청소로봇을 위한 속성기반 자동 청소기법

김형일(Hyungil Kim) 한국정보기술학회 2010 한국정보기술학회논문지 Vol.8 No.10

Cleaning robots have specific purposes to clean offices or living rooms. The random cleaning method is simply implemented because the cleaning paths are randomly determined and the robots move along the determined paths. However, a weakness of this method is that it takes a long time to clean. A boustrophedon cleaning method shows superior performance than the random cleaning. However, its weakness is the increase in areas which are cleaned several times in complicated environment. The template method classifies the arrangement of obstacles into several types and determines the cleaning paths by type. The template method can effectively perform the cleaning task using templates or environmental information. However, its weakness is that it can perform effective cleaning only in the environment suitable for each template type. This paper suggests the automatic cleaning method using features for improving the performance of cleaning robots. The method plans the cleaning paths using feature information on an absolute coordinate system. The effectiveness of the method was verified by a variety of simulations.

청소여건 조성에 따른 청소효과의 고찰

김성휘,서정윤 7개 국립대학교 환경연구논문집 공동발행 위원회 2005 공업기술연구 Vol.5 No.-

It is said that though cleaning has implications for our lives, it ha been being only conducted by people's experiences and their insight to cleaning without certain methods. The teachings for effective cleaning include how students well conduct cleaning as well as how the teachers effectively teach the method for dffective cleaning. The concept of cleaning is related to the action which removes the foreign materials from our living environment, and they can be classified into three categories: waste, dust, and stain. Thus, conducting cleaning may mean the work for removing these from something. The results of this research suggested that preparation for cleaning is important, the tools should be sufficiently provided, and particularly the teacher should praise the students who did good job at cleaning. They also indicated that the conditions for cleaning allow for cleanig teaching as well as help to have better environment by the efficiency of the cleaning. And further studies should had focus on the method for cleaning and preparation for preferable cleaning conditions.

Cleaning Fabricated Metal Thread: A Post-treatment Stability Assessment after Artificial Deterioration and the Application of Synthetic Soil

Park, Hae Jin,Hwang, Minsun,Chung, Yong Jae The Korean Society Of Conservation Science For Cul 2019 보존과학회지 Vol.35 No.1

To study the cleaning effects and post-treatment stability assessment of various methods of cleaning textiles with metal thread, six naturally-soiled historical textiles with metal thread were investigated at the Metropolitan Museum of Art, New York. Prior to the cleaning of fabricated gold, silver, and copper thread that had been glued onto a paper substrate, the artificial deterioration was carried out in a controlled environment with light(UV and daylight), and temperature and humidity factors which would weaken and damage the samples. A synthetic soil mixture was applied to the samples to imitate soil found on the historic and archaeological textiles with metal thread; the cleaning effect and post-treatment assessment were investigated by use of three textile cleaning methods: mechanical cleaning, wet cleaning, and solvent cleaning. While investigating the naturally-soiled textiles with metal thread, it was determined that the soil colors and sizes of contaminating particles of each textile were different due to the diversity of original environmental factors and conditions. After cleaning with kneaded rubber, Stoddard solvent, n-decane or n-hexane, a bright, clean effect was apparent. Kneaded rubber was successful in picking up both large and small particles, but its stickiness caused some of the metal leaf to peel off. Stoddard solvent produced a good cleaning effect, but after use of n-hexane and n-decane in the cleaning process, a white layer of residue remained on the textile's surface. Wet cleaning was not effective and the rapid humidity changes between wet and dry conditions caused the edges of the paper substrate to lose their original shape.

기계부품의 세척성 평가에 관한 연구

전창수 한국산업융합학회 2022 한국산업융합학회 논문집 Vol.25 No.6

The need for remanufacturing ships and various mechanical components continues to increase along with environmental problems. Research on remanufacturing is being carried out in various fields, but research on cleaning is quite insufficient. In particular, there is no research on the cleaning-ability of diverse mechanical components. In order to increase the life cycle of mechanical components, remanufacturing must be considered from the step of design. Particularly, it is also very important to evaluate the degree of easiness in cleaning to remove various pollutants generated by long-term use quickly as well as easily. In this study, the degree of easiness in cleaning is defined as cleaning-ability. In fact, remanufacturing components can be easily done only when cleaning-ability is set high from the step of design. The purpose of this study is to evaluate the cleaning-ability of ships and various mechanical components. The details of easiness in cleaning are cleaning and drying identification, accessibility to cleaning tools, convenience in cleaning, and convenience in drying. This study presents a quantitative procedure to evaluate cleaning-ability, derived various factors influencing each of the details of easiness and their ranges, and gave scores to the factors according to their ranges. The weight was also calculated for the details of easiness in cleaning and the factors. Lastly, this researcher suggests a scoring procedure to evaluate cleaning-ability quantitatively and the total weight of cleaning-ability.

