleanup Robot with Entertainmental Human Interface is developed in this paper. Finally, the good performance of the designed machine, HMR'4, is confirmed through the results of the mess clean-up and arrangement.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.12
• /
• pp.1011-1019
• /
• 2005

In this paper, Ubiquitous Home Mess-Cleanup Robot(UHMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of tile self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulate,, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and UHMR. Finally, the good performance of the designed UHMR is confirmed through the results of the mess clean-up and arrangement.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1612-1616
• /
• 2005

In this paper, a Home Mess-Cleanup Robot(HMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of the self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulator, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and HMR. Finally, the good performance of the designed HMR is confirmed through the results of the mess clean-up and arrangement.

• Korean Journal of Child Studies
• /
• v.35 no.6
• /
• pp.135-152
• /
• 2014

The main purpose of this study was to examine the mediating effects of maternal control strategies on the relationship between preschoolers' temperament and compliance/noncompliance. A total of 125 mothers with preschoolers aged 3 and 4 years participated in this study. Preschoolers' temperament was reported by mothers. Maternal control strategies and preschoolers' compliance/noncompliance were observed in the laboratory using a clean-up task. There were four major findings. First, preschoolers with higher levels of activity exhibited less compliance, and preschoolers with higher levels of adaptability and activity displayed more noncompliance. Second, preschoolers whose mothers used fewer commands and more compliments displayed more compliance and less noncompliance. Third, mothers who rated their children higher in activity level used more commands with their children. Finally, the use of maternal commands mediated the association between preschoolers' activity level and compliance/noncompliance. When preschoolers' activity level and maternal control strategies were considered together to predict preschoolers' compliance/noncompliance, the relationship between activity level and compliance/noncompliance became nonsignificant. These findings suggest that the effects of temperament on compliance/noncompliance are indirect through maternal control strategies.

• The Transactions of the Korean Institute of Electrical Engineers P
• /
• v.60 no.4
• /
• pp.214-219
• /
• 2011

The substation grounding design,"IEEE Guide for Safety in AC Substation Grounding (ANSI / IEEE Std 80)"has been widely used. Substation grounding design and substation grounding resistance of grounding network site to predict the voltage at the risk of a very important task, which is a ground fault current due to the influx of the ground network and due to rise in the Earth's potential can be applied to human dangerous Voltage within safe tolerances be configured to be the ground because the network. IEEE Std. 80 for the substation construction safety equipment on the ground securing the ground electrode and the mesh around the boundary potential distribution in terms of risk analysis by the touch voltage and the reference was to clean up the definition and the basic steps of the voltage of the voltage limits the risk of peripheral grounding electrode Suppression by the simulator through a new secure from dangerous voltage design techniques were presented.

• Environmental Engineering Research
• /
• v.22 no.3
• /
• pp.277-280
• /
• 2017

Destablization and demulsification is a difficult task for the treatment of waste oil-in-water drilling fluid because of its "three-high" characteristics: emulsification, stabilization and oiliness. At present, China is short for effective treating technology, which restricts cleaner production in oilfield. This paper focused on technical difficulties of waste oil-in-water drilling fluid treatment in JiDong oilfield of China, adopting physical-chemical collaboration demulsification technology to deal with waste oil-in-water drilling fluid. After oil-water-solid three-phase separation, the oil recovery rate is up to 90% and the recycled oil can be reused for preparation of new drilling fluid. Meanwhile, harmless treatment of wastewater and sludge from waste oil-in-water drilling fluid after oil recycling was studied. The results showed that wastewater after treated was clean, contents of chemical oxygen demand and oil decreased from 993 mg/L and 21,800 mg/L to 89 mg/L and 3.6 mg/L respectively, which can meet the requirements of grade one of "The National Integrated Wastewater Discharge Standard" (GB8978); The pollutants in the sludge after harmless treatment are decreased below the national standard, which achieved the goal of resource recovery and harmless treatment on waste oil-in-water drilling fluid.

• Safety and Health at Work
• /
• v.10 no.2
• /
• pp.151-165
• /
• 2019

Background: Despite improvements in safety performance, the number and severity of mining-related injuries remain high and unacceptable, indicating that further reduction can be achieved. This study examines occupational accident statistics of the Ghanaian mining industry and identifies priority areas, warranting intervention measures and further investigations. Methods: A total of 202 fatal and nonfatal injury reports over a 10-year period were obtained from five mines and the Inspectorate Division of the Minerals Commission of Ghana, and they were analyzed. Results: Results of the analyses show that the involvement of mining equipment, the task being performed, the injury type, and the mechanism of injury remain as priorities. For instance, mining equipment was associated with 85% of all injuries and 90% of all fatalities, with mobile equipment, component/part, and hand tools being the leading equipment types. In addition, mechanics/repairmen, truck operators, and laborers were the most affected ones, and the most dangerous activities included maintenance, operating mobile equipment, and clean up/clearing. Conclusion: Results of this analysis will enable authorities of mines to develop targeted interventions to improve their safety performance. To improve the safety of the mines, further research and prevention efforts are recommended.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
• /
• v.19 no.3
• /
• pp.387-419
• /
• 2021

The challenges facing companies and institutions surrounding civil nuclear decommissioning are diverse and many, none more so than those faced in the United Kingdom. The UK's Generation I nuclear power plants and early research facilities have left a 'Nuclear Legacy' which is in urgent need of management and clean-up. Sellafield is quite possibly the most ill-famed nuclear site in the UK. This complex and challenging site houses much of what is left from the early days of nuclear research in the UK, including early nuclear reactors (Windscale Piles, Calder Hall, and the Windscale Advanced Gas Cooled Reactor) and the UK's early nuclear weapons programme. Such a legacy now requires careful management and planning to safely deal with it. This task falls on the shoulders of the Nuclear Decommissioning Authority (NDA). Through a mix of prompt and delayed decommissioning strategies, key developments in R&D, and the implementation of site licenced companies to enact decommissioning activities, the NDA aims to safety, and in a timely manner, deal with the UK's nuclear legacy. Such approaches have the potential to influence and shape other such approaches to nuclear decommissioning activities globally, including in Korea.