• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.184-191
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• 2009

The common requirements of rough terrain mobile robots are long-term operation and high mobility in rough terrain to perform difficult tasks. In rough terrain, excessive wheel slip could cause an increase in the amount of dissipated energy at the contact point between the wheel and ground or, even more seriously, the robot could lose all mobility and become trapped. This paper proposes a traction control algorithm that can be independently implemented to each wheel without requiring extra sensors and devices compared with standard velocity control methods. The proposed traction algorithm is analogous to the stick-slip friction mechanism. The algorithm estimates the slippage of wheels by angular acceleration change, and controls the increase or decrease state of torque applied to wheels Simulations are performed to validate the algorithm. The proposed traction control algorithm yielded a 65.4% reduction of total slip distance and 70.6% reduction of power consumption compared with the standard velocity control method.

• Economic and Environmental Geology
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• v.32 no.4
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• pp.365-371
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• 1999

Ture diplacement of a fault monement is calculated from the displacement of the index plane such as bedding on an outcrop surface. The input parameters are the orientations of the index, fault, and outcrop planes. It is also necessary to input the orientation of fault striation and the offset distance of the index plane on the outcrop surface. The distances of the total, strike, horizontal and dip slip components of the fault movement are calculated from the input parameters. Hwang(1998) conducted a simlar calculation using trigonoment method. To apply the previous method, the offset distance of the index plane must be measured on a vertical outcrop surface. The calculation method of this study accepts the offset distence of index plane on an outcrop plane of any orientation. Calculation results from both method are indentical, regardless of the simplicity of the new method.

• Tunnel and Underground Space
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• v.7 no.1
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• pp.31-38
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• 1997

Residual shear strength should be taken into consideration as well as peak one when analysing stability of slopes constituted by weathered rock or overconsolidated soils since such materials could be subjected to progressive failure mechanism. When landslide of a slope is related to progressive failure phenomenon, the failure might occur even though shear strength of the slope materials does not reach their residual shear strength over the whole slip surface. Therefore, stability of the slope concerned may be overstimated or underestimated when using only its peak or residual shear srength parameters. Mechanical description for progressive failure phenomenon is given by Bjerrum(1967). In parameters. Mechanical description for progressive failure phenomenon is given by Bjerrum(1967). In this study, his theory has been extended to estimate the distance of failed zone for a plane slope and the results calculated by this extended equatio has been compared with that obtained by numerical modelling using FLAC. In addition, stress state on the slip surface has been, in detail, analysed to understand failure mechanism when a limited progressive failure occurs. Effects of mechanical and hydraulic factors on progressive failure have also been analysed.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.161-167
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• 2006

In this paper, lateral force control of a mobile robot with slip is presented. First, the bicycle model of a mobile robot is derived for the front steering. Second, impedance force control algorithm is applied to regulate contact force with environment. The desired distance is specified conservatively inside the environment to guarantee to make contact. Different stiffness of environment has been tested for force tracking task. Simulation results show that the proposed control algorithm works well to maintain desired contact force on the environment.

• Proceedings of the Korea Concrete Institute Conference
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• 2010.05a
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• pp.459-460
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• 2010

For the application of slip form method to the pylon of Yi Sun-shin bridge which has much variation in its cross section, the change of setting properties of concrete due to changing weather and long pumping distance has to be taken into consideration. Different setting properties of several types of cement according to the amount of compound and ambient temperature were observed in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.166.1-166
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• 2001

Anti-lock Braking System(ABS) is a device which prevents the wheels form locked up under emergency braking of a vehicle. So it helps the vehicle to maintain the steerability and shortens the braking distance by maintaining optimal frictional force during braking since the tire road slip is controlled in acceptable range. Recently, ABS is accepted as a standard equipment in vehicles, especially in commercial vehicles(bus and trucks). Commercial vehicles don´t use hydraulic lines but use pneumatic lines for braking system mostly. In this paper, ECU(Electronic Control Unit) for the anti-lock braking system of a commercial vehicle which is equipped with a full-air brake system and its control algorithms are presented. In this algorithm wheel speed acceleration flags and wheel slip flags are defined ...

