• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.353-356
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• 1997

Hydraulically driven manipulators are superior to electrically driven ones in the power density and electrical insulation. But an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and this parameter fluctuations are greater than those of electrically driven manipulator. So this is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous field task such as the maintenance task of high voltage active electric line or the automatic excavation task by hydraulic excavator. In this report, we propose robust force control algorithm, which can be applied to there real field task such as the construction field, nuclear plant and so on. Proposed force controller has the same structure as that of disturbance observe for position control. The difference between force and position disturbance observer is that the input and output of disturbance observer are forces in the case force disturbance observer and the plant varies much compared to the case of position control. In the design of force disturbance observer, generalized plant is derived and the stabilized filter is designed by H infinity control theory to ensure the robuts t stability even though the stiffness of environment changes from sponge to steel, and the contact surface also changes from flat to round shape. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions.

• Geomechanics and Engineering
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• v.14 no.1
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• pp.71-81
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• 2018

Soils are mostly nonhomogeneous and anisotropic in nature. In this study, nonhomogeneity and anisotropy of soil are taken into consideration by assuming that the cohesion increases with depth linearly and also varies with respect to direction at a particular point. A three-dimensional rotational failure mechanism is adopted, and then a three-dimensional stability analysis of slope is carried out with the failure surface in the shape of a curvilinear cone in virtue of the limit analysis method. A quasistatic approach is used to develop stability charts in nonhomogeneous and anisotropic soils. One can easily read the safety factors from the charts without the need for iterative procedures for safety factors calculation. The charts are of practical importance to prevent a plane failure in excavation slope whether it is physically constrained or not. Then the most suitable location of piles within the reinforced slope in nonhomogeneous and anisotropic soils is explored, as well as the interactions of nonhomogeneous and anisotropic coefficients on pile reinforcement effects. The results indicate that piles are more effective when they are located between the middle and the crest of the slope, and the nonhomogeneous coefficient as well as the anisotropic coefficient will not only influence the most suitable location for piles but also affect the calculated safety factor of existing reinforced slope. In addition, the two coefficients will interact with each other on the effect on slope reinforcement.

• Geomechanics and Engineering
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• v.10 no.2
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• pp.175-188
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• 2016

The construction of a new cavern modifies the state of stresses and displacements in a zone around the existing cavern. For multiple caverns, the size of this influence zone depends on the ground type, the in situ stress, the cavern span and shape, the width of the pillar separating the caverns, and the excavation sequence. Performances of underground twin caverns can be unsatisfactory as a result of either instability (collapse) or excessive displacements. These two distinct failures should be prevented in design. This study simulated the ultimate and serviceability performances of underground twin rock caverns of various sizes and shapes. The global factor of safety is used as the criterion for determining the ultimate limit state and the calculated maximum displacement around the cavern opening is adopted as the serviceability limit state criterion. Based on the results of a series of numerical simulations, simple regression models were developed for estimating the global factor of safety and the maximum displacement, respectively. It was proposed that a proper pillar width can be determined based on the threshold influence factor value. In addition, design charts with regard to the selection of the pillar width for underground twin rock caverns under similar ground conditions were also developed.

• Journal of Advanced Marine Engineering and Technology
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• v.37 no.2
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• pp.178-182
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• 2013

In mining and its similar industries, compact excavators are used commonly in narrow working spaces, of which bucket must be rotated essentially. Considering of those applications, many kinds of the compact excavators have been developed, but any stress evaluation of bucket rotating part had not been attempted. In this study, using of the finite element method and Spare solver, stress analysis has been performed on the bucket rotating parts and its adjacent parts of compact excavator, with using an excavation stress model, in various directions and positions. Resultantly, it has been defined that stress of connector in the rotating part is a little higher, due to its shape, than those remained parts of which stress are shown equally as 1 MPa. Especially in the moving parts, the stress of bucket pin and rotating pinion gear has been calculated as 7.7 MPa and 40 MPa respectively.

