• Title/Summary/Keyword: Slip system

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Tracking Control of 3-Wheels Omni-Directional Mobile Robot Using Fuzzy Azimuth Estimator (퍼지 방위각 추정기를 이용한 세 개의 전 방향 바퀴 구조의 이동로봇시스템의 개발)

  • Kim, Sang-Dae;Kim, Seung-Woo
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.11 no.10
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    • pp.3873-3879
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    • 2010
  • Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

Numerical simulation of the change in groundwater level due to construction of the Giheung Tunnel (기흥터널 건설에 따른 지하수 변화 수치모델링)

  • Lee, Jeong-Hwan;Hamm, Se-Yeong;Cheong, Jae-Yeol;Jeong, Jae-Hyeong;Kim, Ki-Seok;Kim, Nam-Hoon;Kim, Gyoo-Bum
    • The Journal of Engineering Geology
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    • v.20 no.4
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    • pp.449-459
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    • 2010
  • We performed numerical simulations of the excavation of an underground structure (the Giheung Tunnel) in order to evaluate the rate of groundwater flow into the structure and to estimate the groundwater level around the structure. The tunnel was constructed in Precambrian bedrock in Gyeonggi Province, South Korea. Geological and electrical resistivity data, as well as hydraulic test data, were used for the numerical modeling. The modeling took into account the strike-slip faults that cross the southern part of Giheung Tunnel, as these structures influence the discharge of groundwater into the tunnel. The transient modeling estimated a groundwater flow rate into the tunnel of $306\;m^3$/day, with a grout efficiency of 40%, yielding good agreement between the calculated change in groundwater level (6.20 m) and that observed (6.30 m) due to tunnel excavation.

Movement History of Faults Considered from the Geometric and Kinematic Characteristics of Fracture System in Gilan-cheongsong Area, Gyeongsang Basin, Korea (경상분지 길안-청송 지역에서 단열계의 기하학적.운동학적 특성으로부터 고찰된 단층운동사)

  • Lee, Deok-Seon;Kang, Ji-Hoon
    • The Journal of the Petrological Society of Korea
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    • v.18 no.4
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    • pp.293-305
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    • 2009
  • The Gilan-Cheongsong area, which is in contact with Yeongyang and Uiseong Blocks of Gyeongsang Basin, Korea, consists of Precambrian metamorphic rocks, Triassic Cheongsong granite, Cretaceous sedimentary rocks(Iljik, Hupyeongdong, Jeomgok Formations), and Cretaceous igneous rocks(andesite, quartz porphyry, felsite). In this area are developed faults trending in (W)NW, NNW, ENE, NS, (N)NE directions which are representative in the Gyeongsang Basin. We analyzed the geometric and kinematic characteristics of fracture systems to inquire into movement history and sense of these faults in this area. This study suggests that these faults were mainly strike-slip movement. The orientations of fracture sets show ENE, NNW, (W)NW, (N)NE, NS in descending order of frequency. Their prolongation presents (W)NW, NNW, ENE, (N)NE, NS in descending order of predominance, and also agrees with that of faults in this area. The development sequence and movement sense of fracture sets are summarized as follows; (1) (W)NW: dextral shearing $\rightarrow$ (2) (W)NW and NNW: conjugate shearing(the former: dextral, the latter: sinistral) $\rightarrow$ (3) NNW: dextral shearing $\rightarrow$ (4) (W)NW: sinistral shearing $\rightarrow$ (5) ENE: dextral shearing $\rightarrow$ (6) ENE and NS: conjugate shearing(the former: sinistral, the latter: dextral) $\rightarrow$ (7) (N)NE: sinistral shearing, and this result is closely associated with the development sequence and movement sense of faults developed in this area.

