• Tunnel and Underground Space
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• v.13 no.6
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• pp.486-494
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• 2003

When the orientations of joints are measured on a rock exposure, there are frequent cases that are difficult to approach by the surveyor to the target joints or to set up scanlines on the slope. In this study, to complement such limit and weak points, a new algorithm was developed to interpret joint orientation from analyzing the images of rock slope. As a method of arranging the multiple images of a rock slope, the multistage convergent photographing system was introduced to overcome the limitation of photographing direction which existing method such as parallel stereophotogrammetric system has and to cover the range of image measurement, which is the overlapping area between the image pair, to a maximum extent. To determine camera parameters in the perspective projection equation that are the main elements of the analysis method, a new method was developed introducing three ground control points and single ground guide point. This method could be considered to be very simple compared with other existing methods using a number of ground control points and complicated analysis process. So the global coordinates of a specific point on a rock slope could be analyzed with this new method. The orientation of a joint could be calculated using the normal vector of the joint surface which can be derived from the global coordinates of several points on the joint surface analyzed from the images.

• The Journal of Engineering Geology
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• v.12 no.2
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• pp.167-178
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• 2002

Properties of discontinuity for Seoul Granite in northeastern part of Seoul City were analyzed by dividing structural domains into Surak and Bulam Mtn. areas. Important parameters measured among several engineering properties of a rock during tunnel excavation and road construction are as follows: 1) Orientation of joint, 2) joint spacing, 3) joint density, and 4) uniaxial compressive strength. Orientation, spacing, and density of joints can be directly measured during field investigation using scanline survey, circle-inventory method, and window survey. Uniaxial compressive strength of the rock was calculated by a simple correlation equation although it is originally necessary to prepare core samples in measuring it. Major orientations of joints measured from both areas are 3 sets of joints with different orientations. In other words, they are 2 sets of orthogonal joint and 1 set of sheet joint that is dipping at low angle, and have very similar orientations in both areas. Joint densities in both areas range from 0.039 and 0.066/cm, and average joint length are between 1.30 and 4.52m. Average joint spacing also has values from 10.3cm up to 59.6cm, and shows significant difference along specific orientation of scanlines measured. Values of uniaxial compressive strength calculated on the basis of Schmidt hammer rebound values range from 217 to 335 MPa, which indicates very strong rock type by classification of wall strength.

• Computers and Concrete
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• v.34 no.1
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• pp.15-31
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• 2024

This study explores the failure mechanisms of 'I' shaped non-persistent cracks under uniaxial loads through a combination of experimental tests and numerical simulations. Concrete specimens measuring 200 mm×200 mm×50 mm were manufactured, featuring 'I' shaped non-persistent joints. The number of these joints varied from one to three, with angles set at 0, 30, 60, and 90 degrees. Twelve configurations, differing in the placement of pre-existing joints, were considered, where larger joints measured 80 mm in length and smaller cracks persisted for 20 mm with a 1 mm crack opening. Numerical models were developed for the 12 specimens, and loading in Y-axis direction was 0.05 mm/min, considering a concrete tensile strength of 5 MPa. Results reveal that crack starting was primarily influenced by the slope of joint that lacks persistence in relation to the loading direction and the number of joints. The compressive strength of the samples exhibited variations based on joint layout and failure mode. The study reveals a correlation between the failure behavior of joints and the number of induced tensile fracture, which increased with higher joint angles. Specimen strength increased with decreasing joint angles and numbers. The strength and failure processes exhibited similarities in both laboratory testing and numerical modeling methods.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.1
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• pp.144-153
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• 1997

The determination of the direct kinematics of the parallel mechanism is a difficult problem but has to be solved for any practical use. This paper presents the efficient formulation of the direct kinematics for double parallel robot arm. The robot arm consists of two parallel mechanism, which generate positional and orientational motions, respectively. These motions are decoupled by a passive central axis which is composed of four revolute joints and one prismatic joint. For a set of given lengths of linear actuators, the direct kinematics will find the joint displacements of th central axis from geometric constraints in each parallel mechanism. Then the joint displacements will be converted into the position and the orientation of the end effector of the robot arm. The proposed formulation is decoupled and compacted so that it will be implemented as a real-time direct kinematics. With the proposed formulation, we analyze the motion of the double parallel robot and show its characteristics. Specially, we investigate the workspace in terms of positional space as well as orientational space.

• Journal of the Korean Society for Precision Engineering
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• v.6 no.3
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• pp.32-45
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• 1989

The positioning accuracy of robots depends upon a forward kinematics which relates the joint variables to the orientation and position of the robot extremity in the absolute coordinate system. The relationship between two connective joint coordi- nates of a robot, which is the basis of the kinematics, is defined by 4 Denavit-Hartenberg parameters. But manufacturing errors in machining and assembly process of robots lead to disctrepancies between the design parameters and the physical structure. Thus, improving the positioning accuracy of robots reguires the identification of the actual link parameters of each robot. In this study, the least-squares method is used to calibrate the link parameters and off-line parameter calibration software is developed. Computer simulation is done to study the dependence of the calibration performance upon the DOF of the robot and number of acquired data set used in the least-squares method. 3 DOF Robot/Controller and specially designed 3D coordinate measurer is made and experiment is carried out to verify the theoretical and computational analysis.