Cleaning Fabricated Metal Thread : A Post‐treatment Stability Assessment after Artificial Deterioration and the Application of Synthetic Soil

Hae Jin Park,Minsun Hwang,Yong Jae Chung 한국문화재보존과학회 2019 보존과학회지 Vol.35 No.1

To study the cleaning effects and post-treatment stability assessment of various methods of cleaning textiles with metal thread, six naturally-soiled historical textiles with metal thread were investigated at the Metropolitan Museum of Art, New York. Prior to the cleaning of fabricated gold, silver, and copper thread that had been glued onto a paper substrate, the artificial deterioration was carried out in a controlled environment with light(UV and daylight), and temperature and humidity factors which would weaken and damage the samples. A synthetic soil mixture was applied to the samples to imitate soil found on the historic and archaeological textiles with metal thread; the cleaning effect and post-treatment assessment were investigated by use of three textile cleaning methods: mechanical cleaning, wet cleaning, and solvent cleaning. While investigating the naturally-soiled textiles with metal thread, it was determined that the soil colors and sizes of contaminating particles of each textile were different due to the diversity of original environmental factors and conditions. After cleaning with kneaded rubber, Stoddard solvent, n-decane or n-hexane, a bright, clean effect was apparent. Kneaded rubber was successful in picking up both large and small particles, but its stickiness caused some of the metal leaf to peel off. Stoddard solvent produced a good cleaning effect, but after use of n-hexane and n-decane in the cleaning process, a white layer of residue remained on the textile’s surface. Wet cleaning was not effective and the rapid humidity changes between wet and dry conditions caused the edges of the paper substrate to lose their original shape.

W/O Microemulsion 세정제의 물성 및 세정성 평가

이명진,한지원,이호열,한상원,배재흠,박병덕 한국화학공학회 2002 Korean Chemical Engineering Research(HWAHAK KONGHA Vol.40 No.6

