• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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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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• 제16권5호
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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.

• 한국지반신소재학회논문집
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• 제12권2호
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• pp.67-74
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• 2013

본 연구에서는 의사결정나무모형을 적용하여 개발된 급경사지재해 예측프로그램 SHAPP ver 1.0을 이용하여 강원도 횡성군 우천면 하대리 일대 영동고속도로 주변에 대한 급경사지재해 예측을 실시하였다. 이를 위하여 먼저 대상지역의 총 10개소에서 토층시료를 채취하고, 이에 대한 토질시험을 실시하였다. 대상지역에 대한 토질시험결과를 토대로 투수계수와 간극비에 대한 주제도를 작성하고 수치지형도를 이용하여 지형의 경사분석을 실시하였다. 이를 이용하여 급경사지재해 예측을 실시한 결과 총 27,776개의 해석셀 가운데 2,120개의 셀에서 급경사지재해가 발생될 것으로 예측되었다. 이때 해석셀의 크기는 $5m{\times}5m$이므로 급경사지재해 발생예상 면적은 $53,000m^2$으로 나타났다.

• 한국지반공학회논문집
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• 제18권6호
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• pp.117-127
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• 2002

사면의 파괴면 형태를 간단한 비선형 함수로 모델링하여 해석하는 결정론적인 사면안정 해석은 지층의 복합 특성과 불연속적인 특성을 효과적으로 반영하지 못하는 단점이 있다. 따라서, 본 연구에서는 결정론적인 방법 보다 지층의 제반조건들을 다양하게 반영할 수 있는 임의 탐색기법인 유전자 알고리즘을 이용한 사면안정 해석 방법을 제시하였다. 제시된 방법의 적합성을 확인하기 위해 단일지층 및 복합지층을 대상으로 하여 제안된 방법과 결정론적인 방법을 비교.검토하였으며, 검토결과 유전자 알고리즘을 이용한 사면안정해석 방법의 적용성을 검증할 수 있었다. 또한 제시된 사면안정 해석 방법에 강우강도에 따른 지하수위의 변화 예측모델을 적용하여 보다 합리적인 사면안정 해석 방법을 제시하였다.

• 말소리와 음성과학
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• 제3권3호
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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).

• 한국안전학회지
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• 제36권5호
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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.

• 한국조경학회지
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• 제27권1호
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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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 A
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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.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2003년도 봄 학술발표회 논문집
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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.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 2000년도 THE THIRD INTERNATIONAL CONFERENCE ON AGRICULTURAL MACHINERY ENGINEERING. V.III
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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.