• Journal of the Korean Society for Precision Engineering
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• v.29 no.9
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• pp.986-994
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• 2012

This paper is concerned with the application of the vision control algorithm with weighting matrix in robot point placement task. The proposed vision control algorithm involves four models, which are the robot kinematic model, vision system model, the parameter estimation scheme and robot joint angle estimation scheme. This proposed algorithm is to make the robot move actively, even if relative position between camera and robot, and camera's focal length are unknown. The parameter estimation scheme and joint angle estimation scheme in this proposed algorithm have form of nonlinear equation. In particular, the joint angle estimation model includes several restrictive conditions. For this study, the weighting matrix which gave various weighting near the target was applied to the parameter estimation scheme. Then, this study is to investigate how this change of the weighting matrix will affect the presented vision control algorithm. Finally, the effect of the weighting matrix of robot vision control algorithm is demonstrated experimentally by performing the robot point placement.

• Structural Monitoring and Maintenance
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• v.10 no.4
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• pp.361-379
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• 2023

In cable structure maintenance, particularly for cable-stayed bridges, cable safety assessment relies on estimating cable tension. Conventionally, in Japan, cable tension is estimated from the natural frequencies of the cable using the higher-order vibration method. In recent years, dampers have been installed on cables to reduce cable vibrations. Because the higher-order vibration method is a method for damper-free cables, the damper must be removed to measure the natural frequencies of a cable without a damper. However, cables on some cable-stayed bridges have two dampers: one on the girder side and another on the tower side. Notably, removing and reinstalling the damper on the tower side are considerably more time- and labor-intensive. This paper introduces a tension estimation method for cables with two dampers, using natural frequencies. The proposed method was validated through numerical simulation and experiment. In the numerical tests, without measurement error in the natural frequencies, the maximum estimation error among 100 models was 3.3%. With measurement error of 2%, the average estimation error was within 5%, with a maximum error of 9%. The proposed method has high accuracy because the higher-order vibration method for a damper-free cable still has an estimation error of 5%. The experimental verification emphasizes the importance of accurate damper modeling, highlighting potential discrepancies between existing damper design formula and actual damper behavior. By revising the damper formula, the proposed method achieved accurate cable tension estimation, with a maximum estimation error of approximately 10%.

• International Journal of Highway Engineering
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• v.16 no.5
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• pp.173-182
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• 2014

PURPOSES : The purpose of the study is to a) explore the operating speed of trucks on rural highways affected by road geometry, and thereby b) develop a predictive model for the operating speed of trucks on rural highways. METHODS : Considering that most of the existing studies have focused on cars, the current study aimed to predict the operating speed of trucks by conducting linear regression analysis on the speed data of trucks operating on the linear-curved-linear portions of the road as a single set. RESULTS : The operating speed in the plane curve portion increased with the length of the curve, and decreased with a lower vertical grade and a smaller curve radius. In the straight plane portion, the operating speed increased with a larger curve radius(upstream), and decreased with an increase in the change of the vertical grade, depending on the length of the vertical curve. CONCLUSIONS : This study developed estimation models of truck for operational speed and evaluated the degree of safety for horizontal and vertical alignments simultaneous. In order to represent whole area of the rural highway, the models should be ew-analyzed with vast data related with road alignment factor in the near future.

• The Journal of Asian Finance, Economics and Business
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• v.5 no.3
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• pp.19-29
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• 2018

This research examined the alternatives of Jensen's alpha (α) estimation models in the Capital Asset Pricing Model, discussed by Treynor (1961), Sharpe (1964), and Lintner (1965), using the robust maximum likelihood type m-estimator (MM estimator) and Bayes estimator with conjugate prior. According to finance literature and practices, alpha has often been estimated using ordinary least square (OLS) regression method and monthly return data set. A sample of 50 securities is randomly selected from the list of the S&P 500 index. Their daily and monthly returns were collected over a period of the last five years. This research showed that the robust MM estimator performed well better than the OLS and Bayes estimators in terms of efficiency. The Bayes estimator did not perform better than the OLS estimator as expected. Interestingly, we also found that daily return data set would give more accurate alpha estimation than monthly return data set in all three MM, OLS, and Bayes estimators. We also proposed an alternative market efficiency test with the hypothesis testing Ho: α = 0 and was able to prove the S&P 500 index is efficient, but not perfect. More important, those findings above are checked with and validated by Jackknife resampling results.

