• 대한기계학회논문집A
• /
• 제24권5호
• /
• pp.1155-1165
• /
• 2000

Due to the irregularity of walking ground and the inaccuracy in trajectory control of a leg, the mechanical shock and slip on the ground can be caused in the landing and supporting legs of a walkin g robot, and the robot may lose walking stability. Especially in a jointed-leg type walking robot, those problems are much more severe than in the pantograph type since the leg-weight of the jointed-leg type walking robot is relatively heavier than that of the pantograph type in general. In order to secure the walking stability for the jointed-leg type quadrupedal robot under development in KIST(Korea Institute of Science and Technology), a balancing algorithm consisting of the leg compliance control and the body posture control is implemented in this paper, and the effectiveness of the algorithm is verified through experiments.

• 한국지반환경공학회 논문집
• /
• 제17권1호
• /
• pp.29-37
• /
• 2016

This study examined the magnitude and distribution of earth pressure on the support system in a jointed rock mass due to the different joint spacing as well as varying the rock type and joint condition (joint shear strength and joint inclination angle). Based on a physical model test and its numerical simulation, a series of numerical parametric analyses were conducted using a discrete element method. The results showed that the magnitude and distribution of earth pressure were strongly affected by the different joint spacing as well as the rock type and joint condition. In addition, the study results were compared with Peck's earth pressure for soil ground, which indicated that the earth pressure in a jointed rock mass could be considerably different from that in soil ground. The study suggests that the joint spacing as well as the rock type and joint condition are important factors affecting the earth pressure in a jointed rock mass and they should be considered when designing a support system in a jointed rock mass.

• Journal of Advanced Marine Engineering and Technology
• /
• 제31권4호
• /
• pp.394-400
• /
• 2007

The properties and weldability of lap joints by PFSW with 1050 Al sheet was investigated according to tool shape. dimension and welding condition. Tensile shear test was carried out for lap jointed specimen, and the hardness in the joint regions was examined. Moreover interfacial joining length, metallograph and failure location of the lap-jointed cross section were discussed. Two tool types were a simple cylindrical type and a notched cylindrical type. Under joining conditions such as plunging depth of 2.2mm. rotating speed of 1600rpm and dwelling time of 3s, the tensile shear strength of lap-jointed specimen by the notched type tool was superior to that by simple cylindrical type tool. The maximum tensile shear load of lap jointed specimen was 5807N. Optimal dimensions of the notched type tool were as follows : diameters of the shoulder and pin were $18{\phi}mm$ and $10{\phi}mm$, and pin length was 2.2mm.

• 한국지반환경공학회 논문집
• /
• 제19권2호
• /
• pp.13-21
• /
• 2018

The magnitude and distribution of earth pressure on the excavation wall in jointed rock mass were examined by considering different wall permeability conditions as well as rock types and joint inclination angles. The study was numerically extended based on a physical model test (Son & Park, 2014), considering rock-structure interactions with the discrete element method, which can consider various characteristics of rock joints. This study focused on the effect of the permeability condition of excavation wall on the earth pressure in jointed rock masses under a groundwater condition, which is important but has not been studied previously. The study results showed that the earth pressure was highly influenced by wall permeability as well as rock type and joint condition. Earth pressure resulted from the study was also compared with Peck's earth pressure in soil ground, and the comparison clearly showed that the earth pressure in jointed rock mass can be greatly different from that in soil ground.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2010년도 추계학술대회 논문집
• /
• pp.133-134
• /
• 2010

• 한국지반공학회논문집
• /
• 제31권12호
• /
• pp.59-69
• /
• 2015

본 연구는 절리형성 암반지층 굴착벽체에 작용하는 토압에 대한 암반종류 및 절리조건 (전단강도 및 절리경사각)뿐만아니라 절리군의 수에 대한 영향을 조사하였다. 모델실험 및 그에 대한 시뮬레이션결과를 토대로 다양한 수치해석적 매개변수연구가 수행되었다. 해석결과, 굴착벽체에 발생하는 토압은 절리군에 포함된 절리경사각에 큰 영향을 받았지만, 절리군의 수 자체만으로는 토압에 큰 영향을 주지는 않았다. 연구결과는 또한 토사지반에서의 토압인 Peck 토압과 상호 비교되었으며, 이를 통해 절리가 형성된 암반지층 굴착벽체에 발생하는 토압은 토사지반에서 발생하는 토압과 크게 다를 수 있다는 것을 파악하였다. 본 연구를 통해서 향후 암반지층에 설치되는 굴착벽체 설계시 적용하는 토압은 암반종류 및 절리조건과 더불어 절리군에 포함된 절리경사각을 고려하여 산정해야 할 것으로 판단된다.

