• Journal of KSNVE
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• v.6 no.1
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• pp.35-44
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• 1996

This paper presents a new type of fuzzy-sliding mode controller for robust tip position control of a single-link flexible manipulator subjected to parameter variations. A sliding mode controller is formulated with an assumption that imposed parameter variations are bounded so that certain deterministic performance can be guaranted. In the design of the sliding mode controller, so called moving sliding surface is adopted to minimize the reaching phase and thus mitigate system sensitivity to the variations. The sliding mode controller is then incorporated with a fuzzy technique to reduce inherently ever-existing chattering which is impediment in position control of flexible manipulators. A set of fuzzy parameters and control rules are obtained from a relation between predetermined sliding surface and representative points in the state space. Computer simulations are undertaken in order to demonstrate superior control performance of the proposed methodology.

• Journal of Soil and Groundwater Environment
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• v.12 no.3
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• pp.53-65
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• 2007

Appropriate representation of hydrologic boundaries in groundwater models is critical to the development of a reliable model. This paper examines how the model predictions are affected by the uncertainty in the conceptualization of the hydrologic boundaries including groundwater divides, streams, and the lower boundaries of the flow system. The problem is analyzed for a study area where a number of field data for model inputs were available. First, a groundwater flow model is constructed and calibrated for the area using the Visual Modflow code. Recharge rate is used for the unknown variable determined through the calibration process. Secondly, a series of sensitivity analyses are conducted to evaluate the effects of model uncertainties embedded in specifying boundary conditions for streams and groundwater divides and specifying lower boundary of the bedrock. Finally, this paper provides some guidelines and discussions on how to deal with such hydrologic boundaries in view of developing a reliable conceptual model for the groundwater flow system of Korea.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.16 no.4
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• pp.1-7
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• 2002

QFT is a very practical design technique that emphasizes the use of feedback for achieving the desired system performances in despite of plant uncertainties and disturbances. The loop shaping procedure of QFT is employed to design the robust controller, until the desired bounds are satisfied. This paper presents an optimization algorithm for designing PID controller using the loop shaping of QFT. The proposed method identifies the parameter vector of PID controller from a linear system that develops from rearranging the two dimensional system matrices and output vectors obtained from the QFT bounds. The feasibilities of the suggested algorithm are illustrated with a turbine speed control problem.

• Computational Structural Engineering
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• v.10 no.2
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• pp.149-160
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• 1997

Mechanical structures are composed of substructures connected by joints and boundary elements. While the finite element representation of plain substructures is well developed and reliable, joints have a lot of uncertainties in being accurately modelled and affect dynamic behavior of a total system. In order to improve the accuracy of a finite element model, a new method is proposed, in which reduced finite element model is combined with a system identification technique. After substructures except joints are modelled with finite element method and joint properties are represented by parameter states, non-linear state equation is derived in which parameter states are multiplied by physical states such as displacements and velocities. So the joint parameter identification is transformed into non-linear state estimation problem. The methods are tested and discussed numerically and the feasibility for physical application has been demonstrated through two example structures.

• Proceedings of the Korea Water Resources Association Conference
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• 2020.06a
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• pp.255-255
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• 2020

아프리카 대륙에서 존재하는 가장 큰 사하라 사막(Sahara desert)의 면적은 지난 1세기 동안 기후변화로 인하여 10% 정도 증가하였고, 미래에도 기온상승으로 인하여 증가할 것으로 판단된다. 사하라 사막 면적의 증가로 인하여 아프리카의 자연식생과 수자원뿐만 아니라 아프리카에 거주하는 사람들의 삶에 많은 영향을 미치기에 사막의 면적 또는 경계선의 위치를 예측함은 매우 중요하다. 본 연구에서는 Coupled Model Intercomparison Project Phase 5 (CMIP5)의 36개 Global Climate Models (GCMs)과 ERA-interim 재분석 자료의 1979~2000년 강수 자료들을 이용하여 사헬(Sahel) 지대 서쪽(15W~15E, 10N~20N)과 동쪽(15E~35E, 10N~20N)의 강수량과 사막경계선을 비교하였다. 또한, 각 모델의 과거 모의 성능을 평가하여 미래 기후 예측성을 판단하고자 한다. 본 연구에서는 22년 평균 강수량이 200mm 이하인 지역을 사막이라 정의하고, 모델별로 연평균 강수량과 사막경계선에 대한 root mean square error(RMSE)를 산정하여 평가하였다. 또한, 습윤 정적 에너지(Moist. Static Energy; MSE), 바람(풍속 및 풍향) 자료를 이용하여 각 모델의 사막경계선의 오차에 대한 이유를 분석하였다. 이 연구를 바탕으로 하여 사헬 지대의 강수량 및 사막면적 모의의 불확실성 요소를 이해하고, 미래 상세 지역 수문기후 변화 예측에 활용 가능한 GCMs을 선별할 수 있을 것으로 판단한다.

