• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1591-1596
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• 1991

The present paper describes a method of recognizing a polyhedron employing the notion of network constraint analysis. Typical difficulties in three-dimensional object recognition, other than shading, reflection, and hidden line problems, include the case where appearances of an object vary according to observation points and the case where an object to be recognized is occluded by other objects placed in its front, resulting in incomplete information on the object shape. These difficulties can, however, be solved to a large extent, by taking account of certain local constraints defined on a polyhedral shape. The present paper assumes a model-based vision employing an appearance-oriented model of a polyhedron which is provided by placing it at the origin of a large sphere and observing it from various positions on the surface of the sphere. The model is actually represented by the sets of adjacent faces pairs of the polyhedron observed from those positions. Since the shape of a projected face gives constraint to that of its adjacent face, this results in a local constraint relation between these faces. Each projected face of an unknown polyhedron on an acquired image is examined its match with those faces in the model, producing network constraint relations between faces in the image and faces in the model. Taking adjacency of faces into consideration, these network constraint relations are analyzed. And if the analysis finally provides a solution telling existence of one to one match of the faces between the unknown polyhedron and the model, the unknown polyhedron is understood to be one of those memorized models placed in a certain posture. In the performed experiment, a polyhedron was observed from 320 regularly arranged points on a sphere to provide its appearance model and a polyhedron with arbitrarily postured, occluded, or imposed another difficulty was successfully recognized.

• Tunnel and Underground Space
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• v.33 no.3
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• pp.189-207
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• 2023

In the present study, the thermoshearing experiment on a rough rock fracture were modeled using a three-dimensional grain-based distinct element model (GBDEM). The experiment was conducted by the Korea Institute of Construction Technology to investigate the progressive shear failure of fracture under the influence of thermal stress in a critical stress state. The numerical model employs an assembly of multiple polyhedral grains and their interfaces to represent the rock sample, and calculates the coupled thermo-mechanical behavior of the grains (blocks) and the interfaces (contacts) using 3DEC, a DEM code. The primary focus was on simulating the temperature evolution, generation of thermal stress, and shear and normal displacements of the fracture. Two fracture models, namely the mated fracture model and the unmated fracture model, were constructed based on the degree of surface matedness, and their respective behaviors were compared and analyzed. By leveraging the advantage of the DEM, the contact area between the fracture surfaces was continuously monitored during the simulation, enabling an examination of its influence on shear behavior. The numerical results demonstrated distinct differences depending on the degree of the surface matedness at the initial stage. In the mated fracture model, where the surfaces were in almost full contact, the characteristic stages of peak stress and residual stress commonly observed in shear behavior of natural rock joints were reasonably replicated, despite exhibiting discrepancies with the experimental results. The analysis of contact area variation over time confirmed that our numerical model effectively simulated the abrupt normal dilation and shear slip, stress softening phenomenon, and transition to the residual state that occur during the peak stress stage. The unmated fracture model, which closely resembled the experimental specimen, showed qualitative agreement with the experimental observations, including heat transfer characteristics, the progressive shear failure process induced by heating, and the increase in thermal stress. However, there were some mismatches between the numerical and experimental results regarding the onset of fracture slip and the magnitudes of fracture stress and displacement. This research was conducted as part of DECOVALEX-2023 Task G, and we expect the numerical model to be enhanced through continued collaboration with other research teams and validated in further studies.