• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.353-356
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• 1997

Hydraulically driven manipulators are superior to electrically driven ones in the power density and electrical insulation. But an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and this parameter fluctuations are greater than those of electrically driven manipulator. So this is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous field task such as the maintenance task of high voltage active electric line or the automatic excavation task by hydraulic excavator. In this report, we propose robust force control algorithm, which can be applied to there real field task such as the construction field, nuclear plant and so on. Proposed force controller has the same structure as that of disturbance observe for position control. The difference between force and position disturbance observer is that the input and output of disturbance observer are forces in the case force disturbance observer and the plant varies much compared to the case of position control. In the design of force disturbance observer, generalized plant is derived and the stabilized filter is designed by H infinity control theory to ensure the robuts t stability even though the stiffness of environment changes from sponge to steel, and the contact surface also changes from flat to round shape. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions.

• 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 GEO-environmental Society
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• v.11 no.1
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• pp.27-34
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• 2010

A finite element analysis has been conducted to clarify the behaviour of a single pile in heaving ground related to ground excavation. The numerical analysis has included soil slip at the pile-soil interface, analysing the interaction between the pile and the clay has been studied. The study includes the upward movement of the pile, the relative shear displacement between the pile and the soil and the shear stresses at the interface and the axial force on the pile. In particular, the shear stress transfer mechanism at the pile-soil interface related to a decrease in the vertical soil stress has been rigorously analysed. Due to the reductions in the vertical soil stress after excavation, the relative shear displacement and the shear stress along the pile have been changed. Upward shear stress developed at most part of the pile (Z/L=0.0-0.8), while downward shear stress is mobilized near the pile tip (Z/L=0.8-1.0) resulting in tensile force on the pile, where Z is the pile location and L is the pile length. Some insights into the pile behaviour in heaving ground analysed from the numerical analyses has been reported.

• Journal of the Korean Geotechnical Society
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• v.38 no.1
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• pp.35-45
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• 2022

When constructing a cylindrical vertical shaft through the open-cut method, the walls are generally designed to be temporary flexible walls that allow a certain level of displacement. The earth pressure applied to the flexible walls acts as an external force and its accurate estimation is essential for reasonable and economical structure design. The earth pressure applied to the flexible wall is closely interrelated to the plastic deformation of the surrounding ground. This study simulated a stepwise excavation for constructing a cylindrical vertical shaft through a centrifugal model test and evaluated the continuous deformation behaviors of the surrounding ground through digital image analysis.

• KEPCO Journal on Electric Power and Energy
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• v.7 no.2
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• pp.285-293
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• 2021

The construction of underground structures such as power supply lines, communication lines, utility tunnels has significantly increased worldwide for improving urban aesthetics ensuring citizen safety, and efficient use of underground space. Those underground structures are usually constructed along with vertical cylindrical shafts to facilitate their construction and maintenance. When constructing a vertical shaft through the open-cut method, the walls are mostly designed to be flexible, allowing a certain level of displacement. The earth pressure applied to the flexible walls acts as an external force and its accurate estimation is essential for reasonable and economical structure design. The earth pressure applied to the flexible wall is closely interrelated to the displacement of the surrounding ground. This study simulated stepwise excavation for constructing a cylindrical vertical shaft through a centrifugal model experiment. One quadrant of the axisymmetric vertical shaft and the ground were modeled, and ground excavation was simulated by shrinking the vertical shaft. The deformation occurring on the entire ground during the excavation was continuously evaluated through digital image analysis. The digital image analysis evaluated complex ground deformation which varied with wall displacement, distance from the wall, and ground depth. When the ground deformation data accumulate through the method used in this study, they can be used for developing shaft wall models in future for analyzing the earth pressure acting on them.

