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

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.3
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• pp.210-216
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• 2006

In the rule based modeling, data partitioning plays crucial role be cause partitioned sub data set implies particular information of the given data set or system. In this paper, we present an empirical study result of the data pattern estimation to find underlying data patterns of the given data. Presented method performs crisp type clustering with given n number of data samples by means of the sequential agglomerative hierarchical nested model (SAHN). In each sequence, the average value of the sum of all inter-distance between centroid and data point. In the sequel, compute the derivation of the weighted average distance to observe a pattern distribution. For the final step, after overall clustering process is completed, weighted average distance value is applied to estimate range of the number of clusters in given dataset. The proposed estimation method and its result are considered with the use of FCM demo data set in MATLAB fuzzy logic toolbox and Box and Jenkins's gas furnace data.

• Proceedings of KOSOMES biannual meeting
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• 2018.06a
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• pp.154-154
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• 2018

• Proceedings of the KWS Conference
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• 2003.11a
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• pp.207-209
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• 2003

In FE analysis for residual stress of a casting, contact force between mould and casting material and gravity force must be considered for exact simulation. Preheating of a repair weldment had a little effects on the reduction of residual stress. However, preheating with hammer peening had a great deal of effects on the reduction of residual stress. A method for estimation of fatigue life for a repair weldment has been established.

• International Journal of Control, Automation, and Systems
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• v.4 no.5
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• pp.545-558
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• 2006

In this paper, PD-like visual servoing is modified in two ways: a sliding-mode observer is applied to estimate the joint velocities, and a RBF neural network is used to compensate the unknown gravity and friction. Based on Lyapunov method and input--to-state stability theory, we prove that PD-like visual servoing with the sliding mode observer and the neuro compensator is robust stable when the gain of the PD controller is bigger than the upper bounds of the uncertainties. Several simulations are presented to support the theory results.

• Journal of Astronomy and Space Sciences
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• v.24 no.4
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• pp.327-338
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• 2007

We estimate the momentum fluxes of short-period gravity waves which are observed in the OI 557.7 nm nightglow emission with all-sky camera at Mt. Bohyun ($36.2^{\circ}\;N,\;128.9^{\circ}\;E$) in Korea. The intrinsic phase speed ($C_{int}$), the intrinsic period (${\tau}_{int}$), and vertical wavelength (${\lambda}_z$) are also deduced from the horizontal wavelength (${\lambda}_h$), observed period (${\tau}_{ob}$), propagation direction (${\phi}_{ob}$), observe phase speed (${\upsilon}_{ob}$) of the gravity wave on the all-sky images. The neutral winds to deduce intrinsic wave parameters are measured with Fabry-Perot interferometer on Shigaraki ($34.8^{\circ}\;N,\;13.1^{\circ}\;E$) in Japan. We selected 5-nights of observations during the period between July 2002 and December 2006 considering of the weather and instrument conditions in two observation sites. The mean values of intrinsic parameter of gravity waves are $({\tau}_{int})\;=\;12.9\;{\pm}\;6.1\;m/s,\;({\lambda}_z)\;=\;12.9\;{\pm}\;6.5,\;and\;(C_{int})\;=\;40.6\;{\pm}\;11.6\;min$. The mean value of calculated momentum fluxes for four nights besides of ${\lambda}_z\;<\;6\;km$ is $12.0\;{\pm}\;15.2\;m^2/s^2$. It is needed the long-term coherent observation to obtain typical values of momentum fluxes of the mesospheric gravity waves using all-sky camera and the neutral wind measurements.

• Journal of Astronomy and Space Sciences
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• v.26 no.1
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• pp.31-46
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• 2009

An Unscented Kalman Filter (UKF) for estimation of the attitude and rate of a spacecraft using only magnetometer vector measurement is developed. The attitude dynamics used in the estimation is the nonlinear Euler's rotational equation which is augmented with the quaternion kinematics to construct a process model. The filter is designed for small satellite in low Earth orbit, so the disturbance torques include gravity-gradient torque, magnetic disturbance torque, and aerodynamic drag torque. The magnetometer measurements are simulated based on time-varying position of the spacecraft. The filter has been tested not only in the standby mode but also in the detumbling mode. Two types of actuators have been modeled and applied in the simulation. The PD controller is used for the two types of actuators (reaction wheels and thrusters) to detumble the spacecraft. The estimation error converged to within 5 deg for attitude and 0.1 deg/s for rate respectively when the two types of actuators were used. A joint state parameter estimation has been tested and the effect of the process noise covariance on the parameter estimation has been indicated. Also, Monte-Carlo simulations have been performed to test the capability of the filter to converge with the initial conditions sampled from a uniform distribution. Finally, the UKF performance has been compared to that of the EKF and it demonstrates that UKF slightly outperforms EKF. The developed algorithm can be applied to any type of small satellites that are actuated by magnetic torquers, reaction wheels or thrusters with a capability of magnetometer vector measurements for attitude and rate estimation.

• Journal of Advanced Marine Engineering and Technology
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• v.28 no.6
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• pp.962-971
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• 2004

This paper has dealt with thermo-physical properties of microencapsulated phase change material slurry as a latent heat storage material having a low melting point. The measured results of the thermo-physical properties of the test microencapsulated phase change material slurry, those are, density, specific heat, thermal conductivity and viscosity, were discussed for the temperature region of solid and liquid phases of the dispersion material (paraffin). The measurements of these properties of microencapsulated phase change material slurry have been carried out by using a specific-gravity meter, a water calorimeter, a differential scanning calorimeter(DSC), a transient hot wire method and rotating type viscometer, respectively. It was clarified that the additional properties law could be applied to the estimation of the density and specific heat of microencapsulated phase change material slurry and also the Euckens equation could be applied to the estimation of the thermal conductivity of this slurry.

• Proceedings of the Korean Geotechical Society Conference
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• 2010.03a
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• pp.717-721
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• 2010

Soil volume conversion factors are used for estimation of an excavated the soil volume which will be removed or added in levelling the ground surface of a construction site. An accurate evaluation method will help us reduce a construction cost and time consuming. In this study, we performed the laboratory tests, including grain size measurement, water content, specific gravity, porosity, density and XRD tests, to suggest reliable soil volume conversion factors and weathering indices in field using nondestructive methods. The weathering index and soil volume conversion factor L are obtained for different types of soils. At results, the CIW index is the best method measuring the weathering index and the factor L is relative to natural porosity, void ratio, density and dry density.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.911-914
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• 1993

This paper makes a trial to build the model of car-following in the state of starting to stable driving on the basic of driver's knowledge that is easily characterized by linguistical cognition. There are three main steps in building the model. Firstly, each driver's rule of three testees is studied in linguistical experssion by the interview and questionary surveys that are repeated once a day for ten days. Secondly, quantification of the linguistical expression is investigated by driving experiments that includes the questionary survey to the testee in the test vehicle, and the membership functions of variables of rule are obtained. Thirdly, implicaton and composition of fuzzy inference is made by Max-Min Methods and defuzzification by gravity method. It can be said that the proposed model of car-following based on driver's knowledge is practically allpicable to the estimation of drivering of car-following on trunk roads in urban area.