• 터널과지하공간
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• 제7권1호
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• pp.65-74
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• 1997

Underground structures show different behaviors depending upon the space and the mechanical characteristics of discontinuities, such as joints, beddings, faults and shear zone. Desingning the rock structeres without considering the significance of these discontinuities can lead to false conclusions. This paper includes study on the following topics; the numerical analysis of continuous rock and discontinuous rock around a tunnel, the influences on shotcrete moment and rock-bolt axial force of tunnel due to different joint orientation and stiffness.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.363-368
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• 1995

A general method of solving inverse kinematics of three-joint manipulator composed of revolute joints or prismatic joints or combinations of those joints is presented in this study. In completing real-time control, it is very important to obtain the closed form solutions of inverse kinematics rather than iterative numerical solutions, because iterative numerical solutions are generally much slower than the corresponding closed form solutions. If it is possible to obtain the inverse kinematic solutions for general cases of considering twist anlges and offsets, the manipulator work space can be designed and enlarged more effciently for specific task. Moreover, in idustrial manipulators, the effect of main three joints is larger than that of the other three joints related to orientation in the view of work space. Therfore the solutions of manin three-joint are considered. Even The inverse kinematic equations are complicatedly coupled, the systematical solving process by using symbolic calculation is presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.492-496
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• 1988

Usually the first three joint variables (major link) and the next three joint variables (minor link) are used to determine the position and the orientation, respectively, of 6 degrees-of-freedom robot manipulators. In this paper, the Jacobians of 20 major links and 6 minor links are calculated to find the positional maneuverability matrices and orientational maneuverability matrices. Then the kinematic characteristics of the major and minor links are examined. Also we gave the measures of maneuverability and the controllability of the links for the figure of merits of robot manipulator design.

• 터널과지하공간
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• 제5권1호
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• pp.1-10
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• 1995

The behavior of a jointed rock mass depends mainly on the geometrical and mechanical properties of joints. The failure mode of a rock mass and kinematics of rock blocks are governed by the orientation, spacing, and persistence of joints. The mechanical properties such as dilation angle, shear strength, maximum closure, strength of asperities and friction coeffiient play important roles on the stability and deformation of the rock mass. The normal and shear behaviour of a joint are coupled due to dilation, and the joint deformation depends also on the boundary conditions such as stiffness conditons. In this paper, the joint constitutive law including the dilatant behaviour of a joint is numerically modelled using the edge-to-edge contact logic in distinct element method. Also, presented is the method to quantify the input parameters used in the joint law. The results from uniaxial compression and direct shear tests using the numeical model of the single joint were compared to the analytic results from them. The boundary effect on the behaviour of a joint is verified by comparing the results of direct shear test under constant stress boundary condition with those under constant stiffness boundary condition. The numerical model developed is applied to a complex jointed rock mass to examine its performance and to evaluate the effect of joint dilation on tunnel stability.

• 한국지반공학회논문집
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• 제23권10호
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• pp.97-107
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• 2007

대규모 암반비탈면은 소규모 암반비탈면과 달리 파괴블록의 크기를 사면전체로 가정했을 경우 비합리적인 안정성 평가가 이루어질 가능성이 매우 크다. 즉, 파괴블록의 크기에 따라서 안전율, 절리면 강도정수 등이 변하기 때문에 대규모 비탈면의 경우에는 공학적인 방법으로 파괴 가능 블록크기 평가가 필요하다. 따라서 본 연구에서는 연구대상 부지의 절리조사자료를 이용하여 절리의 방향성(joint orientation) 및 절리간격(joint spacing) 통계분석, 3차원 절리발생 강도(joint intensity)분석 등의 과정을 거쳐 3차원 절리계를 생성한 후, 이를 이용하여 파괴가능 블록(failure block) 크기를 분석하였다. 분석결과 파괴유발이 우려되는 블록은 33개가 관찰되었으며, 최소크기 1.4m, 최대크기 38.7m, 평균크기 15.2m로 나타났다. 또한, 3차원 절리계 생성과정에서 발생되는 절리자료를 활용하여 확률론적해석, 2, 3차원 불연속체해석 등에 직접적으로 활용할 수 있었다.

