• 한국지반공학회논문집
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• 제15권5호
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• pp.229-240
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• 1999

본 논문에서는 유한차분법, 채널망 해석법 및 절리망 해석법 등 다양한 해석기법을 이용하여 개별 암석절리 및 절리암반에서의 지하수 유동과 주입재의 유동거동을 연구하였다. 유동거동은 두개의 상이한 관찰규모, 즉 변화하는 간극분포를 가진 실험실 규모의 거친 절리면과 3개의 절리군에 속한 단절된 절리들을 포함하고 있는 현장 규모의 절리암반에 대해 수행되었다. 단일절리에서의 유동해석결과 물과 주입재 모두 간극분포에 의존하는 채널흐름의 특성을 확인할 수 있었다. 유한차분법과 기존의 이론해에 의한 유량 계산결과를 비교 분석하였다. 절리암반의 경우 절리의 수와 굴착된 원형공동의 직경을 증가시키면서 공동내부로의 지하수 유입량을 분석하였다. 이 분석에는 절리망 해석법과 Goodman의 이론해를 사용하여 결과를 비교하였다. 또한 절리망 해석법의 경계효과, 절리망의 비균질성이 지하수 유동에 미치는 영향 등을 논의하였다.

• 터널과지하공간
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• 제4권1호
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• pp.1-16
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• 1994

The study on the flow characteristics and analysis of groundwater in discontinuous rock mass is very important, since the water inflow into the underground opening during excavation induces serious stability and environmental problems. To investigate the flow through single rock joint, the effect of various aperture distribution on the groundwater flow has been analyzed. Observed through the analysis is the "channel flow", the phenomenon that the flow is dominant along the path of large aperture for given joint. The equivalent hydraulic conductivity is estimated and verified through the application of the joint network analysis for 100 joint maps generated statistically. Both the analytic aproach based on isotropic continuum premise and the joint network analysis are tested and compared analyzing the gorundwater inflow for underground openings of different sizes and varying joint density. The joint network analysis is considered better to reflect the geometric properties of joint distribution in analyzing the groundwater flow.ater flow.

• 전기전자학회논문지
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• 제16권3호
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• pp.235-243
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• 2012

In this study, we developed two legged multi-joint robot by using wireless servo motor that was applied by wireless sensor network technology, which is widely used recently, and performed an experiment of walking method of two legged multi-joint robot. We constructed the star network with servo motors which were used at each joint of two-legged robot. And we designed the robot for operation by transmission of joint control signal from main control system or by transmission of the status of each joint to the main control system, so it operates with continuously checking the status of joints at same time. We developed the humanoid robot by using wireless digital servo motor which is different from existing servo motor control system, and controlled it by transmitting the information of angles and speeds of robot joints to the motor(node) as a feedback through main control system after connecting power and setting up the IDs to each joint. We solved noisy problem generated from wire and wire length to connection point of the control device by construction of the wireless network instead of using existing control method of wiring, and also solved problem of poor real time response to gait motion by controlling the position with continuous transmission of control signals to each joint. And we found that the effective control of robot is able by performing the simulation on walking motion in advance with the developed control algorithm which was downloaded into installed memory. Also we performed the stable walking with two-legged robot by attaching pressure sensor to robot sole. And we examined the robot gait operated by application of calculated algorithm on robot movement to each joint. In this study, we studied the method of controlling robot gait motion by using wireless servo motors and measured the torque applied to each joint, and found that the developed wireless servo motor by ZigBee sensor network offers easier control of two legged robot gait and better circuit configuration of it than the existing wired control system could do.

• 한국지구물리탐사학회:학술대회논문집
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• 한국지구물리탐사학회 2003년도 Proceedings of the international symposium on the fusion technology
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• pp.115-121
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• 2003

Discrete joint network approach has widely been used to investigate the hydraulic behavior of jointed rock masses. In general, joints will undergo deformation due to stress redistribution induced by construction of underground openings, hence joint aperture is often assumed to have a probability distribution rather than to be a constant value. In real situations, however, it is more reasonable to take into account the effect of stress change on aperture values by calculating joint deformation. In this report, a mechanical process has been developed to determine the joint opening or closure based on a statistically generated joint network model. By performing numerical analyses, some significant results on the hydro-mechanical behavior of jointed rock masses have been summarized.

