• 품질경영학회지
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• 제9권1호
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• pp.3-11
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• 1981

동일한 부품 K개를 갖고 있으며, 그 중에서 S개 이상의 스트렝스(strength)가 스트레스(stress) 보다 크게 될 경우 신뢰성이 유지되는 시스템에서 스트레스와 스트렝스가 모두 와이블(weibull) 분포를 하고 있을 때의 시스템 신뢰성을 고찰하였다. 2 절에서는 시스템 신뢰성의 최소분산불편추정량(MVU estimator)을 구하였고, 3 절에서는 최소분산불편추정량의 점근분포(asymototic distribution)를 구하고 표본크기가 클때 시스템 신뢰성의 최소분산불편추정량과 최우추정량(MLE)과의 관계를 구하였으며, 4 절에서는 시스템 신뢰성의 일양최적불편신뢰구간(uniformly most accurate unbiased confidence interval) 을 구하였고, 5 절에서는 몬데 카를로 씨뮤레이션(Monte Carlo Simulation)을 사용하여 작은 표본에서의 최우추정량과 최소분산불편추정량의 편기(bias)와 평균자승오차(MSE)를 비교하였고 6 절에서는 결과를 간단히 요약하고 본 논문을 더 확장할 경우에 문제점을 제시하였다.

• 한국정밀공학회지
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• 제18권5호
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• pp.137-146
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• 2001

A robust controller with the sliding mode is proposed for stable dynamic walking of the biped robot in this paper. For the robot system to be controlled, which is modeled as 14 DOF rigid bodies by the method of multi-body dynamics, the joint angle trajectories are determined by the velocity transformation matrix. Also Hertz force model and Hysteresis damping element are utilized for the ground reaction and impact forces during the contact with the ground. The biped robot system becomes unstable since those forces contain highly confused noise components and some discontinuity, and modeling uncertainties such as parameter inaccuracies. The sliding mode control is applied to solve above problems. Under the assumption of the bounded estimation errors on the unknown parameters, the proposed controller provides a successful way to achieve the stability and good performance in spite of the presence of modeling imprecisions of uncertainties.

• 수산해양기술연구
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• 제33권4호
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• pp.290-297
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• 1997

Underwater robotic vehicles(URVs) are used for various work assignments such as pipe-lining, inspection, data collection, drill support, hydrography mapping, construction, maintenance and repairing of undersea equipment, etc. As the use of such vehicles increases the development of vehicles having greater autonomy becomes highly desirable. The vehicle control system is one of the most critic vehicle subsystems to increase autonomy of the vehicle. The vehicle dynamics is nonlinear and time-varying. Hydrodynamic coefficients are often difficult to accurately estimate. It was also observed by experiments that the effect of electrically powered thruster dynamics on the vehicle become significant at low speed or stationkeeping. The conventional linear controller with fixed gains based on the simplified vehicle dynamics, such as PID, may not be able to handle these properties and result in poor performance. Therefore, it is desirable to have a control system with the capability of learning and adapting to the changes in the vehicle dynamics and operating parameters and providing desired performance. This paper presents an adaptive and learning control system which estimates a new set of parameters defined as combinations of unknown bounded constants of system parameter matrices, rather than system parameters. The control system is described with the proof of stability and the effect of unmodeled thruster dynamics on a single thruster vehicle system is also investigated.

• 한국자동차공학회논문집
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• 제5권6호
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• pp.13-27
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• 1997

In the modern design technology, a component should be designed to fit into the overall system performance. A design methodology is developed to expedite the mechan- ical design of complex mechanical systems, The relation between the system design and component design is defined by a top-down approach and the results from the system design are utilized in the component design process. As a design example, an automobile exhaust system is selected for the system design and a bellows is chosen for a component design. Design methodology based on the top-down approach consists of five steps; (1) Analysis of service load, (2) Development of a lumped parameter, (3) Completion of the system design, (4) Selection of the component topology, (5) Completion of the component design, A method using a equivalent matrix is developed in order to determine unknown external forces in linear structural analyses. The bellows is also analyzed by the finite element method using a conical frustum shell element. Various experiments are performed to verify the developed theories. The top-down desi- gn approach is demonstrated by a design case using structural and shape optimization technology. Since the method is relatively simple and easy compared to other methods, it can be applied to the general design where system and component designs are involves simultaneously.

• 한국산업융합학회 논문집
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• 제19권2호
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• pp.50-61
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• 2016

This study proposes a new approach to control the nozzle pressure of homogenizer in refrigerator foam system in the 900L class. Generally, dynamic characteristics of the hydraulic nozzle system is highly nonlinear due to uncertain parameters, and it is very difficult to control of hydraulic dynamics. Firstly, it has been performed to derive a real-time control algorithm based on the mathematical model of hydraulic cylinder, and to estimate the values of the unknown parameter in the hydraulic system. Secondly, the feedback controller was designed to implement the optimal pressure control of the hydraulic nozzle system. Finally the control performance was illustrated by simulation.

