• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.471-476
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• 1994

In this paper a new controller is proposed which gives the resultant system the appointed input-output properties, low sensitivity and robust stability. The proposed controller consists of a reference model and a robust compensator. The reference model determines the input-output properties of the total system and is constructed by using the nominal model of the plant. We can design the reference model by applying design techniques which pay attention to steady robustness and no attention to sensitivity and robust stability, and need all state variables of the plant. The robust compensator is obtained as a solution of the mixed sensitivity problem in H infinity control theory. Therefore, low sensitivity and robust stability are guaranteed in the resultant system. The simulation experiments show that the proposed controller is effective and useful.

• Smart Structures and Systems
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• v.8 no.2
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• pp.157-172
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• 2011

A new method for both local damage(s) identification and input excitation force identification of beam structures is presented using the dynamic response sensitivity-based finite element model updating method. The state-space approach is used to calculate both the structural dynamic responses and the responses sensitivities with respect to structural physical parameters such as elemental flexural rigidity and with respect to the force parameters as well. The sensitivities of displacement and acceleration responses with respect to structural physical parameters are calculated in time domain and compared to those by using Newmark method in the forward analysis. In the inverse analysis, both the input excitation force and the local damage are identified from only several acceleration measurements. Local damages and the input excitation force are identified in a gradient-based model updating method based on dynamic response sensitivity. Both computation simulations and the laboratory work illustrate the effectiveness and robustness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2087-2092
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• 2005

Using disturbance observer (DOB) is effective in enhancing the performance of dynamic system in the presence of disturbances. Recently the definition of disturbance has been expanded to modeling uncertainty including parameter variation, internal disturbance. Various structures of DOB have been proposed to improve sensitivity of system for better disturbance rejection performance. However in the case of improvement of sensitivity function, it tends to bring poor transient response due to cross-coupling and phase lag. Furthermore it could be very sensitive to measurement noise due to increased peak of complementary sensitivity function. In this paper, a dual disturbance observer (Dual-DOB) is proposed to reduce the effect of such cross-coupling. It is possible for us to improve the sensitivity function with additional external DOB with hardly affecting complementary sensitivity function. Thus it is able to have robustness against measurement noise. Since we are able to design DOBs of internal and external loop independently, we could prevent transient response quality from degrading while improving the sensitivity function. The proposed Dual-DOB is applied to a commercial optical disk drive tracking servo system. The experimental result shows that the Dual-DOB is an effective method in rejecting the disturbance as well as improving the tracking performance.

• Journal of the Architectural Institute of Korea Structure & Construction
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• v.34 no.2
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• pp.19-28
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• 2018

The progressive collapse resistance performance of a steel structure constructed using the moment frame with the WUF-B connection and the composite slabs was evaluated. GSA 2003 was adapted for the evaluation. Additionally the structural robustness and the sensitivity against the progressive collapse were analyzed. In the numerical analysis, a reduced model comprised of the beam and spring elements for WUF-B connection was adapted. The composite slab was modeled using the composite-shell element. Instead of the time-consuming dynamic analysis for the effect of the sudden column removal, the equivalent energy-based static analysis was effectively applied. The analysis results showed that the structure was the most vulnerable to in the case of the internal column removal, however it satisfied the chord rotation criterion of GSA 2003 due to the contribution of the composite slab which improved the stiffness of structure. In the robustness evaluation, the structural performance showed more than 2.5 times of the requirement according to GSA 2003, and the structural sensitivity analysis indicated the decrease of 33% of the initial structural performance.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.16 no.2
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• pp.87-94
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• 2016

In this paper, we discuss a gait representation based on the width of silhouette in terms of discriminative power and robustness against the noise in silhouette image for gait recognition. Its sensitivity to the noise in silhouette image are rigorously analyzed using probabilistic noisy silhouette model. In addition, we develop a gait recognition system using width representation and identify subjects using the decision level fusion based on majority voting. Experiments on CASIA gait dataset A and the SOTON gait database demonstrate the recognition performance with respect to the noise level added to the silhouette image.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.4
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• pp.181-188
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• 2000

Input shaping is a method fur reducing residual vibration. Vibration is eliminated by convolving an input shaper, which is a sequence of impulses, with the desired system command. It has been applied to robot with a flexible manipulator. But it can be applied to the reduction of residual vibration far overhead crane. In this paper, input shaping shows good performance for anti-sway of overhead crane. In the z-domain, we designed an input shaper and calculated the sensitivity of it. If sensitivity is calculated in the z-domain, the shapes of sensitivity curves are expected easily. Accordingly, it is easy to design an input shaper in the z-domain. We compared the response of a system with shaper to it without that. Also, we compared El shaper to ZV shaper in view of robustness.

• Journal of the Korean Mathematical Society
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• v.57 no.5
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• pp.1079-1101
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• 2020

This work is concerned with a geometric inverse problem in fluid mechanics. The aim is to reconstruct an unknown obstacle immersed in a Newtonian and incompressible fluid flow from internal data. We assume that the fluid motion is governed by the Stokes-Brinkmann equations in the two dimensional case. We propose a simple and efficient reconstruction method based on the topological sensitivity concept. The geometric inverse problem is reformulated as a topology optimization one minimizing a least-square functional. The existence and stability of the optimization problem solution are discussed. A topological sensitivity analysis is derived with the help of a straightforward approach based on a penalization technique without using the classical truncation method. The theoretical results are exploited for building a non-iterative reconstruction algorithm. The unknown obstacle is reconstructed using a levelset curve of the topological gradient. The accuracy and the robustness of the proposed method are justified by some numerical examples.

• Structural Engineering and Mechanics
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• v.68 no.1
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• pp.39-51
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• 2018

In this study, a frequency domain model updating method is presented using power spectral density (PSD) data. It uses the sensitivity of PSD function with respect to the unknown structural parameters through a decomposed form of transfer function. The stiffness parameters are captured with high accuracy through solving the sensitivity equations utilizing the least square approach. Using numerically noise polluted data, the model updating results of a truss model prove robustness of the method against measurement and mass modelling errors. Results prove the capabilities of the method for parameter estimation using highly noise polluted data of low ranges of excitation frequency.

• Journal of Magnetics
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• v.19 no.3
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• pp.266-272
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• 2014

In this paper, we suggest reliability as a metric to evaluate the robustness of a design for the optimal design of electromagnetic devices, with respect to constraints under the uncertainties in design variables. For fast numerical efficiency, we applied the sensitivity-assisted Monte Carlo simulation (S-MCS) method to perform reliability calculation. Furthermore, we incorporated the S-MCS with single-objective and multi-objective particle swarm optimization algorithms to achieve reliability-based optimal designs, undertaking probabilistic constraint and multi-objective optimization approaches, respectively. We validated the performance of the developed optimization algorithms through application to the optimal design of a superconducting magnetic energy storage system.

• Computational Structural Engineering
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• v.11 no.1
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• pp.161-170
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• 1998

A general formulation of the long cylinder tolerance design for the joint structure is here presented. The aim of this paper is to calculate the tolerance of joint by defining tolerance as a kind of uncertainty and to obtain the robustness of the joint structure. It is formulated on the bases of the minimum sensitivity theorem. The objective function is the tolerance sensitivity for the Von-Mises stress. It also took into full account the stress, displacement and weight constraints. PLBA(Pshenichny-Lim-Belegundu-Arora) algorithm is used to solve the constrained nonlinear optimization problem. The finite element analysis is performed with CST(Constant-Strain-Triangle) axisymmetric element. Sensitivities for design variables are calculated by the direct differentiation method. The numerical result is presented for the cylindrical structure where the joint tolerance is treated as random variables.