• 조명전기설비학회논문지
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• 제20권8호
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• pp.42-47
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• 2006

본 논문에서는 로봇의 동력학에 대한 정확한 지식을 요구하지 않는 로봇 머니퓰레이터를 위한 경계 추정기법을 가진 슬라이딩 모드 제어기를 제안한다. 경계 추정을 위해 로봇 동력학의 불확실한 비선형 요소들의 경계치를 제 1종의 Fredholm 적분식을 이용하여 표현하고, 슬라이딩 평면 함수값만을 이용한 적응 기법을 제안한다. 또한 로봇 동력학의 중요한 두가지 특성인 왜대칭성과 양정치성을 이용하여 로봇 시스템의 점근적 안정성을 증명한다.

• 한국지반공학회논문집
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• 제34권4호
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• pp.5-11
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• 2018

기존에 사용하고 있는 포화깊이를 추정하는 Green-Ampt (1911) 방정식과 무한사면 얕은파괴를 계산하는 Skempton & DeLory(1957) 방정식을 수치해석과 비교하여 오류를 확인하였다. 실제 비탈면에서 강우로 인한 사면 불안정성의 근본적인 원인을 방정식으로 간단하게 평가하기에는 계산 결과에 대한 오류와 과대 또는 과소평가가 되고 있는 부분들을 많이 포함하고 있다. 본 연구에서는 국내 화강풍화토 강도정수의 평균범위를 적용하여 불포화 침투해석을 고려한 방정식을 제안하고 수치해석 결과와 비교하여 신뢰성을 검증하였다. 비탈면의 붕괴에 위험을 주는 강우지속시간과 포화깊이를 확인하면서 사면 안전율 방정식을 여러 분야에서 쉽게 사용할 수 있도록 제안하였다.

• 시스템엔지니어링학술지
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• 제16권2호
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• pp.110-117
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• 2020

In this paper, we estimated the straight line stability by performing a 3 degree of freedom spiral test simulation of a intact/damaged surface combatant using the hydrodynamic coefficient obtained through the PMM(Planar motion mechanism) test based on system engineering process. A model ship was ONR Tumblehome and damaged compartment was set on the starboard bow. As a result of conducting a spiral test simulation based on the experimental results of J.Ha (2018), the asymmetric straight line stability due to the damaged compartment was confirmed. In the case of a ship in which the starboard bow was damaged, it was confirmed that it had the characteristic to deflect to the left when going straight. Also, when estimating the straight line stability of a both port and starboard asymmetric surface combatant, a separated equation of motion model that sees the port and starboard as different ships seems suitable.

• Journal of Microbiology and Biotechnology
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• 제4권1호
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• pp.13-19
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• 1994

A model equation to describe the plasmid instability in recombinant Escherichia coli fermentation is proposed. The equation allows one to estimate easily the two model parameters; (1) the difference in the specific growth rates between plasmid-free cells and plasmid-harboring cells ($\delta$), and (2) the probability of plasmid loss by plasmid-harboring cells ($\rho$). The estimated values of $\delta and \rho$ were in the range of 0.02-0.07 and $10^{-3}-10^{-5}$, respectively, and were strongly dependent on the dilution rate. As another parameter, the ratio of specific growth rates of plasmid-free cells and plasmid-harboring cells ($\alha$) was calculated and the result showed the highest value of 1.28 at the lowest dilution rate of 0.075 $hr^{-l}$, examined in this work. By the sensitivity analyses on the estimates of $\delta and \rho$, it was found that the growth rate difference ($\delta$) affected the plasmid instability more seriously than the probability of plasmid loss ($\rho$). Furthermore, the profound instability of plasmid at low dilution rate could be explained by the high values of $\alpha and \rho$.

• 한국정밀공학회지
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• 제29권10호
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• pp.1128-1136
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• 2012

In this paper, the states and parameters in a dynamic system are estimated by applying an Unscented Kalman Filter (UKF). The UKF is widely used in various fields such as sensor fusion, trajectory estimation, and learning of Neural Network weights. These estimations are necessary and important in determining the stability of a mobile system, monitoring, and predictions. However, conventional approaches are difficult to estimate based on the experimental data, due to properties of non-linearity and measurement noises. Therefore, in this paper, UKF is applied in estimating the states and parameters needed. An experimental dynamic system has been set up for obtaining data and the experimental data is collected for parameter estimation. The measurement noises are primarily reduced by applying the Low Pass Filter (LPF). Given the simulation results, the estimated error rate is 39 percent more efficient than the results obtained using the Least Square Method (LSM). Secondly, the estimated parameters have an average convergence period of four seconds.

