• Journal of Institute of Control, Robotics and Systems
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• v.8 no.5
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• pp.393-400
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• 2002

Teleoperation enables an operator to manipulate remote objects. One of the main goals in teleoperation researches is to provide the operator with the fueling of the telepresence, being present at the remote site. For these purposes, a master robot must be designed as a bilateral control system that can transmit position/force information to a slave robot and feedback the interaction force. A newly proposed impedance algorithm is applied for the control of a haptic interface that was developed as a master robot. With the movements of the haptic interface for position/force commands, impedance parameters are always varying. When the impedance parameters between an operator and the haptic interface and the dynamic model are known precisely, many model based control theories and methods can be used to control the device accurately. However, due to the parameters'variations and the uncertainty of the dynamic model, it is difficult to control haptic interfaces precisely. This paper presents a robust adaptive impedance control algorithm for haptic interfaces.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.10
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• pp.3186-3198
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• 1996

When a robot is to have contact with its enviornment, such as a medi-care robot, it would be advantageous for the robot to have a high compliance. For this reason, a robot having not only a flexible link but also an actuator with compliance, is desirable. This paper is concerned with the position and vibration control of 1 degree of freedom flexible robot using a pneumatic artificial muscle actuator. The dynamics of the manipulator assumed to be and Euler-Bernoulli beam are derived on the basis of the linear mathematical modle. Although this pneumatic artifical muscle actuator has many merits for the compliance robot, it is difficult to make an effective control scheme of this system because of ths nonlinearity and uncertainty on the dynamics of the actuator. By designing a controller using .mu.-synthesis, robust performance against measurement noise, various modeling uncertainties on the dynamics of the servo valve, actuator and mainpulator, is achieved. The effectiveness of the proposed control method is illustrated through simulations and experiments.

• Journal of Mechanical Science and Technology
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• v.20 no.7
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• pp.1030-1042
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• 2006

An experimental study has been performed to investigate the off-take phenomena at the header-feeder systems (horizontal header pipe with multiple feeder branch pipes) in a CANDU (CANadian Deuterium Uranium) reactor with the branch orientation varies ${\pm}36^{\circ}\;or\;{\pm}72^{\circ}$. In order to evaluate the applicability of the conventional correlations used in the safety analysis code, RELAP5-Mod3, the test facility is designed with the 1/2 scale of the. CANDU 6. It was found that the data set for the top, bottom and side branches are in a good agreement with the correlations used. However, for the specific angled branches, ${\pm}36^{\circ}\;and\;{\pm}72^{\circ}$, the onsets of off-take data and quality data showed large deviation with the conventional model inside RELAP5-MOD3. Furthermore, based on the uncertainty analysis, the conventional 2.5 power law needs to be modified. The present experimental data set can be useful for the construction of the general correlation considering the arbitrary branch orientation.

• Structural Engineering and Mechanics
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• v.17 no.2
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• pp.245-266
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• 2004

Incremental launching method is one of the highly competitive techniques for construction of concrete bridges. It avoids costly and time consuming form work and centralizes all construction activities in a small casting yard, thus saving in cost and time against conventional bridge construction. From the quality point of view, it eliminates the uncertainty of monolithic behaviour by allowing high repetitiveness and industrial environment. But, from analysis and design point of view, the most characteristic aspect of incrementally launched bridges is that, it has to absorb the stresses associated with the temporary supports that are gradually taken on by the deck during its launch. So, it is necessary to analyse the structure for each step of launching which is a tedious and time consuming process. Effect of support settlements or temperature variation makes the problem more complex. By using transfer matrix method, this problem can be handled efficiently with minimal computational effort. This paper gives insight into method of analysis, formulation for optimization of the structural system, effect of support settlement and temperature gradient, during construction, on the stress state of incrementally launched bridges.

• Structural Engineering and Mechanics
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• v.44 no.1
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• pp.73-84
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• 2012

This paper strongly addresses to the problem of the mechanical systems in which parameters are uncertain and bounded. Interval calculation is used to find sharp bounds of the structural parameters for infilled frame system modeled with finite element method. Infill walls are generally treated as non-structural elements considerably to improve the lateral stiffness, strength and ductility of the structure together with the frame elements. Because of their complex nature, they are often neglected in the analytical model of building structures. However, in seismic design, ignoring the effect of infill wall in a numerical model does not accurately simulate the physical behavior. In this context, there are still some uncertainties in mechanical and also geometrical properties in the analysis and design procedure of infill walls. Structural uncertainties can be studied with a finite element formulation to determine sharp bounds of the structural parameters such as wall thickness and Young's modulus. In order to accomplish this sharp solution as much as possible, interval finite element approach can be considered, too. The structural parameters can be considered as interval variables by using the interval number, thus the structural stiffness matrix may be divided into the product of two parts which correspond to the interval values and the deterministic value.