• 한국정밀공학회지
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• 제18권6호
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• pp.87-92
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• 2001

An error analysis is very important for a precision machine to estimate its performances. This study proposes a new parallel device, cubic parallel manipulator. Errors of the proposed cubic parallel manipulator include upper and down universal joint errors, due to the directional changes in the forces in the links, and actuation errors. An error analysis is presented based on an error model formed through the relation between the universal joint errors of the cubic parallel manipulator and the end effector accuracy. The analysis shows that the method can be used in predicting the accuracy of other cubic parallel devices.

• 터널과지하공간
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• 제8권4호
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• pp.342-350
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• 1998

시추공 텔레뷰어에 의해 획득된 시추공벽 영상을 이용하여 암반내 절리 구조 특성을 해석하고자 하였다. 절리구조의 특성으로서 발달된 절리군의 방향성 및 거칠기의 산정은 영상분석을 통한 절리궤적의 추적에 의하였으며, 산정된 절리군의 JRC 값과 추정된 역학적 상수들로부터 Barton-Bandis 모델에 의해 절리강성을 추정하고 자료들을 종합하여 암반 수치해석 모델링용 절리구조도를 작성하였다. 시추공벽 절리궤적의 추적 효율성을 높이기 위하여 영상 분석기에 내장된 함수를 이용한 최적의 매크로 프로그램과 걸칠기 산정 프로그램, 절리구조도 작성용 프로그램을 완성하였다.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 1999년도 가을 학술발표회 논문집
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• pp.147-152
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• 1999

Distribution of fracture system is an important factor to analyse instability of jointed rock slope. In the most case of rock slopes, joint distribution properties are related to potential, shape, size and locality of slope failure. The purpose of this paper is to present an application of fracture characterization related to rock slope failure. Fracture data used in this study are collected by scanline survey. Two aspects of fracture characterization for rock slope are handled in this study First, In order to determine the potential and shape of slope failure, trace length of joints is considered as the weighting factor about collected orientation data. Second, Relationship between trace length and spacing is analysed to estimate failure location and size. The distribution of fracture system is directly influenced on wedge failure. It is effective to analyse the orientation of fractures by using weighting factors associated with the trace length of fractures rather than to analyse only that of fractures. It gives a conclusion that the wedge failure occurred along the peak of fracture density(or intensity) cycles.

• 국제지역연구
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• 제13권3호
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• pp.481-500
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• 2009

본 연구는 해외로 진출한 우리나라 고기술/지식집약산업 중소벤처기업의 시장지향성과 해외진출성과간 관계에 있어 기업가정신의 영향력을 탐색해보고자 하는 것이다. 기존연구들에서는 기업가정신이 시장지향성의 선행요인임과 동시에 해외진출성과에 영향을 미치는 중요 요인으로 제시되고 있으나, 본 연구에서는 기업가정신이 시장지향성의 선행요인으로서의 역할이 아니라 시장지향성과 해외진출성과간의 관계에 긍정적인 영향을 미치는 중요한 조절변수로서의 역할을 수행할 것이라 가정하고 연구를 진행하였다. 또한 보다 세부적으로는 기업가정신을 구성하는 3가지 하위요소 각각도 중요한 조절변수로서의 역할을 수행할 것이라는 가설을 설정하여 계층적 회귀분석 모형을 통한 실증분석을 시도하였다. 한국 해외진출 중소벤처기업 217개의 표본을 이용한 실증분석결과, 기업가정신요인은 시장지향성과 해외진출성과간 관계에 유의한 조절효과를 미치고 있는 것으로 나타났으며, 특히 기업가정신의 하위요인 중 혁신성과 진취성에 유의한 조절효과를 보이고 있는 것으로 나타났다.

• 대한의용생체공학회:의공학회지
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• 제29권6호
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• pp.431-435
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• 2008

Quantitative information of a three dimensional(3D) kinematics of joint is very useful in knee joint surgery, understanding how knee kinematics related to joint injury, impairment, surgical treatment, and rehabilitation. In this paper, an automated 2D/3D image matching technique was developed to estimate the 3D in vivo knee kinematics using dual X-ray images. First, a 3D geometric model of the knee was reconstructed from CT scan data. The 3D in vivo position and orientation of femoral and tibial components of the knee joint could be estimated by minimizing the pixel by pixel difference between the projection images from the developed 3D model and the given X-ray images. The accuracy of the developed technique was validated by an experiment with a cubic phantom. The present 2D/3D image matching technique for the estimation of in vivo joint kinematics could be useful for pre-operative planning as well as post-operative evaluation of knee surgery.