• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.513-518
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• 1998

In this paper, a robust fault-tolerant control scheme for robot manipulators overcoming actuator failures is presented. The joint(or actuator) fault considered in this paper is the free-swinging joint failure and causes the loss of torque on a joint. The presented fault-tolerant control framework includes a normal control with normal(non-failed) operation, a fault detection and a fault-tolerant control to achieve task completion. For both no uncertainty case and uncertainty case, a stable normal con-troller and an on-line fault detection scheme are presented. After the detection and identification of joint failures, the robot manipulator becomes the underactuated robot system with failed actuators. A robust adaptive control scheme of robot manipulators with the detected failed-actuators using the brakes equipped at the failed(passive) joints is proposed in the presence of parametric uncertainty and external disturbances. To illustrate the feasibility and validity of the proposed fault-tolerant control scheme, simulation results for a three-link planar robot arm with a failed joint are presented.

• Journal of the Korean Society of Combustion
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• v.18 no.3
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• pp.31-37
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• 2013

Numerical simulations are conducted to investigate the feature of spontaneous ignition of hydrogen within a certain length of downstream tube released by the failure of pressure boundaries of various geometric assumption. The results show that the ignition feature can be varied with the shape of pressure boundary. The ignition at the contact region are developed at the spherical pressure boundaries due to multi-dimensional shock interactions, whereas the local ignition is developed in limited area such as boundary layer at the planar pressure boundary conditions. The spontaneous ignition inside the tube can be generated from the reaction region of only boundary layer regardless of existence of the reaction of core region.

• 한국연소학회:학술대회논문집
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• 2013.06a
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• pp.95-96
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• 2013

Numerical simulations are conducted to investigate the mechanism of spontaneous ignition of hydrogen within a certain length of downstream pipe released by the failure of pressure boundaries of various geometric assumption. The results show that local ignition is developed in limited area such as boundary layer and the mixing of hydrogen and air is weak at the planar pressure boundary conditions, whereas the flame fronts at the contact region are developed at the pressure boundaries of the spherical shape.

• The Journal of Engineering Geology
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• v.17 no.2 s.52
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• pp.289-297
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• 2007

Slope failure that is occurred by rainfall generates a lot of property damages and loss of lives. Slope stability management and reinforcement countermeasure can be attained through continuous monitoring about various slope types that adjoin in human's life for reducing slope failure from natural and artificial cut slope hazards. The study area is rock slope that is consisted of gneiss, and large scale joint set is ranging by fault activity. This rock mass is exposed during long period and has lithological weathering property of weathered rock or soft rock. In-situ investigation carried out after divide by natural slope and cut slope. As a result, the natural slope appeared to high possibility of planar failure and wedge failure in few joint points that main joint set is formed. On the other hand, slope failure conformation in cut slope was superior only wedge failure occurrence possibility in eight joint points. In result of numerical analysis using SLIDE 2D, the minimum safety factor was analyzed slope stability for cut slope relatively low than natural slope in this study.

• Journal of the Korea Concrete Institute
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• v.14 no.2
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• pp.239-248
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• 2002

A constitutive model unifying plasticity and crack damage mode)s was developed to address the cyclic behavior of reinforced concrete planar members. The stress of concrete in tension-compression was conceptually defined by the sum of the compressive stress developed by the strut-action of concrete and the tensile stresses developed by tensile cracking. The plasticity model with multiple failure criteria was used to describe the isotropic damage of compressive crushing affected by the anisotropic damage of tensile cracking. The concepts of the multiple fixed crack damage model and the plastic flow model of tensile cracking were used to describe the tensile stress-strain relationship of multi-directional cracks. This unified model can describe the behavioral characteristics of reinforced concrete in cyclic tension-compression conditions, i.e. multiple tensile crack orientations, progressively rotating crack damage, and compressive crushing of concrete. The proposed constitutive model was implemented to finite element analysis, and it was verified by comparison with existing experimental results from reinforced concrete shear panels and walls under cyclic load conditions.

• The Journal of Engineering Geology
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• v.16 no.1 s.47
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• pp.45-58
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• 2006

A new computer program SLOPILE(Ver 3.0) is developed to analyze stability of slopes containing an earth retention system composing of piles, nails and anchors. SLOPILE(Ver 3.0) can calculate the slope stability for both planar failure surfaces in infinite slopes and arc failure surfaces. In order to investigate a design adaptability of SLOPILE(Ver 3.0), analysis results of TALREN and SLOPE/W programs are compared with that of SLOPILE(Ver 3.0). SLOPILE(Ver 3.0) can calculate the slopes reinforced by earth retention system such as piles, nails and anchors. But, TALREN and SLOPE/W can not calculate the slope reinforced by piles. As a analysis result of the example case, SLOPILE(Ver 3.0) is accuracy and suitable program for the stability analysis of slopes reinforced by earth retention system. Therefore, SLOPILE(Ver 3.0) is the most suitable program to analyze the slope reinforced by the earth retention system.