Development of 3D Dynamic Numerical Simulation Method on a Soil-Pile System (지반-말뚝 시스템에 대한 3차원 동적 수치 모델링 기법 개발)

  • Kim, Seong-Hwan;Na, Seon-Hong;Han, Jin-Tae;Kim, Sung-Ryul;Sun, Chang-Guk;Kim, Myoung-Mo
    • Journal of the Korean Geotechnical Society
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    • v.27 no.5
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    • pp.85-92
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    • 2011
  • The dynamic behavior of piles becomes very complex due to soil-pile dynamic interaction, soil non-linearity, resonance phenomena of soil-pile system and so on. Therefore, the proper numerical simulation of the pile behavior needs much effort and calculation time. In this research, a new modeling method, which can be applied to the conventional finite difference analysis program FLAC 3D, was developed to reduce the calculation time. The soil domain in this method is divided into a near-field region and a far-field region, which is not influenced by the soil-pile dynamic interaction. Then, the ground motion of the far-field is applied to the boundaries of the near-field instead of modeling the far-field region as finite meshes. In addition, the soil non-linearity behavior is modeled by using the hysteretic damping model, which determines the soil tangent modulus as a function of shear strain and the interface element was applied to simulate the separation and slip between the soil and pile. The proposed method reduced the calculation time by as much as one third compared with a usual modeling method and maintained the accuracy of the calculated results. The calculated results by the proposed method showed a good agreement with the prototype pile behavior, which was obtained by applying a similitude law to the 1-g shaking table test results.

Study on the Analysis of Vehicle Impact to Small Sign Support (소형표지판 지주와 차량의 충돌해석에 관한 연구)

  • Ko, Man-Gil;Kim, Kee-Dong;Sung, Jung-Gon;Yun, Duk-Geun
    • International Journal of Highway Engineering
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    • v.9 no.3
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    • pp.39-50
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    • 2007
  • Barrier VII program is normally used for the design of flexible barrier, but if modelled properly it can be used for the analysis of vehicle impact to small sign posts. In this paper sign post is shown to be modelled as flexible barrier by combining beam and column elements at each beam node. Simulations with the Barrier VII program have been made for 7 impact cases composed of sign posts of circular and H section with rigidly connected support and breakaway support system. The impact speed used for the simulation ranged from 30km/h to 110km/h. The study shows that in the vehicle impacts to a circular sign post with high speed, the large deflection and high inertia force causes the sign plate to hit the windshield leading to a hazard to the occupants. It is also shown that impact to H section post results in small deflection of the post and abrupt velocity change and high deceleration of the impact vehicle causing severe damage to both the vehicle and occupants. Simulation study also shows that breakaway support system eliminates the potential danger of the vehicle impact to the rigidly connected small sign posts by reducing deflection of the post, abrupt change in velocity and deceleration level.

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Stratigraphic response to tectonic evolution of sedimentary basins in the Yellow Sea and adjacent areas (황해 및 인접 지역 퇴적분지들의 구조적 진화에 따른 층서)