• 제어로봇시스템학회논문지
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• 제5권7호
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• pp.794-799
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• 1999

This study deals with robustness bounds estimation for uncertain linear systems with structured perturbations where the eigenvalues of the perturbed systems are guaranteed to stay in a prescribed region. Based upon the Lyapunov approach, new theorems to estimate allowable perturbation parameter bounds are derived. The theorems are referred to as the zero-order or first-order asymmetric robustness measure depending on the order of the P matrix in the sense of Taylor series expansion of perturbed Lyapunov equation. It is proven that Gao's theorem for the estimation of stability robustness bounds is a special case of proposed zero-order asymmetric robustness measure for eigenvalue assignment. Robustness bounds of perturbed parameters measured by the proposed techniques are asymmetric around the origin and less conservative than those of conventional methods. Numerical examples are given to illustrate proposed methods.

• 한국터널지하공간학회 논문집
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• 제13권2호
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• pp.115-131
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• 2011

최근 들어 방재 및 환경훼손 측면을 고려하여 병설터널의 시공 사례가 증가하고 있다. 병설터널의 굴착 시 필라(Pillar)부에 응력이 집중되어 터널의 안정성이 저하된다. 필라부의 거동에 대한 기존 연구들은 주로 수치해석과 실내 모형 실험을 통한 병설터널의 거동평가 및 지표침하 경향 분석 등에 국한되어 있어서, 필라부의 정량적 안정성 평가에는 한계가 있다. 따라서 본 연구에서는 병설터널의 필라폭이 터널의 안정성에 미치는 영향을 정량적으로 살펴보았다. 이를 위해 토피고가 다른 두 단면에 대해 전단강도 감소법을 이용한 수치해석적 방법으로 구한 터널 전체 안전율, Matsuda 등이 제안한 식을 이용하여 구한 필라부 국부안전율, 및 필라부의 강도/응력비를 산정하고 결과를 분석하였다. 합리적인 병설터널의 필라부 설계를 위해, 평균 강도/응력비, Matsuda 제안식에 의한 안전율, 수치해석적으로 구한 전체 안전율이 독립적으로 사용되기보다는 유기적으로 사용되어야 할 것으로 판단되었다.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2011년도 정기총회 및 추계학술대회 논문집
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• pp.1905-1913
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• 2011

The dynamic characteristic of bogie that is driving system of railway vehicle is very important regarding decision of vehicle characteristics as running safety and comport. The dynamic characteristic test of bogie is tested on full size in place on field testing on track. But, the testing on the full size caused many problems. To overcome these problem by full size test, the Railway Safety Research Center in Seoul National University of Science & Technology developed 1/5 scale size of small scale derailment simulator and is currently testing running stability of 1/5 scaled bogie. Also To take effectively advantage of running stability test using small scale derailment simulator in actuality design and reliability estimation, it is necessary comparison and examination with field test and theoretical analysis result In this paper. to achieve running stability analysis of 1/5 scaled bogie on small scale derailment. the program using MATLAB that is fast compose and analysis the motion equation of Saemaul power bogie is developed. It is achieved analysis according to various specification (weight, size, suspension, etc..) and is evaluated corelation between test result and dynamic characteristic of actual railway vehicle.

• 제어로봇시스템학회논문지
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• 제5권8호
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• pp.923-931
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• 1999

In this paper, a modeling and a robust time-delay control for the reclaimer are investigated. Supplying the same amount of a raw material throughout the reclamation process from the raw yard to a sinter plant is important to keep the quality of the molten steel uniform in blast furnaces. As the actual parameter values of the reclaimer are not available, the boom rotational dynamics are modeled as a second order differential equation with unknown coefficients. The unknown parameters in the nominal model are estimated using a recursive estimation method. Another important factor in the control design of the reclaimer is the large time-delay in output measurement. Assuming a multiplicative uncertainty, that accounts for both the unstructured uncertainty neglected in the modeling and the structured uncertainty contained in the parameter estimation, a robust Smith predictor is designed. A robust stability criterion for the multiplicative uncertainty is also derived. Following the work of Goodwin et al. [4], a quantifying procedure of the multiplicative uncertainty bound, through experiments , is described. Experimental and simulation results are provided.

• 한국강구조학회 논문집
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• 제13권2호
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• pp.211-221
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• 2001

본 연구에서는, 포장가속시험시설이 사용 중 발생 가능한 동역학적 힘을 예측하기 위해, 이미 개발되어 운용중인 모형시험시설을 이용하여 차량 운동방정식을 구하고, 모형시험시설과 포장가속시험시설(KALES : Korea Accelerated Loading and Environmental Simulator)의 상사관계를 이용하여 KALES가 운행 중 발생할 수 있는 동역학적인 힘을 예측하였다. 이를 기반으로 실제 차량 구조부 형상에 대한 상세설계를 전산해석과 피로수명평가 방법을 이용하여 수행하였다. 해석 결과, 동역학적 모형화 및 피로강도 해석기술을 기반으로 설계된 KALES는 시험 중 발생되는 사용하중 이력에 대해서 피로 강도적으로 충분한 안전성이 확보되도록 설계됨을 확인할 수 있었다.