• 제어로봇시스템학회논문지
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• 제7권12호
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• pp.980-984
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• 2001

When robot manipulatros as mathematically modeled. uncetainties may not be avoided. The uncertain factors come from imperfect knowledge of system parameters, payload change. friction, external disturbance and etc. In this work, we proposed a class of robust hybrid control of manipulatosrs. We propose a class of expanded robust hybrid control with the separated bound function and the simulation results are provided to show the effectiveness of the algorithm.

• International Journal of Control, Automation, and Systems
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• 제6권6호
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• pp.960-967
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• 2008

This paper shows that design of a robustly stable repetitive control system is equivalent to that of a feedback control system for an uncertain linear time-invariant system satisfying the well-known robust performance condition. Once a feedback controller is designed to satisfy the robust performance condition, the feedback controller and the repetitive controller using the performance weighting function robustly stabilizes the repetitive control system. It is also shown that we can obtain a steady-state tracking error described in a simple form without time-delay element if the robust stability condition is satisfied for the repetitive control system. Moreover, using this result, a sufficient condition is provided, which ensures that the least upper bound of the steady-state tracking error generated by the repetitive control system is less than or equal to the least upper bound of the steady-state tracking error only by the feedback system.

• 충청수학회지
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• 제17권1호
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• pp.47-56
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• 2004

The nonlinearity of a Boolean function f on $GF(2)^n$ is the minimum hamming distance between f and all affine functions on $GF(2)^n$ and it measures the ability of a cryptographic system using the functions to resist against being expressed as a set of linear equations. Finding out the exact value of the nonlinearity of given Boolean functions is not an easy problem therefore one wants to estimate the nonlinearity using extra information on given functions, or wants to find a lower bound or an upper bound on the nonlinearity. In this paper we extend the notion of auto-correlations of Boolean functions to vector Boolean functions and obtain upper bounds and a lower bound on the nonlinearity of vector Boolean functions in the context of their auto-correlations. Also we can describe avalanche characteristics of vector Boolean functions by examining the extended notion of auto-correlations.

• Structural Engineering and Mechanics
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• 제63권6호
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• pp.799-808
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• 2017

Failure of a redundant long-span bridge is often described by innumerable failure modes, which make the structural system reliability analysis become a computationally intractable work. In this paper, an innovative procedure is proposed to efficiently identify the dominant failure modes and quantify the structural reliability for a long-span bridge system. The procedure is programmed by ANSYS and MATLAB. Considering the correlation between failure paths, a new branch and bound operation criteria is applied to the traditional stage critical strength branch and bound algorithm. Computational effort can be saved by ignoring the redundant failure paths as early as possible. The reliability of dominant failure mode is computed by FORM, since the limit state function of failure mode can be expressed by the final stage critical strength. PNET method and FORM for system are suggested to be the suitable calculation method for the bridge system reliability. By applying the procedure to a CFST arch bridge, the proposed method is demonstrated suitable to the system reliability analysis for long-span bridge structure.

• 소성∙가공
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• 제8권4호
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• pp.364-373
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• 1999

For material characterization of semi-solid materials, backward extrusion process, which has been used in forming of hollow-sectioned products, was analyzed by the upper bound analysis in the current study. The existing kinematically admissible velocity field was applied to steady state at which there was no change in the assumed regions of velocity field. For unsteady state, new velocity field, as a function of dead zone angle, was proposed. Through the whole analysis, fiction between die and workpiece was also considered. It has been studied how the process variables, such as friction factor and punch velocity, and material parameters, such as strength coefficient, strain rate sensitivity could affect on analysis results. Finally, by the comparison with the finite element analysis, the reliability and efficiency of the proposed velocity field were discussed.

• 한국정밀공학회지
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• 제18권6호
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• pp.174-181
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• 2001

An upper bound elemental technique(UBET) has been carried out to predict the forming load, the deformation pattern and the extrude length of the lateral extrusion of a spider for the automotive universal joint. For the upper bound analysis, a kinematically admissible velocity field(KAVF) is proposed. From the proposed velocity field, the upper bound load, the deformation pattern and the average length of the extruded billets are determined by minimizing the total energy consumption rate which is a function of unknown velocities at each element. Experiments are carried out with antimony-lead billets at room temperature using the rectangular shape punch. The theoretical prediction of the forming load, the deformation pattern and the extruded length are good in agreement with the experimental results.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.1129-1133
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• 2001

An upper bound elemental technique(UBET) has been carried out to predict the forming load, the deformation pattern and the extruded length of the lateral extrusion of a spider for the automotive universal joint. For the upper bound analysis, a kinematically admissible velocity field(KAVF) is proposed. From the proposed velocity field, the upper bound load, the deformation pattern and the average length of the extruded billets are determined by minimizing the total energy consumption rate which is a function of unknown velocities at each element. Experiments are carried out with antimony-lead billets at room temperature using the rectangular shaped punch. The theoretical prediction of the forming load, the deformation pattern and the extruded length are good in agreement with the experimental results.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 1998년도 춘계학술대회논문집
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• pp.214-219
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• 1998

Analytic and experimental methods have been used for the characterization of flow behavior of semi-solid Al2024 alloy. Backward extrusion experimnet was chosen to avoid the crack on the unconstrained surface. The material constants for the flow stress by the upper bound technique that agreed with experimental results were determined. The various material constants obtained for al temperature range above the solidus temperature have been fitted and represented in the function of temperature and solid fraction. The obtained result has good agreement only in the high solid fraction.

• 대한기계학회논문집A
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• 제30권9호
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• pp.1049-1061
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• 2006

In the study, the flow stress of material and friction condition were determined by using the cylinder compression test and numerical method. We proposed the flow stress equation including the initial yield strength to predict it from the upper bound method. The upper bound technique uses the velocity field which includes two unknowns to effectively express bulging. Also, inverse engineering technique uses the object function to minimize area enclosed by load-stroke curve. The friction factor is determined from the radius of curvature of the barrel by cylinder compression test. Flow stress and initial yield strength predicted from the above techniques are verified through the finite element simulation.

• 한국정밀공학회지
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• 제14권8호
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• pp.92-100
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• 1997

An upper-bound elemental technique (UBET) analysis is carried out to improve the material flow and to reduce the load of bearing-race forming process. The UBET analysis, which adapts the advantages of stream function and finite element method, is useful for predicting the profile of complex geometric bound- ary. From the UBET analysis, the forming load, the velocity distribution and the stream line of the deformed billet are determined by minimizing the total power consumption with respect to chosen parameters. The results of present UBET analysis are better than those of previous UBET analysis. Experiments have been carried out with model material plasticine billets at room temperature. The theoretical predictions for forming load and flow pattern(stream line) are in good agreement with the experimental results.