• 한국지반공학회:학술대회논문집
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• 한국지반공학회 1999년도 가을 학술발표회 논문집
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• pp.3-44
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• 1999

This paper discusses the lateral behavior of single and group piles in homogeneous and non-homogeneous(two layered) soil. In the single pile, the model tests were conducted to investigate the effects on ratio of lower layer height to embedded pile length, ratio of soil modules of upper layer to lower layer, boundary rendition of pile head and tip, embedded pile length, pile construction condition, ground condition with saturate and moisture state in Nak-Dong river sand. Also, in the group pile, the model tests were to investigate the effects on spacing-to-diameter ratio of pile, pile array, ratio of pile spacing, boundary condition of pile head and tip, eccentric load and ground condition. The maximum bending moment and deflection induced in active piles were found to be highly dependent on the relative density, pile construction condition, boundary condition of pile head and tip. Based on the results obtained, it was found that the decrease of lateral bearing capacity in saturated sand was in the range of 31% - 53% as compared with the case of dry sand. Also, in the group pile, a spacing-to-diameter of 6.0 seems to be large enough to eliminate the group effect for the case of relative density of 61.8%, and 32.8%, and then each pile in such a case behaves essentially the same as a single pile. In this study, the program is developed by using the modified Chang method which used p - y method and the exact solution of governing equation of pile and it can be used to calculate the deflection, bending moment and soil reaction with FDM in non-homogeneous soil. In comparing the modified Chang method with field test results, the predict results shows better agreement with measured results in field tests.

• Journal of Astronomy and Space Sciences
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• 제40권4호
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• pp.149-171
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• 2023

ShadowCam is a National Aeronautics and Space Administration Advanced Exploration Systems funded instrument hosted onboard the Korea Aerospace Research Institute (KARI) Korea Pathfinder Lunar Orbiter (KPLO) satellite. By collecting high-resolution images of permanently shadowed regions (PSRs), ShadowCam will provide critical information about the distribution and accessibility of water ice and other volatiles at spatial scales (1.7 m/pixel) required to mitigate risks and maximize the results of future exploration activities. The PSRs never see direct sunlight and are illuminated only by light reflected from nearby topographic highs. Since secondary illumination is very dim, ShadowCam was designed to be over 200 times more sensitive than previous imagers like the Lunar Reconnaissance Orbiter Camera Narrow Angle Camera (LROC NAC). ShadowCam images thus allow for unprecedented views into the shadows, but saturate while imaging sunlit terrain.

• 전자공학회논문지S
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• 제34S권7호
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• pp.48-55
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• 1997

An adaptive output feedback controller is designed for tracking control of an n-link robot manipulator with unknown load. High-gain obwserver that is used to estimate joint velocities is designed to avoide the restriction of the allowable variation range of unknown parmeters as well as improve the state estimation error. We saturate the control inut outside a domain of interest and use an adaptive law with a parameter projection feature to guarantee boundedness of all the trajectories in the closed-loop system. Simulation resutls on a 2-link manipulator illustrate that when the speed of the high-gain observer is sufficiently high, the proposed controller recovers the performance under state feedback control.

• Journal of Magnetics
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• 제16권2호
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• pp.97-100
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• 2011

Bilayers of soft NiFe (150 nm-420 nm) on hard Ni (150 nm) were prepared by electrodeposition. The process of magnetization reversal in the NiFe/Ni bilayers was then investigated. The hysteresis loop generated by a magnetization reversal of soft NiFe under a positive saturation state of a hard Ni layer shows a shift along the negative field axis, which is clear evidence for the exchange spring effect in the NiFe/Ni bilayers. The dependence of the coercive field $H_c$ and exchange bias field Hex on the thickness of the NiFe layer was also investigated. As the NiFe thickness increases from 150 nm to 420 nm, both $H_c$ and $H_{ex}$ decrease rapidly from $H_c$= 51.7 Oe and $H_{ex}$ = 12.2 Oe, and saturate to $H_c$ = 5.8 Oe and $H_{ex}$ = 3.5 Oe.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2005년도 춘계 학술발표회 논문집
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• pp.1140-1147
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• 2005

The objective of this study was to identify the effect of the degree of saturation on the resilient modulus of cohesive soils as subgrade. Six representative cohesive soils representing A-4, A-6, and A-7-6 soil types collected from road construction sites across Ohio, were tested in the laboratory to determine their basic engineering properties. Resilient modulus tests were conducted on unsaturated cohesive soils at optimum moisture content, and samples compacted to optimum conditions but allowed to fully saturate. The subgrade compacted at optimum moisture content may be fully saturated due to seasonal change. Laboratory tests on fully saturated cohesive soils showed that the resilient modulus of saturated soils decreased to less than half that of soil specimens tested at optimum moisture content. The reduction of resilient modulus would possibly be caused by the buildup of pore water pressure. In resilient modulus testing performed in this study on saturated samples, pore water pressure increases were observed. Pore water pressure and residual pore water pressure gradually increased with an increase in deviator stress.

• 로봇학회논문지
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• 제10권4호
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• pp.186-192
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• 2015

This paper proposes a robust balance and driving control for omni-directional ball robot(generally called ball-bot) with two axis mecanum wheel. Slip between ball and mecanum wheel actuator inevitably occurs along diagonal axis due to its instantaneous strong torque. In order to reduce and saturate slip, exact distance calculation scheme especially for rotational movement is essential. So this research solved Euler-Lagrange dynamics for proposed two axis ball robot based on practical mechanical modeling. Robust balance control was carried out by PID controller according to the pitch and roll angles of ball robot by using sensor fusion between AHRS and wheel encoder. Proposed PID controller enhances stability by reducing steady state error and settling time. Proposed slip control algorithm for omni-directional ball robot has been demonstrated by experiments for balance control and arbitrary driving control.

• 한국지반공학회논문집
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• 제23권2호
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• pp.71-83
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• 2007

사질토의 액상화에 대한 저항강도는 포화도를 나타내는 B값(간극수압계수)에 크게 의존한다. P파 속도($V_p$)는 현장에서 비교적 쉽게 측정이 이루어지고 B값에 따라 값이 크게 변하기 때문에 지하수위 아래에 위치한 지반의 포화도를 예측하고자 할 때 효율적으로 사용될 수 있다. 본 연구에서는 포화가 가능하도록 개선된 Stokoe식 비틂전단(Torsional Shear, TS) 시험 시스템에 벤더엘리먼트(BE)와 가속도계를 부착하여 동일한 시험시편에 대하여 S파와 P파 속도를 측정할 수 있도록 하였고, 또한 비배수 비틂전단 시험에서 유발되는 과잉간극수압을 동시에 측정할 수 있도록 하였다. 일본의 토요라 모래를 사용하였고, 3가지 상대밀도(40%, 50%, 75%)에서 B값을 달리하여 비틂전단 시험을 수행하였다. 시험결과를 바탕으로 B값에 따른 S파 속도와 P파 속도를 기존의 이론식과 비교 분석하였고, 반복하중에 의한 과잉간극수압의 증가 및 이를 이용하여 획득한 반복한계 전단변형률의 B값에 대한 영향을 평가하였다. 또한 추후 현장에서 B값이 고려된 간극수압 및 반복한계 전단변형률의 직접적인 예측을 위해, 시험이 수행된 각 B값을 대응하는 P파 속도로 변환하여 분석하였다.