• Journal of Institute of Control, Robotics and Systems
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• v.18 no.7
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• pp.680-687
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• 2012

One of the frequent problems in the stabilized gimbal system is the rejection of disturbances associated with moving components. Very often such disturbances have non-linear characteristics. In a typical gimbal system, each gimbal and platform are connected by a mutual bearing which induces inevitable friction. Particularly, the non-linear Coulomb friction causes position errors as well as slow responses that lead to unfavorable performance. In this paper, a modified PID controller that is augmented by Coulomb friction estimator is presented. Through constantly estimating the Coulomb friction torque, it is applied to the output of the existing PID controller. The effectiveness of the proposed controller is evaluated through a series of experiments.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.893-898
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• 2003

Coulomb friction is an important factor for precise position tracking control systems. The control systems with friction causes the steady state error because of being sensitive to the change of system condition and highly nonlinear characteristics. To overcome these problems, we use an estimation scheme of Coulomb friction to experiment for it's compensating. The estimated factor for Coulomb friction is used as a feed-forward compensator to improve the tracking performance of ball-screw systems. The tracking performance was improved by compensating the estimated friction torque in the feed-forward term. And, the sliding mode control which is derived from the Lyapunov stability theorem is applied for robust stability and reducing chattering. The experimental results show that the sliding mode controller with adaptive friction compensator has a good tracking performance compared with the friction uncompensated controller.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.11
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• pp.483-490
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• 2006

When the nonlinearities, such as friction and backlash, are not considered in the controller design, undesirable oscillations can occur in the steady-state response of a control system. This paper deals with a method to reduce oscillations that often appear in the steady-state response of a pendulum system, which is controlled by a state feedback controller based on the linearized system model. With an assumption that the oscillations shown in the steady-state are caused by the Coulomb friction, we improve the performance of stabilization and tracking by estimating and compensating for the Coulomb friction in the pendulum system. Experimental results show that the control performance can be improved sufficiently by the proposed method, when it is applied to an inverted cart pendulum which is a multi-variable unstable system. Furthermore, we could see that the Coulomb friction model used in the estimation of the friction is valid in applying the suggested method.

• Tunnel and Underground Space
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• v.21 no.3
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• pp.174-180
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• 2011

An anisotropic version of Mohr-Coulomb failure criterion is proposed in order to provide a strength criterion for transversely isotropic rock. The concept of fabric tensor introduced by Pietruszczak & Mroz (2001) is employed to define the friction angle and cohesion as scalar functions of the fabric tensors. The anisotroy in these two strength parameters are calculated in association with the consideration of the relative rotation between the principal stress coordinate and the principal material triad. The critical plane on which the anisotropic function maximized is found by an optimization technique based on the Lagrange multiplier method. To demonstrate the performance of the anisotropic failure criterion, conventional triaxial tests on the samples having various inclinations of weakness plane are simulated and the resulting triaxial strength and dip angle of failure plane are discussed.

• Journal of the Korean Geosynthetics Society
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• v.9 no.3
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• pp.19-27
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• 2010

In this study, a series of triaxial tests to Jeju basalt were carried out and then shear strength parameters of rock were estimated by the Lade's three-dimensional failure criterion. Also, the characteristics of shear strength parameters and failure plane which were estimated by the three-dimensional failure criterion were analyzed and this failure criterion was compared with the Mohr-Coulomb failure criterion. The variables of ${\eta}_1$ and m are derived from the relationship between ($I_1^3/I_3-27$) and ($P_a/I_1$) during the failure period using the Lade's three-dimensional failure criterion. The failure plane size of Tracy-basalt has the largest plane and that of Scoria has the smallest plane among other octahedral planes which is the three-dimensional failure plane. Also, the failure plane of Tracy-basalt is formed as a triangle and that of Scoria is formed as a circle among other octahedral planes. As the result of comparison with the triaxial test results and the Lade's failure envelope and the Mohr-Coulomb failure envelope, the Lade's failure envelope matched up under higher stress, while the Mohr-Coulomb failure envelope matched up under lower stress. Also, the Lade's three-dimensional failure plane is larger than the Mohr-Coulomb three-dimensional failure plane. It means that the shear strength parameters estimated by the Lade's failure criterion is larger than that of the Mohr-Coulomb failure criterion.

• Geotechnical Engineering
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• v.13 no.4
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• pp.135-148
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• 1997

Coulomb's theory has been usually used in practice to obtain lateral earth pressure against retaining wall. Such theory is based in the assumption that the lateral pressure is a tai angular distribution, since the point of applying the lateral thrust cannot be obtained by using it. However, the results of laboratory and field tests showed that the lateral pressure was not a triangular but a nonlinear distribution. To overcome the drawback of the Coulomb's theory, the different theoretical approaches(Handy, 1985. Kingsley, 1989 : Kellogg, 1993, Chung et at,1993, 1996a) were performed for gravity wall backfilled by cohesionless soil. On the other hand, for retaining wall backfilled by ,cohesive soil, theoretical analyses were carried out only on the basis of the Rankine's or Coulomb's concepts, but the equations showed different results. Here was newly derived the equations of lateral pressures under undrained condition against gravity wall backfilled by cohesive soil. They were based on the Coulomb's wedge, adopted the arching concept. Some of the equations were derived by neglecting tension crack, while the others by considering it. Comparative results for applying different examples showed that the equation considering tension crack might be reasonable.

