• Journal of the Korean Society of Industry Convergence
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• v.20 no.3
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• pp.245-256
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• 2017

In this study, we describe a new approach to real-time implementation of working path control for the forging and casting manufacturing process by vertical type articulated robot system. The proposed control scheme is simple in structure, fast in computation, and useful for real-time control of factory automation based on robot system. Moreover, this scheme does not require any accurate parameter information, nor values of the uncertain parameters and payload variations. Reliability of the proposed controller is proved by simulation and experimental results for robot manipulator consisting of arm with six degrees of freedom under the variation of payloads and tracking trajectories in Cartesian space and joint space. The vertical type articulated robot manipulator with six axes made in SMEC Co., Ltd. has been used for real-time implementation test to illustrate the enhanced working path control performance for unmanned automation of the forging and casting manufacturing process.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.37 no.10
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• pp.1-8
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• 2000

In this paper, positioning schemes based on AOA(Angle of Arrival), TOA(Time of Arrival), and TDOA(Time Difference of Arrival) measurements are reviewed and analyzed. In the case of using those schemes in microcell structure with severe multipath fading and shadowing conditions, the rapid and unpredictable variation of signal level makes it difficult to estimate the position and velocity of mobiles. Therefore, we propose a novel mobile tracking method based on the multicriteria decision making, in which uncertain parameters such as RSS(Received Signal Strength), the distance between mobile and base station, the moving direction, and the previous location are participated in the decision process using aggregation function in fuzzy set theory. Through a simulation, we analysis the impaction of the frequent change of direction and speed of mobiles.

• Proceedings of the Korea Concrete Institute Conference
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• 1998.04b
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• pp.433-438
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• 1998

Design lateral strength calculated by current seismic design code is prescribed to be much lower than the force level required for a structure to respond elastically during design level earthquake ground motion. Present procedures for calculating seismic design forces are based on the use of elastic spectra reduced by a strength reduction factor known as "response modification factor, R". This factor accounts for the inherent ductility, overstrength, redundancy, and damping of a structural system. This study considers ductility and overstrength of the wall-type structure for investigating R factor. This means that R factor is determined from the product of "ductility-based R factor($R_$\mu$$) and overstrength factor($R_s$). $R_$\mu$$ factor is calibrated to attain the targer ductility ratio (system ductility capacity) and produced in the from of $R_$\mu$$ spectra considering the influence of target ductility, natural period, and hysteretic model. On the other hand, $R_s$ is more difficult to quantify, since it depends on both material and system-dependent uncertain parameters. In this study Rs factor was determined from the result of push-over analysis.-over analysis.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1682-1685
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• 2005

System algorithms estimated by deterministic input may occur the error between predicted and actual output. Especially, actual system can't predict the exact outputs due to uncertainty and tolerance of input parameters. A single output to a set of inputs has a limited value without the variation. Hence, we should consider various scatters caused by the load assessment, material characteristics, stress analysis and manufacturing methods in order to perform the robust design or estimate the reliability of structure. The system design with uncertainty should perform the probabilistic structural optimization with the statistical response and the reliability. This method calculated the probability distributions of the characteristics such as stress by combining stress analysis, response surface methodology and Monte-Carlo Method and got the probabilistic sensitivity. The sensitivity of structural response with respect to inconstant design variables was estimated by fracture probability. Therefore, this paper proposed the probabilistic reliability design method for fracture of uncorved freight end beam and the design criteria by fracture probability.

• Proceedings of the Korea Water Resources Association Conference
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• 2009.05a
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• pp.2215-2219
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• 2009

For model calibration in rainfall-runoff modeling, streamflow data at a specific outlet is obviously required but is not sufficient to identify parameters of a model since numerous parameter combinations can result in very similar model performance measures (i.e. objective functions) and indistinguishable simulated hydrographs. This phenomenon has been called 'equifinality' due to inherent parameter uncertainty involved in rainfall-runoff modeling. This study aims to investigate catchment responses in time and space to various uncertain parameter sets in distributed rainfall-runoff modeling. Seven plausible (or behavioral) parameter sets, which guarantee identically-good model performances, were sampled using deterministic and stochastic optimization methods entitled SCE and SCEM, respectively. Then, we applied them to a computational tracer method linked with a distributed rainfall-runoff model in order to trace and visualize potential origins of streamflow at a catchment outlet. The results showed that all hydrograph simulations based on the plausible parameter sets were performed equally well while internal catchment responses to them showed totally different aspects; different parameter values led to different distributions with respect to the streamflow origins in space and time despite identical simulated hydrographs. Additional information provided by the computational tracer method may be utilized as a complementary constraint for filtering out non-physical parameter set(s) (or reducing parameter uncertainty) in distributed rainfall-runoff modeling.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1113-1114
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• 2011