• Geomechanics and Engineering
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• v.34 no.3
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• pp.329-339
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• 2023

The objective of this study is to develop a Stability Evaluation System for retaining walls to assess their safety in real-time during excavation. A ground investigation is typically conducted before construction to gather information about the soil properties and predict wall stability. However, these properties may not accurately reflect the actual ground being excavated. To address this issue, the study employed a differential evolution algorithm to estimate the soil parameters of the actual ground. The estimated results were then used as input for an artificial neural network to evaluate the stability of the retaining walls. The study achieved an average accuracy of over 90% in predicting differential settlement, wall displacement, anchor force, and structural stability of the retaining walls. If implemented at actual excavation sites, this approach would enable real-time prediction of wall stability and facilitate effective safety management. Overall, the developed Stability Evaluation System offers a promising solution for ensuring the stability of retaining walls during construction. By incorporating real-time soil parameter analysis, it enhances the accuracy of stability predictions and contributes to proactive safety management in excavation projects.

• Geomechanics and Engineering
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• v.29 no.3
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• pp.229-236
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• 2022

In this study, a model experiment and field experiment was conducted to introduce the optimal tensile force when constructing a non-open cut tunnel according to the ground conditions of sandy soil. CMR (Concrete Modular Roof) method is economical because of the high precision and excellent durability, and corrosion resistance, and the inserted parts can be used as the main structure of a tunnel. In addition the CMR method has a stable advantage in interconnection because the concrete beam is press-fitted compared to the NTR (New Tubular Roof) method, and the need for quality control can be minimized. The ground conditions were corrected by adjusting the relative density of sandy soil during the construction of non-open cut tunnels, and after introducing various tensile forces, the surface settlement according to excavation was measured, and the optimal tensile force was derived. As a result of the experiment, the amount of settlement according to the relative density was found to be minor. Furthermore, analysis of each tensile force based on loose ground conditions resulted in an average decrease of approximately 22% in maximum settlement when the force was increased by 0.8 kN per segment. Considering these results, it is indicated that more than 2.0 kN tensile force per segment is recommended for settlement of the upper ground.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.353-364
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• 2011

This paper presents the ground behaviour of shield TBM lunching area during excavation. In order to perform this study, a scaled model test was carried out in the 1/45 scale for a field tunnel in practice where the tunnel had about 7.8 m diameter at Seoul Metro Line 9 construction site. The test to simulate earth pressure balance (EPB) shield TBM tunnelling at the lunching area was conducted with the developed small scaled shield TBM machine. Measurements were performed during simulation of excavation for total jacking thrust force, ground displacements and pressures. Based on the analysis of simulation results, the stability of ground was verified and evaluated. In particular, the suitable reinforcement range and methods are also suggested. In addition, these results are useful for engineers and technicians to select suitable and serviceable machine operation parameters and reduce environmental influence at all stages of tunnel construction.

• Proceedings of the Korean Geotechical Society Conference
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• 1999.10a
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• pp.481-488
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• 1999

Recently a removable soil nail is demanded due to problems beyond of economical and engineering purpose. In this study controlled displacement and controlled force field pull-out tests are carried out 7 times in order to evaluate short-term and long-term pull-out characteristics of the removable soil nail. For evaluating application of removable soil nailing system, bending tests of removable soil nails and tensile tests of fixed sockets are carried out. In the removable soil nailing system, the predicted horizontal displacements from FLAC-2D are also compared with the field measurements occurred in stepwise excavation. And approach for the stability analysis of removable soil nailing system after removed is proposed.

• Tunnel and Underground Space
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• v.8 no.1
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• pp.46-52
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• 1998

The author conducted new back analysis method using monitoring data to a landslide which occurred around portal. In this case, because the tunnel being located under the sliding plane of the landslide, calculated value from the ordinary back analysis in which considered only stress release by the tunnel excavation didn't fit the measured value. Then, in the new method, a body force as the movement of the landslide mass was added to the ordinary back analysis and good results were obtained. Furthermore, the author carried out stability analysis of the landslide with the data of the back analysis and examined the loosened area and decreasing og the sliding plane strength due to the tunnel excavation.