• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.443-443
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• 2000

A systematic scheme is developed fer the design of new adaptive feedback linearizing controllers for nonlinear systems. The developed adaptation law estimates the uncertain time-varying parameters using the structure of diffeomorphisrn. Our scheme is applicable to a class of nonlinear systems which violates the restrictive parametric-pure-feedback condition [4]-[6].

• Journal of the Korean Society for Marine Environment & Energy
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• v.4 no.2
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• pp.35-42
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• 2001

We demonstrated the importance of initial estimates of model parameters and the utility of an optimization approach of the uncertain forcing of wind-driven circulation off the southeastern coastal waters of Korea. The wind stress represents the upper boundary condition in this model and enters in the model equation as a forcing term in the numerical formalism. The wind field contributes to maintain the almost time-independent distribution of the upper layer thickness feature in a north-south direction and negative wind stress curl to maintain the formation of warm eddy off the southeastern coastal waters of Korea. Elucidated is the variational characteristics of the East Korean Warm Current due to the variations of the zonally averaged wind stress (southward transport) from the seasonal variations of the meridional transport by the Ekman transport.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.39 no.5
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• pp.26-33
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• 2002

The design method of robust $H_{\infty}$ filtering for discrete-time uncertain linear systems is investigated in this paper. The uncertain parameters are assumed to be unknown but belonging to known convex compact set of polytope type. The objective is to design a stable robust $H_{\infty}$ filter guaranteeing the asymptotic stability of filtering error dynamics and present an $L_2$ induced norm bound analytically for the modified $H_{\infty}$ performance measure. The sufficient condition for the existence of robust $H_{\infty}$ filter and the filter design method are established by LMI(linear matrix inequality) approach, which can be solved efficiently by convex optimization. The proposed algorithm is checked through an example.

• Journal of Mechanical Science and Technology
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• v.16 no.11
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• pp.1379-1394
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• 2002

In case of a single input single output (SISO) system with a nonlinear term, a signal compression method is useful to identify a system because the equivalent impulse response of linear part from the system can be extracted by the method. However even though the signal compression method is useful to estimate uncertain parameters of the system, the method cannot be directly applied to a unique system with hysteresis characteristics because it cannot estimate all of the two different dynamic properties according to its motion direction. This paper proposes a signal compression method with a pre-processor to identify a unique system with two different dynamics according to its motion direction. The pre-processor plays a role of separating expansion and retraction properties from the system with hysteresis characteristics. For evaluating performance of the proposed approach, a simulation to estimate the assumed unknown parameters for an arbitrary known model is carried out. A motion platform with several single-rod cylinders is a representative unique system with two different dynamics, because each single-rod cylinder has expansion and retraction dynamic properties according to its motion direction. The nominal constant parameters of the motion platform are experimentally identified by using the proposed method. As its application, the identified parameters are applied to a design of a sliding mode controller for the simulator.

• Structural Engineering and Mechanics
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• v.44 no.1
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• pp.73-84
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• 2012

This paper strongly addresses to the problem of the mechanical systems in which parameters are uncertain and bounded. Interval calculation is used to find sharp bounds of the structural parameters for infilled frame system modeled with finite element method. Infill walls are generally treated as non-structural elements considerably to improve the lateral stiffness, strength and ductility of the structure together with the frame elements. Because of their complex nature, they are often neglected in the analytical model of building structures. However, in seismic design, ignoring the effect of infill wall in a numerical model does not accurately simulate the physical behavior. In this context, there are still some uncertainties in mechanical and also geometrical properties in the analysis and design procedure of infill walls. Structural uncertainties can be studied with a finite element formulation to determine sharp bounds of the structural parameters such as wall thickness and Young's modulus. In order to accomplish this sharp solution as much as possible, interval finite element approach can be considered, too. The structural parameters can be considered as interval variables by using the interval number, thus the structural stiffness matrix may be divided into the product of two parts which correspond to the interval values and the deterministic value.

• Earthquakes and Structures
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• v.9 no.5
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• pp.999-1028
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• 2015

Despite the fact that the fundamental period appears to be one of the most critical parameters for the seismic design of structures according to the modal superposition method, the so far available in the literature proposals for its estimation are often conflicting with each other making their use uncertain. Furthermore, the majority of these proposals do not take into account the presence of infills walls into the structure despite the fact that infill walls increase the stiffness and mass of structure leading to significant changes in the fundamental period numerical value. Toward this end, this paper presents a detailed and indepth analytical investigation on the parameters that affect the fundamental period of reinforce concrete structure. The calculated values of the fundamental period are compared against those obtained from the seismic code and equations proposed by various researchers in the literature. From the analysis of the results it has been found that the number of storeys, the span length, the stiffness of the infill wall panels, the location of the soft storeys and the soil type are crucial parameters that influence the fundamental period of RC buildings.