• Structural Engineering and Mechanics
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• v.75 no.1
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• pp.71-86
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• 2020

This paper presents a study on the mechanical behavior of buried pipelines crossing faults using experimental and numerical methods. A self-made soil-box was used to simulate normal fault, strike-slip fault and oblique slip fault. The effects of some important parameters, including the displacement and type of fault, the buried depth and the diameter of pipe, on the deformation modes and axial strain distribution of the buried pipelines crossing faults was studied in the experiment. Furthermore, a finite element analysis (FEA) model of spring boundary was developed to investigate the performance of the buried pipelines crossing faults, and FEA results were compared with experimental results. It is found that the axial strain distribution of those buried pipelines crossing the normal fault and the oblique fault is asymmetrical along the fault plane and that of buried pipelines crossing the strike-slip fault is approximately symmetrical. Additionally, the axial peak strain appears near both sides of the fault and increases with increasing fault displacement. Moreover, the axial strain of the pipeline decreases with decreasing buried depth or increasing ratios of pipe diameter to pipe wall thickness. Compared with the normal fault and the strike-slip fault, the oblique fault is the most harmful to pipelines. Based on the accuracy of the model, the regression equations of the axial distance from the peak axial strain position of the pipeline to the fault under the effects of buried depth, pipe diameter, wall thickness and fault displacement were given.

• Anatomy and Cell Biology
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• v.57 no.2
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• pp.246-255
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• 2024

Knowledge of the superficial radial nerve (SRN) relationship and anatomic variations of the first extensor compartment (1st EC) will contribute to a better outcome of de Quervain tenosynovitis treatment. We dissected 87 embalmed cadaveric wrists to determine the relationship of the SRN, the 1st EC length, distance from the proximal and distal 1st EC borders to radial styloid process (RSP), abductor pollicis longus (APL) and extensor pollicis brevis (EPB) tendon slip numbers, and the presence of septum. Our results revealed SRN crossing over the 1st EC in 59.5%. The lateral branch of the superficial radial nerve to the 1st EC midline in most cases (61.9%) except for one specimen, where lateral antebrachial cutaneous nerve was the closest. Distances from proximal and distal 1st EC borders to the RSP were 19.7±4.1 mm and 7.6±1.8 mm, respectively. Extensor retinaculum (ER) width over 1st EC (1st EC length) was 14.8±3.2 mm. Complete and incomplete septa were found in 17.2%, and 42.5%, respectively. The most frequent APL tendon slip number in the compartment was two in overall 47 specimens (54.0%). Almost all compartments (85 specimens; 97.7%) contained one EPB tendon slip. We detected bilateral EPB absence in one cadaver. Moreover, we recorded a tendon slip from extensor pollicis longus traveling into 1st EC bilaterally in one cadaver and observed the EPB muscle belly extension into 1st EC in 9 wrists. Awareness of 1st EC anatomic variations would be essential for successful surgical and nonsurgical outcomes.

• Journal of Biomedical Engineering Research
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• v.21 no.3 s.61
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• pp.295-301
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• 2000

It is known that among many factors, relative micromotion at bone/implant interfaces can hinder bone ingrowth into surface pores of an implant. Loading conditions, mechanical properties of spinal materials, friction coefficients at the interfaces and geometry of spinal segments would affect the relative micromotion and spinal stability. A finite clement model of the human lumbar spine segments (L4-L5) was constructed to investigate the mechanical sensitivity at the interfaces between bone and cage. Relative micromotion. Posterior axial displacement. bone stress, cage stress and friction force were predicted in changes of friction coefficients, loading conditions. bone density and age-related material/geometric properties of the spinal segments. Relative micromotion (slip distance in a static loading means relative micromotion in routine activity) at the interfaces increased significantly as the mechanical properties of cancellous bone, annulus fibers or/and ligaments decrease or/and as the friction coefficient at the interfaces decreases. The contact normal force at the interfaces decreased as cancellous bone density decreases or/and as the friction coefficient increases A significant increase of slip distance at anterior annulus occurred with an addition of torsion to compressive preload. Relative micromotion decreased with an increase of disc area. In conclusion. relative micromotion, stress response. Posterior axial displacement and contact normal force are sensitive to the friction coefficient of the interfaces, bone density, loading conditions and age-related geometric/material changes.

• Proceedings of the SAREK Conference
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• 2009.06a
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• pp.154-158
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• 2009

The vortex ventilation system (VV) which uses a rotating finned swirler installed coaxially with the exhaust duct is a very effective local ventilator. VV can enhance the capture depth by a factor of 3-5 compared to the conventional exhaust hood, in the absence of any solid walls nearby. In real situations there may exist ceiling, side wall and floor, all of which can affect the flow field and suction performance by way of the no-slip condition on the walls. 3D CFD simulation was performed in order to see the effect of the floor on the capture performance of the VV. The presence of floor reduced suction flow velocity, and increased the critical rotational speed which is the rotational speed required for stable vortex formation. Flow velocity profile along the axis could be well approximated by a universal functional form when the distance from the exhaust inlet is non-dimensionalized by the distance to the floor. Capture depth, define by the distance from the exhaust inlet to a point of velocity decreased to 10% of that at the inlet, is reduced by about 10% when the floor distance is 6 times the exhaust hood diameter.