• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2005년도 추계학술대회논문집
• /
• pp.306-309
• /
• 2005

This parer describes the tracking control simulation of 6-DOF shaking table with a bell crank structure, which converts the direction of reciprocating movements. For the Joint coordinate-based control which uses lengths of each actuator, the trajectory conversion process inverse kinematics is performed. Applying the Newton-Euler approach, the dynamic equation of the shaking table is derived. To cope with nonlinear problems, time-delay control(TDC) is considered, which has been noted for its exceptional robustness to parameter uncertainties and disturbance, in addition to steady-state accuracy and computational efficiency. If the nominal model is equal to the real system, joint coordinate-based control can be very efficient. However, manufacturing tolerances installation errors and link offsets contaminate the nominal values of the kinematic parameters used in the kinematic model of the shaking table. To compensate differences between the nominal model and the real system. the joint coordinate-based control using acceleration feedback in the Cartesian coordinate space is proposed.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.372-377
• /
• 1993

In this paper, we investigate a set-membership identification approach to the quantification of an upper bound of model uncertainty in frequency domain, which is required in the H$_{\infty}$ robust control system design. First we formulate this problem as a set-membership identification of a nominal model error in the presence f unknown noise input with unknown bound, while the ordinary set-membership approaches assume that an upper bound of the uncertain input is known. For this purpose, the proposed algorithm includes the estimation of the bound of the uncertain input. thus the proposed method can obtain the hard bound of the model error in frequency domain as well as a parametric lower-order nominal model. Finally numerical simulation results are shown to confirm the validity of the presented algorithm..

• 제어로봇시스템학회논문지
• /
• 제15권1호
• /
• pp.72-81
• /
• 2009

This paper presents a robust adaptive control method using model reference control strategy against autonomous robot systems with random friction nature. We approximate a nonlinear robot system model by means of a feedback linearization approach to derive nominal control law. We construct a Least Square (LS) based observer to estimate friction dynamics online and then represent a perturbed system model with respect to approximation error between an actual friction and its estimation. Model reference based control design is achieved to implement an auxiliary control in order for reducing control error in practice due to system perturbation. Additionally, we conduct theoretical study to demonstrate stability of the perturbed system model through Lyapunov theory. Numerical simulation is carried out for evaluating the proposed control methodology and demonstrating its superiority by comparing it to a traditional nominal control method.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.95.3-95
• /
• 2001

This paper investigates the simultaneous use of mixed H2/H_inf and mu-synthesis design methodology to design a robust controller for flexible link. We adopt four steps to design control system as follows: Step 1 : Generally, there are differences between the nominal and real model, so we consider the plant as a combination of parametric model uncertainty and unstructured uncertainty represents real structural uncertainties associated with the damping ratios of the flexible modes retained in the nominal model without payload. denotes the uncertainty which is due to the payload added at the tip. Step 2 : We adopt the mixed H2/H_inf theory to design a feedback controller K(s) by using the model uncertainty ...

• 한국건축시공학회:학술대회논문집
• /
• 한국건축시공학회 2022년도 가을 학술논문 발표대회
• /
• pp.53-54
• /
• 2022

There is an increasing demand for prediction of asbestos concentration which has an fatal effect on human body. While demolishing asbestos, the dust scatters and makes workers be exposed to danger. Up to this date, however, factors that particularly influences have not considered in predicting asbestos concentration. Most of the studies could not quantify the distribution of asbestos. Also, they did not use nominal data on buildings as important factors. Therefore, this study aims to build an asbestos concentration prediction model by quantifying distribution of asbestos and using nominal data of buildings based on Artificial Neural Network (ANN). This model can give significant contribution of improving the safety of workers and be useful for finding effective ways to demolish asbestos in planning.

• 한국강구조학회 논문집
• /
• 제11권4호통권41호
• /
• pp.397-407
• /
• 1999

본 연구는 공칭응력 및 변동응력을 이용한 현수교 횡프레임의 피로안전성 평가를 위하여 수행되었으며, 본 논문에서는 해석모델의 모형화 방법 및 공칭응력을 이용한 피로안전성 평가를 주요 내용으로 다루었다. 본 연구의 목적에 부합되는 해석모형을 도출 하고자 해석모형의 지지조건에 따른 영향, 평면해석과 입체해석간의 구조해석 결과의 차이 및 모형화되는 횡프레임 수의 영향에 대해서 검토하였다. DB-24하중을 피로조사하중으로 이용하였으며, 단일트럭하중에 의한 발생응력을 조합하여 실교통류 흐름의 효과를 고려하였다. 피로검토대상 구조상세에 대해 산출된 공칭응력을 국내 및 국외의 피로등급과 비교하고 그 결과에 대해 고찰하였다.

• 한국구조물진단유지관리공학회 논문집
• /
• 제15권5호
• /
• pp.101-112
• /
• 2011

본 논문은 중간부 부착파괴된 CFRP 보강 RC 보의 휨강도 산정을 다루고 있다. CFRP 보강 RC 보의 중간부 부착파괴의 영향을 고려하기 위해 강도감소계수를 제안하였다. 제안된 계수는 CFRP의 유효응력(또는 유효변형률)과 극한응력(또는 극한변형률)비로 정의 되는 유효변률 모델을 이용하여 실험데이터로부터 유도하였다. 휨강도 산정식은 강도감소계수를 변수로 하여 함수를 구성하였다. 제안된 강도감소계수의 유효성, 정확성 및 타당성을 입증하기 위해서 각국의 설계기준 및 연구자들에 의해 제안된 계수 값과 실험값을 본 연구결과와 비교 및 검증했다. 본 논문에서 제시하는 해석 결과는 제안된 강도감소계수가 중간부 부착파괴된 CFRP 보강 RC 보의 휨강도를 매우 효율적으로 평가할 수 있음을 나타낸다.

• Journal of the Korean Statistical Society
• /
• 제21권2호
• /
• pp.179-185
• /
• 1992

A model is proposed for describing agreement between two raters on a nominal categorical scale. This model has a structure of symmetry plus main-diagonal equiprobability, which is a special case of the quasi-symmetry model. An example is given.

• 한국언어정보학회지:언어와정보
• /
• 제2권1호
• /
• pp.79-105
• /
• 1998

This paper aims to describe a German-Korean machine translation system for nominal phrases. Besides, we have two subgoals. First, we are going to revea linguistic differences between two languages and propose a language-informational method fo overcome the differences. The method is based on an integrated model of translation knowledge, efficient information structure, and concordance selection. Then, we will show the statistical results about translation experiment and its evaluation as an evidence for the adequacy of our linguistic method and translation system itself.

• 대한기계학회논문집A
• /
• 제25권3호
• /
• pp.478-485
• /
• 2001

A dynamic load simulator(DLS) which can reproduce on-ground the aerodynamic hinge moment of control surface is an essential rig for the performance and stability test of aircraft actuation system. By setting up load actuator as counter acting with the control surface driving actuator and designing an appropriate force control system for load actuator, DLS can be mechanized. Obtaining an accurate mathematical model for the DLS is the first step to successfully design an aerodynamic load replicati on system. Two theoretical models are presented and tested for their validities with the experimental results, which turns out to be not successful. An alternative way of using system identification approaches in investigated to develop a good nominal model for DLS dynamics, and suitable uncertainty bounds for this nominal model are proposed with the consideration of experimental results.