• 대한공업교육학회지
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• v.34 no.2
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• pp.396-410
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• 2009

The goal of this work is to present an advanced method of an estimation of the Modeling Uncertainties coming up in industrial rigid robot's manipulator and actuators. First, with the given physical robot model, the motion equation was derived. Considering a fictitious model, a new extended motion equation is developed. Based on this extended model, an observer and observer bank are designed for the estimation of modeling uncertainties which are involving the effects of gravity, friction, mass unbalance, and Coriolis which show the nonlinear characteristics in operation states.

• Geomechanics and Engineering
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• v.8 no.3
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• pp.391-414
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• 2015

In this paper, stabilities of a plane slide rock slope under different hydraulic distributions were studied based on the nonlinear Barton-Bandis (B-B) failure criterion. The influence of various parameters on the stability of rock slopes was analyzed. Parametric analysis indicated that studying the factor of safety (FS) of planar slide rock slopes using the B-B failure criterion is both simple and effective and that the effects of the basic friction angle of the joint (${\varphi}_b$), the joint roughness coefficient (JRC), and the joint compressive strength (JCS) on the FS of a planar slide rock slope are significant. Qualitatively, the influence of the JCS on the FS of a slope is small, whereas the influences of the ${\varphi}_b$ and the JRC are significant. The FS of the rock slope decreases as the water in a tension crack becomes deeper. This trend is more significant when the flow outlet is blocked, a situation that is particularly prevalent in regions with permafrost or seasonal frozen soil. Finally, the work is extended to study the reliability of the slope against plane failure according to the uncertainty from physical and mechanics parameters.

• Earthquakes and Structures
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• v.14 no.5
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• pp.425-436
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• 2018

The design of seismically isolated structures considering the stochastic nature of excitations, base isolators' design parameters, and superstructure properties requires robust reliability analysis methods to calculate the failure probability of the entire system. Here, by applying artificial neural networks, we proposed a robust technique to accelerate the estimation of failure probability of equipped isolated structures. A three-story isolated building with susceptible facilities is considered as the analytical model to evaluate our technique. First, we employed a sensitivity analysis method to identify the critical sources of uncertainty. Next, we calculated the probability of failure for a particular set of random variables, performing Monte Carlo simulations based on the dynamic nonlinear time-history analysis. Finally, using a set of designed neural networks as a surrogate model for the structural analysis, we assessed once again the probability of the failure. Comparing the obtained results demonstrates that the surrogate model can attain precise estimations of the probability of failure. Moreover, our proposed approach significantly increases the computational efficiency corresponding to the dynamic time-history analysis of the structure.

• Tribology and Lubricants
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• v.29 no.3
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• pp.160-166
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• 2013

There is an indispensable need for force calibration for quantitative nanoscale force measurement using atomic force microscopy. Calibrating the normal force is relatively straightforward, whereas doing so for the lateral force is often complicated because of the difficulty in determining the optical lever sensitivity. In particular, the lateral force calibration of a colloidal probe in a liquid environment often has a larger uncertainty as a result of the effects of the epoxy, the location of the colloidal particle on the cantilever, and a decrease in the quality factor. In this work, the lateral force of a colloidal probe using a reference cantilever with a known spring constant was calibrated in a liquid environment. By obtaining the spring constant and the lateral sensitivity at the equator of a spherical colloidal particle, the damage to the bottom surface of the colloidal particle could be eliminated. Further, it was shown that the effect of the contact stiffness on the determination of the lateral spring constant of the cantilever could be minimized. It was concluded that this method can be effectively used for the lateral force calibration of a colloidal probe in a liquid environment.

• International Journal of Control, Automation, and Systems
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• v.3 no.1
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• pp.70-78
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• 2005

This paper presents hybrid control of displacement and force in a Medical Tele-Analyzer by disturbance observer-based controller which is robust to internal and external disturbances; model uncertainty, load, and friction for instances. The developed Medical Tele-Analyzer consists of 2 subsystems; doctor-side subsystem and patient-side subsystem. In the doctor side subsystem, an array of displacement sensor is equipped to detect movement of doctor's hand and fingers. The detected information is transmitted to the patient side to be used in medical analysis. On the other hand, the patient-side subsystem consists of an array of displacement actuators, which is used to follow displacement of doctor's hand and fingers. An array of force sensors is used to detect forces between patient and the equipment. Since displacement control in patient side is coupled with force control in doctor side and vice-versa, design of the controller has to take into account this coupling. Not only using in medical tele-analysis, the proposed system can also be used in any tele-displacement-force controls of industrial processes.