  • Ryo In Chang;Kim Boo Yang;Kwak won Jun;Kim Gi Hyoun;Park Se Jin
    • The Korean Journal of Petroleum Geology
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    • v.8 no.1_2 s.9
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    • pp.1-43
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    • 2000
  • A comparison study for understanding a stratigraphic response to tectonic evolution of sedimentary basins in the Yellow Sea and adjacent areas was carried out by using an integrated stratigraphic technology. As an interim result, we propose a stratigraphic framework that allows temporal and spatial correlation of the sedimentary successions in the basins. This stratigraphic framework will use as a new stratigraphic paradigm for hydrocarbon exploration in the Yellow Sea and adjacent areas. Integrated stratigraphic analysis in conjunction with sequence-keyed biostratigraphy allows us to define nine stratigraphic units in the basins: Cambro-Ordovician, Carboniferous-Triassic, early to middle Jurassic, late Jurassic-early Cretaceous, late Cretaceous, Paleocene-Eocene, Oligocene, early Miocene, and middle Miocene-Pliocene. They are tectono-stratigraphic units that provide time-sliced information on basin-forming tectonics, sedimentation, and basin-modifying tectonics of sedimentary basins in the Yellow Sea and adjacent area. In the Paleozoic, the South Yellow Sea basin was initiated as a marginal sag basin in the northern margin of the South China Block. Siliciclastic and carbonate sediments were deposited in the basin, showing cyclic fashions due to relative sea-level fluctuations. During the Devonian, however, the basin was once uplifted and deformed due to the Caledonian Orogeny, which resulted in an unconformity between the Cambro-Ordovician and the Carboniferous-Triassic units. The second orogenic event, Indosinian Orogeny, occurred in the late Permian-late Triassic, when the North China block began to collide with the South China block. Collision of the North and South China blocks produced the Qinling-Dabie-Sulu-Imjin foldbelts and led to the uplift and deformation of the Paleozoic strata. Subsequent rapid subsidence of the foreland parallel to the foldbelts formed the Bohai and the West Korean Bay basins where infilled with the early to middle Jurassic molasse sediments. Also Piggyback basins locally developed along the thrust. The later intensive Yanshanian (first) Orogeny modified these foreland and Piggyback basins in the late Jurassic. The South Yellow Sea basin, however, was likely to be a continental interior sag basin during the early to middle Jurassic. The early to middle Jurassic unit in the South Yellow Sea basin is characterized by fluvial to lacustrine sandstone and shale with a thick basal quartz conglomerate that contains well-sorted and well-rounded gravels. Meanwhile, the Tan-Lu fault system underwent a sinistrai strike-slip wrench movement in the late Triassic and continued into the Jurassic and Cretaceous until the early Tertiary. In the late Jurassic, development of second- or third-order wrench faults along the Tan-Lu fault system probably initiated a series of small-scale strike-slip extensional basins. Continued sinistral movement of the Tan-Lu fault until the late Eocene caused a megashear in the South Yellow Sea basin, forming a large-scale pull-apart basin. However, the Bohai basin was uplifted and severely modified during this period. h pronounced Yanshanian Orogeny (second and third) was marked by the unconformity between the early Cretaceous and late Eocene in the Bohai basin. In the late Eocene, the Indian Plate began to collide with the Eurasian Plate, forming a megasuture zone. This orogenic event, namely the Himalayan Orogeny, was probably responsible for the change of motion of the Tan-Lu fault system from left-lateral to right-lateral. The right-lateral strike-slip movement of the Tan-Lu fault caused the tectonic inversion of the South Yellow Sea basin and the pull-apart opening of the Bohai basin. Thus, the Oligocene was the main period of sedimentation in the Bohai basin as well as severe tectonic modification of the South Yellow Sea basin. After the Oligocene, the Yellow Sea and Bohai basins have maintained thermal subsidence up to the present with short periods of marine transgressions extending into the land part of the present basins.

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Paleogene dyke swarms in the eastern Geoje Island, Korea: their absolute ages and tectonic implications (거제도 동부에 분포하는 고제3기 암맥군: 절대연대와 지구조적 의미)