• 한국통신학회논문지
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• 제33권11C호
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• pp.949-954
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• 2008

타원형 산란 무선 채널 환경에서 고속 단거리 옥내 무선 통신용 초광대역 수신기의 입력에 클러스터 형태로 도착하는 신호의 도착 방향을 추정하기 위해 새로 초광대역 신호 모형을 제안한다. 추정 기법은 일반적인 다중신호분류 기법을 변경한 알고리즘이며, 제안된 추정 기법을 초광대역 신호 모형에 적용하여 두 종류의 매개변수인 신호 도착방향 변수와 퍼짐 변수를 얻는다. 제안한 신호 모형과 추정 기법은 초광대역 타원형 산란 무선 통신 환경 안에서 컴퓨터 모의실험을 통해 검증된다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 F
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• pp.1872-1875
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• 1998

In the industrial motor drive system, a shaft torsional vibration is often generated when a motor and a load are connected with a flexible shaft. This paper treats the vibration suppression control of such a system. Recently, there are new methods which estimate unknown state variables by using a reduced order observer and feedback these state variables by using a pole placement design method. But there is a trade-off between the fast command following property and the attenuation of disturbances and vibrations in these design methods. In this paper, the vibration suppression control of a two-mass system using a reference model is proposed. Because of using a reference model, the proposed control satisfy the fast command following property and the attenuation of disturbances and vibrations. Control parameter can be changed to maintain high system performance in control using a reference model. Experimental results show the validity of the proposed state feedback control using a reference model, and this controller is compared with the state feedback controller.

• 대한기계학회논문집
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• 제14권3호
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• pp.513-525
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• 1990

본 연구에서는 ARSC의 이론적인 전개에 대해서 주로 설명하고자 한다. 제2 장에서는 ARSC의 구조를 자세히 기술하며, 제3장에 ARSC를 컴퓨터에 이식하기 위한 알 고리즘을 요약하여 제시한다. 또한, ARSC알고리즘이 총체적으로(globally) 수렴하며 안정하다는 이론적 증명에 대하여 제4장에서 언급하며, 마지막으로 제5장에 실시간 시 뮬레이션을 통하여 ARSC의 간단한 적용실례를 들었다. 실제로 본 ARSC는 엔드밀링의 절삭력 적응제어에 적용되었는데, 그 연구결과는 별도로 발표할 예정이다.

• 제어로봇시스템학회논문지
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• 제18권9호
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• pp.854-862
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• 2012

The optimal design of batch-storage network by using periodic square wave model provides analytical lot sizing equations for a complex supply chain network characterized as multi-supplier, multi-product, multi-stage, non-serial, multi-customer, cyclic system including recycling and/or remanufacturing. The network structure includes multiple currency flows as well as material flows. The processes are represented by multiple feedstock/product materials with fixed composition which are very suitable for production processes. In this study, transportation processes that carry multiple materials with unknown composition are added and the time frame is changed from single period into multiple periods in order to represent nonperiodic parameter variations. The objective function of the optimization involves minimizing the opportunity costs of annualized capital investments and currency/material inventories minus the benefit to stockholders in the numeraire currency. The expressions for the Kuhn-Tucker conditions of the optimization problem are reduced to a multiperiod subproblem for average flow rates and analytical lot-sizing equations. The multiperiod lot sizing equations are different from single period ones. The effects of corporate income taxes, interest rates and exchange rates are incorporated.

• 제어로봇시스템학회논문지
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• 제18권10호
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• pp.902-911
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• 2012

This paper proposes a robust adaptive fuzzy backstepping control scheme for trajectory tracking of an electrically driven nonholonomic mobile robot with uncertainties and actuator dynamics. A complete model of an electrically driven nonholonomic mobile robot described in this work includes all models of the uncertain robot kinematics with a nonholonomic constraint, the uncertain robot body dynamics with uncertain frictions and unmodeled disturbances, and the uncertain actuator dynamics with disturbances. The proposed control scheme uses the backstepping control approach through a kinematic controller and a robust adaptive fuzzy velocity tracking controller. The presented control scheme has a voltage control input with an auxiliary current control input rather than a torque control input. It has two FBFNs(Fuzzy Basis Function Networks) to approximate two unknown nonlinear robot dynamic functions and a robust adaptive control input with the proposed adaptive laws to overcome the uncertainties such as parameter uncertainties and external disturbances. The proposed control scheme does not a priori require the accurate knowledge of all parameters in the robot kinematics, robot dynamics and actuator dynamics. It can also alleviate the chattering of the control input. Using the Lyapunov stability theory, the stability of the closed-loop robot control system is guaranteed. Simulation results show the validity and robustness of the proposed control scheme.