• Coupled systems mechanics
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• v.2 no.4
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• pp.329-348
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• 2013

This study aims at observing the coupling behaviours between suspended ceilings and partition walls in terms of their global seismic performance using full-scale shake table tests. The suspended ceilings with planar dimensions of $6.0m{\times}3.6m$ were tested with two types of panels: acoustic lay-in and metal clip-on panels. They were further categorized as seismic-braced, seismic-unbraced, and non-seismic installations. Also, two configurations of 2.7 m high partition wall specimens, with C-shape and I-shape in the plane layouts, were tested. In total, seven ceiling-partition-coupling (CPC) specimens were tested utilizing a unidirectional seismic simulator. The test results indicate that the damage patterns of the tested CPC systems included failure of the ceiling grids, shearing-off of the wall top railing, and, most destructively, numerous partial detachments and falling of the ceiling panels. The loss of panels was mostly concentrated near the center of the tested partition wall. The testing results also confirmed that the failure mode of the non-seismic CPC systems was brittle: The whole system would collapse suddenly all at once when the magnitude of the inputs hit the capacity threshold, rather than displaying progressive damage. Overall, the seismic capacity of the unbraced and braced CPC systems could be up to 1.23 g and 2.67 g, respectively; these accelerations were both achieved at the base of the partition wall. Nonetheless, for practical applications, it is noteworthy that the three-dimensional nature of seismic excitations and the size effect of the ceiling area are parameters that exacerbate the CPC's seismic response so that their actual capacity may be dramatically decreased, leading to important losses even in moderate seismic events.

• Geotechnical Engineering
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• v.14 no.6
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• pp.33-44
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• 1998

Preliminary study has been conducted to analyse the co-relation between shallow landslides frequently occurring in rainy seasons and the water infiltration into the slope. The change of stress state due to partial saturation of a soil and hence the reduction of its shear strength have been reviewed. The variation of the safety factor of an infinite planar slope in accordance with various water infiltration scenarios has been estimated by limit equilibrium method to explain the mechanism of shallow slope failure. Numerical analysis under the same condition as those of some models dealt with in the previous method has been carried out by using FLAC, a finite difference program, and the results have been compared with the ones obtained by limit equilibrium method. Both results proved to be identical, which implies the ability of the numerical approach to the problems related to the stability analysis of unsaturated slope with the irregular geometry. Further improvement, however, should be made to apply the present analysis procedure to general slopes since it deals with a simple one.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.25 no.2
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• pp.217-222
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• 2014

This paper discusses about the beam pattern distortion caused by the failures of some antenna modules in the active array antenna and analyses the possibility of improvement through applying the beam pattern compensation method previously studied. The beam pattern distortion which is mostly represented as an increase of the sidelobe level, can be suppressed through re-synthesizing each module's magnitude and phase. This method was applied to the prototype of active array antenna system, and the results of antenna pattern distortion and compensation were analyzed and measured in the Near Field Chamber. Array failures are generally divided into random TR module failures and TRU(TR Unit: combination of TR modules, Beam Computation module, Power supply module) failures. The results of beam pattern compensation were analyzed in each failure and compared to the results of the simulation. The beam pattern compensation results applied to the real active antenna array system showed the similar to the simulation results. Consequently, it was verified the beam pattern could be compensated with the magnitude and phase adjustment of other normal antenna modules.

• Tunnel and Underground Space
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• v.28 no.6
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• pp.569-583
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• 2018

The purpose of this study is to identify the collapse characteristics by analyzing various factors causing collapse based on field survey and existing data on rock slopes occurring in the construction of roads and industrial complexes in Gyeongsangnam - do area. In the case of the slope where the slope has been directly surveyed, the analysis of the collapse characteristics can be used for the prediction and prevention of slope failure through the continuous collection of the slope data, database construction, management and analysis. The evaluation items used in the collapse characteristics of slope were selected among the items that can be regarded as objective evaluation items among the overlapping factors by comparing the evaluation items frequently used for the evaluation of the existing slope stability among various factors. The type of destruction of the rock slope depends on the type of carcass of the bedrock, such as planar fracture, wedge fracture, onho fracture, and conduction fracture, which are different from each other. And the slope stability analysis should be performed accordingly.