• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.224-230
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• 2015

In this paper, it is presented a learning controller for repetitive walking control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured due to the walking period through the intelligent control, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of intelligent control to biped robotic motion is shown via dynamic simulation with 25-DOF biped walking robot.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.231-240
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• 2015

In this paper, it was presented to design and analyze the kinematics of grasping a rigid object by means of multi-degrees-of-freedom hand fingers. It is shown firstly that a set of kinematic equation describing dynamics system of the arm and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It has been presented secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this research, the control method for static stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the kinematic grasping of the hand fingers of robot.

• Economic and Environmental Geology
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• v.27 no.6
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• pp.601-609
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• 1994

Uranium resources of Mongolia are generally confined to sediments deposited during Jurassic to Cretaceous volcanism. Territory of Mongolian uranium deposits is divided into four districts as follows; Mongol-Priargun, Gobi-Tamtsag, Hentii-Dauer, North-Mongolian. Potential uranium deposits were discovered by Airborne Gamma ray Spectrometric Survey(AGSM). One of them, Haraat deposit, which was interested to us, has been under detailed survey for exploitation by one of American companies, Concord company. The Erdes uranium mine is partly operated by about hundred Russian staffs at the open pit, while underground mining facilities such as the main hoist are almost closed. Ore minerals of the Erdes Mine are coffinite and pitchblende. Uranium content in ore ranges from 0.06% to 1%, averaging 0.2%. Ore reserves of uranium ore in the Dornod deposit including the Erdes Mine accounts 29,000 ton. It is reported that Uranium resources of Mongolia are 1,471,000 ton.

• Journal of Korean Tunnelling and Underground Space Association
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• v.15 no.6
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• pp.613-623
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• 2013

As Limestone mines have been operated with various environmental, societal and managemental problems depending on their characteristics and developing methods, many great efforts have been applied to solve these problems. Installing the mining facilities underground is one of the successful efforts to keep the sustainable limestone mine development. This effort could reduce these problems. However, unfortunately it made an side effect of constructing a large underground space in mining site. Moreover, this space caused a necessity of various disaster managements for the safety of workers and facilities. This study introduces the priority list of a limestone mining process if there are disasters in underground mining site. This result is coming from the risk assessment and business impact analysis on survey data which were obtained from the miners of that particular limestone mine. According to the result, the highest risk is 'disregard of safety guidelines in crushing & classifier process'. The result also shows the highest priority business, above all things, is 'a pit linked work of in & out process'.

• Journal of the Korean Institute of Gas
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• v.8 no.2 s.23
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• pp.48-53
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• 2004

Korea Gas Corporation(KOGAS) is a Liquified Natural Gas(LNG) supplier through out the Korea. LNG, which is imported wholly from foreign countries, is compressed 1/600 for easy transportation and is stored in a liquid state in the storage tanks at Incheon, Pyeongtaek and Tongyeong. At LNG receiving terminals, LNG is vaporized to natural gas before supplying to City Gas Consumer or Power Plant. The secondary pump is a equipment which compress LNG from $10 kgf/cm^2$ to $70 kgf/cm^2$. The secondary pump at Tongyeong LNG receiving terminal is consisted of two pumps in one underground PIT, and is connected to supporting structures. It is therefore expected that there is a vibration problem with the pump and was found that high level vibration was occurred in a low frequency band(5${\~}$10Hz). In this paper, the vibration of secondary pump was analyzed, and the main cause of vibration was found out.

• Tunnel and Underground Space
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• v.25 no.5
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• pp.462-469
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• 2015

This study carried out a topographic survey at a small-scale open-pit limestone mine in Korea (the Daesung MDI Seoggyo office) using a popular rotary-wing unmanned aerial vehicle (UAV, Drone, DJI Phantom2 Vision+). 89 sheets of aerial photos could be obtained as a result of performing an automatic flight for 30 minutes under conditions of 100m altitude and 3m/s speed. A total of 34 million cloud points with X, Y, Z-coordinates was extracted from the aerial photos after data processing for correction and matching, then an orthomosaic image and digital surface model with 5m grid spacing could be generated. A comparison of the X, Y, Z-coordinates of 5 ground control points measured by differential global positioning system and those determined by UAV photogrammetry revealed that the root mean squared errors of X, Y, Z-coordinates were around 10cm. Therefore, it is expected that the popular rotary-wing UAV photogrammetry can be effectively utilized in small-scale open-pit mines as a technology that is able to replace or supplement existing topographic surveying equipments.

