• Geomechanics and Engineering
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• v.29 no.3
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• pp.331-338
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• 2022

Face stability analyses provides the most probable failure mechanisms and the understanding about parameters that need to be considered for the evaluation of ground movements caused by tunneling. After the Upper Bound Method (UBM) solution which can consider the influence of seepage forces and depth-dependent effective cohesion is verified with the numerical experiments, the probabilistic model is proposed to calculate the unbiased limiting tunnel collapse pressure. A reliability analysis of a shallow circular tunnel driven by a pressurized shield in a frictional and cohesive soil is presented to consider the inherent uncertainty in the input parameters and the proposed model. The probability of failure that exceeding a specified applied pressure at the tunnel face is estimated. Sensitivity and importance measures are computed to identify the key parameters and random variables in the model.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.151.5-151
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• 2001

Sliding mode control is investigated for a discrete-time system with uncertainties. The narrowest neighborhood of the sliding surface is shown in which the state can remain. The range is determined by the upper bound of the absolute value of the uncertainty and the equation of the sliding surface. A sliding mode control algorithm is proposed to keep the state there without requiring an enormous input. Under the presence of the system parameter variations, the origin is not always stable although the sliding surface represents the stable dynamics and the state is kept in this neighborhood. The condition for the origin to be stable is investigated. Furthermore, the problems occurring when a continuous-time sliding mode control being ...

• Journal of Korean Philosophical Society
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• v.126
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• pp.133-158
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• 2013

The main aim of this paper is to show that Gadamer's notion of historical constraint of interpretation is an unsuccessful theoretical postulation. Gadamer tries to present the limits of knowledge and interpretation in terms of his notion of understanding as an event. According to Gadamer, interpretation is bound to be incomplete by nature, and this leads to the thesis of "the uncertainty of interpretation". Although Gadamer seems to make his case successfully against the objective and ahistorical frame of interpretation, his thesis of the uncertainty of interpretation inevitably brings up the fear of nihilistic relativism. To meet this problem, Gadamer offers a constraint of hermeneutic situation, which is derived from the historicity underlying all forms of our existence. Nevertheless, the notion of historicity as the essence of human life does not seem to explain successfully how the actual content of an interpretation is constrained. Drawing on the experientialist notion of 'the embodied understanding", I suggest that the working constraint of interpretations can be appropriately found in the commonality of human experience which is conspicuous at the bodily and physical level of experience. In sum, interpretations, as part of mental and abstract level of experience, arise out of the bodily and physical level of experience, and at the same time strongly constrained by it.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.40 no.3
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• pp.99-108
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• 2003

This paper is concerned with the problem of designing a guaranteed cost state feedback controller for singular systems with time-varying delays. The sufficient condition for the existence of guaranteed cost controller, the controller design method, and the optimization problem to get the upper bound of guaranteed cost function are proposed by LMI(linear matrix inequality), singular value decomposition, Schur complements, and change of variables. Since the obtained sufficient conditions can be changed to LMI form, all solutions including controller gain and the upper bound of guaranteed cost function can be obtained simultaneously. Moreover, the proposed controller design method can be extended to the problem of robust guaranteed cost controller design method for singular systems with parameter uncertainties and time-varying delays. The validity of the proposed design algorithm is investigated through a numerical example.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.1
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• pp.59-66
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• 2007

In this paper, we consider the non-fragile robust guaranteed cost state feedback controllers design method for descriptor systems with parameter uncertainties and static state feedback controller with multiplicative uncertainty. The sufficient condition of controller existence, the design method of non-fragile robust guaranteed cost controller, the measure of non-fragility in controller, the upper bound of guaranteed cost performance measure to minimize the guaranteed cost are presented via LMI(linear matrix inequality) technique. Also, the sufficient condition can be rewritten as LMI form in terms of transformed variables through singular value decomposition, some changes of variables, and Schur complements. Therefore, the obtained non-fragile robust guaranteed cost controller satisfies the asymptotic stability and minimizes the guaranteed cost for the closed loop descriptor systems with parameter uncertainties and controller fragility. Finally, a numerical example is given to illustrate the design method.

• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.26-30
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• 2018

Planetary global localization is necessary for long-range rover missions in which communication with command center operator is throttled due to the long distance. There has been number of researches that address this problem by exploiting and matching rover surroundings with global digital elevation maps (DEM). Using conventional methods for matching, however, is challenging due to artifacts in both DEM rendered images, and/or rover 2D images caused by DEM low resolution, rover image illumination variations and small terrain features. In this work, we use train CNN discriminator to match rover 2D image with DEM rendered images using conditional Generative Adversarial Network architecture (cGAN). We then use this discriminator to search an uncertainty bound given by visual odometry (VO) error bound to estimate rover optimal location and orientation. We demonstrate our network capability to learn to translate rover image into DEM simulated image and match them using Devon Island dataset. The experimental results show that our proposed approach achieves ~74% mean average precision.

• Structural Engineering and Mechanics
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• v.14 no.2
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• pp.171-190
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• 2002

Two cases of design are performed for the hyperbolic paraboloid saddle shell (Lin-Scordelis saddle shell) and the hyperbolic cooling tower (Grand Gulf cooling tower) to check the design strength against a consistent design load, therefore to verify the adequacy of the design algorithm. An iterative numerical computational algorithm is developed for combined membrane and flexural forces, which is based on equilibrium consideration for the limit state of reinforcement and cracked concrete. The design algorithm is implemented in a finite element analysis computer program developed by Mahmoud and Gupta. The amount of reinforcement is then determined at the center of each element by an elastic finite element analysis with the design ultimate load. Based on ultimate nonlinear analyses performed with designed saddle shell, the analytically calculated ultimate load exceeded the design ultimate load from 7% to 34% for analyses with various magnitude of tension stiffening. For the cooling tower problem the calculated ultimate load exceeded the design ultimate load from 26% to 63% with similar types of analyses. Since the effective tension stiffening would vary over the life of the shells due to environmental factors, a degree of uncertainty seems inevitable in calculating the actual failure load by means of numerical analysis. Even though the ultimate loads are strongly dependent on the tensile properties of concrete, the calculated ultimate loads are higher than the design ultimate loads for both design cases. For the cases designed, the design algorithm gives a lower bound on the design ultimate load with respect to the lower bound theorem. This shows the adequacy of the design algorithm developed, at least for the shells studied. The presented design algorithm for the combined membrane and flexural forces can be evolved as a general design method for reinforced concrete plates and shells through further studies involving the performance of multiple designs and the analyses of differing shell configurations.

• 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.

• Structural Engineering and Mechanics
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• v.62 no.4
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• pp.507-517
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• 2017

Due to the discontinuous nature of uncertainty quantification in conventional evidence theory(ET), the computational cost of reliability analysis based on ET model is very high. A novel ET model based on fuzzy distribution and the corresponding combination rule to synthesize the judgments of experts are put forward in this paper. The intersection and union of membership functions are defined as belief and plausible membership function respectively, and the Murfhy's average combination rule is adopted to combine the basic probability assignment for focal elements. Then the combined membership functions are transformed to the equivalent probability density function by a normalizing factor. Finally, a reliability analysis procedure for structures with the mixture of epistemic and aleatory uncertainties is presented, in which the equivalent normalization method is adopted to solve the upper and lower bound of reliability. The effectiveness of the procedure is demonstrated by a numerical example and an engineering example. The results also show that the reliability interval calculated by the suggested method is almost identical to that solved by conventional method. Moreover, the results indicate that the computational cost of the suggested procedure is much less than that of conventional method. The suggested ET model provides a new way to flexibly represent epistemic uncertainty, and provides an efficiency method to estimate the reliability of structures with the mixture of epistemic and aleatory uncertainties.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.5
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• pp.582-590
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• 2007

Nonlinear adaptive control of overhead cranes is investigated for anti-sway trajectory tracking with high-speed hoisting motion. The sway dynamics of two dimensional underactuated overhead cranes is heavily coupled with the trolley acceleration, hoisting rope length, and the hoisting velocity which is an obstacle in the design of decoupling control based anti-sway trajectory tracking control law To cope with this obstacle. we propose a fuzzy nonlinear adaptive anti-sway trajectory tracking control law guaranteeing the uniform ultimate boundedness of the sway dynamics even in the presence of uncertainties in such a way that it cancels the effect of the trolley acceleration and hoisting velocity on the sway dynamics. In particular. system uncertainties, including system parameter uncertainty unmodelled dynamics, and external disturbances, are compensated in an adaptive manner by utilizing fuzzy uncertainty observers. Accordingly, the ultimate bound of the tracking errors and the sway angle decrease to zero when the fuzzy approximation errors decrease to zero. Finally, numerical simulations are performed to confirm the effectiveness of the proposed scheme.