• Tunnel and Underground Space
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• v.16 no.4 s.63
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• pp.313-325
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• 2006

In this study, scaled model tests were performed to investigate the deformation behaviors around tunnels located in anisotropic rocks. Fifteen types of test models which had respectively different joint angles and rock pressure conditions were made, where the modelling materials were the mixture of sand, plaster and water. All of the tested models showed the shear failure mechanism at the stress-concentrated regions and sliding phenomena according to the joint planes. The direction of joint inclination turned out to have great effect on the tunnel deformation behaviors. The models of joint inclination less than $30^{\circ}$ showed considerable floor heavings. The model of $50^{\circ}$ joint inclination showed the least tunnel convergence among the tested models regardless of rock pressure condition, so that it was thought as the most stable model. Furthermore, the failure mechanisms and deformation behaviors of tunnel models were strongly dependent on the coefficient of rock pressure.

• Tunnel and Underground Space
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• v.8 no.4
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• pp.287-295
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• 1998

Limit equilibrium method is widely used for the stability analysis of soil slopes. In jointed rock slopes however, the failure of the slope is largely dependent upon the strength and deformability of the joints in the rock mass and quite often failure occurs along the joints. This paper describes the use of ubiquitous joint model for the stability analysis of the jointed rock slopes. This model is essentially an anisotropic elasto-plastic model and can simulate two sets of joint in arbitrary orientations. Validation of the developed with the factor of safety equal to unity was selected when the shape of the failure plane is assumed log spiral. Then the factor of safety of the rock slope having two perpendicular joint sets was calculated while rotating joint orientations. Rusults were compared with limit equilibrium solutions on soil slopes having equivalent soil properties when plane sliding was assumed. Developed model predicted the factor of safety of jointed rock slope in a reasonable accuracy when joint spacing is sufficiently small.

• Tunnel and Underground Space
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• v.14 no.3
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• pp.167-174
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• 2004

This paper is to introduce an article published in Rock Mechanics and Rock Engineering, 2003. In this research, a fracture mechanics model is developed to illustrate the importance of time-dependence far brittle fractured rock. In particular a model is developed fer the time-dependent degradation of rock joint cohesion. Degradation of joint cohesion is modeled as the time-dependent breaking of intact patches or rock bridges along the joint surface. A fracture mechanics model is developed utilizing subcritical crack growth, which results in a closed-form solution for joint cohesion as a function of time. As an example, a rock block containing rock bridges subjected to plane sliding is analyzed. The cohesion is found to continually decrease, at first slowly and then more rapidly. At a particular value of time the cohesion reduces to value that results in slope instability. A second example is given where variations in some of the material parameters are assumed. A probabilistic slope analysis is conducted, and the probability of failure as a function of time is predicted. The probability of failure is found to increase with time, from an initial value of 5% to a value at 100 years of over 40%. These examples show the importance of being able to predict the time-dependent behavior of a rock mass containing discontinuities, even for relatively short-term rock structures.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1227-1233
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• 1993

In this paper we present the differential geometric approach for the analysis and design of sliding modes in nonlinear variable structure feedback systems. We also design the robust controller for the nonlinear system using variable structure control theory on the basis of differential geometric methods and feedback linearization applying Min-Max control based on the Lyapunov second method. The robustness against parameter uncertainties for robot manipulators with flexible joint is considered. Simulation results are presented and show the advantage of the proposed nonlinear control method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.540-543
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• 2002

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To overcome this, we proposed and constructed a new type of the robot actuator which is four-bar-link mechanism driven by the ball screw. We developed a new type of a revolute-jointed robot manipulator composed of four axes. The base axis is actuated with conventional speed reducer, but the others are actuated by the proposed actuators. We analyzed the mechanism of the actuators of the robot joints, and developed the dynamics model. The dynamics are expressed in the joint coordinates, and then they are mapped into the sliding coordinates of the ball screw. The structure specifications of the manipulator shown.

• Structural Engineering and Mechanics
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• v.55 no.3
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• pp.639-654
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• 2015

Bolted joints are essential elements of mechanical structures and metal constructions. Although their static behaviour is fairly well known, their dynamic behaviour due to shocks and vibrations has been less studied, because of the large size of the finite element models needed for a detailed simulation. This work presents four different simplified models suitable for studying the dynamic behaviour of an elementary bolted joint. Three of them include contact elements to allow sliding of the screw head and the nut on the assembled parts, and the last one allows rotation between screw and nut. A penalty approach based on the Coulomb friction model is used to model contact. The results show that these models effectively represent the dynamic behaviour, with different accuracy depending on the model details. The last model simulates the self loosening of a bolt subjected to transversal vibrations.

