• Journal of Korean Society of Transportation
• /
• v.28 no.3
• /
• pp.119-130
• /
• 2010

Reconstruction analysis of traffic accident is done by analyzing diverse data such as the road, accident traces and damage on the automobile. Most data can be a variable in the process of analysis, and measurement error of the data occurs from the investigator, tool and the given environment. Therefore, accident analysis always has some risks of measurement uncertainty. This research quantify the uncertainty in traffic accident analysis by conducting repetitive measurement experiments for variables with high probability of uncertainly such as length (i.e. geometric structure of the road, tire marks) and coefficient of friction. This paper also suggests an analysis result for the uncertainly of photographic observation of automobile crush measurement. These statistical distributions can help determine appropriate ranges for the input data in order to estimate the accident reconstruction uncertainty.

• Journal of the Korean Geosynthetics Society
• /
• v.17 no.2
• /
• pp.33-40
• /
• 2018

Characteristics of interface friction between cohesionless soils and geotechnical structure surfaces play an important role in the analysis of earth load and resistance on the structure. In general, geotechnical structures are mainly composed of either steel or concrete, and their surface roughnesses with respect to soil particle sizes influence the interface characteristics between soils and the structures. Accurate assessment of the interface friction characteristics between soils and structures is important to ensure the safety of geotechnical structures, such as mechanically stabilized earth walls reinforced with inextensible reinforcements, piles embedded into soils, retaining wall backfilled with soils. In this study, based on the database of high quality interface friction tests between frictional soils and solid surfaces from literature, equation representing peak interface friction angle is proposed. The influential factors of the peak interface friction angle are relative roughness between soil and solid surface, relative density of frictional soil, and residual (constant volume) interface friction angle. Futhermore, for the developed equation of the interface friction angle, its uncertainty was assessed statistically based on Goodness-of-fit test results.

• 대한공업교육학회지
• /
• v.34 no.2
• /
• pp.396-410
• /
• 2009

The goal of this work is to present an advanced method of an estimation of the Modeling Uncertainties coming up in industrial rigid robot's manipulator and actuators. First, with the given physical robot model, the motion equation was derived. Considering a fictitious model, a new extended motion equation is developed. Based on this extended model, an observer and observer bank are designed for the estimation of modeling uncertainties which are involving the effects of gravity, friction, mass unbalance, and Coriolis which show the nonlinear characteristics in operation states.

• Proceedings of the KIPE Conference
• /
• 2008.10a
• /
• pp.224-226
• /
• 2008

본 논문에서는 매트릭스 컨버터로 구동되는 유도전동기의 속도제어 성능을 향상시키기 위한 적응제어 기법을 제안한다. 유도 전동기는 비선형적 마찰력 등으로 인한 비선형적 특성을 가진다. 이러한 비선형적 특성으로 인해 야기되는 왜곡을 보상하고 속도제어 성능을 개선하기 위해 슬라이딩 모드 제어 기법을 적용한다. 슬라이딩 모드에서 발생하는 채터링 현상과 모델링되지 않은 유도 전동기의 불확실성에 의한 제어 성능 저하를 개선하기 위해, 불확실성 추정을 위한 퍼지 기반 불확실성 추정기를 적용한다. 시뮬레이션을 통해 제안한 제어기법의 타당성을 검증한다.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.41 no.11
• /
• pp.1099-1108
• /
• 2017

Data points obtained by conducting repetitive experiments under identical environmental conditions are, theoretically, required to correspond. However, experimental data often display variations due to generated errors or noise resulting from various factors and inherent uncertainties. In this study, an algorithm aiming to determine valid bounds of input variables, representing uncertainties, was developed using probabilistic and statistical methods. Furthermore, a reliability assessment was performed to verify and validate applications of this algorithm using bolt-fastening friction coefficient data in a sample application.

