• Title/Summary/Keyword: Nominal Model

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Robust Trajectory Tracking Control of a Mobile Robot Combining PDC and Integral Sliding Mode Control (PDC와 적분 슬라이딩 모드 제어를 결합한 이동 로봇의 강인 궤도 추적 제어)

  • Park, Min-soo;Park, Seung-kyu;Ahn, Ho-kyun;Kwak, Gun-pyong;Yoon, Tae-sung
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.19 no.7
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    • pp.1694-1704
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    • 2015
  • In this paper, a robust trajectory tracking control method of a wheeled mobile robot is newly proposed combining the PDC and the ISMC. The PDC is a relatively simple and easy control method for nonlinear system compared to the other non-linear control methods. And the ISMC can have robust and stable control characteristics against model uncertainties and disturbances from the initial time by placing the states on the sliding plane with desired nominal dynamics. Therefore, the proposed PDC+ISMC trajectory tracking control method shows robust trajectory tracking performance in spite of external disturbance. The tracking performance of the proposed method is verified through simulations. Even though the disturbance increases, the proposed method keeps the performance of the PDC method when there is no disturbance. However, the PDC trajectory tracking control method has increasing tracking error unlike the proposed method when the disturbance increases.

Performance Evaluation of Pull-out Load of a New Type of Double-wall Pile Foundation for Easy Demolition (기초구조물 회수가 용이한 신형식 이중벽 말뚝기초의 인발하중 성능평가)

  • Kim, Jae-Hyun;Kim, Jeong-Soo;Lee, Minjy;Sven, Falcon Sen;Choo, Yun Wook;Hwang, Sung-Pil
    • Journal of the Korean Geotechnical Society
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    • v.38 no.4
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    • pp.21-32
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    • 2022
  • Steel pile foundations are widely used for offshore constructions due to their high bearing capacity and efficiency. Typically, offshore structures that have reached the end of their design life are required to be demolished. However, pile foundations are often left on site due to technical and economic limitations. The pile left on the site not only pollutes the environment, but can also cause obstacles for the construction of new structures. Therefore, research is required to completely eliminate these foundations at the site. In this study, a new type of double-wall pile foundation that can drastically reduce the pull-out load was conceptually proposed, and a series of model tests were performed to validate the performance of the double-wall pile foundation. The installation and extraction of the double-wall pile were simulated in dry sand in the model test, and the measured up-lift load was compared to that of the conventional pile. According to the result, the maximum up-lift load induced by the decommissioning of the double-wall pile was reduced by 45% when compared to the traditional pile in dense sand. This study verified the mechanism for reducing the up-lift load of the double-wall foundation and confirmed the possibility of completely decommissioning a pile that has reached the end of its nominal service life.

Context Prediction Using Right and Wrong Patterns to Improve Sequential Matching Performance for More Accurate Dynamic Context-Aware Recommendation (보다 정확한 동적 상황인식 추천을 위해 정확 및 오류 패턴을 활용하여 순차적 매칭 성능이 개선된 상황 예측 방법)

