• The Transactions of the Korean Institute of Electrical Engineers A
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• v.52 no.8
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• pp.471-480
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• 2003

The design of a measurement system to perform Harmonic State Estimation (HSE) is a very complex problem. Among the reasons for its complexity are the system size, conflicting requirements of estimator accuracy, reliability in the presence of transducer noise and data communication failures, adaptability to change in the network topology and cost minimization. In particular, the number of harmonic instruments available is always limited. Therefore, a systematic procedure is needed to design the optimal placement of measurement points. This paper presents a new HSE algorithm which is based on an optimal placement of measurement points using Genetic Algorithms (GAs) which is widely used in areas such as: optimization of the objective function, learning of neural networks, tuning of fuzzy membership functions, machine learning, system identification and control. This HSE has been applied to the Simulation Test Power System for the validation of the new HSE algorithm. The study results have indicated an economical and effective method for optimal placement of measurement points using Genetic Algorithms (GAs) in the Harmonic State Estimation (HSE).

• Journal of the Korean Society of Propulsion Engineers
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• v.20 no.2
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• pp.56-66
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• 2016

Robustness is essential for model based FDI (Fault Detection and Isolation) and it is inevitable to have modeling errors and sensor signal noises during the process of FDI. This study suggests an improved method by applying NARX (Nonlinear Auto Regressive eXogenous) model and Kalman estimator in order to cope with problems caused by linear model errors and sensor signal noises in the process of fault diagnoses. Fault decision is made by the probability of the trend of gradually accumulated errors applying Fuzzy logic, which are robust to instantaneous sensor signal noises. Reliability of fault diagnosis is verified under various fault simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.487-495
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• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

• Steel and Composite Structures
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• v.34 no.5
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• pp.743-767
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• 2020

Due to the impressive flexural performance, enhanced compressive strength and more constrained crack propagation, Fibre-reinforced concrete (FRC) have been widely employed in the construction application. Majority of experimental studies have focused on the seismic behavior of FRC columns. Based on the valid experimental data obtained from the previous studies, the current study has evaluated the seismic response and compressive strength of FRC rectangular columns while following hybrid metaheuristic techniques. Due to the non-linearity of seismic data, Adaptive neuro-fuzzy inference system (ANFIS) has been incorporated with metaheuristic algorithms. 317 different datasets from FRC column tests has been applied as one database in order to determine the most influential factor on the ultimate strengths of FRC rectangular columns subjected to the simulated seismic loading. ANFIS has been used with the incorporation of Particle Swarm Optimization (PSO) and Genetic algorithm (GA). For the analysis of the attained results, Extreme learning machine (ELM) as an authentic prediction method has been concurrently used. The variable selection procedure is to choose the most dominant parameters affecting the ultimate strengths of FRC rectangular columns subjected to simulated seismic loading. Accordingly, the results have shown that ANFIS-PSO has successfully predicted the seismic lateral load with R² = 0.857 and 0.902 for the test and train phase, respectively, nominated as the lateral load prediction estimator. On the other hand, in case of compressive strength prediction, ELM is to predict the compressive strength with R² = 0.657 and 0.862 for test and train phase, respectively. The results have shown that the seismic lateral force trend is more predictable than the compressive strength of FRC rectangular columns, in which the best results belong to the lateral force prediction. Compressive strength prediction has illustrated a significant deviation above 40 Mpa which could be related to the considerable non-linearity and possible empirical shortcomings. Finally, employing ANFIS-GA and ANFIS-PSO techniques to evaluate the seismic response of FRC are a promising reliable approach to be replaced for high cost and time-consuming experimental tests.