Nonionic surfactant/water/탄화수소 오일/alcohol의 4성분계 시스템에서 12종의 조성물을 제조하여 물성 평가를 수행한 결과, 30.5-31.1 dyne/㎝의 낮은 표면장력의 값과, 1.6-7.2 c.p.의 낮은 점도의 물성을 보여 산업용 세정제로서의 기본 물성을 보여주었다. 이들 조성물들이 안정한 단일상으로 존재하는 온도의 범위는 alcohol/surfactant(A/S)비의 증가에 따라 감소되는 경향을 보이고 있으나, 전체적으로는 계면활성제의 hydrophilic lipophillic balnace(HLB) 값에 크게 영향을 받고 있으며, HLB 값이 높을수록 안정하게 존재하는 온도 영역이 증가되는 경향을 보여주고 있다. 그리고 각각의 조성물에 물의 함량을 증가 시켜 안정한 단일상이 유지되는 물의 최대 함유량을 측정한 결과 HLB 값이 낮은 계면활성제를 사용하였을 경우 HLB 값이 6.4인 비이온 계면활성제를 사용할 경우 22.1%까지도 물을 함유할 수 있었고, 물의 양이 증가됨에 따라서 단일상으로 존재하는 온도영역은 좁아졌다. 오염원으로 플럭스 제조에 사용되는 abietic acid에 대한 세정 효율을 UV/Visable Spectrophotometer와 FT-IR Spectrometer와 같은 분석기기를 이용하여 검토하여 본 결과, 비이온 계면활성제의 HLB 값이 낮을수록 높은 세정 효율을 보여주어, W/O microemulsion의 경우 비이온 계면활성제에 따른 세정력의 변화가 매우 큼을 확인 할 수 있었다. 그러나 A/S의 비가 증가에 따른 세정효율의 차이는 별다른 경향을 보이지 않았다. 또한 산업세정에 있어서 중요한 세정 요소로 작용하는 변수인 온도 변화와 초음파 주파수의 변화에 따른 세정효율을 측정한 결과, 온도가 높을수록 그리고 초음파의 주파수가 낮을수록 높은 세정력을 보여주었다. 세정 공정 중 린스조에서의 유분 오염물이 함유된 린스액의 유수분리 효율을 측정한 결과, HLB 값이 6.4인 비이온 계면활성제를 사용한 세정 시스템의 경우 25℃ 이상에서 85% 이상의 높은 제거 효율을 보여, 효율적인 세정 및 관리가 가능한 것으로 판단되었다. Using four components - nonionic surfactants, water, hydrocarbon oil and an alcohol as cosurfactant, 12 types of cleaning agents were prepared, and their physical properties such as surface tension, viscosity, electroconductivity and phase stability were measured. As the formulated cleaning agents have low surface tensions(30.5-31.1 dyne/㎝) and low viscosities (1.6-7.2 c.p.), they are satisfied with the general physical properties of water-in-oil(W/O) microemulsions for their industrial use. They showed a tendency that their temperature range for stable one-phase microemulsion decreased in accordance with the increase of alcohol/surfactant(A/S) ratio in the formulations. However, the temperature range of one-phase microemulsion was much more affected by hydrophilic lipophillic balance(HLB) value of the nonionic surfactant which increased its temperature range and it increased in accordance with the higher HLB value in the formulations. And the maximum content of water which can keep stable one-phase W/O microemulsion was measured at each sample. In addition, their temperature range for stable one-phase microemulsion was also measured. It was confirmed that the selection of surfactant type was very important for formulating a cleaning agent, since the W/O microemulsion system with the nonionic surfactant of the lower HLB value showed better cleaning efficacy that of the higher HLB value for abietic acid as a soil, which was used for preparing a rosin-type flux In the formulated cleaning agents with the increase of A/S ratio in the formulations, however, there was no significant difference in cleaning efficacy. It was investigated that the differences of their cleaning efficacy was affected by the change of the condition of temperature and sonicating frequency as important factors in the industrial cleaning. That is, the higher, their cleaning temperature and the lower, their sonicating frequency, the more increased, their cleaning efficacy. Furthermore, using optical instruments like UV/Visable Spectrophotometer and FT-IR Spectrometer, their cleaning efficacy for abietic acid was measured. The removal of soil from the contaminated rinse water was measured by gravity separation method in the rinse bath. As a result, the cleaning agent system having the nonionic surfactant of HLB value 6.4 showed over 85% water-oil separation efficacy at over 25℃. Therefore, it was demonstrated in this work that the formulating cleaning agents were very effective for cleaning and economical in the possible introduction of water recycling system.