• Wind and Structures
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• v.5 no.6
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• pp.543-562
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• 2002

The main purpose of this study is to discuss the design wind loads for the structural frames of single-layer latticed domes with long spans. First, wind pressures are measured simultaneously at many points on dome models in a wind tunnel. Then, the dynamic response of several models is analyzed in the time domain, using the pressure data obtained from the wind tunnel experiment. The nodal displacements and the resultant member stresses are computed at each time step. The results indicate that the dome's dynamic response is generally dominated by such vibration modes that contribute to the static response significantly. Furthermore, the dynamic response is found to be almost quasi-static. Then, a series of quasi-static analyses, in which the inertia and damping terms are neglected, is made for a wide range of the dome's geometry. Based on the results, a discussion is made of the design wind load. It is found that a gust effect factor approach can be used for the load estimation. Finally, an empirical formula for the gust effect factor and a simple model of the pressure coefficient distribution are provided.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.11
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• pp.1202-1208
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• 2009

An inverse finite element (FE) model parameter estimation algorithm can be used to characterize mechanical properties of biological tissues. Using this algorithm, we can consider the influence of material nonlinearity, contact mechanics, complex boundary conditions, and geometrical constraints in the modeling. In this study, biomechanical experiments on macro and micro samples are conducted and characterized with the developed algorithm. Macro scale experiments were performed to measure the force response of porcine livers against mechanical loadings using one-dimensional indentation device. The force response of the human liver cancer cells was also measured by the atomic force microscope (AFM). The mechanical behavior of porcine livers (macro) and human liver cancer cells (micro) were characterized with the algorithm via hyperelastic and linear viscoelastic models. The developed models are suitable for computing accurate reaction force on tools and deformation of biomechanical tissues.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.1-5
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• 2014

In this paper, we propose an optimal fixed-lag FIR (Finite-Impulse-Response) smoother for a class of discrete time-varying state-space signal models. The proposed fixed-lag FIR smoother is linear with respect to inputs and outputs on the recent finite horizon and estimates the delayed state so that the variance of the estimation error is minimized with the unbiased constraint. Since the proposed smoother is derived with system inputs, it can be adapted to feedback control system. Additionally, the proposed smoother can give more general solution than the optimal FIR filter, because it reduced to the optimal FIR filter by setting the fixed-lag size as zero. A numerical example is presented to illustrate the performance of the proposed smoother by comparing with an optimal FIR filter and a conventional fixed-lag Kalman smoother.

• Journal of Korean Society of Steel Construction
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• v.23 no.5
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• pp.557-568
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• 2011

To effectively come up with and secure a national budget, it is very important to estimate the reasonable construction cost of each step in public construction projects. In this study, the approximate construction cost of a steel box girder bridge in the early stages of the project, on which available information is limited, was proposed using case-based reasoning. In addition, construction cost estimation models were used for existing sample design models, and the accuracy of the estimation model for the presented cost was verified. The analysis results showed that the error rate was comparatively stable. Therefore, it is expected that construction cost estimation will be effectively suggested in the country's budget preparation.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2018.05a
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• pp.294-295
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• 2018

Nowadays, the construction industry utilizes 3D models in the designing process, on which research is being conducted to establish an automated system for project cost estimation in connection with information related to construction such as material unit costs and wages, beyond the level of design interference review and construction quantity estimation. In this process, the project cost is estimated in connection with unit price data after takeoff the quantity based on the 3D model attributes and data types. A way to reduce cost and risk would be first developing prototypes of some of essential buildings and works, comparing and validating the outcomes, and then extending to the whole scope, because estimates differ on the basis of the scope and level of 3D design models as well as the data accuracy. This study analyzes case studies of project cost estimation by computing the quantity on the basis of 3D model in the construction industry and explores methodologies and management measures applicable for estimating nuclear power plant construction project costs.

• Journal of Power Electronics
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• v.16 no.1
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• pp.217-226
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• 2016

A new method is proposed based on a hidden Markov model (HMM) to estimate and analyze battery states of health. Battery system health states are defined according to the relationship between internal resistance and lifetime of cells. The source data (terminal voltages and currents) can be obtained from vehicular battery models. A characteristic value extraction method is proposed for HMM. A recognition framework and testing datasets are built to test the estimation rates of different states. Test results show that the estimation rates achieved based on this method are above 90% under single conditions. The method achieves the same results under hybrid conditions. We can also use the HMMs that correspond to hybrid conditions to estimate the states under a single condition. Therefore, this method can achieve the purpose of the study in estimating battery life states. Only voltage and current are used in this method, thereby establishing its simplicity compared with other methods. The batteries can also be tested online, and the method can be used for online prediction.