• International Journal of Control, Automation, and Systems
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• 제1권2호
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• pp.243-251
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• 2003

In this paper, a new model for mobile soccer robot, a type of linear system, is presented. A controller, consisting of two loops the one of which is the inner state feedback loop designed for stability and plant be well conditioned and the outer loop is a well-known PI controller designed for tracking the reference input, is suggested. Because the plant, the soccer robot, is parameter dependent, it requires the controller to be insensitive to the parameter variation. To achieve this objective, the pole-sensitivity as a pole-variation with respect to the parameter variation is defined and design algorithms for state-feedback controllers are suggested, consisting of two matrices one of which is for general pole-placement and other for parameter insensitive. This paper shows that the PI controller is equivalent to the state feedback and the cost function for reference tracking is equivalent to the LQ cost. By using these properties, we suggest a tuning procedure for the PI controller. We that the control algorithm in this paper, based on the linear system theory, is well work by simulation, and the LPD system modeling and control are more easy treatment for soccer robot.

• Structural Engineering and Mechanics
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• 제60권3호
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• pp.413-431
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• 2016

A sensitivity analysis estimates the effect of the change in the uncertain variable parameter on the probability of the structural failure. A novel fuzzy random reliability sensitivity measure of the failure probability is proposed to consider the effect of the epistemic and aleatory uncertainties. The uncertainties of the engineering variables are modeled as fuzzy random variables. Fuzzy quantities are treated using the ${\lambda}$-cut approach. In fact, the fuzzy variables are transformed into the interval variables using the ${\lambda}$-cut approach. Genetic approach considers different possible combinations within the search domain (${\lambda}$-cut) and calculates the parameter sensitivities for each of the combinations.

• 한국자동차공학회논문집
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• 제17권5호
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• pp.107-114
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• 2009

A Common-Rail Direct Injection (CRDI) system for high speed diesel engines was developed to meet reductions of noise and vibration, emission regulations. High pressure in the common rail with electric control allows the fuel quantity and injection timing to be optimized and controlled throughout a wide range of engine velocity and load conditions. In this study, CRDI system analysis model which includes fuel and mechanical systems was developed using commercial software, AMESim in order to predict characteristics for various fuel injection components. The parameter sensitivity analysis such as throttle size, injection rate, plunger displacement, supply pressure of fuel injection for system design are carried out.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문집
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• pp.570-575
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• 2002

Servo performance of a disk drive is greatly affected by the mechanical resonance frequencies of the head gimbal assembly (HSA). It is important factor to allow broader bandwidths for servo system in improving overall drive performance. In this paper, an optimal design for ODD suspension is attempted to increase resonance frequencies in tracking direction. Initial model was designed and the design parameter was defined to the model. The mode frequency variation for the change of design parameter was observed by modal analysis using the finite element method(FEM). The sensitivity matrix was calculated from the observed data and so through sensitivity analysis, an optimized ODD suspension was designed to have the higher resonant frequency than the initial model.

• 한국자동차공학회논문집
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• 제4권2호
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• pp.115-126
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• 1996

In order to obtain the principal design data for developing the Autonomous Robot Vehicle(ARV), Sensitivity analysis on the trajectory error and friction force with respect to the dynamic parameters is performed. In the straight motion, the trajectory error has been proved to be much affected by the mass variance of the ARV while the lateral friction force is much affected by the location of the mass center. In the curved motion, the effect of mass and moment of inertia is considered importantly. In addition, the lateral offset gives more effect than the geometric dimension of the ARV on the trajectory errors and friction force.