  • Kwon, Oh-Byung
    • Asia pacific journal of information systems
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    • v.19 no.3
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    • pp.51-67
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    • 2009
  • Developing an agile recommender system for nomadic users has been regarded as a promising application in mobile and ubiquitous settings. To increase the quality of personalized recommendation in terms of accuracy and elapsed time, estimating future context of the user in a correct way is highly crucial. Traditionally, time series analysis and Makovian process have been adopted for such forecasting. However, these methods are not adequate in predicting context data, only because most of context data are represented as nominal scale. To resolve these limitations, the alignment-prediction algorithm has been suggested for context prediction, especially for future context from the low-level context. Recently, an ontological approach has been proposed for guided context prediction without context history. However, due to variety of context information, acquiring sufficient context prediction knowledge a priori is not easy in most of service domains. Hence, the purpose of this paper is to propose a novel context prediction methodology, which does not require a priori knowledge, and to increase accuracy and decrease elapsed time for service response. To do so, we have newly developed pattern-based context prediction approach. First of ail, a set of individual rules is derived from each context attribute using context history. Then a pattern consisted of results from reasoning individual rules, is developed for pattern learning. If at least one context property matches, say R, then regard the pattern as right. If the pattern is new, add right pattern, set the value of mismatched properties = 0, freq = 1 and w(R, 1). Otherwise, increase the frequency of the matched right pattern by 1 and then set w(R,freq). After finishing training, if the frequency is greater than a threshold value, then save the right pattern in knowledge base. On the other hand, if at least one context property matches, say W, then regard the pattern as wrong. If the pattern is new, modify the result into wrong answer, add right pattern, and set frequency to 1 and w(W, 1). Or, increase the matched wrong pattern's frequency by 1 and then set w(W, freq). After finishing training, if the frequency value is greater than a threshold level, then save the wrong pattern on the knowledge basis. Then, context prediction is performed with combinatorial rules as follows: first, identify current context. Second, find matched patterns from right patterns. If there is no pattern matched, then find a matching pattern from wrong patterns. If a matching pattern is not found, then choose one context property whose predictability is higher than that of any other properties. To show the feasibility of the methodology proposed in this paper, we collected actual context history from the travelers who had visited the largest amusement park in Korea. As a result, 400 context records were collected in 2009. Then we randomly selected 70% of the records as training data. The rest were selected as testing data. To examine the performance of the methodology, prediction accuracy and elapsed time were chosen as measures. We compared the performance with case-based reasoning and voting methods. Through a simulation test, we conclude that our methodology is clearly better than CBR and voting methods in terms of accuracy and elapsed time. This shows that the methodology is relatively valid and scalable. As a second round of the experiment, we compared a full model to a partial model. A full model indicates that right and wrong patterns are used for reasoning the future context. On the other hand, a partial model means that the reasoning is performed only with right patterns, which is generally adopted in the legacy alignment-prediction method. It turned out that a full model is better than a partial model in terms of the accuracy while partial model is better when considering elapsed time. As a last experiment, we took into our consideration potential privacy problems that might arise among the users. To mediate such concern, we excluded such context properties as date of tour and user profiles such as gender and age. The outcome shows that preserving privacy is endurable. Contributions of this paper are as follows: First, academically, we have improved sequential matching methods to predict accuracy and service time by considering individual rules of each context property and learning from wrong patterns. Second, the proposed method is found to be quite effective for privacy preserving applications, which are frequently required by B2C context-aware services; the privacy preserving system applying the proposed method successfully can also decrease elapsed time. Hence, the method is very practical in establishing privacy preserving context-aware services. Our future research issues taking into account some limitations in this paper can be summarized as follows. First, user acceptance or usability will be tested with actual users in order to prove the value of the prototype system. Second, we will apply the proposed method to more general application domains as this paper focused on tourism in amusement park.

Influence of Column Aspect Ratio on the Hysteretic Behavior of Slab-Column Connection (슬래브-기둥 접합부의 이력거동에 대한 기둥 형상비의 영향)

  • Choi, Myung-Shin;Cho, In-Jung;Ahn, Jong-Mun;Shin, Sung-Woo
    • Journal of the Korea Concrete Institute
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    • v.19 no.4
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    • pp.515-525
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    • 2007
  • In this investigation, results of laboratory tests on four reinforced concrete flat plate interior connections with elongated rectangular column support which has been used widely in tall residential buildings are presented. The purpose of this study is to evaluate an effect of column aspect ratio (${\beta}_c={c_1}/{c_2}$=side length ratio of column section in the direction of lateral loading $(c_1)$ to the direction of perpendicular to $c_1$) on the hysteretic behavior under earthquake type loading. The aspect ratio of column section was taken as $0.5{\sim}3\;(c_1/c_2=1/2,\;1/1,\;2/1,\;3/1)$ and the column perimeter was held constant at 1200mm in order to achieve nominal vertical shear strength $(V_c)$ uniformly. Other design parameters such as flexural reinforcement ratio $(\rho)$ of the slab and concrete strength$(f_{ck})$ was kept constant as ${\rho}=1.0%$ and $f_{ck}=40MPa$, respectively. Gravity shear load $(V_g)$ was applied by 30 percent of nominal vertical shear strength $(0.3V_o)$ of the specimen. Experimental observations on punching failure pattern, peak lateral-load and story drift ratio at punching failure, stiffness degradation and energy dissipation in the hysteresis loop, and steel and concrete strain distributions near the column support were examined and discussed in accordance with different column aspect ratio. Eccentric shear stress model of ACI 318-05 was evaluated with experimental results. A fraction of transferring moment by shear and flexure in the design code was analyzed based on the test results.

