• Journal of Institute of Control, Robotics and Systems
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• v.10 no.1
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• pp.47-53
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is quite difficult to obtain stable control performance. We have applied a disturbance estimation and compensation type robust control to all the axes in a 6-link electro-hydraulic manipulator. It was confirmed that the performance of trajectory tracking and attitude regulating was greatly improved by the disturbance observer. For autonomous assembly tasks, it is said that compliance control is one of the most popular methods in contact task. We have proposed a compliance control based on the position control by a disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedbacked, where not only displacement but also the velocity and acceleration are considered. We have also applied this compliance control to the Peg-in-Hole insertion task and proposed new methods of (1)rotating of the end-effector periodically in order to reduce the friction force, (2)random searching for the center of a hole and (3)trajectory modification to reduce the impact force. As a result of these new methods, it could be experimentally confirmed that the Peg-in-Hole insertion task with a clearance of 0.007 [mm] could be achieved.

• Journal of Korea Water Resources Association
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• v.34 no.3
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• pp.253-263
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• 2001

It is very important to select appropriate methods of collecting, predicting, and analyzing information for the development of urban water resources and the prevention of disasters. Thus, in this study an accurate data generation method is developed using Geographic Information System (GIS) and Remote Sensing (RS). The methods of development and application of an expert system are suggested to solve more efficiently the problems of water resources and quality induced by the rapid urbanization. The time-varying data in a large region, the An-Yang cheon watershed, were reasonably obtained by the application of the GIS using ARC/INFO and RS data. The ESPE (Expert System for Parameter Estimation), an expert system is developed using the CLIPS 6.0. The simulated results showed agreement with the measured data globally. These methods are expected to efficiently simulate the runoff and water quality in the rapidly varying urban area.

• Journal of Electrochemical Science and Technology
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• v.8 no.2
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• pp.96-100
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• 2017

Iridium(III) bis(2-phenylpyridinato-$N,C^{2^{\prime}}$)acetylacetonate ($(ppy)_2Ir(acac)$), a green dopant used in organic light-emitting devices (OLEDs), was subjected to electrochemical characterization to estimate its formal oxidation potential ($E^{o^{\prime}}$), HOMO energy level ($E_{HOMO}$), electron transfer rate constant ($k^{o^{\prime}}$), and diffusion coefficient ($D_o$). The employed combination of voltammetric methods, i.e., cyclic voltammetry (CV), chronocoulometry (CC), and the Nicholson method, provided meaningful insights into the electron transfer kinetics of $(ppy)_2Ir(acac)$, allowing the determination of $k^{o^{\prime}}$ and $D_o$. The quasi-reversible oxidation of $(ppy)_2Ir(acac)$ furnished information on $E^{o^{\prime}}$ and $E_{HOMO}$, allowing the latter parameter to be easily estimated by electrochemical methods without relying on expensive and complex ultraviolet photoemission spectroscopic (UPS) measurements.

• 한국지구물리탐사학회:학술대회논문집
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• 2009.10a
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• pp.147-154
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• 2009

Physical properties of rocks, such as velocity, are strongly dependant on detailed pore structures, and recently, pore micro-structures by X-ray tomography techniques have been used to simulate and understand the physical properties. However, the smoothing effect during the tomographic reconstruction procedure often causes an artifact - overestimating the contact areas between grains. The pore nodes near a grain contact are affected by neighboring grain nodes, and are classified into grain nodes. By this artifact, the pore structure has higher contact areas between grains and thus higher velocity estimation than the true one. To reduce this artifact, we tried two image processing techniques - sharpening filter and neural network classification. Both methods gave noticeable improvement on contact areas between grains visually; however, the estimated velocities showed only incremental improvement. We then tried to change the resolutions of tomogram and quantify its impact on velocity estimation. The estimated velocity from the tomogram with higher spatial resolution was improved significantly, and with around 2 micron spatial resolution, the calculated velocity was very close to the lab measurement. In conclusion, the resolution of pore micro-structure is the most important parameter for accurate estimation of velocity using pore-scale simulation techniques. Also the estimation can be incrementally improved if combined with image processing techniques during the pore-grain classification.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.7
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• pp.66-77
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• 1997

This paper presents an automatic tuning method for parameters of a multivaiable self-tuning velocity-type PID controller which adapts to changes in the system parameters with time delays and noises. The velocity-type PID control structure is determined in the process of minimizing the variance of the auxiliarly output, and self-tuning effect is achieved through the recursive least square algorithm at the parameter estimation stage and also through the Robbins-Monro algorithm at the stage of optiminzing the design parameters of the controller. The proposed PID type multivariable self-tuning method is simple andeffective compared with other esisting multivariable self-tuning methods. Computer simulation has shown that the proposed algorithm is beter than the trial-and-error method in the tracking performance.

• Communications for Statistical Applications and Methods
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• v.15 no.5
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• pp.753-764
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• 2008

The $L_1$ regularized estimator in quantile problems conduct parameter estimation and model selection simultaneously and have been shown to enjoy nice performance. However, $L_1$ regularized estimator has a drawback: when there are several highly correlated variables, it tends to pick only a few of them. To make up for it, the proposed method adopts doubly regularized framework with the mixture of $L_1$ and $L_2$ norms. As a result, the proposed method can select significant variables and encourage the highly correlated variables to be selected together. One of the most appealing features of the new algorithm is to construct the entire solution path of doubly regularized quantile estimator. From simulations and real data analysis, we investigate its performance.

• Journal of Korean Society for Quality Management
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• v.35 no.4
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• pp.159-165
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• 2007

Using statistical methods a change-point analysis of oil supply disruption is conducted. The statistical distribution of oil supply disruption is a weibull distribution. The detection of the change-point is applied to Bayesian method and weibull parameters are estimated through Markov chain monte carlo and parameter approach. The statistical approaches to the estimation for the change-point and weibull parameters is implemented with the sets of simulated and real data with small sizes of samples.

• Journal of Preventive Medicine and Public Health
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• v.15 no.1
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• pp.179-186
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• 1982

The methods controlling the confounding factors were discussed using the data of secondary infertility with induced abortion. Mantel-Haenszel method and logistic model were applied in the analysis to find out which factors were confounding and/or effect modification variables. In the logistic analysis, the main effect of induced abortion, spontaneous abortion, age and interaction effect between induced abortion and spontaneous abortion were chosen as independent variables being regressed into logistic functions. Spontaneons abortion was interpreted as a potential confounder and at the same time potential effect modifier and age was interpreted as potential confounder. Spontaneous abortion was shown to be more important influencing factor than age to the secondary infertility. In the course of logistic analysis, the problem of parameter estimation and hypothesis testing, assessing the fitness of a model, and selection of the best model were briefly explained. For the program of logistic model, FUNCAT Procedure of SAS package was chosen.

• The Korean Journal of Applied Statistics
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• v.20 no.2
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• pp.373-385
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• 2007

The solution of the normal equation arising in a general linear model by the least square methods is not unique in general. Conventionally, SAS IML and G-inverse matrices are considered for such problems. In this paper, we provide a systematic solution procedures for SAS IML.

• Communications for Statistical Applications and Methods
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• v.15 no.6
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• pp.815-823
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• 2008

In this paper, we derive the approximate maximum likelihood estimators(AMLEs) and maximum likelihood estimator of the scale parameter in a half-logistic distribution based on progressive Type-II censored samples. We compare the proposed estimators in the sense of the mean squared error for various censored samples. We also obtain the approximate maximum likelihood estimators of the reliability function using the proposed estimators. We compare the proposed estimators in the sense of the mean squared error.