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유진오(Jin-O You),채호병(Ho-Byung Chae),박태형(Tae-Hyoung Park) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.10
We propose a new method for shortest path planning of mobile robots. The topological information of the graph is obtained by thinning method to generate the collision-free path of robot. And the travelling path is determined through hierarchical planning stages. The first stage generates an initial path by use of Dijkstra's algorithm. The second stage then generates the final path by use of dynamic programming (DP). The DP adjusts the intial path to reduce the total travelling distance of robot. Simulation results are presented to verify the performance of the proposed method.
다양한 현장조건에서 튜브형 강관 록볼트의 시공사례 연구
손성곤(Sung-Gon Son),유진오(Jin-O You),김진형(Jin-Hyoung Kim),이인규(In-Gyu Lee),정재민(Jae-Min Chung) 한국철도학회 2013 한국철도학회 학술발표대회논문집 Vol.2013 No.5
In tunneling, rockbolt, shotcrete and steel rib have been widely used to ensure the stability of the tunnel structures and to prevent falling of crushed rock during tunneling. In general, the rockbolt is mainly used with reinforced steel. However, steel bar or the materials with the same strength can be used depending on the rock conditions, ground water outflow condition, and the surrounding of applying location. In Korea, most tunnel construction sites have used cement mortar or resin for steel reinforcement on the rock. Due to the ground water outflow in the construction site, the usability of steel reinforcement is poor and it requires curing time especially after installing. A tube type steel rockbolt has been developed to reduce the cost and increase its applicability at harsh construction conditions. In this study, introduces the development of a tube type steel rockbolt, as well as presents the field testing and performance results.
손성곤(Sung-Gon Son),유진오(Jin-O You),김진형(Jin-Hyoung Kim),이인규(In-Gyu Lee),손영호(Young-Ho Son) 한국철도학회 2014 한국철도학회 학술발표대회논문집 Vol.2014 No.10
터널 현장에서 주요 지보재로 사용되는 록볼트는 터널내 원지반에 정착시켜 지반의 변형에 저항하고 이완 암괴의 붕락을 억제시키는 역할을 하며, 발파에 의한 지반거동에 대처하기 위해 조기 성능 발휘가 요구된다. 국내 시방기준을 참고하면 지반특성 및 현장시공여건에 따라 다양한 종류(재질, 정착방법 등)의 록볼트를 사용하도록 규정되어 있으나, 여러 제약조건으로 대부분 기존방식을 답습하는 형태로 설계와 시공이 이루어지고 있다. 터널에서의 작업조건은 주변환경, 지반상태, 지하수 유출 유무와 이에 따른 작업 Cycle 등에 따라 달라지며, 특히 용출수 구간은 일반구간에 비해 절리가 많고 암반붕락 가능성이 높아 록볼트 시공시 보다 세심한 주의가 필요하다. In tunneling, rockbolt, shotcrete and steel rib have been widely used to ensure the stability of the tunnel structures and to prevent falling of crushed rock during tunneling. In general, the rockbolt is mainly used with reinforced steel. However, steel bar or the materials with the same strength can be used depending on the rock conditions, ground water outflow condition, and the surrounding of applying location. In Korea, most tunnel construction sites have used cement mortar or resin for steel reinforcement on the rock. Due to the ground water outflow in the construction site, the usability of steel reinforcement is poor and it requires curing time especially after installing.