• Journal of the Korean Geotechnical Society
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• v.20 no.8
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• pp.15-27
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• 2004

Sliding aspects of rock slope, where large-scaled tension cracks are induced during preliminary excavation, have been analyzed. Structure of rock mass is investigated by performing the electrical resistivity survey and the orientations and positions of discontinuities are measured from DOM-drilled core log. Geological evidence far primary failure movement has been detected and clay minerals which possess swelling properties are identified through XRD analysis. Slope stability is examined by considering the orientations of discontinuities and their trace distributions on the cut-face and neighboring natural slope surface. Both orientations and positions of failure-invoking discontinuity planes, traces of which are exposed within the anticipated sliding region, are concerned fur analyzing the preferred sliding directions. Regional sliding vectors are assessed based on the relative positions of potential sliding planes in the boreholes and the general trend of anticipated failure movement of rock slope is also investigated.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.999-1004
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• 2005

An algorithm for a hybrid controller consists of a sliding mode control part and a fuzzy logic part which ar purposely for nonlinear systems. The sliding mode part of the solution is based on "eigenvalue/vector"-type controller is used as the backstepping approach for tracking errors. The fuzzy logic part is a Mamdani fuzzy model. This is designed by applying sliding mode control (SMC) method to the dynamic model. The main objective is to keep the update dynamics in a stable region by used SMC. After that the plant behavior is presented to train procedure of adaptive neuro-fuzzy inference systems (ANFIS). ANFIS architecture is determined and the relevant formulation for the approach is given. Using the error (e) and rate of error (de), occur due to the difference between the desired output value (yd) and the actual output value (y) of the system. A dynamic adaptation law is proposed and proved the particularly chosen form of the adaptation strategy. Subsequently VSC creates a sliding mode in the plant behavior while the parameters of the controller are also in a sliding mode (stable trainer). This study considers the ANFIS structure with first order Sugeno model containing nine rules. Bell shaped membership functions with product inference rule are used at the fuzzification level. Finally the Mamdani fuzzy logic which is depends on adaptive neuro-fuzzy inference systems structure designed. At the transferable stage from ANFIS to Mamdani fuzzy model is adjusted for the membership function of the input value (e, de) and the actual output value (y) of the system could be changed to trapezoidal and triangular functions through tuning the parameters of the membership functions and rules base. These help adjust the contributions of both fuzzy control and variable structure control to the entire control value. The application example, control of a mass-damper system is considered. The simulation has been done using MATLAB. Three cases of the controller will be considered: for backstepping sliding-mode controller, for hybrid controller, and for adaptive backstepping sliding-mode controller. A numerical example is simulated to verify the performances of the proposed control strategy, and the simulation results show that the controller designed is more effective than the adaptive backstepping sliding mode controller.

• Proceedings of the Korean Geotechical Society Conference
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• 2003.03a
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• pp.499-502
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• 2003

The purpose of this study is to understand the sliding characteristics of the infilling-joint surface using the new devised shear test apparatus with changeable slope for the original infilling materials and the infilling materials experienced cyclic freezing-thawing processes. Three types of the mother rock classified as the igneous rock, the metamorphic rock and the sedimentary rock and the infilling materials were collected for laboratory test. The cohesion according to the slope change of the rock joint shows large variation within ${\pm}$5 degrees but the internal friction angle shows appears the linear decreasing tendency. It is confirmed that the affecting factor of slope change of rock joint at the behavior of rock mass is larger than that of the infilling thickness. Test results show that the cohesion and the internal friction angle in 100 times of cyclic freezing-thawing processes are decreased about 50 percent compared with original one. A further study using various infillings materials would lead to a better understanding of the failure mechanism of rock mass by slope change of rock joint.

• Journal of Korea Foundry Society
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• v.37 no.4
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• pp.115-122
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• 2017

The aim of this research is to evaluate the wear properties of (TiB+TiC) paticulate reinforced titanium matrix composites (TMCs) by in-situ synthesis. Different particle sizes (1500, $150{\mu}m$) and contents (0.94, 1.88 and 3.76 mass% for Ti, 1.98 and 3.96 mass% for the Ti6Al4V alloy) of boron carbide were added to pure titanium and to a Ti6Al4V alloy matrix during vacuum induction melting to provide 5, 10 and 20 vol.% (TiB+TiC) particulate reinforcement amounts. The wear behavior of the (TiB+TiC) particulate reinforced TMCs is described in detail with regard to the coefficient of friction, the hardness, and the degree of reinforcement fragmentation during sliding wear. The worn surfaces of each sliding wear condition are shown for the three types of wear studied here: transfer layer wear, particle cohesion wear and the development of abrasive areas. The fine reinforcements of TMCs were easily fragmented from the Ti matrix as compared to coarse reinforcements, and fragmented debris accelerated the decrease in the wear resistance.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.7 no.1
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• pp.108-115
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• 1995

An efficient model for the dynamic analysis of caisson breakwaters under impulsive wave loadings is presented. The caisson structure is. regarded as a rigid body, and the rubble mound foundation is idealized as virtual added masses, springs, and dampers using the elastic half-space theory. The frequency-dependent hydrodynamic added mass and damping coefficients are considered by using the time memory functions and added mass at infinite frequency. To simulate the permanent sliding phenomenon of the caisson, the horizontal spring is modeled as a nonlinear spring with plastic behaviors. Comparisons with experimental results show that the present model gives fairly good results. Sensitivity analysis is performed for the relevant parameters affecting the dynamic responses of a caisson breakwater. Numerical experiments are also carried out to investigate the applicability to the prediction of permanent sliding distance and critical weight of the caisson.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.758-765
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• 2015

