• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.5
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• pp.683-689
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• 2014

The paper introduces dynamic generation technique of foot trajectories for humanoid robots using CPG(Central Pattern Generator) and proposes adaptive walking method for slope terrains combining a feedback network. The proposed CPG based technique generates the trajectory of foot in the Cartesian coordinates system and it can change the step length adaptively according to the feedback information. To cope with variable slope terrains, the sensory feedback network in the CPG are designed using the geometry relationship between foot position and body center position such that humanoid robot can maintain its stability. To demonstrate the effectiveness of the proposed approach, the experiments on humanoid robot Nao are executed in the Webot simulation. The performance and motion features of the CPG based approach are compared and analyzed focusing on the adaptability in slope terrains.

• Journal of the Korean Geotechnical Society
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• v.38 no.8
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• pp.39-52
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• 2022

Multilayer perceptron neural network was trained to determine the factor of safety and slip surface of the slope. Slope geometry is a simple slope based on Korean design standards, and the case of dry and existing groundwater levels are both considered, and the properties of the soil composing the slope are considered to be sandy soil including fine particles. When curating the data required for model training, slope stability analysis was performed in 42,000 cases using the limit equilibrium method. Steady-state seepage analysis of groundwater was also performed, and the results generated were applied to slope stability analysis. Results show that the multilayer perceptron model can predict the factor of safety and failure arc with high performance when the slope's physical properties data are input. A method for quantitative validation of the model performance is presented.

• Geophysics and Geophysical Exploration
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• v.9 no.4
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• pp.291-298
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• 2006

Resistivity method is a practical and effective geophysical technique to detect leakage zones in embankment dams. Generally, resistivity survey conducted along the crest assumes that the embankment dam has a 2D structure. However, the 3D topography of embankments distorts significantly resistivity data measured on anywhere of the dam. In this study, we analyse the influence from 3D effects created by specific dam geometry through the 3D finite element modeling technique. We compared 3D effects when resistivity surveys are carried out on the upstream slope, left edge of the crest, center of the crest, right edge of the crest and downstream slope. We ensure that 3D effect is greatly different according to the location of the survey line and data obtained on the downstream slope are most greatly influenced by 3D dam geometry. Also, resistivity data are more influenced by the electrical resistivity of materials constituting reservoir than 3D effects due to specific dam geometry. Furthermore, using resistivity data synthesized with 3D modeling program for an embankment dam model with leakage zone, we analyse the possibility of leakages detection from 2D resistivity surveys performed along the embankment dam.

• Economic and Environmental Geology
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• v.38 no.3 s.172
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• pp.305-317
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• 2005

This study addresses the preliminary results of rock slope stability analyses including hazard assessments for slope failure conducted on the selected sections of rural road cut slope which are about 4 km long. The study area is located in the Mt. Chuntae northeast of Busan and mainly composed of Cretaceous rhyolitic ash-flow tuff', fallout tuff, rhyolitc and andesite. The volcanic rock mass in the area has a number of discontinuities that produce a potentially unstable slope, as the present cut slope is more than 70 degrees in most of the slope sections. Discontinuity geometry data were collected at selected 8 scanline sections and analyzed to estimate important discontinuity geometry parameters to perform rock slope kinematic and block theory analyses. Kinematic analysis for plane sliding has resulted in maximum safe slope angles greater than $65^{\circ}$ for most of the discontinuities. For most of the wedges, maximum safe cut slope angles greater than $45^{\circ}$ were obtained. Maximum safe slope angles greater than 80" were obtained fur most of the discontinuities in the toppling case. The block theory analysis resulted in the identification of potential key blocks (type II) in the SL4, SL5, SL6 and SL8 sections. The chance of sliding taking place through a type ll block under a combined gravitational and external loading is quite high in the investigated area. The results support in-field observations of a potentially unstable slope that could become hazardous under external forces. The results obtained through limit equilibrium slope stability analyses show how a stable slope can become an unstable slope as the water pressure acting on joints increases and how a stable slope under Barton's shear strength criterion can fail as the worst case scenario of using Mohr-Coulomb criterion.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.615-620
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• 2002

Probability distribution of the sea surface slope is estimated using sun glitter images derived from visible radiometer on Geostationary Meteorological Satellite (GMS) and surface vector winds observed by spaceborne scatterometers. The brightness of the visible images is converted to the probability of wave surfaces which reflect the sunlight toward GMS in grids of 0.25 deg $\times$ 0.25 deg. Slope and azimuth angle required for the reflection of the sun's ray toward GMS are calculated for each grid from the geometry of GMS observation and location of the sun. The GMS images are then collocated with surface wind data observed by three scatterometers. Using the collocated data set of about 30 million points obtained in a period of 4 years from 1995 to 1999, probability distribution function of the surface slope is estimated as a function of wind speed and azimuth angle relative to the wind direction. Results are compared with those of Cox and Munk (1954a, b). Surface slope estimated by the present method shows narrower distribution and much less directivity relative to the wind direction than that reported by Cox and Munk. It is expected that their data were obtained under conditions of growing wind waves. In general, wind waves are not always developing, and slope distribution might differ from the results of Cox and Munk. Most of our data are obtained in the subtropical seas under clear-sky conditions. This difference of the conditions may be the reason for the difference of slope distribution.

