• Journal of the Korean Mathematical Society
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• v.46 no.6
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• pp.1267-1276
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• 2009

This paper presents a method for approximation of the standard normal distribution by using hyperbolic tangent based functions. The presented approximate formula for the cumulative distribution depends on one numerical coefficient only, and its accuracy is admissible. Furthermore, in some particular cases, closed forms of inverse formulas are derived. Numerical results of the present method are compared with those of an existing method.

• Journal of the Korean Geotechnical Society
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• v.34 no.12
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• pp.83-92
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• 2018

The lapse of time may cause in the slope structure various deterioration phenomenon progresses in the ground of slope, and collapse due to deterioration of strength, resulting in a decrease in the service life. The approach to slope stability due to the ground deterioration is a different concept from the existing limit equilibrium analysis, which is limited to the physical characteristics and geometrical structure of ground. In this study, we conducted a comparative analysis of various literature studies related to the slope failure characteristics and behaviors to presented the optimal formulas for shear strength reduction, such as the exponential function, the logarithmic function and the inverse hyperbolic function. And then a case study was performed on cut slope of Gyeongbu High Speed Rail construction site along the Yangsan fault zone, where the slope failure of shale layer vulnerable to deterioration occurred. As a result, it was confirmed that landslide occurred due to reduction of shear strength by deterioration, as safety factor is approx. 1.0 at the time when the slope failure occurred. Based on the comprehensive case study, as a quantitative approach to the evaluation of slope stability due to deterioration of ground, finally we propose a method for evaluating slope stability with optimal strength reduction curves.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.5
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• pp.445-455
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• 2013

A new linearization model for MR dampers is analyzed. The nonlinear hysteretic damping force model of MR damper can be modeled as a hyperbolic tangent function of currents, positions, and velicities, which is an algebraic function with constant parameters. Model parameters can be identified with numerical method using experimental force-velocity-position data obtained from various operating conditions. The nonlinear hysteretic damping force can be linearized with a given slope of damping coefficient if there exist corresponding currents to compensate for the nonlinearity. The corresponding currents can be calculated from the inverse model when the given linear damping force is set equal to the nonlinear hysteretic damping force. The linearization controller is realized in a DSP controller such that the corresponding currents to satisfy a given damping coefficient should be calculated. Experiments show that the current inputs to the MR damper produce linearized damping force with a given slope of the damping coefficient.

• Journal of Electrical Engineering and Technology
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• v.11 no.1
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• pp.215-226
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• 2016

Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperbolic function, we get a new algorithm which enables reducing the chattering effect of the real actuators, which together with the learning and adaptive controllers, is applied to the model and to the real robot. A simulation environment including the actuator dynamics is elaborated. A 5 DOF robot, a communication interface and a signal conditioning circuit are designed and implemented for feedback. Three control laws are executed in: a simulation structure (together with the dynamic model of the SCARA type redundant manipulator and the actuator dynamics) and a real redundant manipulator of the SCARA type carried out using MatLab/Simulink programming tools. The results, obtained through simulation and implementation, were represented by comparative curves and RMS indices of the joint errors, and they showed that the redundant manipulator, both in the simulation and the implementation, followed the test trajectory with less pronounced maximum errors using the adaptive controller than the other controllers, with more homogeneous motions of the manipulator.