  • Son, Moon;Kim, Jong-Sun;Hwang, Byoung-Hoon;Lee, In-Hyun;Kim, Jeong-Min;Song, Cheol-Woo;Kim, In-Soo
    • The Journal of the Petrological Society of Korea
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    • v.16 no.2 s.48
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    • pp.82-99
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    • 2007
  • The Paleogene dikes intruding into the late Cretaceous granodiorite are pervasively observed in the Irun-myeon, eastern Geoje Island. They are classified into three groups: NW-trending acidic dike swarm and WNW- (A-Group) and $NS{\sim}NNE-trending$ (B-Group) basic dike swarms. Based on their cross-cutting relationships, the earliest is the acidic dike group and fellowed by A- and B-Groups in succession. The acidic dikes seem to have intruded into tension gashes induced by the sinistral strike-slip faulting of the Yangsan fault system during the late $Cretaceous{\sim}early$ Paleogene. In terms of rock-type, orientation, age, and geochemistry, A-Group and B-Group are intimately correlated with the intermediate and basic dike swarms in the Gyeongju-Gampo area, respectively. These results significantly suggest that the corresponding dike swarms are genetically related. Based on the K-Ar and Ar-Ar age data, A- and B- Groups were intruded during $64{\sim}52\;Ma$ and $51{\sim}44\;Ma$, respectively. The result means that the direction of tensional stress in and around the SE Korean peninsula was changed abruptly from NNE-SSW to $EW{\sim}WNW-ESE$ at about 51 Ma. Considering the tectonic environments during the Paleogene, it is interpreted that A-Group was injected along the WNW-trending tensional fractures developed under an regional sinistral simple shear regime which was caused by the north-northwestward oblique subduction of the Pacific plate beneath the Eurasian plate. Meanwhile, the regional stress caused by the collision of India and Eurasia continents at about 55 Ma was likely propagated to the East Asia at about 51 Ma, and then the East Asia including the Korean peninsula was extruded eastwards as a trench-rollback and the dip of downgoing slab of the Pacific plate was abruptly steepened. As a result, the strong suction-force along the plate boundary produced a tensional stress field trending EW or WNW-ESE in and around the Korean peninsula, which resultantly induced B-Group to intrude passively into the study area.

Geology and Tectonics of the Mid-Central Region of South Korea (남한(南韓) 중부지역(中部地域)의 토질(土質)과 지구조(地構造))

  • Kim, Ok Joon
    • Economic and Environmental Geology
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    • v.2 no.4
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    • pp.73-90
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    • 1969
  • The area studied is a southwestern part of Okcheon geosynclinal zone which streches diagonally across the Korean peninsula in the mid-central parts of South Korea, and is bounded by Charyeong mountain chains in the north and by Sobaek mountain chains in the south. The general trend of the zone is of NE-SW direction known as Sinian direction. Okcheon system of pre-Cambrian age occupies southwestern portion of Okcheon geosynclinal zone, and Choseon and Pyeongan systems of Cambrian to Triassic age in northeastern portion of the zone. It was defined by the writer that the former was called "Okcheon Paleogeosynclinal zone" and the latter "Okcheon Neogeosynclinal zone," although T. Kobayashi named them "Metamorphosed Okcheon zone" and "Non-metamorphosed Okcheon zone" respectively and thought that sedimentary formations in both zones were same in origin and of Paleozonic age, and C.M. Son also described that Okchon system was of post-Choseon (Ordovician) and pre-Kyeongsang (Cretaceous) in age. According to the present study two zones are separated by great fault so that the geology in both zones is not only entirely different in origin and age, but also their geolosical structures are discontinuous. Stratigraphy and structure of Okcheon system are clearly established and defined by the writer and its age is definitely pre-Cambrian. It is clarified by present study that the meta-sediments in and at vicinity of Charyeong mountain chains are correlated to Weonnam series of pre-Cambrian age which occupies and continues from northeast to southwest in and at south of Sobaek mountain chains, and both metasediments constitute basement of Okcheon system. Pyeongan, Daedong and Kyeongsang systems were deposited in few narrow intermontain basins in Okcheon paleogeosynclinal zone after it was emerged at the end of Carboniferous period. Granites of Jurassic and Cretaceous ages and volcanics of Cretaceous age are cropped out in the zone. Jurassic granite is aligned generally with the trend of Okcheon geosynclinal zone, whereas Cretaceous granite lacks of trend in distribution. Many isoclinal folds and thrust faults caused by Taebo orogeny at the end of Jurassic period are also parallel with Sinian directieon and dip steeply to northwest. Charyeong, Noryeong, Sobaek, and Deogyu mountain chains are located in areas of anticlinorium, and Kyongsang system in narrow synclinal zones. Folds in Okcheon neogeosynclinal zone are generally of N 70-80W direction but deviate to Sinian direction at the western parts of the zone. This phenomena is interpreted by the fact that the folds were originated by Songrim disturbance at the end of Triassic period and later partly modified by Taebo orogeny. Thrust faults of Taebo orogeny coentinue from Okcheon paleogeosynclinal zone into neogeosynclinal zone, forming imbricated structure as previously described. Strike-slip faults perpendicular to Sinian direction and shear faults diagonally across it by 55 degrees also prevail in neogeosynclinal zone. It is concluded from viewpoints on geology and geological structure that l)Okchon geosyncline had changed its location and affected by numerous disturbances through geologic time, and 2)mountain chains in the area such as Charyeong, Noryeong, Sobaek, and Deogyu were originated as folded mountains. Differing from others, however, Sobaek range was probably formed at the time of Songrim disturbance and modified later by Taebo orogeny. It is cut by Danyang-Jeomchon fault at the vicinity of Joryeong near Munkyeong village and does not continue to southwest beyond the fault, whereas southwestern portion of erstwhile Sobaek range continues to Taebaek rangd northeastward from Deogyusan passing through Sangju, Yecheon, and Andong. From these evidences, the writer has newly defined the erstwhile Sobaek range in such a way that Sobaek range is restricted only to northeastern portion and Deogyu range is named for the southwestern portion of previous Bobaek range.