• Journal of IKEEE
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• v.24 no.2
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• pp.403-408
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• 2020

Photovoltaic (PV) has both intermittent and uncertainty in nature, so it is difficult to accurately predict. Thus anomaly detection technology is important to diagnose real time PV generation. This paper identifies a correlation between various parameters and classifies the PV data applying k-nearest neighbor and dynamic time warpping. Results for the two classifications showed that an outlier detection by a fault of some facilities, and a temporary power loss by partial shading and overall shading occurring during the short period. Based on 100kW plant data, machine learning analysis and test results verified actual outliers and candidates of outlier.

• Journal of National Security and Military Science
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• s.13
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• pp.43-81
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• 2016

Security environment we face in the Korean Peninsula is unexpectable. Tensions between Seoul and Pyeongyang and its threats are continuously evolving. Kim Jung Un will keep on conducting provocations and DPRK's isolation will result uncertainty to their objective and intention. KPA is centered on ground forces with conventional weapons but they possess modernized missiles and nuclear capabilities. What's more concerning is that North Korea continuously pursue and develop nuclear weapons and missile capabilities. Pursuing defense reform is inevitable for the ROK to deal adequately against the security threats posed by the North and to prepare for the environment of future warfare. If we are satisfied with the current capabilities then our military capabilities and security status will retrogress. We have to reorganize our units to make a small but FMC, smart military organization. Organization analysis is an urgent issue for reorganizing units. However, it isn't an easy task to reform an organization. There are vague parts for analysis and strong resistance from the people within the organization. Therefore should not focus on the reduction of people and the organization. Organization reform should be done with the acknowledgement of most of the personnel and should focus on the task and its method. These should be reflected to the organization analysis.

• Korean Journal of Agricultural Science
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• v.47 no.1
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• pp.19-28
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• 2020

This study proposed a simple estimation method for irrigation return flow from paddy fields using the water balance model. The merit of this method is applicability to other paddy fields irrigated from agricultural reservoirs due to the simplicity compared with the previous monitoring based estimation method. It was assumed that the unused amount of irrigation water was the return flow which included the quick and delayed return flows. The amount of irrigation supply from a reservoir was estimated from the reservoir water balance with the storage rate and runoff model. It was also assumed that the infiltration was the main source of the delayed return flow and that the other delayed return flow was neglected. In this study, the amount of reservoir inflow and water demand from paddy field are calculated on a daily basis, and irrigation supply was calculated on 10-day basis, taking into account the uncertainty of the model and the reliability of the data. The regression rate was calculated on a yearly basis, and yearly data was computed by accumulating daily and 10-day data, considering that the recirculating water circulation cycle was relatively long. The proposed method was applied to the paddy blocks of the Jamhong and Seosan agricultural reservoirs and the results were acceptable.

• Computational Structural Engineering
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• v.4 no.3
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• pp.117-127
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• 1991

For the reliability analysis of offshore guyed towers for large storm events, failure of an anchor pile of the guyline system is investigated. Two failure modes of the anchor pile due to the extreme and the cyclic wave loadings are considered. The probability of failure due to the extreme anchor load is evaluated based on the first excursion probability analysis. Degradation of the pile capacity due to cyclic loadings is evaluated by using empirical fatigue curves for a driven pile in clay. The numerical results indicate that the failure probability due to the cyclic loadings can be as large as the risk due to extreme loading, particularly for the cases with the low design safety level of the pile strength and the large uncertainty of the pile resistance.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.33 no.3
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• pp.123-129
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• 2010

R&D innovation is based on the premises of gaining competitive advantage. Innovation is achieved not only through the development of technology for producing newer and better products, but also gaining and sharing information about consumer demands, changes in the market, and competitors actions. Investment in R&D can not adequately be fulfilled solely through market functions because of R&D activities imply high-risk, uncertainty, and because R&D has a public-good characteristic. Most past researches have concentrated on managerial methodologies through research of performance, thus the results are related to studies of innovation performance. This research looks into the effect given on R&D innovation by IT factors and provides a model, and further analysis on how IT factors are applied through this model. By developing a model through the process of re-structuring the model with variables based on the convergent and discriminant validity, and in turn confirming and concentrating on major IT factors through analysis, it will be possible to double the R&D Innovation Performance.