• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.06a
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• pp.331-336
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• 1998

A systematic design method for PDC(Parallel Distributed Compensation)-type continuous time Takagi-Sugeno(T-S in short) fuzzy control systems which have inaccessible states is developed in this paper. Reduced-dimensional fuzzy state estimator is introduced from existing T-S fuzzy model using the PDC structure of Wang et al. [1] LMI(Linear Matrix Inequalities) problems which represent the stabililty of the reduced-dimensional fuzzy state estimator are derived. Pole placement constraints idea for each rules is adopted to determine the estimator gains and they are also revealed as LMI problems. these LMI problems are combined with Joh et al's [7][8] LMI problems for PDC -type continuous time T-S fuzzy controller design to yield a systematic design method for PDC -type continuous time T-S fuzzy control systems which have inaccessible states.

• Journal of the Korean Society for Nondestructive Testing
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• v.32 no.3
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• pp.241-262
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• 2012

Some applications require structural health monitoring in inaccessible components. This paper presents a technique useful for Structural Health Monitoring of double wall structures, such as double wall steam pipes and double wall pressure vessels separated from an ultrasonic transducer by three layers. Detection has been demonstrated at distances in excess of one meter for a fixed transducer. The case presented here is for one of the layers, the middle layer, being a fluid. For certain transducer configurations the wave propagating in the fluid is a wave with low velocity and attenuation. The paper presents a model based on wave theory and finite element simulation; the experimental set-up and observations, and comparison between theory and experiment. The results provide a description of the technique, understanding of the phenomenon and its possible applications in Structural Health Monitoring.

• Transactions of the Korean Society of Mechanical Engineers
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• v.11 no.6
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• pp.923-934
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• 1987

A flexible one-link robotic manipulator is modelled as a rotating cantilever beam with a hub and tip mass. An active control law is developed with consideration of the distributed flexibility of the arm. Equation of motion is derived by Hamilton's principle and, for modal control, represented as state variable form using Galerkin's mode summation method. Feedback coefficients are chosen to minimize the linear quadratic performance index(PI). To reconstruct the complete state vector from the measurements, an observer is proposed. In order to suppress vibration of the manipulator arm to desirable extent and to obtain accuracy of the positioning, weighting factor of input in PI is adjusted. Spillover effect due to the controller which controls several important modes is examined. Experiment is also performed to validate the theoretical analysis.

• Korean Journal of Remote Sensing
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• v.38 no.6_3
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• pp.1749-1760
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• 2022

In modern society, human and social damages caused by natural disasters and frequent disaster accidents have been increased year by year. Prompt access to dangerous disaster sites that are inaccessible or inaccessible using state-of-the-art Earth observation equipment such as satellites, drones, and survey robots, and timely collection and analysis of meaningful disaster information. It can play an important role in protecting people's property and life throughout the entire disaster management cycle, such as responding to disaster sites and establishing mid-to long-term recovery plans. This special issue introduces the National Disaster Management Research Institute (NDMI)'s disaster management technology that utilizes various Earth observation platforms, such as mobile survey vehicles equipped with close-range disaster site survey sensors, drones, and survey robots, as well as satellite technology, which is a tool of remote earth observation. Major research achievements include detection of damage from water disasters using Google Earth Engine, mid- and long-term time series observation, detection of reservoir water bodies using Sentinel-1 Synthetic Aperture Radar (SAR) images and artificial intelligence, analysis of resident movement patterns in case of forest fire disasters, and data analysis of disaster safety research. Efficient integrated management and utilization plan research results are summarized. In addition, research results on scientific investigation activities on the causes of disasters using drones and survey robots during the investigation of inaccessible and dangerous disaster sites were described.