Effects of Inflation Indexed Excise Duties on Transportation Fuel Consumption Using Demand Analysis based on the Linear Expenditure System in Korea (선형지출체계 수요함수 추정을 통한 수송용 유류 종량세의 물가연동제 도입효과 분석)

  • Sung, Myung Jae
    • Environmental and Resource Economics Review
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    • v.26 no.2
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    • pp.257-286
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    • 2017
  • This paper estimates the effects of imaginary repeated increases in excise duties on fuel oil consumption and on their income redistribution according to changes in consumer price index, if the inflation indexation system was introduced right after the second Energy Tax Reform ended in July, 2007 in Korea. In fact, nominal excise rates have not been adjusted since 2007. As a result, the real excise rates on fuel oils have been diminished inversely proportional to the consumer price index. Own- and cross-price elasticities of fuel oils such as gasoline and diesel oil are estimated under the general equilibrium framework based on the linear expenditure system. Counterfactual analyses through microsimulation in a static model are adopted to estimate the effects of introducing inflation indexation into the fuel tax in 2007 when the second Energy Tax reform ended on the fuel consumption and income redistribution in 2014. Microsimulations suggest that its introduction could have reduced the consumption of gasoline and diesel oil by 8.8% and 5.4%, respectively, ending up with increased excise revenue by 11.9%. The revenue increase in spite of decreased consumption is mainly because their demands are price inelastic. It could also have increased positive income redistributive effect by 0.01%p (from 0.12% to 0.13%), which is measured in terms of percentage decrease in Gini coefficient. In other words, the fuel excise on the two fuel oils decreased by 0.13% the Gini coefficient of before and after fuel tax income in 2014. This implies that the inflation indexation could have enlarged the income redistributive effect up to 0.13% in 2014, if it is introduced in 2007.

A Study on the Flexural Minimum Reinforcement for Prevention of Brittle Failure Specified in KCI and EN Codes (유럽과 국내기준에 규정된 취성파괴 방지를 위한 휨 최소철근량 고찰)

  • Park, Sung-Jae;Kang, Tae-Sung;Moon, Do-Young
    • Journal of the Korea Concrete Institute
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    • v.26 no.2
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    • pp.211-218
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    • 2014
  • In the design of reinforced rectangular concrete beam structure, the minimum amount of flexural reinforcement is required to avoid brittle failure. KCI code is based on concept of ultimate strength and usually used as a model code. But bridge design code enacted by Ministry of land, transportation and maritime affairs in 2012 is based on concept of limit state and similar to Euro code EN 1992-2. This means that the minimum reinforcement presented in both design codes has different origination and safety margin. When rectangular concrete beams with minimum reinforcement are designed according to EN and KCI codes, the amount of minimum reinforcement specified in EN code is only 76% of that in KCI code. This makes the design engineers to be confused. In this study, flexural tests were conducted on nine beams with the two different minimum reinforcement specified in KCI and EN design codes. In results, the measured ratios of nominal strength to crack strength from the test were about 25% greater than those evaluated from the equations presented in KCI and EN codes. The EN beams having only 76% of the minimum reinforcement for the KCI beams were fractured by rupture of steel reinforcement but in ductile manner. It is confirmed that the minimum reinforcement concrete beams designed according to both codes have enough safety margin in flexural capacity and moreover in ductility.

