• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.5 s.176
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• pp.1155-1165
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• 2000

Due to the irregularity of walking ground and the inaccuracy in trajectory control of a leg, the mechanical shock and slip on the ground can be caused in the landing and supporting legs of a walkin g robot, and the robot may lose walking stability. Especially in a jointed-leg type walking robot, those problems are much more severe than in the pantograph type since the leg-weight of the jointed-leg type walking robot is relatively heavier than that of the pantograph type in general. In order to secure the walking stability for the jointed-leg type quadrupedal robot under development in KIST(Korea Institute of Science and Technology), a balancing algorithm consisting of the leg compliance control and the body posture control is implemented in this paper, and the effectiveness of the algorithm is verified through experiments.

• Journal of the Korean GEO-environmental Society
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• v.17 no.1
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• pp.29-37
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• 2016

This study examined the magnitude and distribution of earth pressure on the support system in a jointed rock mass due to the different joint spacing as well as varying the rock type and joint condition (joint shear strength and joint inclination angle). Based on a physical model test and its numerical simulation, a series of numerical parametric analyses were conducted using a discrete element method. The results showed that the magnitude and distribution of earth pressure were strongly affected by the different joint spacing as well as the rock type and joint condition. In addition, the study results were compared with Peck's earth pressure for soil ground, which indicated that the earth pressure in a jointed rock mass could be considerably different from that in soil ground. The study suggests that the joint spacing as well as the rock type and joint condition are important factors affecting the earth pressure in a jointed rock mass and they should be considered when designing a support system in a jointed rock mass.

• Journal of Advanced Marine Engineering and Technology
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• v.31 no.4
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• pp.394-400
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• 2007

The properties and weldability of lap joints by PFSW with 1050 Al sheet was investigated according to tool shape. dimension and welding condition. Tensile shear test was carried out for lap jointed specimen, and the hardness in the joint regions was examined. Moreover interfacial joining length, metallograph and failure location of the lap-jointed cross section were discussed. Two tool types were a simple cylindrical type and a notched cylindrical type. Under joining conditions such as plunging depth of 2.2mm. rotating speed of 1600rpm and dwelling time of 3s, the tensile shear strength of lap-jointed specimen by the notched type tool was superior to that by simple cylindrical type tool. The maximum tensile shear load of lap jointed specimen was 5807N. Optimal dimensions of the notched type tool were as follows : diameters of the shoulder and pin were $18{\phi}mm$ and $10{\phi}mm$, and pin length was 2.2mm.

• Journal of the Korean GEO-environmental Society
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• v.19 no.2
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• pp.13-21
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• 2018

The magnitude and distribution of earth pressure on the excavation wall in jointed rock mass were examined by considering different wall permeability conditions as well as rock types and joint inclination angles. The study was numerically extended based on a physical model test (Son & Park, 2014), considering rock-structure interactions with the discrete element method, which can consider various characteristics of rock joints. This study focused on the effect of the permeability condition of excavation wall on the earth pressure in jointed rock masses under a groundwater condition, which is important but has not been studied previously. The study results showed that the earth pressure was highly influenced by wall permeability as well as rock type and joint condition. Earth pressure resulted from the study was also compared with Peck's earth pressure in soil ground, and the comparison clearly showed that the earth pressure in jointed rock mass can be greatly different from that in soil ground.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.133-134
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• 2010

• Journal of the Korean Geotechnical Society
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• v.31 no.12
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• pp.59-69
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• 2015

This study examined the magnitude and distribution of earth pressure on the support system in a jointed rock mass due to the different joint sets as well as varying the rock type and joint condition (joint shear strength and joint inclination angle). Based on a physical model test and its numerical simulation, a series of numerical parametric analyses were conducted using a discrete element method. The results showed that the induced earth pressure was affected significantly by a joint set depending on the inclusion of the joint inclination angle, which induces a joint sliding condition, but the number of joint sets alone was not important, even though the earth pressure could be increased slightly as the number of joint sets is increased. In addition, the study results were compared with Peck's earth pressure for soil ground, which indicated that the earth pressure in a jointed rock mass could be considerably different from that in soil ground. The study suggests that the effects of joint sets as well as rock type and joint condition are important factors affecting the earth pressure in a jointed rock mass and they should be considered when designing a support system in a jointed rock mass.