• Journal of the Korean Geotechnical Society
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• v.15 no.6
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• pp.3-16
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• 1999

This paper presents the results of sensitivity analysis based on an example study to verify a newly developed reliability-based model for rock slopes considering uncertainties of discontinuities and failure modes-plane, wedge, and toppling. The parameters that are needed for sensitivity analysis are the variability of discontinuity properties (orientation and strength of discontinuities), the loading conditions, and the rock slope geometry. The variability in orientation and friction angle of discontinuities, which can not be considered in the deterministic analysis, has a great influence on the rock slope stability, The stability of rock slopes including failure modes is more influenced by the selection of dip direction of cutting rock face than any other design variables, The example study shows that the developed reliability-based analysis model can reasonably assess the stability of rock slope.

• Proceedings of the Korean Geotechical Society Conference
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• 2005.03a
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• pp.199-206
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• 2005

Engineers have performed slope stability analyses, including Limit Equilibrium Analysis, Finite Difference Analysis and Finite Element Analysis. Each analysis results in different Factor of Safety(FS) for slopes. The comparison of FS results from these stability analyses has been carried out for various conditions, such as geometry of slopes, dry and fully saturated soils, nail and anchor reinforcements. Standard deviations of FS calculated from various slope analyses are 0.03 to 0.04 and 0.22 to 0.48 for the slopes without and with nail or anchor reinforcement, respectively. Construction of tiered concrete retaining wall in addition to nail or anchor reinforcement increases FS of 12% to 29% for fully saturated soils.

• Geomechanics and Engineering
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• v.1 no.1
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• pp.85-96
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• 2009

The radius and coordinate of sliding circle are taken as searching variables in slope stability analysis. Genetic algorithm is applied for searching for critical factor of safety. In order to search for critical factor of safety in slope stability analysis efficiently and in a robust manner, some improvements for simple genetic algorithm are proposed. Taking the advantages of efficiency of neighbor-search of the simulated annealing and the robustness of genetic algorithm, a hybrid optimization method is presented. The numerical computation shows that the procedure can determine the minimal factor of safety and be applied to slopes with any geometry, layering, pore pressure and external load distribution. The comparisons demonstrate that the genetic algorithm provides a same solution when compared with elasto-plastic finite element program.

• Proceedings of the Korea Water Resources Association Conference
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• 2015.05a
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• pp.245-245
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• 2015

In the recent years, due to long-lasting heavy rainfall events, a large number of landslides have been observed in the mountainous area of the world. Such landslides can also form a dam as it blocks the course of a river, which may burst and cause a catastrophic flood. Numerical analysis of landslide dam formation is rarely available, while laboratory experimental studies often use assumed shape to analyze the landslide dam failure and flood hydraulics in downstream. In this study, both experimental and numerical studies have been carried out to investigate the formation of landslide dam. Two case laboratory experiments were conducted in two flumes simultaneously. The first flume (2.0 m 0.6 m 0.5 m) was set at $22^{\circ}$ and $27^{\circ}$ slope to generate the landslide using rainfall intensity of 70.0 mm/hr. On the other hand, the second flume (1.5 m 0.25 m 0.3 m) was set perpendicularly at the downstream end of the first flume to receive the landslide mass forming landslide dam. The formation of landslide dam was observed at $15^{\circ}$ slope of the second flume. The whole processes including the landslide initiation and movement of the landslide mass into the second channel was captured by three digital cameras. In numerical analysis, a two-dimensional (2D) seepage flow model, a 2D slope stability model (Spencer method) and a 2D landslide dam-geometry evaluation model were coupled as a single unit. This developed model can determine the landslide occurrence time, the failure mass and the geometry of landslide dam deposited in the second channel. The data obtained from numerical simulation results has good agreement with the experimental measurements.

• Tunnel and Underground Space
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• v.22 no.1
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• pp.43-53
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• 2012

Stability of cut-slope, the orientation and dimension of which are gradually changed, has been analyzed by employing the cross-section method capable of comprehensibly considering the lithological, structural and mechanical characteristics of slope rock. Lithological fragility is investigated by inspecting the drilled core logs and BIPS image has been taken to delineate the rock structure. Engineering properties of drilled-core including the joint shear strength have been also measured. Potential failure modes of cut-slope and failure-induced joints are identified by performing the stereographic projection analysis. Traces of potential failure-induced joints are drawn on the cross-section which depicts the excavated geometry of cut-slope. Considering the distribution of potential plane failure-induced joint traces blocks of plane failure mode are hypothetically formed. The stabilities and required reinforcements of plane failure blocks located at the different excavation depth have been calculated to confirm the applicability of the cross-section method for the optimum cut-slope design.