This paper is proposed design of high performance controller of SynRM drive using FNN and NNC. Also, This paper is proposed of designing fuzzy neural network controller(FNNC) which adopts the fuzzy logic to the artificial neural network(ANN). FNNC combines the capability of fuzzy reasoning in handling uncertain information and the capability of neural network in learning from processes. This controller is controlled speed using FNNC and model reference adaptive fuzzy control(MFC), and estimation of speed using ANN. The performance of proposed controller was demonstrated through response results. The results confirm that the proposed controller is high performance and robust under the variation of load torque and parameters.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1997.04a
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• pp.131-136
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• 1997

This paper represent the variable structure adaptive mode control technique which is new approach to implement the robust control of industrial robot manipulator with external disturbances and parameter uncertainties. Sliding mode control is a well-known technique for robust control of uncertain nonlinear systems. The robustness of sliding model controllers can be shown in contiuous time, but digital implementation may not preserve robustness properties because the sampling process limits the existence of a true sliding mode. the sampling process often forces the trajectory to oscillate in the neighborhood of the sliding surface. Adaptive control technique is particularly well-suited to robot manipulators where dynamic model is highly complex and may contain unknown parameters. Adaptive control algorithm is designed by using the principle of the model reference adaptive control method based upon the hyperstability theory. The proposed control scheme has a simple sturcture is computationally fast and does not require knowledge of the complex dynamic model or the parameter values of the manipulator or the payload. Simulation results show that the proposed method not only improves the performance of the system but also reduces the chattering problem of sliding mode control, Consequently, it is expected that the new adaptive sliding mode control algorithm will be suited for various practical applications of industrial robot control system.

• Journal of Electrical Engineering and Technology
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• v.8 no.6
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• pp.1439-1450
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• 2013

This paper investigates a robust neuro-fuzzy control (NFC) method which can accurately follow the speed reference of an interior permanent magnet synchronous motor (IPMSM) in the existence of nonlinearities and system uncertainties. A neuro-fuzzy control term is proposed to estimate these nonlinear and uncertain factors, therefore, this difficulty is completely solved. To make the global stability analysis simple and systematic, the time derivative of the quadratic Lyapunov function is selected as the cost function to be minimized. Moreover, the design procedure of the online self-tuning algorithm is comparatively simplified to reduce a computational burden of the NFC. Next, a rotor angular acceleration is obtained through the disturbance observer. The proposed observer-based NFC strategy can achieve better control performance (i.e., less steady-state error, less sensitivity) than the feedback linearization control method even when there exist some uncertainties in the electrical and mechanical parameters. Finally, the validity of the proposed neuro-fuzzy speed controller is confirmed through simulation and experimental studies on a prototype IPMSM drive system with a TMS320F28335 DSP.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.5
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• pp.589-595
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• 2010

This paper presents a reliability-based shape optimization (RBSO) using the evolutionary structural optimization (ESO). An actual design involves uncertain conditions such as material property, operational load, poisson's ratio and dimensional variation. The deterministic optimization (DO) is obtained without considering of uncertainties related to the uncertainty parameters. However, the RBSO can consider the uncertainty variables because it has the probabilistic constraints. In order to determine whether the probabilistic constraint is satisfied or not, simulation techniques and approximation methods are developed. In this paper, the reliability-based shape design optimization method is proposed by utilization the reliability index approach (RIA), performance measure approach (PMA), single-loop single-vector (SLSV), adaptive-loop (ADL) are adopted to evaluate the probabilistic constraint. In order to apply the ESO method to the RBSO, a sensitivity number is defined as the change of strain energy in the displacement constraint. Numerical examples are presented to compare the DO with the RBSO. The results of design example show that the RBSO model is more reliable than deterministic optimization.

• International Journal of Precision Engineering and Manufacturing
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• v.8 no.4
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• pp.27-32
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• 2007

Gears, crucial components in modern precision machinery for power transmission mechanisms, are required to have low contacting noise with high torque transmission, which makes the use of gear-tooth profile modifications and gear-tooth surface crowning extremely efficient and valuable. Due to the shortcomings of current techniques, such as manual rectification, mechanical modification, and numerically controlled rectification, we propose a novel electrochemical gear-tooth profile modification method based on an artificial neural network control technique. The fundamentals of electrochemical tooth-profile modifications based on real-time control and a mathematical model of the process are discussed in detail. Due to the complex and uncertain relationships among the machining parameters of electrochemical tooth-profile modification processes, we used an artificial neural network to determine the required processing electric current as the tooth-profile modification requirements were supplied. The system was implemented and a practical example was used to demonstrate that this technology is feasible and has potential applications in the production of precision machinery.