• 한국지반환경공학회 논문집
• /
• 제16권2호
• /
• pp.33-43
• /
• 2015

This paper investigated the magnitude and distribution of earth pressure on the support system in jointed rock mass by considering different earth pressure coefficients, rock types and joint inclination angles. The study mainly focused on the effect of the earth pressure coefficients on the earth pressure. Based on a physical model test (Son & Park, 2014), extended studies were conducted considering rock-structure interactions based on the discrete element method, which can consider the joints characteristics of rock mass. The results showed that the earth pressure was highly influenced by the earth pressure coefficients as well as the rock type and joint inclination angles. The effects of the earth pressure coefficients increased when the rock suffered more weathering and has no joint slide. The test results were also compared with Peck's earth pressure for soil ground, and clearly showed that the earth pressure in jointed rock mass can be greatly different from that in soil ground. This study indicated the earth pressure coefficients considering the rock types and joint inclination angles are important parameters influencing the magnitude and distribution of earth pressure, which should be considered when designing the support systems in jointed rock mass.

• 한국지반환경공학회 논문집
• /
• 제18권5호
• /
• pp.17-26
• /
• 2017

절리가 형성된 암반지층에서의 터널굴착은 터널굴착 선을 따라 변위를 유발시키며 이러한 변위값의 산정은 터널의 안정성과 소요공간을 확보하는 것과 관련하여 매우 중요한 사항이다. 터널변위는 지반의 변형계수와 직접적으로 관련되므로 이를 파악하는 것이 무엇보다도 중요하다. 그렇지만, 터널이 건설되는 대부분의 암반지층은 일반적으로 절리가 형성되어 있어서 단순히 균질한 등가탄성매질에 근거하여 절리형성 암반지층의 변형계수를 파악할 수는 없다. 왜냐하면 절리형성 암반지층의 변형계수는 암석의 종류뿐만 아니라 절리조건에 의해서 큰 영향을 받기 때문이다. 따라서 본 연구에서는 터널굴착 조건에서 다양한 절리 및 암석조건을 고려한 암반지층의 변형계수 변화를 조사하였으며 이를 위하여 수치해석적 매개변수연구를 수행하였다. 이를 통한 본 연구의 결과는 기존의 경험적인 방법들과 상호 비교되었으며, 또한 다양한 절리암반을 고려한 변형계수 변화표의 형태로서 제시되었다.

• Geomechanics and Engineering
• /
• 제30권3호
• /
• pp.281-291
• /
• 2022

Complex rock masses include various joint planes, bedding planes and other weak structural planes. The existence of these structural planes affects the mechanical properties, deformation rules and failure modes of jointed rock masses. To study the influence of the parameters of a nonpersistent joint network on the mechanical properties and failure modes of jointed rock masses, synthetic rock mass (SRM) technology based on discrete elements is introduced. The results show that as the size of the joints in the rock mass increases, the compressive strength and the discreteness of the rock mass first increase and then decrease. Among them, the joints that are characterized by "small but many" joints and "large and clustered" joints have the most significant impact on the strength of the rock mass. With the increase in joint density in the rock mass, the compressive strength of rock mass decreases monotonically, but the rate of decrease gradually decreases. With the increase in the joint dip angle in rock mass, the strength of the rock mass first decreases and then increases, forming a U-shaped change rule. In the analysis of the failure mode and deformation of a jointed rock mass, the type of plastic zone formed after rock mass failure is closely related to the macroscopic displacement deformation of the rock mass and the parameters of the joints, which generally shows that the location and density of the joints greatly affect the failure mode and displacement degree of the jointed rock mass. The instability mechanism of jointed surrounding rock is revealed.

• 한국초전도저온공학회:학술대회논문집
• /
• 한국초전도저온공학회 2002년도 학술대회 논문집
• /
• pp.163-164
• /
• 2002

We have measured the I-V characteristics and contact resistance of jointed BSSCO tape in the superconducting state. Electrical joint was made by various type of solder. Estimated critical current was about 30 Amp, and the contact resistance of the joint was about 350 nOhm.