This paper proposes an attitude control system to keep the balance for a two-wheeled mobile manipulator which consists of a mobile platform and a three D.O.F. manipulator. In the conventional control scheme, complicated dynamics of the manipulator need to be derived for balancing control of a mobile manipulator. The method proposed in this paper, however, three links are considered as one body of mass and the dynamics are derived easily by using an inverted pendulum model. One of the best advantage of a sliding mode controller is low sensitivity to plant parameter variations and disturbances, which eliminates the necessity of exact modeling to control the system. Therefore the sliding mode control algorithm has been adopted in this research for the attitude control of mobile platform along the pitch axis. The center of gravity for the whole mobile manipulator is changing depending on the motion of the manipulator. And the orientation variation of center of gravity is used as reference input for the sliding mode controller of the pitch axis to maintain the center of gravity in the middle of robot to keep the balance for the robot. To confirm the performance of controller, MATLAB Simulink has been used and the resulting algorithms are applied to a real robot to demonstrate the superiority of the proposed attitude control.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.1
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• pp.123-129
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• 2012

Recently, interests on cleaning robots workable in pipes (termed as in-pipe cleaning robot) are increasing because Garbage Automatic Collection Facilities (i.e, GACF) are widely being installed in Seoul metropolitan area of Korea. So far research on in-pipe robot has been focused on inspection rather than cleaning. In GACF, when garbage is moving, the impurities which are stuck to the inner face of the pipe are removed (diameter: 300 mm or 400 mm). Thus, in this paper, by using TRIZ (Inventive Theory of Problem Solving in Russian abbreviation), an in-pipe cleaning robot of GACF with the 6-link sliding mechanism will be proposed, which can be adjusted to fit into the inner face of pipe using pneumatic pressure(not spring). The proposed in-pipe cleaning robot for GACF can have forward/backward movement itself as well as rotation of brush in cleaning. The robot body should have the limited size suitable for the smaller pipe with diameter of 300 mm. In addition, for the pipe with diameter of 400 mm, the links of robot should stretch to fit into the diameter of the pipe by using the sliding mechanism. Based on the conceptual design using TRIZ, we will set up the initial design of the robot in collaboration with a field engineer of Robot Valley, Inc. in Korea. For the optimal design of in-pipe cleaning robot, the maximum impulsive force of collision between the robot and the inner face of pipe is simulated by using RecurDyn(R) when the link of sliding mechanism is stretched to fit into the 400 mm diameter of the pipe. The stresses exerted on the 6 links of sliding mechanism by the maximum impulsive force will be simulated by using ANSYS$^{(R)}$ Workbench based on the Design Of Experiment(in short DOE). Finally the optimal dimensions including thicknesses of 4 links will be decided in order to have the best safety factor as 2 in this paper as well as having the minimum mass of 4 links. It will be verified that the optimal design of 4 links has the best safety factor close to 2 as well as having the minimum mass of 4 links, compared with the initial design performed by the expert of Robot Valley, Inc. In addition, the prototype of in-pipe cleaning robot will be stated with further research.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.4 no.2
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• pp.103-110
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• 2011

It is necessary to accurate and efficient management for measured digital data from sensors in u-health system. It is not efficient that sensor network process input stream data of mass storage stored in database the same time. We propose to improve the processing performance of multidimensional stream data continuous incoming from multiple sensor. We propose process query based on sliding window for efficient input stream and found multiple query plan to Mjoin method and we reduce stored data using backpropagation algorithm. As a result, we obtained to efficient result about 18.3% reduction rate of database using 14,324 data sets.

• Pediatric Gastroenterology, Hepatology & Nutrition
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• v.15 no.2
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• pp.100-104
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• 2012

Esophageal hiatal hernia is the hernia of a part of or the whole of stomach to posterior mediastinum through esophageal hiatus. Esophageal hiatal hernia can be classified as sliding hiatal hernia (type I), paraesophageal (type II), combined sliding and paraesophageal (type III), and complex paraesophageal (type IV). Type III and IV are clinically classified as paraesophageal hernia. The authors by chance found cystic mass filled with air in the lower lobe of the right lung during the treatment of mycoplasma pneumonia of 10 month-old patient. It was found to be paraesophageal hernia on the chest computed tomography and treated with the operation. As complex paraesophageal hernia is not usual among infants, the authors report it here with literature review.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1704-1707
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• 1997

In this work, position and vibratiion control of a two-link manipulator with one flexible link, which an unkoun but bounded payload mass and two pair of artificial muscle-type penumatic actuators, are investgated. A flexible link robot has advantages over a figid link robot in the sense that it is much safer when it cones into contact with its environment, including humans. Furthermore, for the sake of safety, it would be more desirabel if an actuator could deliver required force while maintaining proper compliance. An artificial muscle-type penumatic actuator is adequate for such cases. In this study, a controller based on singular perturbation method, adaptive and sliding mode contro, and .mu.-synthesis is developed. The effectiveness of the proposed control scheme is confirmed through simulations and experiments.