• 터널과지하공간
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• 제2권2호
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• pp.251-264
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• 1992

In this study, the size effect in measuring the fracture toughness of rock was investigated using the ISRM Suggested Method for Fracture toughness using Chevron Bend Specimens. Total 58 specimens were prepared with 4 different diameters, 29, 42, 54, 68mm and center cut-chevron notch. In addition to this, to evaluated the effect of anisotropy of Jecheon granite, which is the sample for this study, core drilling direction was adjusted perpendicular(short transverse) and parallel(arrester) to the rift plane in the sample and the measured fracture toughness for each direction were compared. Important results obtained from this study are as follows. Level ll test condition is more adequate than l, because of low data scattering and precision and corrected fracture toughness of Jechoen granite measured and 2.2MPa{{{{ SQRT { m} }}}} for arrester direction with minimum initial crack length 0.7cm. From the relationship between core diameter and initial crack length presented in the ISRM testing method, the specimen diameter should be bigger than 47mm. The fracture toughnesses measured for arrester and short transverse directon show 10% difference. This is to the anisotropy of Jecheon granite possessing rift plane.

• 제어로봇시스템학회논문지
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• 제3권5호
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• pp.469-475
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• 1997

A method for solving the inverse kinematic problem of reclaimer is presented in this paper. The reclaimers in the raw yard are being used to dig raws and transfer them to the blast furnaces. The kinematic configuration of the reclaimer is different from that of commercially available robots, because it has a rotating disk with several buckets at the end of the boom to dig raws. The reclaimer has a redundancy due to the rotating disk : the degrees of freedom are greater than the number of forward kinematic equations. A plane equation in the 3-dimensional space is determined by using several points adjacent to the reclaiming point of the raw ores pile. A constraint is obtained from the relation ship of the plane equation and trajectories of the bucket of the reclaimer. Finally, a solution of the inverse kinematics of the reclaimer is determined by a numerical method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.661-665
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• 1996

An inverse kinemetics problem of a reclaimer which digs and transports ironstones or coals in the raw yard is investigated. Because of the special features of the reclaimer of which scooping buckets are attached around the rotating drum at the end of boom, kinematic redundancy occurs in determining the joint varialbes For a given reclaiming point in space the forward kinematics yields 3 equations, however the number of involved variables in the equations are four. A plane equation approximating the surface near a reclaiming point is obtained by considering 8 adjacent points surrounding the reclaiming point. One extra equation to overcome redunduncyis further obtained from the condition that the normal vector at a reclaiming point is perpendicular to the plane. An approximate solution for a simplified problem is first discussed, Numerical solution for the oritinal nonlinear porblem with a constraint equation is also investigated. Finally a closed form solution which is not exact but sufficiently close enough is proposed by exploiting geometric constraint.

• 한국주거학회논문집
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• 제22권4호
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• pp.63-70
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• 2011

This study was conducted to investigate the ambivalent characteristics of dichotomous contradictions expressed by Robert Venturi's architecture. It focused on his Mother's House, which applied his theoretical practices faithfully among many of his architectural works. First, he sought to change interior and exterior spaces by manipulating the architectural scales of "Mother's House". He achieved tension in space through structural complexities in combination with contradictions. Second, as for the characteristics of ambivalent contradictions, including linear and geometric forms, and plane, there were familarity which emphasizes tradition; external appearances of symmetry and asymmetry which give a comfort feeling; openness and closedness, which were expressed with the size of windows and objects such as molding. Third, the fireplace-chimney and the stair were forming appropriate harmony between contradiction and complexity as they competed for central position on the plane.

• 한국전산유체공학회지
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• 제20권4호
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• pp.58-62
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• 2015

Recent studies on wall-bounded shear flow have emphasized the significance of the stable manifold of simple nonlinear invariant solutions to the Navier-Stokes equation in the formation of the boundary between the laminar and turbulent regions in state space. In this paper we present newly discovered homoclinic orbits of the Kawahara and Kida(2001) periodic solution in plane Couette flow. We show that as the Reynolds number decreases a pair of homoclinic orbits move closer to each other until they disappear to exhibit homoclinic tangency.

• 소음진동
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• 제9권5호
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• pp.984-990
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• 1999

This paper presents the geometrical methodology to decouple the vibration modes of an elastically supported single rigid body in three-dimensional space. It is shown that the vibration modes can be decoupled by placing the center of elasticity at suitable locations and thereby yielding the plane(s) of symmetry for the given stiffness matrix. The developed methodology has been applied to the actuator supported by the 4-wire suspensions in optical discs, which has one plane of symmetry. For this numerical example, the axes of vibrations have been computed and illustrated with the natural frequencies. The forced response at the objective lens is represented and its geometrical interpretation has been explained as the mutual moment between the axis of vibration and the applied wrench times the line coordinates of the axis of vibration.

• 로봇학회논문지
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• 제2권2호
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• pp.129-136
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• 2007

This paper introduces a position-based robust visual servoing method which is developed for operation of a human-like robot with two arms. The proposed visual servoing method utilizes SIFT algorithm for object detection and CAMSHIFT algorithm for object tracking. While the conventional CAMSHIFT has been used mainly for object tracking in a 2D image plane, we extend its usage for object tracking in 3D space, by combining the results of CAMSHIFT for two image plane of a stereo camera. This approach shows a robust and dependable result. Once the robot's task is defined based on the extracted 3D information, the robot is commanded to carry out the task. We conduct several position-based visual servoing tasks and compare performances under different conditions. The results show that the proposed visual tracking algorithm is simple but very effective for position-based visual servoing.

• 전자공학회논문지B
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• 제28B권5호
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• pp.357-368
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• 1991

Collision-free trajectory planning for two robots is considered. The two robot system handled in the paper is given specified geometric paths for two robots, and the task is repeating. Then, the robot dynamics is transformed as a function of the traveled lengths along the paths, and the bounds on acceleration and velocity are described in the phase plane be taking the constraints on torques and joint velocities into consideration. Collision avoidance and time optimality are considered simultaneously in the coordination space and the phase plane, respectively. The proof for the optimality of the proposed algorithm is given, and a simulation result is included to show the usefulness of the proposed method.

• Journal of electromagnetic engineering and science
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• 제13권2호
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• pp.86-92
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• 2013

The present paper defines diversity gain for stationary users. This deals in particular with gathering the received signal statistics over possible user positions and orientations in space rather than over time, and to define a meaningful diversity gain related to the cumulative improvement of the performances of the 1% users with the worst receiving conditions. The definition is used to evaluate diversity gain for some typical small antennas in an extreme environment with only line-of-sight (LOS). The LOS environment is regarded as user-distributed 3D-random LOS caused by the statistics of an ensemble of stationary users with arbitrary orientations in the horizontal plane (2D), and with arbitrary orientations of their wireless devices in the vertical plane. Thus, an overall 3D-random distribution of user orientation is assumed.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.179-181
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• 2007

This paper presents the desired position control of the mobile inverted pendulum system(MIP). The MIP is required to track the circular trajectory in the xy plane through the kinematic Jacobian relationship between the xy plane and the joint space. The reference compensation technique of the radial basis function(RBF) network is used as a neural network control method. The back-propagation teaming algorithm of the RBF network is derived and embedded on a DSP board. Experimental studies of tracking the circular trajectory are conducted.