• Journal of the Korean GEO-environmental Society
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• v.16 no.2
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• pp.33-43
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• 2015

This paper investigated the magnitude and distribution of earth pressure on the support system in jointed rock mass by considering different earth pressure coefficients, rock types and joint inclination angles. The study mainly focused on the effect of the earth pressure coefficients on the earth pressure. Based on a physical model test (Son & Park, 2014), extended studies were conducted considering rock-structure interactions based on the discrete element method, which can consider the joints characteristics of rock mass. The results showed that the earth pressure was highly influenced by the earth pressure coefficients as well as the rock type and joint inclination angles. The effects of the earth pressure coefficients increased when the rock suffered more weathering and has no joint slide. The test results were also compared with Peck's earth pressure for soil ground, and clearly showed that the earth pressure in jointed rock mass can be greatly different from that in soil ground. This study indicated the earth pressure coefficients considering the rock types and joint inclination angles are important parameters influencing the magnitude and distribution of earth pressure, which should be considered when designing the support systems in jointed rock mass.

• Journal of the Korean GEO-environmental Society
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• v.18 no.5
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• pp.17-26
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• 2017

Tunnel excavation in jointed rock mass induces a displacement along tunnel excavation line and its assessment is very important to ensure the stability of tunnel and a demanded space. Tunnel displacement is directly related to the deformation modulus of ground and therefore it is essential to know the value of the parameter. However, most rock masses where tunnels are constructed are generally jointed and it is difficult to find out the deformation modulus of jointed rock mass simply based on an homogeneous isotropic elastic medium because the deformation modulus is highly affected by joint condition as well as rock type. Accordingly, this study carried out extensive numerical parametric studies to examine the variation of deformation modulus in different joint conditions and rock types under the condition of tunnel excavation. The study results were compared with existing empirical relationships and also shown in the chart of deformation modulus variation in different jointed rock mass conditions.

• Geomechanics and Engineering
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• v.30 no.3
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• pp.281-291
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• 2022

Complex rock masses include various joint planes, bedding planes and other weak structural planes. The existence of these structural planes affects the mechanical properties, deformation rules and failure modes of jointed rock masses. To study the influence of the parameters of a nonpersistent joint network on the mechanical properties and failure modes of jointed rock masses, synthetic rock mass (SRM) technology based on discrete elements is introduced. The results show that as the size of the joints in the rock mass increases, the compressive strength and the discreteness of the rock mass first increase and then decrease. Among them, the joints that are characterized by "small but many" joints and "large and clustered" joints have the most significant impact on the strength of the rock mass. With the increase in joint density in the rock mass, the compressive strength of rock mass decreases monotonically, but the rate of decrease gradually decreases. With the increase in the joint dip angle in rock mass, the strength of the rock mass first decreases and then increases, forming a U-shaped change rule. In the analysis of the failure mode and deformation of a jointed rock mass, the type of plastic zone formed after rock mass failure is closely related to the macroscopic displacement deformation of the rock mass and the parameters of the joints, which generally shows that the location and density of the joints greatly affect the failure mode and displacement degree of the jointed rock mass. The instability mechanism of jointed surrounding rock is revealed.

• Proceedings of the Korea Institute of Applied Superconductivity and Cryogenics Conference
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• 2002.02a
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• pp.163-164
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• 2002

We have measured the I-V characteristics and contact resistance of jointed BSSCO tape in the superconducting state. Electrical joint was made by various type of solder. Estimated critical current was about 30 Amp, and the contact resistance of the joint was about 350 nOhm.