• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.357-360
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• 1997

Abstract: In teleoperation field robotic system such as hydraulically actuated robotic excavator, the maneuverability and convenience is the most important part in the operation of robotic excavator. Particularly the force information is important in dealing with digging and leveling operation in the teleoperated excavator. Excavators are also subject to a wide variation of soil-tool interaction forces. This paper presents a new force reflecting joystick in a velocity-force type bilateral teleoperation system. The master system is electrical joystick and the slave system IS hydraulically actuated cylinder with linear position sensor. Particularly Pneumatic motor is used newly in the master joystick for force reflection and the information of the pressure of salve cylinder is measured and utilized as the force feedback signal. Also force-reflection gain greatly affects the excavation performance of a hydraulically actuated robotic system and it is very difficult to determine it appropriately since slave excavator contacts with various environments such as from soft soil to rock. To overcome this, this paper proposes a force-reflection gain selecting algorithm based on artificial neural network and fuzzy logic.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.9 no.5
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• pp.10-21
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• 2006

For analyze of the bearing capacity, skin friction and settlements of pile on axial compressive loading, both Load transfer tests of pile and pile loading test in field have application to commonly before pile installing. A bearing capacity of pile was affected by the characteristics of surrounding ground of pile. Especially, that is very different because of evaluation of settlement due to each soil conditions of ground depths. The ground characteristics using evaluation of bearing capacity of pile through load transfer analysis depends on N values of SPT, and then a bearing capacity of pile installed soft ground and refilled area may be difficult to rational evaluation. An evaluation of bearing capacity on pile applied axial compressive loading was effected by strength of ground installed pile, unconfined compressive strength at pile tip, pile diameter, rough of excavated surface, confining pressure and deformation modules of rock etc and these are commonly including the unreliability due to slime occurred excavation works. Load transfer characteristics considered ground conditions take charge of load transfer of large diameter pile was investigated through case study applied load transfer tests. To these, matrix analytical technique of load transfer using finite differential equation developed and compared with the results of pile load test.

• Journal of the Korean Geotechnical Society
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• v.28 no.11
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• pp.87-99
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• 2012

Targeting 9 types of rocks, which have high frequency of excavation, the researcher has analyzed decreasing behaviors of elastic modulus due to water content. The elastic modulus decreasing behaviors have been classified into 5 steps by uniaxial compressive strength. The results indicate that all of 5 sedimentary rocks and andesite show single decreasing behavior and granite, rhyolite, and gneiss demonstrate another decreasing behavior. Moreover, sensitivity of water content in granite, rhyolite, gneiss is almost twice as fast as that of the other rocks and their residual value of elastic modulus is very low.

• 기술발표회
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• s.2006
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• pp.342-355
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• 2006

The Tunnel portal is designed on temporary support system which is composed by 28m height H-Pile method and Ground Anchor method. The tunnel has excavated about 30m from the portal, but some deformation is found on the surface ground just above the tunnel face. It was investigated very carefully to find out the causes of deformation. By the observation and study, two main causes of deformation are found out. The one is earth pressure increase compared with classical earth pressure theory. That was due to the direction of ground rock mass's discontinuities. It causes the increase of earth pressure that are activated by the direction of discontinuity. The other one is that present design method neglect the transferred force by removal of temporary support members and ground anchor within the tunnel contour line as the tunnel excavation proceeds As the result of removals of the member and anchor, some force transferred from removed systems to remaining supporting systems. In designing the portal support systems, lt must be considered the discontiunity of ground mass and the transfered force due to excation.

• Proceedings of the Korean Geotechical Society Conference
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• 2008.10a
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• pp.1571-1580
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• 2008

Subsea tunnels that link land to island and among nations for transportation, efficient development of limited surface and pursuit of economic development should be designed to support pore water pressure on the lining. It is generally constructed in the bed rock of the sea bottom. When the tunnel excavation face meets fractured-zones below sea bottom, collapse may occur due to an increase of pore water pressure and large inflow. Such an example can be found in the Norwegian subsea tunnel experiences in 1980's. In this study hydraulic behavior of tunnel heading is investigated using numerical method based on the collapse of Norwegian subsea tunnel. The effect of pore water pressure and inflow rate were mainly concerned. Horse-shoe shaped model tunnel which has 50 m depth from the sea bottom is considered. To evaluate hydraulic performance, parametric study was carried out for varying relative permeability. It is revealed that pore water pressure has increased with an increase of sea depth. Especially, at the fractured-zone, pore water pressure on the lining has increased significantly. Inflow rate into tunnel has also increased correspondingly with an increase in sea depth. S-shaped characteristic relation between relative permeability and normalized pore water pressure was obtained.