An Empirical Exploration on Selective & Combined Giving -Comparison of General Participation and Intensive Participation- (기부와 자원봉사에의 참여 행동에 관한 연구 -누가 선택적으로 참여하고 누가 결합적으로 참여하는가?-)

  • Kang, Chul-Hee;Yu, Jae-Yoon;Park, So-Hyun
    • Korean Journal of Social Welfare
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    • v.64 no.2
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    • pp.273-298
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    • 2012
  • This study is targeted to understand the giving of time and money among citizens in Seoul. It explores predictors of different combinations of giving behaviors: only volunteering, only donating, doing both, and neither. In exploring predictors, it also considers the effects of intensity in giving with differential measurement of general participation and regular participation. For the analysis, this study utilizes Seoul Welfare Panel Survey Data in 2008 and 2010 and employes a multi-nominal logistic regression model with selection of citizens' demographic factors, pro-social attitude factors, and psycho-social factors on these four type of giving behaviors. The findings show that previous giving experiences(+) and religious activities(+) have statistically significant effects on both selective and combined giving behavior. Gender(woman), income(+), education(+) have statistically significant effects on giving behaviors(only donating and doing both) related with donation. In the case of employment state, unemployment is significantly related to volunteering while employment is significantly related to donating. Finally, happiness(+) has significantly positive effect on intensive giving such as regular giving rather than general giving. This analysis has made a start in a new area of inquiry attempting to explain different giving behaviors with broadening and promoting understanding on giving behaviors. Moreover, it raises several implications for future research and strategic practice for resource mobilization of NPOs.

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Review of Structural Design Provisions of Rectangular Concrete Filled Tubular Columns (각형 콘크리트충전 강관기둥 부재의 구조설계기준 비교연구)

  • Lee, Cheol Ho;Kang, Ki Yong;Kim, Sung Yong;Koo, Cheol Hoe
    • Journal of Korean Society of Steel Construction
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    • v.25 no.4
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    • pp.389-398
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    • 2013
  • The structural provisions of rectangular CFT (concrete-filled tubular) columns in the 2005/2010 AISC Specification, ACI 318-08, and EC4 were comparatively analyzed as a preliminary study for establishing the unified standards for composite structures. The provisions analyzed included those related to the nominal strength, the effect of confinement, plate slenderness, effective flexural stiffness, and the material strength limitations. Small or large difference can be found among the provisions of AISC, ACI, and EC4. Generally, the 2010 AISC Specification provides the revised provisions which reflect up-to-date test results and tries to minimize the conflict with the ACI provisions. For example, the 2010 AISC Specification introduced a more finely divided plate slenderness limits for CFT columns. In seismic applications, the plate slenderness limits required for highly and moderately ductile CFT columns were separately defined. However, the upper cap limitations on material strengths in both the AISC and EC4 provisions are too restrictive and need to be relaxed considering the high-strength material test database currently available. This study found that no provisions reviewed in this paper provide a generally satisfactory method for predicting the P-M interaction strength of CFT columns under various material combinations. It is also emphasized that a practical constitutive model, which can reasonably reflect the stress-strain characteristics of confined concrete of rectangular CFT columns, is urgently needed for a reliable prediction of the P-M interaction strength.

Prognostic Factor, for Major Trauma Patients in the Emergency Medical Service System (응급의료전달체계의 각 요인이 중증외상환자의 예후에 미치는 영향 분석)