「조선오물소제령」 실시 전후의 경성부 청소행정의 구성과 운영

김상은 도시사학회 2019 도시연구 Vol.- No.21

In this study, I examine origins of the city cleaning system, by reviewing the cleaning adminstration operated by colonial authorities, and the modern cleaning system introduced during Japanese colonial rule. During the Japanese Residency-General period, the increasing influence of Japan and introduction of Japanese systems, impacted the waste removal method in the city. In 1908, 「The Regulations on Filth Cleaning」 was enacted, mandating Seoul residents to pay fees for cleaning performed by public authorities, and to conform to cleaning regulations. With implementation of the “Bu” system (府制) in 1914, cleaning performed by the Seoul Sanitation Association (SSA), was transferred to the Kyungseong City Government. The Kyungseong City Government used and managed branches and disposal sites from the cleaning office, operated when SSA was in place. The sanitation section and sanitation department of the Kyungseong City Government managed cleaning administration by periods. The head of cleaning supervision was appointed in 1933. In 1936, during the Japanese colonial rule, 「The Joseon Waste Removal Act」 was enacted as cleaning legislation effective throughout Joseon. This legislation was the foundation for facilitating installation, as well as granting authority to public officials responsible for cleaning, cleaning agencies, and those responsible for collecting cleaning fees. This legislated city cleaning, as a field of public administration. Followed implementation of the 「The Joseon Waste Removal Act」, The Kyungseong City Government enacted an ordinance, regarding cleaning administration. As of April 1, 1938, the cleaning section a part of the sanitation division within the General Affairs Department, was elevated to the status of cleaning division of the General Affairs Department. It became an independent organization, as awareness of the importance of cleaning increased, with expansion of cleaning districts after expansion of the Kyungseong City Government’s jurisdiction in 1936, and enactment of 「The Joseon Waste Removal Act」. The Kyungseong City Government recognized the necessity of hiring numerous cleaners, to remove waste discharged by the increasing population in the city. Therefore, the cleaning division requested cooperation from each administrative organization in the Kyungseong City Government, and introduced a new cleaning method, by mobilizing citizens’ autonomous organizations. 이 글은 일제하 도입된 근대청소제도와 식민지 당국이 펼친 청소행정에 대한 검토를 통해 도시청소제도의 연원을 밝히고자 한 연구이다. 통감부시기 일본의 영향력이 커지고 일본식 제도가 도입되는 과정에서 도시 내 오물청소방식도 그 영향을 받게 되었다. 1908년 서울에서 「제예규칙(除穢規則)」이 제정되면서 서울의 주민들은 공공단체의 청소작업에 수수료를 내고, 청소규정들을 의무적으로 따라야 했다. 1914년 부제(府制) 시행과 함께 기존 한성위생회(漢城衛生會)의 청소작업은 경성부로 이관되었다. 경성부는 한성위생회가 있던 시절의 제예사무소(除穢事務所)의 지소와 처분장을 이어받아 사용하였다. 경성부 위생계 및 위생과가 시기별로 청소행정을 담당했고 1933년부터 소제감독장(掃除監督長)이 따로 임명되었다. 1936년 일제하 전조선 통일의 청소법인 「조선오물소제령(朝鮮汚物掃除令)」이 제정되었다. 이 법으로 청소의무, 이원(吏員)의 설치와 권한, 대집행(代執行)과 수수료 징수의 근거 등이 마련되었다. 이것은 도시의 청소를 공공행정의 영역으로 법제화한 것이었다. 경성부는 「조선오물소제령」 시행과 함께, 법령에 의거한 청소행정에 대한 조례 등을 공포하였다. 1938년 4월 1일부로 총무부 위생과에 속했던 청소계는 총무부 청소과로 승격하였다. 1936년 경성부역의 확장 이후 청소 작업구역도 확대되고, 「조선오물소제령」이 제정되는 등 도시 청소의 중요성이 더해지면서 독립하게 된 것이었다. 초기 청소과는 서무계・징수계・종말처리계로 업무가 나뉘고, 산하에 청소과출장소와 분실, 오물처분장, 자동차차고를 두었다. 한편, 경성부는 주민들이 배출한 오물의 수거를 위해 많은 청소인부를 고용할 필요가 있었다. 이러한 문제를 타개하고자 청소과는 경성부 각 행정기구에 협력을 요청하고 주민자치조직을 동원한 새로운 청소방식을 도입하였다.

Effect of Brush Treatment and Brush Contact Sequence on Cross Contaminated Defects during CMP in-situ Cleaning

Kim, Hong Jin Korean Tribology Society 2015 한국윤활학회지(윤활학회지) Vol.4 No.1

Chemical mechanical polishing (CMP) is one of the most important processes for enabling sub-14 nm semiconductor manufacturing. Moreover, post-CMP defect control is a key process parameter for the purpose of yield enhancement and device reliability. Due to the complexity of device with sub-14 nm node structure, CMP-induced defects need to be fixed in the CMP in-situ cleaning module instead of during post ex-situ wet cleaning. Therefore, post-CMP in-situ cleaning optimization and cleaning efficiency improvement play a pivotal role in post-CMP defect control. CMP in-situ cleaning module normally consists of megasonic and brush scrubber processes. And there has been an increasing effort for the optimization of cleaning chemistry and brush scrubber cleaning in the CMP cleaning module. Although there have been many studies conducted on improving particle removal efficiency by brush cleaning, these studies do not consider the effects of brush contamination. Depending on the process condition and brush condition, brush cross contamination effects significantly influence post-CMP cleaning defects. This study investigates brush cross contamination effects in the CMP in-situ cleaning module by conducting experiments using 300mm tetraethyl orthosilicate (TEOS) blanket wafers. This study also explores brush pre-treatment in the CMP tool and proposes recipe effects, and critical process parameters for optimized CMP in-situ cleaning process through experimental results.