• Tunnel and Underground Space
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• v.19 no.3
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• pp.248-260
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• 2009

With regard to oversea mineral resources development, recent trend has been changed from a simple capital investment to a direct development of the resources. In relation to the stability of a slope in large open-pit coal mine, groundwater system was investigated and the validity of horizontal drainage hole was evaluated in Pasir coal mine, Indonesia. In this work, various field tests were carried out for a characterization of groundwater system, which included in-situ permeability measurement, tracer test and monitoring of groundwater levels. Especially, the influence of SM river on the characteristics of the groundwater flow system was mainly inspected. For the permeability measurement, Guelph permeameter was employed, and was found that sandstone was more permeable than mudstone and coal seam. From a comparison of lithological structure and the results of groundwater level monitoring, sandstone and thin coal seam with fractures were found to be a main channel for groundwater flow. In the results of tracer tests, the effect of SM river on the groundwater system depends on the geological structure of its base. To identify the effect of horizontal drainage holes, 2-D groundwater modeling was performed. Four different cases were tested, which are different from the length of drainage hole and the existence of pond on top of the slope. To enhance the drainage effect and slope stability, the drainage hole should be drilled to the depth of coal seam layer, which provides a main pathway of groundwater flow and embedded by sandstone. For this purpose, correct identification of surrounding geology should be preceded.

• Journal of Korean Tunnelling and Underground Space Association
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• v.20 no.3
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• pp.609-623
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• 2018

If the ground is excavated in a depth which is deeper than the adjacent existing tunnel, the behavior of the braced wall is known to be greatly affected by the presence of the tunnel. By the way it is expected to be also affected by the structure on the ground surface, There are not many examples of studies which are conducted on this subject. As a result, largel scale model tests and analysis were conducted, to measure the behavior of the tunnel under the building whose location on the ground surface was varied during the adjacent ground excavation. For this purpose, the location of a building load was varied in 0 m, 1D, 2D on ground surface. In this paper, the behaviors of braced wall and adjacent tunnel was studied. Model tests in 1 : 10 scale were performed in real construction sequences. The size of test pit was $2.0m(width){\times}6.0m(height){\times}4.0m(length)$ in dimension. As a result, it was found that the stability of the existing tunnel under the influence of the building load on the ground surface adjacent to the braced wall.

• Journal of Korean Tunnelling and Underground Space Association
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• v.9 no.4
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• pp.331-341
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• 2007

Pre-loads could be imposed on the braced wall to prevent the horizontal displacements during the ground excavation adjacent to the existing tunnel. For this purpose, new pre-loading system through which large pre-loads could be applied to the braced wall was used in the model tests. Large scale model tests were performed in the real scale test pit which was 2.0 m in width and 6.0 m in hight and 4.0 m in length. Test ground was constructed by sand. Model tunnel in 1.2 m diameter was constructed before test ground excavation. Test ground was excavated adjacent to existing tunnel and was braced. To investigate the effect of pre-loading, tests without pre-load were also performed. During the ground excavation were the behavior of braced wall, test tunnel, and ground measured. Model tests were also numerically analysed and their results were compared to that of the real scale tests. As a result, it was found that the stability of the existing tunnel was greatly enhanced when the horizontal displacements of braced wall was reduced by applying pre-load larger than the design load.

• Geotechnical Engineering
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• v.14 no.4
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• pp.91-102
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• 1998

Electrical resistivity method, one of the most widely used geophysical prospecting methods. has been usually applied to explorations for groundwater and underground resources. However, it has been extending its scope to civil & environmental engineering areas since it twas been developed so as to image underground structures effectively. A FEM algorithm for the dipole-dipole array was developed to correct topographic effects which have a serious influence on electrical methods. Applicability of the electrical resistivity imaging technique to civil & environmental engineering areas was verified through three case histories in this study First, thickness of soil layers was profiled to judge the possibility of developing borrow-pits tn an industrial complect site. Second, weak zones such as fractures and coal seams were detected to provide geological information for design and construction in a high mountain tunnel site. Third, horizontal/vertical distribution of the contaminated zone and depth of waste disposal were delineated in a completed industrial waste disposal site.