• Geomechanics and Engineering
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• v.6 no.2
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• pp.99-115
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• 2014

Uncertainties in design variables and design equations have a significant impact on the safety of geotechnical structures like retaining walls and slopes. This paper presents a possible framework for obtaining the partial safety factors based on reliability approach for different random variables affecting the stability of a reinforced concrete cantilever retaining wall and a slope under static loading conditions. Reliability analysis is carried out by Mean First Order Second Moment Method, Point Estimate Method, Monte Carlo Simulation and Response Surface Methodology. A target reliability index ${\beta}$ = 3 is set and partial safety factors for each random variable are calculated based on different coefficient of variations of the random variables. The study shows that although deterministic analysis reveals a safety factor greater than 1.5 which is considered to be safe in conventional approach, reliability analysis indicates quite high failure probability due to variation of soil properties. The results also reveal that a higher factor of safety is required for internal friction angle ${\varphi}$, while almost negligible values of safety factors are required for soil unit weight ${\gamma}$ in case of cantilever retaining wall and soil unit weight ${\gamma}$ and cohesion c in case of slope. Importance of partial safety factors is shown by analyzing two simple geotechnical structures. However, it can be applied for any complex system to achieve economization.

• Journal of Korean Tunnelling and Underground Space Association
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• v.12 no.5
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• pp.379-387
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• 2010

In this study, a case study was introduced for the design of a twin tunnel along high speed national highway Route 12 from Damyang to Sungsan. It was related to determine the optimal tunnel support pattern and excavation method based on a risk analysis in order to incorporate the uncertainty of ground properties. To this end, three alternatives with different amounts of support and excavation method were selected and risk analysis was performed by applying Monte Carlo simulation technique, respectively. Stability of the tunnel was quantified by the factor of safety. To improve the result, the 729 cases of the combination of ground properties (deformation modulus, cohesion, and internal friction angle) satisfying a Gaussian distribution were generated and applied. Also, stability of the tunnel was confirmed by analyzing the distribution of both displacement and shotcrete bending stress.

• Geotechnical Engineering
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• v.7 no.3
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• pp.21-32
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• 1991

The purpose of this paper is to develop a reliability model for slope stability of Earth-rockfill dams which accounts for all uncertainties encountered. The uncertain factors of the design variables include the cohesion, the angle of internal friction, and the porewater Pressure in each zone. More specifically, the model errors in estimating those variables are studied in depth. To reduce the uncertainties due to model errors, updated design variables are obtained using Bayesian Theory. For stability analysis, both the two-dimesional stability analysis and the three-dimensional stability analysis where the end effects and the system reliability concept are considered are used for the reliability calculations. The deterministic safety factor by the three-dimensional analysis is lager than that by the two-dimensional anlysis. However, the probability of failure by the three-dimensional analysis is about 3.5 times larger that by the two-dimensional analysis. It is because the system reliability concept is used in the three-dimensional analysis. The sensitivity analysis shows that the probability of failure is more sensitive to the uncertainty of the cohesion than that of the angle of internal friction.

• Journal of the Korean Geotechnical Society
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• v.18 no.4
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• pp.119-126
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• 2002

A reliability analysis is performed to investigate the influence of the uncertainty from few in-situ samples and inherent heterogeneity of the ground on the probability of failure for a rock cut slope. The results are compared with those of deterministic slope stability analysis. The random variables used are unit weight of the rock, the angle of potential slope of failure, and cohesion and internal friction angle of joints. It was found that the rock slope in which the factor of safety satisfied the minimum safety factor in the deterministic analysis has high probability of failure in the reliability analysis when the weak geological strata are involved in the cut slope. The probability of failure of rock slope is most sensitive to the mean and standard deviation of cohesion in rock joint among the random soil parameters included in the reliability analysis. Sensitivities of the mean values are larger than those of standard deviations, which means that accurate estimation of the mean for the in-situ geotechnical properties is important.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.37 no.5
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• pp.489-494
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• 2013

This study aims to understand the mode characteristics of a droplet under a periodic forced vibration. To predict the resonance frequency of a droplet, theoretical and experimental approaches were employed. A high-speed camera was used to capture the various deformation characteristics of a droplet-mode shape, detachment, separated secondary droplet, and skewed deformation. The comparison between the theoretical and the experimental approaches shows a ~10% discrepancy in the prediction of the resonance frequency, which appears to be caused by the effect of contact line friction, nonlinear wall adhesion, and experimental uncertainty. Owing to contact-line pinning and smaller amplitude, the droplet shape becomes symmetric and the size of each lobe at the resonance frequency exceeds that at the neighbor, which is out of resonance.