• 대한수학회지
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• 제46권6호
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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.

• 한국지반공학회논문집
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• 제34권12호
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• pp.83-92
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• 2018

사면 구조물은 시간이 경과함에 따라 대상지반에서 각종 열화 현상이 진행되어 내구성의 저하로 인한 붕괴가 발생할 수 있으며, 사용 연한을 감소시키는 결과를 초래하게 된다. 이러한 지반 열화에 따른 사면안정에 대한 접근방안은 지반의 물리적 특성 및 기하학적인 구조에 국한하여 분석하는 기존의 한계 평형 해석과는 또 다른 개념이라 할 수 있다. 본 연구에서는 사면의 열화 특성과 관련하여 각종 문헌 조사를 통하여 비교분석을 수행하고, 전단강도 저감에 대한 최적의 제안식들로서 지수함수, 로그함수 및 역쌍곡선 함수를 제시하고, 열화에 취약한 양산 단층대의 셰일층에서 붕괴가 발생한 경부고속철도 절토사면을 대상으로 사례분석을 실시하였다. 본 연구에서는 사례분석을 통하여 향후 열화로 인한 사면 안전성과 관련하여 정량적인 평가를 위한 최적의 강도 저하 곡선을 도출하고 한계평형해석에 의한 안정해석을 할 수 있는 접근 방법을 제시하였다.

• 한국소음진동공학회논문집
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• 제23권5호
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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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• 제11권1호
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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.