• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.1-6
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• 1992

A principle of "orthogonalization" is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space. To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a "modified hybrid computed torque method", the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.force error signals.

• International Journal of Control, Automation, and Systems
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• v.1 no.4
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• pp.444-452
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• 2003

An integration system with multi-measurement sets can be realized via combined application of a centralized and federated Kalman filter. It is difficult for the centralized Kalman filter to remove a failed sensor in comparison with the federated Kalman filter. All varieties of Kalman filters monitor innovation sequence (residual) for detection and isolation of a failed sensor. The innovation sequence, which is selected as an indicator of real time estimation error plays an important role in adaptive mechanism design. In this study, the centralized Kalman filter with adaptive measurement fusion is introduced by means of innovation sequence. The objectives of adaptive measurement fusion are automatic isolation and recovery of some sensor failures as well as inherent monitoring capability. The proposed adaptive filter is applied to the GPS/SDINS integration system with an additional sensor. Simulation studies attest that the proposed adaptive scheme is effective for isolation and recovery of immediate sensor failures.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2006.04a
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• pp.496-499
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• 2006

In this study, a practical method of shrinkage stress analysis on concrete slab in multi-story building is proposed, which considers both internal restraint and external restraint variation resulting from construction sequence. The shrinkage stress due to external restraint is obtained by multiplying relaxation coefficient to elastic shrinkage stress. The additional shrinkage stress due to internal restraint is obtained by residual strain of the elastic analysis. A verification example was analyzed and compared by the proposed method and commercial analysis program that is capable of time-dependent analysis of concrete. The results of 10-story example building show that the internal restraint of reinforcement increases the shrinkage stress considerably at the slabs under loose external restraint.

• International Journal of Railway
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• v.5 no.1
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• pp.22-28
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• 2012

This report is devoted to the problems of Mongolian Railway Transportation Safety such as high length of wagon service life, defects due to the more factors of exploitation, idle time, increase of faults, poor condition of repairing shops and more hand and mechanical operations and these conditions are quite difficult to meet the safety and reliability of increasing transportation from day to day. The paper discusses that the most optimum solution is diagnosing before occurring wear, breakdown, and defects on the basis of studying characteristics of structural material breakdown, residual methods of voltage, effects of material hardness and linear defects of a crystal net and the reform of machines is very important to implement it. It focuses the structures, characteristics of the material transportation and tests and analyses of the wagon cart which has to meet the traffic safety of wagons and slow and soft movement. The study is done on the wagon chassis which has to meet the traffic safety of luggage wagons.

• Proceedings of the Korean Nuclear Society Conference
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• 1996.05b
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• pp.745-750
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• 1996

An analysis of a loss of residual heat removal system (RHRS) event during midloop operation after reactor shutdown was performed using the RELAP5/MOD3 thermal-hydraulic computer code. The experimental data of a 5% cold leg break test conducted at the ROSA-IV Large Scale Test Facility (LSTF) to simulate a main coolant pump shaft seal removal event during midloop operation of a Westinghouse-type PWR were used in the analysis. The predicted core boiling time and the peak primary system pressure showed good agreements with the measured data. Some differences between the calculational results and the experimental results were, however, found in areas of the timing of loop seal clearing and the temperature distribution in a pressurizer. Other calculational problems identified were discussed as well.

• Journal of Sensor Science and Technology
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• v.19 no.2
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• pp.130-136
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• 2010

The microbolometer array sensor with fine pitch pixel array has been implemented to the released amorphous silicon layer supported by two contact pads. For the design of focal plane mirror with geometrical flatness, the simple beam test structures were fabricated and characterized. As the beam length decreased, the effect of beam width on the bending was minimized, Mirror deformation of focal plane in a real pixel showed downward curvature by residual stress of a-Si and Ti layer. The mirror tilting was caused by the mis-align effect of contact pad and confirmed by FEA simulation results. The properties of bolometer have been measured as such that the NETD 145 mK, the TCR -2 %/K, and thermal time constant 1.99 ms.

• Journal of Korean Society for Quality Management
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• v.22 no.2
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• pp.20-32
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• 1994

This paper is concerned with the design of four control charts for real-time monitoring of the continuous flow processes. Control charts for both uncorrelated data and correlated data are designed using the Kalman filtering techinque. The relative performance between the designed control charts and traditional control charts is evaluated in terms of the Average Run Length(ARL). Results show that the Adaptive EWMA control charts designed for uncorrelated data has better performance when process mean is shifted, while the residual control charts for correlated data has better performance when process is in control.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.201-204
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• 2006

A three-dimensional finite element (FEM) model has been developed to simulate the deformation due to bead on plate welding of curved plates with curvature in the weld direction. By using traditional method such as thermal-elastic-plastic FEM, the weld-induced deformation can be predicted accurately. However, this method is not practical approach to analyze the deformation of large and complex structures such as ship hull structures in view of time and cost. This study is classified from the aspect of equivalent load based on inherent strain near the weld line. Therefore, the residual deformation can be simply computed by elastic analysis. Further more, a practical solution is proposed to consider the contact between the plate and the positioning jig by judging the reaction forces of the jig at calculation step and the effect of the longitudinal curvature is closely considered.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.4
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• pp.270-276
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• 2002

An integrated robust fault diagnosis and fault accommodation strategy for a class of linear stochastic systems subjected to unknown disturbances is presented under the assumption that only a single fault may occur at a given time. The strategy is based on the fault isolation and estimation using a bank of robust two-stage Kalman filters and introduction of the additive compensation input for cancelling out the fault's effect on the system. Each filter is set up such that the residual is decoupled from unknown disturbances and fault with the influence vector designed in the filter. Simulation results for the simplified longitudinal flight control system with parameter uncertainties, process and sensor noises demonstrate the effectiveness of the present approach.

• Computers and Concrete
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• v.20 no.5
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• pp.511-519
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• 2017

The reliability of reinforced concrete structures is frequently compromised by the deterioration caused by reinforcement corrosion. Evaluating the effect caused by reinforcement corrosion on structural behaviour of corrosion damaged concrete structures is essential for effective and reliable infrastructure management. In lifecycle management of corrosion affected reinforced concrete structures, it is difficult to correctly assess the lifecycle performance due to the uncertainties associated with structural resistance deterioration. This paper presents a stochastic deterioration modelling approach to evaluate the performance deterioration of corroded concrete structures during their service life. The flexural strength deterioration is analytically predicted on the basis of bond strength evolution caused by reinforcement corrosion, which is examined by the experimental and field data available. An assessment criterion is defined to evaluate the flexural strength deterioration for the time-dependent reliability analysis. The results from the worked examples show that the proposed approach is capable of evaluating the structural reliability of corrosion damaged concrete structures.