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Effect of Substituting Normal-Weight Coarse Aggregate on the Workability and Mechanical Properties of Heavyweight Magnetite Concrete (중량 자철석 콘크리트의 유동성 및 역학적 특성에 미치는 보통중량 굵은골재 치환율의 영향)

  • Mun, Jae-Sung;Mun, Ju-Hyun;Yang, Keun-Hyeok;Lee, Ho
    • Journal of the Korea Concrete Institute
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    • v.25 no.4
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    • pp.439-446
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    • 2013
  • The objective of this study is to evaluate the workability and various mechanical properties of heavyweight magnetite concrete and examine the reliability of the design equations specified in code provisions. The main parameters investigated were the water-to-cement ratio and substitution level of normal-weight coarse aggregate (granite) for magnetite. The oven-dried unit weight of concrete tested ranged between 2446 and $3426kg/m^3$. The measured mechanical properties included compressive strength development, stress-strain curve, splitting tensile strength, moduli of elasticity and rupture, and bond stress-slip relationship of concrete. Test results revealed that the initial slump of heavyweight magnetite concrete increased as the substitution level of normal-weight coarse aggregate increases. The substitution level of normal-weight coarse aggregate had little influence on the compressive strength and tensile resistance capacity of heavyweight concrete, while it significantly affected the modulus of elasticity and stress-strain curves of such concrete. The design equations of ACI 349-06 and CEB-FIP provisions mostly conservatively predicted the mechanical properties of heavyweight magnetite concrete, but the empirical equations for modulus of elasticity and splitting tensile strength need to be modified considering the unit weight of concrete.

Bond Properties of GFRP Rebar with Cover Thickness and Volume Fraction of Steel Fiber (강섬유 혼입률과 피복두께에 따른 GFRP 보강근의 부착특성)

  • Choi, Yun-Chul
    • Journal of the Korea Concrete Institute
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    • v.24 no.6
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    • pp.761-768
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    • 2012
  • The purpose of this study is to investigate bond properties of GFRP used in SFRC (Steel fiber reinforced concrete) and normal concrete. The experimental variables were rebar diameter (D13, D16), steel fiber volume fraction (0~2%) and cover thickness ($1.5d_b$, $5.4d_b$). The experimental results showed a different failure mode depending on the cover thickness. Through the tested specimens, splitting failure occurred for the specimens with small cover thickness and pull out failure occurred in the specimens with large cover thickness. Introduction of steel fiber caused the specimens to have more ductile behavior of bond stresss-lip after peak stress, but they did not increase the bond strength significantly. These failure modes were shown in both steel reinforcement and GFRP. However, from the difference of micro structure of bond failure mechanism between steel rebar and GFRP rebar, more ductile behavior was observed in GFRP-specimens after maximum bond strength was reached.