• The Journal of Engineering Geology
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• v.33 no.4
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• pp.573-586
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• 2023

Joints or weak planes can induce anisotropy in the strength and deformability of fractured rock masses. Comprehending this anisotropic behavior is crucial to engineering geology. This study used plaster as a friction material to mold specimens with a single joint. The strength and deformability of the specimens were measured in true triaxial compression tests. The measured results were compared with three-dimensional numerical analysis based on the distinct element method, conducted under identical conditions, to assess the reliability of the modeled values. The numerical results highlight that the principal stress conditions in the field, in conjunction with joint orientations, are crucial factors to the study of the strength and deformability of fractured rock masses. The strength of a transversely isotropic rock mass derived numerically considering changes in the dip angle of the joint notably increases as the intermediate principal stress increases. This increment varies depending on the dip of the joint. Moreover, the interplay between the dip direction of the joint and the two horizontal principal stress directions dictates the strength of the transversely isotropic rock mass. For a rock mass with two joint sets, the set with the steeper dip angle governs the overall strength. If a rock bridge effect occurs owing to the limited continuity of one of the joint sets, the orientation of the set with longer continuity dominates the strength of the entire rock mass. Although conventional three-dimensional failure criteria for fractured rock masses have limited applicability in the field, supplementing them with numerical analysis proves highly beneficial.

• Economic and Environmental Geology
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• v.52 no.3
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• pp.231-241
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• 2019

Kinematic analysis determines the stability of rock slope by analyzing the relationship between the slope face orientation and the discontinuity orientation. In this study, terrestrial LiDAR was used to obtain a large amount of discontinuity orientation data and then, the probabilistic characteristics of the orientation data obtained using terrestrial LiDAR were analyzed. Subsequently, the probabilistic kinematic analysis was carried out using the discontinuity orientations generated randomly from Fisher function in Monte Carlo simulation. In addition, the probabilistic kinematic analysis was also performed using the actual orientation data obtained from the terrestrial LiDAR to compare their results. Consequently, the results of both probabilistic analyses showed similar results. Therefore, if sufficient orientation data are provided by other means such as terrestrial LiDAR, the probabilistic analysis will show reasonable results using the actual field data without randomly generating orientation data. In addition, the deterministic kinematic analysis was also carried out using representative orientation of discontinuity sets. The analysis result of the probabilistic analysis showed similar results with the deterministic analysis because the dispersion of the discontinuity orientations in a joint set is not large.

• Journal of Microbiology and Biotechnology
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• v.27 no.6
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• pp.1198-1203
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• 2017

Hrr25, a casein kinase $1{\delta}/{\varepsilon}$ homolog in budding yeast, is essential to set up mono-orientation of sister kinetochores during meiosis. Hrr25 kinase activity coordinates sister chromatid cohesion via cohesin phosphorylation. Here, we investigated the prophase role of Hrr25 using the auxin-inducible degron system and by ectopic expression of Hrr25 during yeast meiosis. Hrr25 mediates nuclear division in meiosis I but does not affect DNA replication. We also found that initiation of meiotic double-strand breaks as well as joint molecule formation were normal in HRR25-deficient cells. Thus, Hrr25 is essential for termination of meiotic division but not homologous recombination.

• 한국정보컨버전스학회:학술대회논문집
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• 2008.06a
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• pp.103-110
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• 2008

In this thesis, we describe a statistical method for 3D object detection. In this method, we decompose the 3D geometry of each object into a small number of viewpoints. For each viewpoint, we construct a decision rule that determines if the object is present at that specific orientation. Each decision rule uses the statistics of both object appearance and "non-object" visual appearance. We represent each set of statistics using a product of histograms. Each histogram represents the joint statistics of a subset of wavelet coefficients and their position on the object. Our approach is to use many such histograms representing a wide variety of visual attributes. Using this method, we have developed the first algorithm that can reliably detect faces that vary from frontal view to full profile view and the first algorithm that can reliably detect cars over a wide range of viewpoints.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2002.05a
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• pp.272-279
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• 2002

A common task in assembly modeling is the determination of the position and orientation of a set of components by solving the spatial relationships between them. Assembly models could be constructed at various levels of abstraction. They could be classified into component or geometry-level assembly models. The geometry-level assembly design approach using mating constraints such as against and fits is widely used in the commercial modelers, but it may be very tedious in some cases fur designer. In this paper, we propose a new method to construct an assembly model at the component-level by extracting joint mating features from the kinematics constraints specified between components. The assembly model constructed using the proposed method includes hierarchical and relational assembly models, component/sub-assembly positions and degrees of freedom information. The proposed method is more intuitive and natural way of assembly design and it guarantees the topological robustness of assembly modification such as component replacement and modification.