• International Journal of Control, Automation, and Systems
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• 제3권spc2호
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• pp.355-362
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• 2005

Deregulations and market practices in power industry have brought great challenges to the system planning area. In particular, they introduce a variety of uncertainties to system planning. New techniques are required to cope with such uncertainties. As a promising approach, probabilistic methods are attracting more and more attentions by system planners. In small signal stability analysis, generation control parameters play an important role in determining the stability margin. The objective of this paper is to investigate power system state matrix sensitivity characteristics with respect to system parameter uncertainties with analytical and numerical approaches and to identify those parameters have great impact on system eigenvalues, therefore, the system stability properties. Those identified parameter variations need to be investigated with priority. The results can be used to help Regional Transmission Organizations (RTOs) and Independent System Operators (ISOs) perform planning studies under the open access environment.

• Structural Engineering and Mechanics
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• 제20권3호
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• pp.347-362
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• 2005

The input energy to a base-isolated (BI) building during an earthquake is considered and formulated in the frequency domain. The frequency-domain approach for input energy computation has some notable advantages over the conventional time-domain approach. Sensitivities of the input energy to the BI building are derived with respect to uncertain parameters in the base-isolation system. It is demonstrated that the input energy can be of a compact form via the frequency integration of the product between the input component (Fourier amplitude spectrum of acceleration) and the structural model component (so-called energy transfer function). With the help of this compact form, it is shown that the formulation of earthquake input energy in the frequency domain is essential for deriving the sensitivities of the input energy to the BI building with respect to uncertain parameters. The sensitivity expressions provide us with information on the most unfavorable combination of the uncertain parameters which leads to the maximum energy input.

• Journal of Radiation Protection and Research
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• 제16권2호
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• pp.67-74
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• 1991

육상 섭취 경로에 따른 내부 피폭선량 계산 모델 KFOOD의 파라메터 불착실성 및 민감도를 몬테칼로법을 사용하여 수치 분석하였다. 쌀을 통한 섭취 경로의 경우 KFOOD 코드에 의한 예측치는 아주 보수적인 값을 나타내었다 모델에서 민감도가 큰 입력변수는 방사능의 침적속도와 식물전이제수였다.

• 한국군사과학기술학회지
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• 제15권6호
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• pp.827-831
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• 2012

Passengers and mounted equipments on a vehicle are exposed to the vibration when it is driven on the road. To minimize the vibration and improve the dynamic characteristics of a vehicle are important factors. Those are changed by modifying parameters of the vehicle. To save development cost and time, simulation methods using vibration model have been widely used before making the real vehicle. In this paper two aimed functions, displacement between wheels and the body and acceleration of the body, have been defined for the parameter sensitivity analysis of the large vehicle. Full Vehicle Model having 11 degrees of freedom applied to solve those issues.

• 한국방재학회:학술대회논문집
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• 한국방재학회 2008년도 정기총회 및 학술발표대회
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• pp.755-758
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• 2008

Currently, the increased run-off and the shortened arrival time are one of the causes of the city environmental disasters in urbanization. Therefore, it is necessary to properly design the hydrologic structures, but it is very difficult to forecast the values necessary to design from the planning stage. Moreover, as the parameter is changed due to the urban development, it is difficult not only to analyze the run-off influences but also to find the related studies and literatures. The purpose of this study is to utilize the results as the important basic data of the hydrologic structures, its proper design and run-off influences through the sensibility analysis of the model parameter variables. In this study, the absolute and relative sensibility analysis method were used to find out the correlation through the sensibility analysis of the topology and hydrology parameters. Especially, in this study, the changes in the run-off amount and volume were calculated according to increase/decrease in CN, the coefficient of discharge, and the empirical formula is prepared and proposed through the regressive analysis among the parameters. In the meantime, the parameter sensibility analysis was performed through the simulation HEC-HMS that is used and available in Korea. From the results of this study, it was found that the run-off amount is increased about by 10% when the CN value is increased by 5% before and after the development through the HEC-HMS simulation and data analysis. As long as there will be additional data collection analysis and result verification, and continuous further studies to find out the parameters proper to the domestic circumstances, it is expected to considerably contribute to the proper design of the hydrologic structures with respect to the ungauged basin.