• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.1037-1038
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• 2010

• 한국유체기계학회 논문집
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• 제3권3호
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• pp.25-30
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• 2000

Thermodynamic method of pump performance measurement calculates pump efficiency and flowrate by measuring fluid temperature increase and pressure rise through the pump. The theory of this method is investigated and precise comparison experiment with classical hydraulic method was conducted to verify the accuracy. Classical hydraulic pump performance measurement results and Yatesmeter results based on the thermodynamic method showed good agreement in measured performance.

• 드라이브 ㆍ 컨트롤
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• 제4권3호
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• pp.11-16
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• 2007

• 한국지반공학회논문집
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• 제15권2호
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• pp.129-138
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• 1999

본 연구는 준설매립 점성토 지반의 토질정수를 효과적으로 구할 수 있는 자중 및 침투압밀시첨 기법과 현장 모형 실험장치의 개발을 중심으로 수행되었다. 이러한 모형 실험장치와 시험기법개발은 연약한 매립 지반의 침강-자중-재하압밀 과정에 대한 재현을 가능케하였다. 이러한 실험적 연구는 준설 점성토 지반의 자중압밀특성을 중심으로 이루어졌으며, 이론적인 연구로 매립점토 지반의 압밀해석시 Terzaghi의 1차원 압밀이론의 적용한계 등을 지적하였고, 이러한 문제점을 고려한 Mikasa의 자중 압밀이론을 토대로 유한차분해석을 실시하였다. 실내시험에 의해 군산 매립점토의 토질정수로 비체적-유효응력-투수계수 관계를 구하였으며 현장 모형실험을 통하여 투입단계부터 간극수압-토압-수위관계 및 침하량 등을 측정하였다. 시험에 의해 얻어진 결과는 Terzaghi의 방법과 Mikasa 자중압밀의 차분해석에 의해 비교.분석되었으며, 실측 침하량은 Terzaghi의 이론보다 Mikasa의 자중압밀이론이 비교적 잘 일치하였다.

• Geomechanics and Engineering
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• 제14권6호
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• pp.581-588
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• 2018

In order to explore the comprehensive evaluation means of the extent of hydraulic fracturing region in coal seams, we analyzed the feasibility of detecting the response of coal rock direct current (DC) apparent resistivity to hydraulic-fracturing using Archie's theory, and conducted experimental researches on the response of DC resistivity in the hydraulic fracturing process using small-scale coal rock samples. The results show that porosity and water saturation are the two factors affecting the apparent resistivity of coal rock while hydraulic fracturing. Water has a dominant effect on the apparent resistivity of coal rock samples. The apparent resistivity in the area where water flows through is reduced more than 50%, which can be considered as a core affect region of hydraulic fracturing. Stress indirectly impacts the apparent resistivity by changing porosity. Before hydraulic fracturing, the greater axial load applied, the more serious the rupture in the samples, resulting in the greater apparent resistivity. Apparent resistivity testing is a potential regional method to evaluate the influence range of hydraulic fracturing in coal seams.

• 지질공학
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• 제4권1호
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• pp.13-28
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• 1994

파쇄대를 포함하고 있는 결정암체의 수리전도(K)는 현장조사에 의해서 기초자료가 얻어지고 해석학적 방법에 의해서 규명된다. 이러한 현장조사 방법 및 절차는 조사 목적 및 현장여건 그리고 결정암체의 특성에 따라서 결정된다. 파쇄대나 절리등의 불연속면을 포함하고 있는 결정질암체에서의 수리전도도는 주로 패커시험(Packer teat)과 스러그시험(Slug test)으로 결정한다. 동일 시험공에서 패커시험의 시험간격을 좁게 할수록 정상류 해석법에 의한 수리전도도가 켜지는 경향을 나타내며 Hvorslev의 이론에 부합되는 증거로서, 동일 시험공내에서도 주입구간의 간격에 따라서 수리전도도는 규모종속(scale effect)을 나타낸다고 할 수 있다. 또한 시험 순서에 따라서 수리전도도의 변화를 나타낸다고 할 수 있다. 수리지질할적으로 주요 불연속면이 포함된 패커시험구간에서 수리전도도의 수직분포를 볼때,패커시험간격을 달리한다고 하더라도,이러한 불연속면을 포함한 구간에서는 수리전도도의 상대적인 이상대를 나타낸다.스러그시험과 패커시험으로 구한 시험정의 전구간 평균수리전도도를 비교해 볼 때,일반적으로 상당히 부함되는 값을 나타낸다.

• Journal of Mechanical Science and Technology
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• 제17권7호
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• pp.999-1010
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• 2003

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. This maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulators because hydraulic manipulators have the advantage of electric insulation and power/mass density. Meanwhile an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this paper, the robust force control of a 6-link electro-hydraulic manipulator system used in the real maintenance task of active electric lines is examined in detail. A nominal model for the system is obtained from experimental frequency responses of the system, and the deviation of the manipulator system from the nominal model is derived by a multiplicative uncertainty. Robust disturbance observers for force control are designed using this information in an H$\_$$\infty$/ framework, and implemented on the two different setups. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved even if the stiffness of environment and the shape of wall change.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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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.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2008년도 추계 학술발표회
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• pp.498-507
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• 2008

The mixture of bentonite powder and water is generally used to maintain the stability of excavation surface during the construction of vertical cutoff walls. The filter cake on the sidewall surface is the result of filtration of slurry into the adjacent soil formation. The filter cake is believed to have a very low hydraulic conductivity compared to that of the cutoff wall. This paper evaluates hydraulic conductivities of bentonite filter cakes set up with three types of bentonites under various pressure levels. A modified fluid loss test was employed in this experiment. Theory of filtration process was reviewed to explain the procedure in the present experiment. Hydraulic conductivity of the filter cakes with consideration of the filter medium resistance was evaluated. The results of the experiment with two calculation methods and discussion are presented to show the efficiency of the modified fluid loss test.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2008년도 추계 학술발표회
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• pp.1502-1511
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• 2008

The mixture of bentonite powder and water is generally used to maintain the stability of excavation surface during the construction of vertical cutoff walls. The filter cake on the sidewall surface is the result of filtration of slurry into the adjacent soil formation. The filter cake is believed to have a very low hydraulic conductivity compared to that of the cutoff wall. This paper evaluates hydraulic conductivities of bentonite filter cakes set up with three types of bentonites under various pressure levels. A modified fluid loss test was employed in this experiment. Theory of filtration process was reviewed to explain the procedure in the present experiment. Hydraulic conductivity of the filter cakes with consideration of the filter medium resistance was evaluated. The results of the experiment with two calculation methods and discussion are presented to show the efficiency of the modified fluid loss test.