• Journal of the Korean Geotechnical Society
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• v.34 no.5
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• pp.37-51
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• 2018

The slope failure due to the rainfall infiltration occurs frequently in Korea, since the depth of the weathered residual soil layer is shallow in mountainous region. Depth of the failure surface is shallow and tends to pass near the interface between impermeable bedrock and soil layer. Soil parameters that have a significant impact on the instability of unsaturated slopes due to rainfall infiltration inevitably include large uncertainties. Therefore, this study proposes a probabilistic analysis procedure by Monte Carlo Simulation which considers the hydraulic characteristics and strength characteristics of soil as random variables in order to predict slope failure due to rainfall infiltration. The Green-Ampt infiltration model was modified to reflect the boundary conditions on the slope surface according to the rainfall intensity and the boundary condition of the shallow impermeable bedrock was introduced to predict the stability of unsaturated soil slope with shallow bedrock under constant rainfall intensity. The results of infiltration analysis were used as inputs of infinite slope analysis to calculate the safety factor. The proposed analysis method can be used to calculate the time-dependent failure probability of soil slope due to rainfall infiltration.

• Journal of Korea Water Resources Association
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• v.46 no.4
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• pp.425-437
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• 2013

This study performed the bivariate drought frequency analysis for duration and severity of drought, using copula functions which allow considering the correlation structure of joint features of drought. We suggested the confidence intervals of duration-severity-frequency (DSF) curves for the given drought duration using stochastic scheme of monthly rainfall generation for 57 sites in Korea. This study also investigated drought risk via illustrating the largest drought events on record over 50 and 100 consecutive years. It appears that drought risks are much higher in some parts of the Nakdong River basin, southern and east coastal areas. However, such analyses are not always reliable, especially when the frequency analysis is performed based on the data observed over relatively short period of time. To quantify the uncertainty of drought frequency curves, the droughts were filtered by different durations. The 5%, 25%, 50%, 75%, and 95% confidence intervals of the drought severity for a given duration were estimated based on the simulated rainfall time series. Finally, it is shown that the growing uncertainties is revealed in the estimation of the joint probability using the two marginal distributions since the correlation coefficient of two variables is relatively low.

• Proceedings of the Korean Society of Soil and Groundwater Environment Conference
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• 2001.09a
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• pp.41-46
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• 2001

요오드나 세순 같은 핵종들은 고용해도 핵 종들로서 사용 후 핵연료 내 피복관 이나 연료 결정 경계면에 위치하고 있다가 고준위 방사성폐기물 처분 후 지하수가 용기를 부식시키고 용기 내부로 침투하면 고용해도를 가지고 유출된 후 공학적, 천연 방벽을 통해 최종적으로 유출되게 된다. 본 연구에서는 한국원자력연구소에서 개발한 MASCOT-K글 이용하여 고용해도 핵 종들이 조화 유출과 고용해도 유출할 경우 유출 량을 평가 분석해 보았다. 평가 결과 요오드와 같은 고용해도 핵 종인 경우 전체 핵 종 재고량의 최대 10%만이 고용해도 유출을 하지만 그 영향은 조차 유출에 비해 훨씬 중요한 것으로 판명되었다. 이러한 결과를 바탕으로 현재 국내 고 준위 처분 환경에서 보수적인 시나리오로 주목받고 있는 우물 굴착 시나리오를 대상으로 우물까지의 거리 등 입력 자료의 불확실성을 평가해 보았다. 36,000 톤의 사용 후 핵연료를 처분 대상으로 했을 때 성능 평가 결과는 현재 처분 개념이 안전함을 입증한다.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.4
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• pp.312-316
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• 2004

In this paper, it is presented an adaptive robust control system to implement real-time control of a robot manipulator. There are Quantitative or qualitative differences between a real robot manipulator and a robot modeling. In order to compensate these differences, uncertain factors are added to a robot modeling. The uncertain factors come from imperfect knowledge of system parameters, payload change, friction, external disturbance, etc. Also, uncertainty is often nonlinear and time-varying. In the proceeding work, we proposed a class of robust control of a robot manipulator and provided the stability analysis. In the work, we propose a class of adaptive robust control of robot manipulator with bound estimation. Through experiments, the proposed adaptive robust control scheme is proved to be an efficient control technique for real-time control of a robot system using DSP.

• Proceedings of the Korean Nuclear Society Conference
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• 1996.11a
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• pp.427-434
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• 1996

OECD-NEA 주관으로 수행된 TMI-2의 압력용기 변형연구의 결과, 하반부의 creep해석에 많은 문제점이 제기되어 있다. 본 논문은 TMI-2 노심용융 사고에 대한 기존 구조해석에서 creep 상관식의 형태, 적용방법 및 FEM 해석절차상의 상이점을 밝혀내고 이에 따라 압력용기 하반부의 파손확률이 크게 다르게 결정됨을 보였다. 기존의 TMI-2 구조해석에서 주 오차의 요인으로서 시간의 변화에 따른 국부열점 및 이를 포함한 재배치된 용융노심의 열경계조건의 불확실도와 압력용기강의 creep strain을 시간 및 온도에 대하여 불충분하게 묘사한 점을 밝혔다. 또한 creep-rupture 예측에 사용된 Larson-Miller Parameter도 해석을 지나치게 보수적인 결과로 유도하였다. 중대사고시 압력용기 하반부 천공방어를 위한 방안인 용기하부 외벽 냉각방식을 적용하였을 때 TMI-2 사고를 재해석한 결과, 압력용기의 건전성이 충분한 보수성을 가지고 유지됨을 보였다.