• 한국정밀공학회지
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• 제28권6호
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• pp.670-677
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• 2011

This study is to estimate the joint torques without torque sensor using the EMG (Electromyogram) signal of agonist/antagonist muscle with Neural Network Back Propagation Algorithm during the elbow motion. Command Signal can be guessed by EMG signal. But it cannot calculate the joint torque. There are many kinds of field utilizing Back Propagation Learning Method. It is generally used as a virtual sensor estimated physical information in the system functioning through the sensor. In this study applied the algorithm to obtain the virtual senor values estimated joint torque. During various elbow movement (Biceps isometric contraction, Biceps/Triceps Concentric Contraction (isotonic), Biceps/Triceps Concentric Contraction/Eccentric Contraction (isokinetic)), exact joint torque was measured by KINCOM equipment. It is input to the (BP)algorithm with EMG signal simultaneously and have trained in a variety of situations. As a result, Only using the EMG sensor, this study distinguished a variety of elbow motion and verified a virtual torque value which is approximately(about 90%) the same as joint torque measured by KINCOM equipment.

• ETRI Journal
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• 제36권3호
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• pp.367-373
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• 2014

With high bandwidth, low interference, and low power consumption, optical network-on-chip (ONoC) has emerged as a highly efficient interconnection for the future generation of multicore system on chips. In this paper, we propose a new path-setup method for ONoC to mitigate contentions, such as packets, by recycling the setup packet halfway to the destination. A new, strictly non-blocking $6{\times}6$ optical router is designed to support the new method. The simulation results show the new path-setup method increases the throughput by 52.03%, 41.94%, and 36.47% under uniform, hotspot-I, and hotspot-II traffic patterns, respectively. The end-to-end delay performance is also improved.

• 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.

• 제어로봇시스템학회논문지
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• 제5권8호
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• pp.995-1000
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• 1999

This paper presents a optic system and a visual inspection algorithm looking for solder joint defects of J-lead chip which are more integrate and smaller than ones with Gull-wing on PCBs(Printed Circuit Boards). The visual inspection system is composed of three sections : host PC, imaging and driving parts. The host PC part controls the inspection devices and executes the inspection algorithm. The imaging part acquires and processes image data. And the driving part controls XY-table for automatic inspection. In this paper, the most important five features are extracted from input images to categorize four classes of solder joint defects in the case of J-lead chip and utilized to a back-propagation network for classification. Consequently, good accuracy of classification performance and effectiveness of chosen five features are examined by experiment using proposed inspection algorithm.

• 한국정밀공학회지
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• 제20권11호
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• pp.7-15
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• 2003

• 자원환경지질
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• 제50권1호
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• pp.61-71
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• 2017

본 연구는 절리의 빈도 및 길이분포가 절리암반의 수리지질학적 특성에 미치는 영향을 평가하기 위하여 이차원 불연속절리망 (DFN; discrete fracture network) 유체유동 해석을 바탕으로 한 수치실험을 수행하였다. 두개의 절리군을 사용하여 절리의 빈도와 길이분포를 달리하며 추계론적으로 생성한 총 51개의 DFN 시스템에 대하여 $0^{\circ}$부터 매 $30^{\circ}$ 간격으로 총 12 방향으로 구현한 총 612개의 $20m{\times}20m$ DFN 블록에서 방향에 따른 블록수리전도도가 산정되었다. 또한, 각각의 DFN 시스템에서 이론적 블록수리전도도와 더불어 주 수리전도도텐서, 평균 블록수리전도도 등이 산정되었다. 절리군의 빈도의 증가 또는 길이의 평균 및 표준편차 증가에 따라 임의 방향으로의 블록수리전도도는 증가하며 DFN 시스템에 대한 등가연속체 취급 가능성이 높아지지만, 절리군 간의 빈도 차이가 커지면 블록수리전도도의 이방성 증대로 인하여 등가연속체 취급 가능성이 낮아질 수 있는 것으로 평가되었다. 두 절리군의 교차각이 작을수록 등가연속체 특성은 빈도 및 길이분포의 변화에 상대적으로 더욱 영향을 받는 것으로 평가되었다. 등가연속체로 취급하기 어려울 정도로 두 절리군의 교차각이 작아도 절리군의 빈도 또는 길이 분포가 증가하면 등가연속체 취급 가능성은 높아진다.