실리콘계 용제(Decamethylcyclopentasiloxane, D<SUB>5</SUB>)와 실리콘계 계면활성제에 의한 면직물과 Polyester/Cotton(65/35)직물의 친환경 드라이클리닝 효과 향상

김천희(Kim, Chunhee) 한국생활과학회 2017 한국생활과학회지 Vol.26 No.2

The detergency and soil redeposition of cotton and polyester/cotton(65/35) fabrics in dry cleaning solvents, i.e. petroleum solvent, perchloroethylene, decamethylcyclopentasiloxane(D5), with commercial detergents were studied. The dry cleaning detergency of cotton soiled fabric was not satisfactory regardless of cleaning conditions. However, the KS detergent noticeably improved wet detergency and also diminished the soil redeposition of cotton fabrics. Polyester/cotton(65/35) soiled fabrics displayed a similar tendency of dry cleaning detergency. Generally, wet cleaning exhibited a better detergency for both cotton and polyester/cotton(65/35) soiled fabrics than dry cleaning. Therefore, wet cleaning was more suited for those textiles if there were no deformation issues regarding the shapes and sizes of clothes. Even though the dry cleaning detergency of D5 was not optimal, it was comparable to that of petroleum solvents and perchloroethylene. When commercial detergents were added to the dry cleaning solvents, the soil redeposition decreased regardless of solvent/fabric types with the following exception: The soil redeposition in D5 with the commercial detergent dramatically increased with added water due to its lack of siliphilicity. Silicone surfactants were tested for detergency and soil redeposition in D5 regarding their suitability as dry cleaning detergents. Among three candidate silicone surfactants, PEG/PPG-19/19 Dimethicone (high molecular weight) displayed an exceptionally good soil redeposition prevention effect, even though its dry cleaning detergency was not very satisfactory. It is rare that clothes are as heavily soiled as artificially soiled fabrics under real wearing conditions. Therefore, soil redeposition can be more crucial for commercial dry cleaning systems than detergency itself, especially for light-colored clothes. The siliphilicy of surfactants calculated with a three-dimensional hydrophile-lipophile balance (3D HLB) concept is an important factor in determining surfactants for D5 dry cleaning purposes. In conclusion, PEG/PPG-19/19 Dimethicone (high molecular weight) is an appropriate surfactant in D5 dry cleaning detergents for dry cleaning performance improvements of cotton and polyester/cotton fabrics.

Effect of Brush Treatment and Brush Contact Sequence on Cross Contaminated Defects during CMP in-situ Cleaning

Hong Jin Kim 한국트라이볼로지학회 2015 한국트라이볼로지학회지 (Tribol. Lubr.) Vol.31 No.6

Chemical mechanical polishing (CMP) is one of the most important processes for enabling sub-14 nm semiconductor manufacturing. Moreover, post-CMP defect control is a key process parameter for the purpose of yield enhancement and device reliability. Due to the complexity of device with sub-14 nm node structure, CMP-induced defects need to be fixed in the CMP in-situ cleaning module instead of during post ex-situ wet cleaning. Therefore, post-CMP in-situ cleaning optimization and cleaning efficiency improvement play a pivotal role in post-CMP defect control. CMP in-situ cleaning module normally consists of megasonic and brush scrubber processes. And there has been an increasing effort for the optimization of cleaning chemistry and brush scrubber cleaning in the CMP cleaning module. Although there have been many studies conducted on improving particle removal efficiency by brush cleaning, these studies do not consider the effects of brush contamination. Depending on the process condition and brush condition, brush cross contamination effects significantly influence post-CMP cleaning defects. This study investigates brush cross contamination effects in the CMP in-situ cleaning module by conducting experiments using 300mm tetraethyl orthosilicate (TEOS) blanket wafers. This study also explores brush pre-treatment in the CMP tool and proposes recipe effects, and critical process parameters for optimized CMP in-situ cleaning process through experimental results.