• Tunnel and Underground Space
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• v.18 no.4
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• pp.272-279
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• 2008

This paper describes the development of a simple and quantitative subsidence hazard estimation method appropriate to Korean coal mines using gangway depth information only. In spite of simpleness of estimation method, this new method gives good results close to those obtained using influence function method when applying to a virtual rectangular excavation model and to a closed mine where actual subsidence occurred. Therefore, this method can be effectively applied to the identification of zones liable to subsidence over closed coal mine in Korea where the shape of extraction is very complex and usually unknown.

• Journal of KIBIM
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• v.11 no.4
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• pp.20-30
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• 2021

In the era of the 4th industrial revolution, smart construction is actively researched, in the domestic construction field, and one of the key elements in this field is Building Information Modeling(BIM). In Korea, smart construction is being implemented through BIM-based digitization and intelligence. The geotechnical engineering field should also prepare for the introduction of BIM. In this study, the concept and application status of GeoBIM were identified, and the direction of future research was presented. This study is a part of the study "Establishment of GeoBIM-based Digital Twin Maintenance System" in the current "Technology Development for Establishment of Jeju Ground Collapse Response System for Safe Road Operation". The subject and scope of the study is continuous excavation at caves located under roads in Jeju Island, and initial research is being conducted on Jaeamcheon-gul and Jeonggusu-gul. This study aims to build a digital twin through individual data construction and integration processes such as cave shape modeling using laser scanners, 3D stratum modeling using borehole information and geophysical exploration data, and modeling of surrounding conditions using drones.

• Journal of the Korean Geosynthetics Society
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• v.16 no.4
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• pp.231-240
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• 2017

Recently, there have been frequent occurrences of ground sink in the urban area, which have resulted in human and material damage and are accompanied by economic losses. This is caused by artificial factors such as soil loss, poor compaction, horizontal excavation due to the breakage of the aged sewage pipe, and lack of water proof at vertical excavation. The ground sink can be prevented by preliminary restoration and reinforcement through exploration, but it can be considered that it is not suitable for urgent restoration by the existing method. In this study, a model experiment was carried out to simulate the in-ground cavities caused by groundwater flow for developing non-excavation urgent restoration in underground cavity and the range of the relaxation zone was estimated by detecting the around the cavity using a relaxation zone detector. In addition, disturbance region and relaxation region were separated by injecting gypsum into cavity formed in simulated ground. The shape of the underground cavity due to the groundwater flow was similar to that of the failure mode III formed in the dense relative density ground due to water pipe breakage in the previous study. It was confirmed that the relaxed region detected using the relaxation zone detector is formed in an arch shape in the cavity top. The length ratio of the relaxation region to the disturbance region in the upper part of the cavity center is 2: 1, and it can be distinguished by the difference in the decrease of the shear resistance against the external force. In other words, it was confirmed that the secondary damage should not occur in consideration of the expandability of the material used as the injecting material in the pre-repair and reinforcement, and various ground deformation states will be additionally performed through additional experiments.

• Journal of Korean Tunnelling and Underground Space Association
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• v.21 no.2
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• pp.267-278
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• 2019

Variety of tunnel ahead prediction methods have been performed for safe tunnel construction during tunnel excavation. Pole-pole array among the electrical resistivity survey, which is one of the tunnel ahead prediction method, has been utilized to predict water-bearing sediments or weak zone located within 5 times of tunnel diameter. One of the most important processes is the estimation of virgin ground resistivity and it can be obtained from the following process: 1) calculation of contact area between the electrodes and the medium, and 2) assumption of the electrodes as equivalent spherical electrodes which have a same surface area with the electrodes. This assumption is valid in a small contact area and sufficient distance between the electrodes. Since the measured resistance, in general, varies with the electrode size, shape, and distance between the electrodes, it is necessary to evaluate the influence of these factors. In this study, theoretical equations were derived and experimental tests were conducted considering the electrode size, shape, and distance of cylindrical electrodes which is the most commonly utilized electrode shape. Through this theoretical and experimental study, it is known that one should be careful to use the assumption of the equivalent half-spherical electrode with large ratio between the penetrated depth and radius of the cylindrical electrode, as the error may get larger.