• Proceedings of the Korean Geotechical Society Conference
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• 2002.03a
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• pp.119-126
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• 2002

Fractures, especially faults have most significant influence on the difficulties encountered in various engineering and mining works, because they can give rise to inevitable reductions in shear strength as well as large increase in permeability. Thus, before underground access is possible, it is desirable to estimate the distribution and geometry of fractures in advance, if reliable structural data from e.g. Televiewer tool are available. To this end, fracture face mapping is just the evaluation method used to form a fracture image determined by intersecting of each fracture plane with a selected plane section of a rock mass, assuming that all fractures be planar with fixed-aperture. Although many fractures are geometrically complex and others are altered chemically, according to the abundant experiments in recent years, it would seem that the technique could be applied to benefit the design of numerous engineering works such as slope stability, tunnel excavations, dam foundation and diverse environmental works. This paper presents at first an evaluation algorithm for fracture face mapping and then concludes with various representative examples of applications.

• The Journal of Engineering Geology
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• v.1 no.1
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• pp.38-53
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• 1991

The design of underground cavern is basically governed by the mechanical properties of ground mass distributed around excavation. It is seldom possible to consider all the factors of ground mass properties in the evaluation of ground mass behavior as well as to classify those factors to a simple category. Until computer sciences have developed to calculate complex and laborious mechanical simulation of underground openings, ground behavior was quantitatively and qualitatively evaluated using empirical classification system. In this paper, analysis methods of ground behavior for underground cavern using the prediction of loosening zone, empirical method derived from rock mass classification and element stress analysis are described with chronological sequence.

• Journal of The Korean Society of Agricultural Engineers
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• v.52 no.1
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• pp.51-59
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• 2010

The cemented sand and gravel (CSG) method is a construction technique that adds cement and water to rock-like materials, such as rivered gravel or excavation muck which that can be obtained easily at areas adjacent to dam sites. This study was performed to evaluate the unconfined compressive strength properties and freezing and thawing resistance of CSG materials with unit cement content. The three types of CSG-80, CSG-100 and CSG-120 with cement content were designed to evaluate the optimum water content, dry density, strength, stress-strain, micro structure and durability factor. As the results, the optimum water content ratio with cement content showed almost similar tendency, and the unconfined compressive strength and dry density increased as cement content increases. The strength ratio of 7 days for 28 days were in the range of 55~61 % and the strain ratio in stress-strain curve were in the range of 0.8~1.6 % nearby maximum strength in 28 days. It is expected that this study will contribute to increasing application of CSG method as well as to increasing the utilizing of CSG materials as a environmentally friendly CSG method.

• Geomechanics and Engineering
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• v.18 no.3
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• pp.267-275
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• 2019

Tabriz is a large Iranian city and the capital of the East Azerbaijan province. The bed rock of this city is mainly consisted of marl layers. Marl layers have some outcrops in the northern and eastern parts of city that mainly belong to the Baghmisheh formation. Based on their colors, these marls are classified into three types: yellow, green, and gray marls. The city is developing toward its eastern side wherein various civil projects are under construction including tunnels, underground excavation, and high-rise building. In this regard, the swelling behavior assessment of these marls is of critical importance. Also, in lightweight structures with foundation pressure less than swelling pressure, several problems such as walls cracking and jamming of door and windows may occur. In the present study, physical properties and swelling behavior of Baghmisheh marls are investigated. According to the X-ray diffractometer (XRD) results, the marls are mainly composed of Illite, Kaolinite, Montmorillonite, and Chloride minerals. Type and content of clay minerals and initial void ratio have a decisive role in swelling behavior of these marls. The swelling potential of these marls was investigated using one-dimensional odometer apparatus under stress level up to 10 kPa. The results showed that yellow marls have high swelling potential and expansibility compared to the other marls. In addition, green and gray marls showed intermediate and low swelling potential and swelling pressure, respectively.

• Journal of the Korean Geosynthetics Society
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• v.18 no.1
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• pp.11-23
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• 2019

This paper presents the results of a three-dimensional numerical investigation into the mechanical mechanism of main tunnels and cross passage construction. Aimed at the complex space structure composed of two main tunnels and cross passage, 3D numerical model of the structure and surrounding rock was built to analyze the influence. Comparative analysis of different buried depths were carried out. The results of the study indicate that the stress concentration was occurred in the intersecting linings, especially in the opening side lining, which leads to an unfavorable form of force that is pulled up by the upper and lower sections in the intersecting linings due to the construction of the cross passage. The excavation of the cross passage also destroys the stability of the original soil layer and causes settlement of the surface and main tunnels. Practical implications of the findings are discussed.