• Proceedings of the KIEE Conference
• /
• 2000.07d
• /
• pp.2874-2876
• /
• 2000

본 연구에서는 [1]에서 제안된 알고리즘을 마찰력이 존재하는 로봇 매니퓰레이터에 적용하여 위치제어를 수행하였다. 제안된 제어 알고리즘은 로봇의 위치 정보만을 이용하는 반복적 제어구조를 가지고 있다. 또한 제어기 설계 시, 로봇의 파라미터를 이용하지 않기 때문에 파라미터 불확실성이 있는 시스템에 강인한 특징을 보인다. 제안된 제어기의 성능을 검증하기 위하여.마찰력이 존재하는 2축 SCARA형 로봇에 적용하여 시뮬레이션 수행하였다

• Journal of the Korean Society for Precision Engineering
• /
• v.9 no.2
• /
• pp.92-100
• /
• 1992

플렉시블한 관절을 가지고 있는 로보트에 대하여 계단(step) 혹은 경사(ramp) 함수로 기준입력이 주어졌을 때, 모델의 불확실성이나 외란 아래에서 추적오차가 없는 디지찰 제어기법을 제시하고 실제로 실험을 통하여 제어기를 MC 68000으로 구현함으로써 제안한 제어 알고리즘의 유용성을 보였다. 제어기 설계에 있 어서 고려한 사항들은 비선형 마찰력, 중력에 의한 외란, 구동기와 부하사이의 뒤틀림 스프링 효과, 구리고 측 정할 수 없는 상태변수들이다. 또한 미분불가능한 쿨롱마찰로 인하여 전체 시스템이 이산/연속 혼성 시스템이 되어 출력에서 나타나는 리미트 싸이클을 해석/추정하기 위하여 혼성 시스템에서의 기술함수(Describing Function) 법을 제시하였다.

• The Journal of Engineering Geology
• /
• v.21 no.3
• /
• pp.247-257
• /
• 2011

In this study the infinite slope model, one of the physical landslide models has been suggested to evaluate the susceptibility of the landslide. However, applying the infinite slope model in regional study area can be difficult or impossible because of the difficulties in obtaining and processing of large spatial data sets. With limited site investigation data, uncertainties were inevitably involved with. Therefore, the probabilistic analysis method such as Monte Carlo simulation and the GIS based infinite slope stability model have been used to evaluate the probability of failure. The proposed approach has been applied to practical example. The study area in Boeun area been selected since the area has been experienced tremendous amount of landslide occurrence. The geometric characteristics of the slope and the mechanical properties of soils like to friction angle and cohesion were obtained. In addition, coefficient of variation (COV) values in the uncertain parameters were varied from 10% to 30% in order to evaluate the effect of the uncertainty. The analysis results showed that the probabilistic analysis method can reduce the effect of uncertainty involved in input parameters.

• Journal of Power System Engineering
• /
• v.9 no.4
• /
• pp.175-180
• /
• 2005

Incorrections between model and plant are parameter, system order uncertainties and modeling error due to disturbance like friction. Therefore to achieve a good tracking performance, adaptive discrete time sliding mode tracking controller is used under time-varying desired position. Based on the diophantine equation, a new discrete time sliding function is defined and utilized for the control law. Robustness is increased by using both a recursive least-square method and a sliding function-based nonlinear feedback. The effectiveness of the proposed control algorithm is proved by the results of simulation and experiment.

• Journal of Power System Engineering
• /
• v.12 no.1
• /
• pp.80-86
• /
• 2008

A motor cylinder apparatus is used to transfer a load in industrial applications. The apparatus is composed of a motor and power transmission elements such as worm gear and screw. In this case, the nonlinear friction of the transmission elements has a bad influence on the position control performance. To overcome this problem, the position control system consists of a feedback controller to achieve nominal control performance and a disturbance observer to compensate nonlinear friction. Especially the filter of a disturbance observer is designed from viewpoint of robust stability. Finally, the simulation result shows that the proposed control system is effective for the disturbance elimination as well as the friction compensation.