• Journal of the Korean Institute of Traditional Landscape Architecture
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• v.33 no.1
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• pp.1-11
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• 2015

Gyeongju, Silla capital, hasn't paid much attention to a value of fortress as advanced frame of landscape all the while. All have done until now were maintaining lots of fortress including Gyeongju and setting night landscape lighting for them or building a trail in mountain fortress. Hereupon, this study tried to take a look at historical and scenic value of fortress, landscape frame of Gyeongju-Silla capital, based on Wolseong and Myeonghwalseong and find the way to contribute to it on landscape architectural level. As Wolseong(月城) and Myeonghwalseong(明活城) functioned as royal palace in Silla Dynasty, they need some research and study on fortress inside in detail rather than restoring them by simply maintaining the shapes. While Wolseong has overall excavation investigation going on, Myeonghwalseong representing mountain fortress area is losing its value due to unbefitting management to a title of world heritage. If conducting close research and study on these remains, it seems like it could contribute a lot to landscape architectural research of Silla royal palace through tracks, which will be used as royal palace. Here I suggest research direction on landscape architectural level about fortress remains in Gyeongju area as followings. Firstly, away from all research focusing on fortress shape, consecration way, etc, we need to conduct a research comprisable of inner space of fortress. As Wolseong and Myeonghwalseong functioned as royal palace in Silla Dynasty, it'll be possible to research about ponds, Nu-Jeong(樓亭), drainage facilities, oddly shaped stones, moundings, pavements, circulation systems, planting traces, etc. For this, we need to research and study through comparison with cases of China, Japan and Goguryeo of the same age. Secondly, applying garden archaeological way is possible to translate objectively regarding research of ancient garden with low literature record. But attainable achievement and information will be limited if implementing excavation based on archaeology as excavations so far regarding excavation investigation of Wolseong. The alternative to such problem is participation plan of landscaping field through the foundation of garden archaeology. We might be able to attain many results on landscape architectural level from research, if conducting research and study about Silla capital including Wolseong by applying garden archaeology such as collection of environmental sample and discovery and analysis of remains through aerial photograph, archaeological research, analysis of historical building, surface exploration, excavation technique, analysis of soil and flowerpot, etc. For this, many people majored in landscape architecture need to try and acquire archaeological knowledge. Also, we need to call attention to internal garden archaeology through international academic symposium by inviting global experts in garden archaeology field. I've suggested the study of location of Wolseong and Silla fortress in Gyeongju area, plan research on using and treating trees about the space in and out of fortress and landscape architectural research direction of Wolseong fortress.

• Journal of the Korean Geotechnical Society
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• v.20 no.4
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• pp.89-102
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• 2004

The generated blasting pressure wave initiated under decoupled-charge condition is a function of peak blasting pressure, rise time, and wave-shape function. The peak blasting pressure and the rise time are also the function of explosive and rock properties. The probabilistic distributions of explosive and rock properties are derived from the results of their property tests. Since the probabilistic distributions of explosive and rock properties displayed a normal distribution, the peak blasting pressure and the rise time can also be regarded as a normal distribution. Parameter analysis and uncertainty analysis were performed to identify the most influential parameter that affects the peak blasting pressure and the rise time. Even though the explosive properties were found to be the most influential parameters on the peak blasting pressure and the rise time from the parameter analyses, the result of uncertainty analysis showed that rock properties constituted major uncertainties in estimating the peak blasting pressure and the rise time rather than explosive properties. Damage and overbreak of the remaining rock around the excavation line induced by blasting were evaluated by dynamic numerical analysis. A user-subroutine to estimate the rock damage was coded based on the continuum damage mechanics. This subroutine was linked to a commercial program called 'ABAQUS/Explicit'. The results of dynamic numerical analysis showed that the rock damages generated by the initiation of stopping hole were larger than those from the initiation of contour hole. Several methods to minimize those damages were proposed such as relocation of stopping hole, detailed subdivision of rock classification, and so on. It was found that fracture probability criteria and fractured zones could be distinctively identified by applying fuzzy-random probability.