• Journal of the Korean Geotechnical Society
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• v.32 no.3
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• pp.15-27
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• 2016

In this study, a series of triaxial compressive strength tests were conducted for basaltic intact rocks sampled in the northeastern onshore and offshore, southeastern offshore and northwestern offshore of Jeju Island. Hoek-Brown constants $m_i$ were estimated from the results of the triaxial compression tests, and the properties of the Hoek-Brown constants $m_i$ were investigated. In addition, the cohesion and internal friction angle, strength parameters of Mohr-Coulomb failure criterion, obtained from the results of the triaxial compression tests were compared and analyzed with those estimated from Hoek-Brown failure criterion, respectively. As results, it was found that the Hoek-Brown constant $m_i$ is deeply related to the internal friction angle. As the internal friction grows, the Hoek-Brown constant $m_i$ increases exponentially. The cohesions estimated from the Hoek-Brown failure criterion, on average, are approximately 24% higher than those obtained from the Mohr-Coulomb failure criterion. The internal friction angles estimated from the Hoek-Brown failure criterion are similar to those obtained from the Mohr-Coulomb failure criterion.

• Journal of the Korean Geotechnical Society
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• v.35 no.2
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• pp.37-51
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• 2019

This study focuses on the numerical simulations of the cone penetration tests in a sand ground. The mechanical responses of sand were described using the modified Mohr Coulomb plasticity model based on the critical state soil mechanics. In the plasticity model, the dilatancy angle was not a constant, but a function of the distance to the critical state line from the current state of void ratio and mean effective stress. To simulate cone penetration tests numerically, this study relied on Lagrangian finite element method under the axisymmetric condition. To enable penetration of the cone penetrometer without tearing elements along the symmetric axis, the penetration guide concept was adopted in this study. The results of numerical simulations on the calibration chamber cone penetration tests had good agreement with the experimental results.

• Journal of the Korean Geotechnical Society
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• v.19 no.6
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• pp.151-160
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• 2003

The stability of the designed rock slope is analysed based on two kinds of shear strength model. Besides the deterministic analysis, a probabilistic approach on Monte Carlo simulation is proposed to deal with the uncertain characteristics of the discontinuity and the results obtained from two models are compared to each other. To carry out the research of characteristics of the discontinuity, BIPS, DOM Scanline survey data and direct shear test data are used, and chi-square test is used for determining the probability distribution function. The rock slope is evaluated to be stable in the deterministic analysis, but in the probabilistic analysis, the probability of failure is more than 5%, so, it is considered that the rock slope is unstable. In the shear strength models, the probability of the failure based on the Mohr-Coulomb model(linear model) is higher than that of the Barton model. It is supported by the fact that the Mohr-Coulomb model is more sensitive to block size than the Barton model. In fact, there is no reliable way to estimate the unit cohesion of the Mohr-Coulomb model except f3r back analysis and in the case of small block failure in the slope, Mohr-Coulomb model may excessively evaluate the factor of the safety. So, the Barton model of which parameters are easily acquired using the geological survey is more reasonable for the stability of the studied slope. Also, the selection of the proper shear strength model is an important factor for slope failure analysis.

• Tunnel and Underground Space
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• v.23 no.3
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• pp.219-227
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• 2013

Although Mohr-Coulomb failure criterion has limitations in that it is a linear criterion and the effect of the intermediate principal stress on failure is ignored, this criterion has been widely accepted in rock mechanics design. In order to overcome these shortcomings, the Hoek-Brown failure criterion was introduced and recently a number of 3-D failure criteria incorporating the effect of the intermediate principal stress on failure have been proposed. However, in many rock mechanics designs, the possible failure of rock mass is still evaluated based on Mohr-Coulomb criterion and most of practitioners are accustomed to understanding the strength of rock mass in terms of the internal friction angle and cohesion. Therefore, if the equivalent Mohr-Coulomb strength parameters of the advanced failure criteria are calculated, it is possible to take advantage of the advanced failure criteria in the framework of the Mohr-Coulomb criterion. In this study, a method expressing the tangential Mohr-Coulomb strength parameters in terms of the stress invariant is proposed and it is applied to the generalized Hoek-Brown criterion and the HB-WW criterion. In addition, a new approach describing the geometric meaning of the ${\sigma}_2$-dependency of failure criteria in 3-D principal stress space is proposed. Implementation examples of the proposed method show that the influence of the intermediate principal stress on the tangential friction angle and cohesion of the HB-WW criterion is considerable, which is not the case for the 2-D failure criterion.