• Proceedings of the KIEE Conference
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• 2005.07a
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• pp.229-231
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• 2005

This paper presents the nonlinear $H_{\infty}$ switching power system stabilizer (PSS) based on Lie group and Lie transformation theory. The proposed controller combines the $H_{\infty}$ switching controller and Lie theory. The proposed power system stabilizer (PSS) is used to improve the transient stability in the time-domain and to solve the problem associated with the inaccessible state variables by measuring only the angular velocity. In the simulation study, the different load conditions, fault periods, and fault locations are considered. The nonlinear time-domain simulation showed that the proposed controller was effective restoring transient stability in a one-machine infinite-bus power system.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.1
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• pp.36-48
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• 1990

A new control method for robust position control of brushless dc motor is presented. The model of brushless dc motor is approximately linearized by field-orentation method, and it is shown that augmented state variable feedback can be applied to this system. In addition, robustness is obtained without any change of overall system response. Load disturbance is detected by 0-observer of unknown and inaccessible input, and is compensated by feedforward which has fast response. Overall system is controlled by using the MC68000 microprocessor, and the performance of the proposed control algorithm is verified by the results of simulation and experiment.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.6
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• pp.2015-2025
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• 1991

A long and light-weight forearm of the vertical 2 DOF robot manipulator with a heavy payload driven by parallel drive mechanism is modelled as a Euler-Bernoulli beam with a tip mass subjected to a high speed rotation. Governing equation is obtained by Hamilton's principle and represented as state variable form using the perturbed variables which describe the perturbed errors at the manipulator's final configuration. Digitial optimal control and observer theory are used to suppress the forearm vibration and control the positions of the joint angles with measured/estimated state feedback. Computer simulations and experimental results are obtained and compared each other.

• Journal of Advanced Navigation Technology
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• v.23 no.5
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• pp.352-360
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• 2019

This paper proposes a docking assessment algorithm for an autonomous underwater vehicles (AUVs) with sensor uncertainties. The proposed algorithm consists of two assessments, state assessment and probability assessment. The state assessment verifies the reachability by comparing forward distance to the docking station with expected distance to reach same depth as the docking station and necessity for correcting its route by comparing calculated inaccessible areas based on turning radius of the AUV to position of the docking station. When the AUV and the docking station is close enough and the state assessment is satisfied, the probability assessment is conducted by computing success probability of docking based on the direction angle, relative position to the docking station, and sensor uncertainties of the AUV. The final output of the algorithm is decided by comparing the success probability to threshold whether to try docking or to correct its route. To verify the validation of the suggested algorithm, the scenario that the AUV approaches to the docking station is implemented through Matlab simulation.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2016.10a
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• pp.148-149
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• 2016

In this paper, the increase in chloride resistance of footing concrete at coastal area was evaluated by replacement of Mineral Admixture. In KBC 2009, the footing concrete's minimum specific concrete strength at coastal area is determined to 35MPa. However, this is criteria only based on the strength aspect. Thus, it is not considered to increase the chloride resistance by replacement of Mineral Admixture. According to the test results of chloride ions penetration resistance, 35MPa class concrete with OPC 100% shown inaccessible state. Low-strength (24~30MPa class) concretes with Mineral Admixture, however, presented better performances. In addition, chloride diffusion coefficient tests showed identical appearance. Therefore, the current KBC's chloride resistance criteria based on only concrete strength has to review for the reason it can cause many problems (ex. cost increases by growing concrete strength and the environmental issues by a lot of cement use).

• Journal of the Korean Society for Nondestructive Testing
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• v.30 no.2
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• pp.146-154
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• 2010

The effects of severe plastic deformation, equal channel angular pressing, and annealing of Al 5052 alloy on elastic modulus have been studied. The AI 5052 alloy was plastically deformed by ECAP method after solution treatment, and then finally annealing heat treated. Elastic modulus was measured by conventional tensile and nano-indentation test, and also measured on the surface of the specimen using acoustic material signature of the acoustic microscope. The variation in the elastic modulus influenced by plastic deformation and heat treatment, inaccessible by the conventional techniques, was successfully measured by acoustic material signature and obtained the elastic modulus depending on crystal orientation at each grain.