• The Journal of Engineering Geology
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• v.26 no.4
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• pp.447-460
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• 2016

Samples of Hangdeung granite and Berea sandstone containing sliding planes were prepared by saw-cutting and polishing using #100 or #600 grinding powders. Their basic friction angles were then measured directly in direct shear tests and triaxial compression tests, and also in tilt tests, which measure the angles indirectly. Although the angles measured by the direct methods were generally accurate, those measured along certain planes were greatly different from the others depending on the condition of the plane. The tilt tests yielded similar angles regardless of the sliding plane condition or the rock type; however, the error range was relatively wide. Sliding planes polished by the grinding powders yielded more accurate results than those cut by the saw and tested without polishing, as polishing ensured consistent conditions among all the planes. Sliding planes polished using #100 grinding powder yielded better results than polishing with #600 grinding powder. Therefore, the basic friction angles measured along the sliding planes polished using #100 grinding powder, as obtained in direct shear and triaxial compression tests, were the most reliable. The angle could also be measured satisfactorily by tilt testing along sliding planes polished with #100 grinding powder.

• Proceedings of the Korea Concrete Institute Conference
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• 2008.04a
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• pp.89-92
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• 2008

This study investigates the shear behavior of architectural masonry veneer wall reinforced with specific reinforcement details proposed by this study. For this purpose, experimental tests were conducted using one un-reinforced masonry(URM) wall specimen and three reinforced masonry(RM) wall specimens under quasi static cyclic loads. Un-reinforced(plain) masonry wall is expressed that behavior and failure mode are different for aspect ratio(L/H) and axial compressive force. The test variables are wall aspect ratio and presence of reinforcement. These specimens are masonry structure for architectural clading that is not to exist the axial compressive force. thus the axial compressive force is excepted from test variable. Test result, Behavior of specimens are dominated over rocking mode, but final failure modes are combined with different behaviors. And FEMA273 has proposed the equation of shear strength of masonry pier subjected to in-plane loading. Shear strength equations are classified four types of failure mode that is Rocking, and Toe-Crushing, Bed-Joint-Sliding and Diagonal-Tension. FEMA273 equations predict the behavior modes well, but shear strength is shown in different result.

• Journal of the Korea Computer Graphics Society
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• v.1 no.2
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• pp.201-212
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• 1995

This paper presents a new method of dynamics-based synthesis of bipedal, especially human, walking. The motion of the body at a time point is determined by ground reaction force and torque under the support foot and joint torques of the body at that time point. Motion synthesis involves specifying conditions that constrain ground reaction force and torque, and joint torques so that a given desired motion may be achieved. There are conditions on a desired motion which end-users can think of easily, e.g. the goal position and orientation of the swing foot for a single step and the time period of a single step. In this paper, we specify constraints on the motion of the support foot, which end-users would find difficult to specify. They are constraints which enforce non-sliding, non-falling, and non-spinning the support foot. They are specified in terms of joint torques and ground reaction force and torque. To satisfy them, both joint torques and ground reaction force and torque should be determined appropriately. The constraints on the support foot themselves do not give any good clues as to how to determine ground reaction force and torque. For that purpose, we specify desired trajectories of the application point of vertical ground reaction force (ground pressure) and the application point of horizontal ground reaction (friction) force. The application points of vertical pressure and friction force are good control variables, because they are indicators to kinds of walking motions to synthesize. The synthesis of a bipedal walking motion, then, consists of finding a trajectory of joint torques to achieve a given desired motion, so that the constraints are satisfied under the condition of the prescribed center of pressure and center of friction. Our approach is distinguished from many other approaches, e.g. the inverted-pendulum approach, in that it captures and formulates dynamics of the support foot and reasonable constraints on it.

• Tunnel and Underground Space
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• v.11 no.3
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• pp.225-236
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• 2001

The roughness of rock joint is one of the most important parameters in developing the shear resistance and the tendency of dilation. Due to the damage accumulated with shearing displacement, the roughness angle is lowered continuously. It is known that dilation, shear strength hardening, and softening are directly related to the degradation of asperities. Much effort has been directed to incorporate the complicated damage mechanism of asperities into a constitutive model fur rock joints. This study presents an elasto-plastic formulation of joint behavior including elastic deformability, dilatancy and asperity surface damage. It is postulated that the plastic portion of incremental displacement 7an be decomposed into contributions from both sliding along the asperity surface and damage of asperity. Numerical cyclic shear tests are presented to illustrate th? performance of the derived incremental stress-displacement relation. A laboratory cyclic shear test is also simulated. Numerical examples reveal that the elasto-plastic joints model is promising.