• 산업기술연구
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• 제21권B호
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• pp.51-58
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• 2001

The Distinct Element Method (DEM) was used to analyze the stability of jointed rock slope, of which dimension are about 200m(length), 60m(height), $55^{\circ}$ dip. The Barton-Bandis joint model was used, as a constitutive model. The parameters such as JRC and spatial distribution characteristics of discontinuities were acquired through field investigation. Three different cases such as $51^{\circ}$, $45^{\circ}$ and $38^{\circ}$ in angle of rock slope were analyzed to decide a stable slope. To keep the jointed rock slope safely, it is proposed to reduce the height of slope from 60m to 48m and to reduce the angle of the from $55^{\circ}$ to $38^{\circ}$ too.

• 한국정밀공학회지
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• 제16권4호통권97호
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• pp.138-147
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• 1999

For autonomous navigation, a legged robot should be able to walk over irregular terrain and adapt itself to variation of supporting surface. Walking through slope is one of the typical tasks for such case. Robot needs not only to change foot trajectory but also to adjust its configuration to the slope angle for maintaining stability against gravity. This paper suggests such adaptation algorithm for stable walking which uses feedback of reaction forces at feet. Adjusting algorithm of foot trajectory was studied with the estimated angel of slope without visual feedback. A concept of virtual slope angle was introduced to adjust body configuration against slope change of the supporting terrain. Regeneration of foot trajectory also used this concept for maintaining its stable walking against unexpected landing point.

• Journal of Biosystems Engineering
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• 제3권2호
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• pp.35-61
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• 1978

동력경운깅가 일반 경사지에서 견인주행하는 경우 견인주행성능과 주행특성을 구명하기 위하여 토양의 종류 및 상태는 일정하게 하고 지면의 기하학적 조건과 견인주행속도 및 견인하중을 변수로 하여 외부동력전달계의 시점인 좌우차륜과 토양간에 발생하는 차륜구동력 및 굴름정항과 Engine에서 구동륜까지 내부전달계를 통하여 전달된 동력의 이론치와 실험치와의 부합여부를 검정하고 부가적으로 동력경운기가 경사지기계화의 동력기로써의 가능성여부와 문제점을 찾으려한다.

• Journal of Biosystems Engineering
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• 제3권2호
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• pp.34-34
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• 1978

동력경운깅가 일반 경사지에서 견인주행하는 경우 견인주행성능과 주행특성을 구명하기 위하여 토양의 종류 및 상태는 일정하게 하고 지면의 기하학적 조건과 견인주행속도 및 견인하중을 변수로 하여 외부동력전달계의 시점인 좌우차륜과 토양간에 발생하는 차륜구동력 및 굴름정항과 Engine에서 구동륜까지 내부전달계를 통하여 전달된 동력의 이론치와 실험치와의 부합여부를 검정하고 부가적으로 동력경운기가 경사지기계화의 동력기로써의 가능성여부와 문제점을 찾으려한다.

• 제어로봇시스템학회논문지
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• 제19권4호
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• pp.334-340
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• 2013

Using a relationship between step length and accelerometer output, step length can be estimated. In this paper, we propose a new step length estimation algorithm, which can be used both for the plane and the slope by compensating the slope angle. The slope angle is estimated using a barometer and the slope angle is compensated by observing how the slope affects the step length estimation. The proposed algorithm is verified using five adult man walking data, where the average length error is about 3% regardless of the slope.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.987-988
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• 2009

• 설비공학논문집
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• 제23권7호
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• pp.492-497
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• 2011

The objective of this research is to study the variation of optimum slope angles of collectors for seven regions in Korea, which are Seoul, Gangneung, Daejeon, Daegu, Gwangju, Busan and Jeju. The results for 2000~2007 are analyzed to sec if adjustment of slope angles is necessary each year to receive maximum solar radiation. For an azimuth fixed solar collector, solar radiation of yearly optimized slope angle during May~Sept.(summer), Nov.~Mar.(winter) and the whole year are greater than the fixed slope angle by 0.03%, 0.02%, and 0.04%, respectively. For an azimuth tracking solar collector, solar radiation of yearly optimized slope angle during May~Sept.(slimmer), Nov.-Mar.(winter) and the whole year are greater than the fixed slope angle by 0.03%, 0.07%, and 0.04% respectively. It is unnecessary to adjust slope angles each year for both azimuth fixed and tracking collectors, since the gains are insignificant. Solar radiation of the azimuth tracking solar collector during May~Sept., Nov.~Mar. and the whole year are greater by 14.7%, 16.0%, and 19.2% than the azimuth fixed solar collector.

• International Journal of Naval Architecture and Ocean Engineering
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• 제13권1호
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• pp.786-793
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• 2021

In this study, a parametric investigation is performed using CFD for towing stability and loads according to the forward and aft slope angles of a barge-shaped FPSO. The forward slope angle is considered in a range of 30-60° and the aft slope is examined in a range of 20-50°. As a result of a comparative study based on CFD towing simulations, it is found that the yaw motion is damped out and stabilized when the aft slope is more than 40° regardless of the forward slope angle. The vortex contours in the y-axis plane near the aft slope are analyzed and it is observed that the vortex developed at the bottom knuckle is bent upward along the aft slope when the aft slope is less than 40°, and completely fallen from the bottom knuckle when the aft slope is more than 40°. Based on the results, a guide to forward and aft slope angles of a barge-shaped FPSO is presented from a practical point of view considering towing stability as well as towing load.

• 한국방재학회 논문집
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• 제9권5호
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• pp.57-62
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• 2009

경사면에서의 지표 연소물질에 대한 화염확산은 경사각변화에 따라 화염이 경사면과 가까워져 열전달이 많이 이루어져 확산이 빠르게 이루어진다. 기존 연구에서는 경사면에 대한 화염각 변화를 고려하지 않고 일반적으로 경사각의 기울어짐으로 인해 화염이 그 만큼 지표면과 가까워지는 것을 적용하였다. 따라서 본 연구에서는 경사면에서의 실제 화염의 성상에 대해 실험하였다. 그 결과 경사에 따른 화염기울기 산정식을 제안 하였고 경사조건에서의 화염기울기와 화염확산속도와의 관계에 대해 기술하였다.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 추계학술대회 논문집
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• pp.891-896
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• 2008

절리암반에서 기존 터널에 근접하여 사면을 굴착하면 터널의 거동은 절리와 사면의 경사에 따라 영향을 받는다. 본 연구에서는 실대형 실험을 실시하여 터널에 근접하여 사면을 굴착시 사면각도와 절리각도에 따른 터널의 내공변위, 터널 라이닝의 부재력 등의 특성을 분석하였다. 분석결과 절리각도와 사면각도가 크면 클수록, 터널 내공변위와 모멘트는 커지는 경향이 있으며, 절리각도와 사면각도에 따라 지중변위 크기와 방향이 다르게 나타나고 있어 향후 사면보강에 있어 효율적 방안제시가 가능할 것이다.