• Earthquakes and Structures
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• v.8 no.4
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• pp.935-956
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• 2015

Structural Health Monitoring (SHM) of steel towers has become a hot research topic. From the literature, it is impractical and impossible to develop a "general" method that can detect all kinds of damages for all types of structures. A practical method should make use of the characteristics of the type of structures and the kind of damages. This paper reports a feasibility study on the use of measured modal parameters for the detection of damaged braces of tower structures following the Bayesian probabilistic approach. A substructure-based structural model-updating scheme, which groups different parts of the target structure systematically and is specially designed for tower structures, is developed to identify the stiffness distributions of the target structure under the undamaged and possibly damaged conditions. By comparing the identified stiffness distributions, the damage locations and the corresponding damage extents can be detected. By following the Bayesian theory, the probability model of the uncertain parameters is derived. The most probable model of the steel tower can be obtained by maximizing the probability density function (PDF) of the model parameters. Experimental case studies were employed to verify the proposed method. The contributions of this paper are not only on the proposal of the substructure-based Bayesian model updating method but also on the verification of the proposed methodology through measured data from a scale model of transmission tower under laboratory conditions.

• Nuclear Engineering and Technology
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• v.52 no.5
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• pp.1079-1092
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• 2020

A parametric study of several parameters relevant to design safety on the spent nuclear fuel (SNF) rod response under a drop accident is presented. In the view of the complexity of interactions between the independent safety-related parameters, a factorial design of experiment is employed as an efficient method to investigate the main effects and the interactions between them. A detailed single full-length fuel rod is used with consideration of post-irradiated fuel conditions under horizontal and vertical free-drops onto an unyielding surface using finite-element analysis. Critical drop heights and critical g-loads that yield the threshold plastic strain in the cladding are numerically estimated to evaluate the fuel rod structural resistance to impact load. The combinatory effects of four uncertain parameters (pellet-cladding interfacial bonding, material properties, spacer grid stiffness, rod internal pressure) and the interactions between them on the fuel rod response are investigated. The principal finding of this research showed that the effects of above-mentioned parameters on the load-carrying capacity of fuel rod are significantly different. This study could help to prioritize the importance of data in managing and studying the structural integrity of the SNF.

• Journal of Mechanical Science and Technology
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• v.17 no.10
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• pp.1411-1422
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• 2003

The detection of free spaces between obstacles in a scene is a prerequisite for navigation of a mobile robot. Especially for stereo vision-based navigation, the problem of correspondence between two images is well known to be of crucial importance. This paper describes multi-range approach of area-based stereo matching for grid mapping and visual navigation in uncertain environment. Camera calibration parameters are optimized by evolutionary algorithm for successful stereo matching. To obtain reliable disparity information from both images, stereo images are to be decomposed into three pairs of images with different resolution based on measurement of disparities. The advantage of multi-range approach is that we can get more reliable disparity in each defined range because disparities from high resolution image are used for farther object a while disparities from low resolution images are used for close objects. The reliable disparity map is combined through post-processing for rejecting incorrect disparity information from each disparity map. The real distance from a disparity image is converted into an occupancy grid representation of a mobile robot. We have investigated the possibility of multi-range approach for the detection of obstacles and visual mapping through various experiments.

• Journal of Ocean Engineering and Technology
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• v.22 no.1
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• pp.75-82
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• 2008

A vibration-based damage-monitoring scheme is proposed that would generate an alarm showing the occurrence and location of damage under temperature-induced uncertainty conditions. Experiments on a model plate-girder bridge are described, for which a set of modal parameters was measured under uncertain temperature conditions. A damage-alarming model is formulated to statistically identify the occurrence of damage by recognizing the patterns of damage-driven changes in the natural frequencies of the test structure and by distinguishing temperature-induced off-limits. A damage index method based on the concept of modal strain energy is implemented in the test structure to predict the location of damage. In order to adjust for the temperature-induced changes in the natural frequencies that are used for damage detection, a set of empirical frequency correction formulas is analyzed from the relationship between the temperature and frequency ratio.