• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.530-532
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• 2006

In this paper, we propose stable walking algorithm using ZMP for the biped robot in the slope-way. At first, we define discrete state variables that classified stable area and unstable area by center of mass from ZMP during slope-way walking. For the stable walking gait, the discrete state controller for determining the high-level and low-level decision making are designed. The high-level decision making is composed of the discrete state variables; left foot support phase, right foot support phase, flat-way, and slope-way. Then the continuous state controller is implemented for the low-level decision making using ZMP.

• Geomechanics and Engineering
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• v.16 no.5
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• pp.513-525
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• 2018

Slope stability of sensitive clayey soils is particularly important when subjected to strength loss and deformation. Except for progressive failure, for most sensitive and insensitive slopes, it is important to review the feasibility of conventional analysis methods based on peak strength since peak strength governs slope stability before yielding. In this study, as a part of efforts to understand the behavior of sensitive clay slopes, a total of 12 centrifuge tests were performed for artificially sensitive and insensitive clay slopes using San Francisco Bay Mud (PI = 50) and Yolo Loam (PI = 10). In terms of slope stability, the results were analyzed using the updated instability factor ($N_I$). $N_I$ using equivalent unit weight to cause a failure is in reasonable agreement shown in the Taylor's chart ($N_I$ ~ 5.5). In terms of dynamic deformation, it is shown that two-way sliding is a more accurate approach than conventional one-way sliding. Two-way sliding may relate to diffused shear surfaces. The outcome of this study is contributable to analyzing stability and deformation of steep sensitive clay slopes.

• Journal of the Korean Geosynthetics Society
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• v.12 no.2
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• pp.67-74
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• 2013

In this study, the prediction of slope hazard probability was performed to the study area located in Hadae-ri, Woochun-myeon, Hoengsung-gun, Gangwon Province around Youngdong express way using the computer program SHAPP ver 1.0 developed by a decision tree model. The soil samples were collected at total 10 points, and soil tests were performed to measure soil properties. The thematic maps of soil properties such as coefficient of permeability and void ratio were made on the basis of soil test results. The slope angle analysis of topography was performed using a digital map. As the prediction result of slope hazard probability, 2,120 cells among total 27,776 cells were predicted to be in the event of slope hazards. Therefore, the predicted area of occurring slope hazards may be $53,000m^2$ because the analyzed cell size was $5m{\times}5m$.

• Journal of the Korean Geotechnical Society
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• v.18 no.6
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• pp.117-127
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• 2002

A deterministic approach of slope stability, which is generally corresponding to the model of a simple non-linear function for slopes, is problematic in that it does not account the versatile characteristics of ground layers in an effective way. To resolve this problem, this study proposes a new way of analyzing slope stability, so-called “genetic algorithm method, ” so as to reflect some particular conditions pertaining to the grounds under concern. Similarities and differences in slope stability that may exist between homogeneous and multiple ground layers are examined in a competitive manner, Overall, though similarities deemed a little bit salient, the algorithm method turned out to be very applicable to estimating the validity of slope stability. Furthermore, an additional effort to consider long-standing sequential and dynamic changes in both the amount of rainfall and the underground water level is made in order to improve the results.

• Phonetics and Speech Sciences
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• v.3 no.3
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• pp.157-165
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• 2011

This study investigated speech rate and intonation slope (least square method; F0, quarter-tone) in normal and CI children's utterances. Each group consisted of 12 people and were divided into groups of children with CI operation (before 3;00), children with CI operation (after 3;00), and normal children. Materials are composed of four kinds of grammatical dialogue sentences which are lacking in respect. Given three groups as independent variables and both speech rate and intonation slope as dependent variables, a one-way ANOVA showed that normal children had faster speech rates and steeper intonation slopes than those of the CI group. More specifically, there was a statistically significant speech rate difference between normal and CI children in all of the sentential patterns but imperative form (p<.01). Additionally, F0 and qtone slope observed in sentential final word showed a significant statistical difference between normal and CI children in imperative form (f0: p<.01; q-tone: p<.05).

• Journal of the Korean Society of Safety
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• v.36 no.5
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• pp.18-26
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• 2021

The effect of heavy construction equipment on the excavated slope is investigated by slope stability analysis. A mobile crane with 500 kN capacity is applied as a working load to the background surface of the excavated slope, in both sandy soil and clay, designed to guarantee the safety of slope stability. Major parameters such as the distance between the edge of the slope and the mobile crane, groundwater level, and ground plate size of the mobile crane are considered. Only 23.8% and 14.3% of the analysis models with sandy soil and clay excavated slope, respectively, satisfied the slope stability. By changing the slope of the sandy soil from 1:1.0 to 1:1.2, the number of analysis models securing slope stability increased from 23.8% to 40.5%. For the clay excavated slope, the analysis models securing slope stability increased from 14.3% to 42.9% by changing slope inclination from 1:0.8 to 1:1.2. In addition, it is found that the increase in the size of the ground plate of the mobile crane increases the analysis models that secure slope stability. Therefore, it is an effective way to relax the excavated slope's inclination angle and simultaneously increase the ground plate size to guarantee stability.