  • Lim, Du-Ko;Chung, Tae-Nyoung;Lee, Chang-Jae;Jin, Su-Guun;Kim, Eui-Chung;Choi, Sung-Wook;Kim, Ok-Jun
    • Journal of Trauma and Injury
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    • v.24 no.2
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    • pp.89-94
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    • 2011
  • Purpose: A few studies have assessed the factors affecting the prognoses for major trauma patients and those improving the circumstances when dealing with the trauma system. In that light, we analyzed factors, such as pre-hospital factors, the time to admission, the length of stay in the emergency department (ED) and emergency operation, influencing the outcomes for trauma patients. Methods: The patients who visited our emergency department from April 1, 2009, to February 29, 2011, due to major trauma were enrolled in the study. The inclusion criterion was a revised trauma score (RTS) < 7 or injury severity score (ISS) ${\geq}$ 16. We used reviews of medical records, to analyze each step of emergency medical care with respect to patients' sex, age, visit time and visit date. Continuous variables were described as a median with an interquartile range, and we compared the variables between the survival and the mortality groups by using the Mann-Whitney U test. Fisher's exact test was used for nominal variables. Using the variables that showed statistical significance in univariate comparisons, we performed a logistic regression analysis, and we tested the model's adequacy by the using the Hosmer-Lemeshow method. Results: A total of 261 patients with major trauma satisfied either the RTS score criterion or the ISS score criterion. Excluding 12 patients with missing data, 249 patients were included in this study. The overall mortality rate was 16.9%. Time to ED arrival, time to admission, time of ED stay, RTS, ISS, and visit date being a holiday showed statistically significant differences between the survival and the mortality groups in the univariate analysis. RTS, ISS, length of ED stay, and visit date being a holiday showed statistical significance in the multivariate analysis. Conclusion: The mortality rate did not show a significant relationship with the time to ED arrival, use of 119, on time to admission. Rather, it elicited a quite significant correlation with the trauma scoring system (RTS and ISS), the time of ED stay, and the visit date being a holiday.

Development of a Method to Analyze Powering Performance of a Ship and its Application to Optimum Hull Form Design (선박(船舶)의 정수중(靜水中) 추진성능(推進性能) 해석(解析) 및 최적선형설계(最適船型設計)에의 응용(應用))

  • Seung-Il,Yang
    • Bulletin of the Society of Naval Architects of Korea
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    • v.22 no.2
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    • pp.35-48
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    • 1985
  • The present work develops a method of evaluating thrust deduction and wake for different loads of the propeller using the concerted application of the theoretical tools and experimental techniques. It also shows the applicability of the new method to the design of optimum hull form. Firstly, the problem of hull-propeller interaction was analyzed in terms of inviscid as well as viscous components of the thrust deduction and wake. The wavemaking resistance of a hull and propeller were mathematically represented by sources on the hull surface and sink on the propeller plane, respectively. The strength of sink was determined by utilizing the radial distributions of propeller load and nominal wake. The resistance increment due to a propeller and the axial perturbation flow induced by the hull in the propeller plane were calculated. Especially, the inviscid component of the thrust deduction was calculated by subtraction the wavemaking resistance of a bare hull, the wavemaking resistance of a free-running propeller and the augmentation of propeller resistance due to hull action from the wavemaking resistance of the hull with a propeller. The viscous components of the thrust deduction and wake were estimated as functions of propeller load which were established by the propeller load varying test after deduction the calculated inviscid components. Secondly, an analysis method of powering performance was developed based on the potential theory and the propeller load varying test. The hybrid method estimates the thrust deduction, wake and propeller open-water efficiency for different propeller load. This method can be utilized in the analysis of powering performance for the propeller load variation such as the added resistance due to hull surface roughness, the added resistance due to wind, etc. Finally, the hybrid method was applied to the optimum design of hull form. A series of afterbody shapes was obtained by systematically varying the waterplane and section shapes of a parent afterbody without changing the principal dimensions, block coefficient and prismatic coefficient. From the comparison of the predicted results such as wavemaking resistance, thrust deduction, wake and delivered power, an optimum hull form was obtained. The delivered power of the optimized hull form was reduced by 5.7% which was confirmed by model tests. Also the predicted delivered power by the hybrid method shows fairly good agreement with the test result. It is therefore considered that the new analysis method of powering performance can be utilized as a practical tool for the design of optimum hull form as for the analysis of powering performance for the propeller load variation in the preliminary design stage.

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