• Journal of the Korean Institute of Landscape Architecture
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• v.27 no.1
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• pp.101-109
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• 1999

The purpose of this study is to analyse types and forms of branch-road in traditional korean villages. To do this, this study has selected and measured 87 branch-road cases of five traditional villages. An analysis of the case study has revealed the following results : 1. Branch-roads have four formations : 3 way, 4 way, multi-way and others. 2. Branch-roads comprise 64 percent of 3 way, 18 percent of 4 way, 8 percent of multi-way and 9 percent of others, respectively. 3. Topographic conditions have mostly affected the formation of branch-roads. 3 way of branch - roads are easily found in flat village. 4 way are multi-way of branch-road are found in semi-hilly and hilly village 4. 3 way of branch-roads have three types: T-type, Y-type, and y-type. 5. T-types are easily found in flat village, but Y-type and y-type are found in semi-hilly and hilly village. 6. Each angle of T-type is 171,99,90, respectively. It has turned out 8 degree is slightly deviated form the square. 7. Y-type of branch-road has an asymmetric form, comprising 145, 128, 87 degree of the angle, compared to 150, 150, 60 degree of symmetric one. 8. Average angles of y-type that are mostly found in hilly village are 175, 113, 72. Angle differences from each spot are 62 and 41 degree. It is assumed that 39 degree is a slope of least effort to walk. 9. 4 way of branch-roads have not only "＋" type but various types of K, Y and Y, Y and y, T and y and a foot of bird. 10. It is assumed that multi-way of branch-roads, mostly found on the middle and bottom of the hilly slope, has naturally formed to connect up and down, left and right.and right.

• Proceedings of the KIEE Conference
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• 2005.07a
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• pp.679-681
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• 2005

The materials for transmission line construction were transported by road which opened in mountainous areas until the mid 1990s, However, from the mid 1990s, as social interest in the environment standard increases, a cable way and helicopter transport methods of construction have been applied to minimize damage to the environment and to build an environmental friendly system. The current cable way method is a single cable way system which has a lower section base to load materials into a carriage and carry them to the tower construction site by use of an engine and a main rope. Then the carriage lowers itself via a slope between the tower construction site and the lower section base. The single cable way system has the demerits of site acquisition for the lower section base, forest felling when installing the wire rope, and it is not applicable to a even topology Also it has to be installed separately at each tower site. Accordingly, to carry materials without forest felling and regardless of slope, the chain cable way system was developed to provide materials for more than two towers consecutively by use of an engine carriage and winch.

• Proceedings of the Korean Geotechical Society Conference
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• 2003.03a
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• pp.529-536
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• 2003

In domestic case occurrence of cut slopes according to construction and expansion of road is necessary more than 70% of country has been consisted of mountain area. In the case of Kang-won Do, there are much mountains locals in road wiping away a disgrace and expanded and slant is connoting collapse danger of incision side by each kind calamity being urgent. When route alteration enforces disadvantageous road extension, stability examination and processing way about large slope happened are serious. During road extension work in the Kang-won DO secure stability for falling rock of road slope and failure that happen and established suitable reinforcement and countermeasure in reply in necessity. The Slope is divided rock slope and soil slope, and then in order to analysis soil slope apply LEM theory. And rock slope examined stability about stereographic projection and wedge failure. Is going to utilize in reinforcement and failure prevention if it is efficient cutting as reinterpreting stability and secure stability and wish to consider effective and robust processing plan of great principle earth and sand side, and present countermeasure inside with these data hereafter applying suitable reinforcement countermeasure about unstable section.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11c
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• pp.690-697
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• 2000

The objective of this study is to develop a method that is able to realize autonomous traveling for tractor-like robot on the slope terrain. A neural network (NN) and genetic algorithms (GAs) have been used for resolving nonlinear problems in this system. The NN is applied to create a vehicle simulator that is capable to describe the motion of the tractor robot on the slope, while it is impossible by the common dynamics way. Using this vehicle simulator, a control law optimized by GAs was established and installed in the computer to control the steering wheel of tractor robot. The autonomous traveling carried out on a 14-degree slope had initial successful results.