• 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.

• Transactions of the Korean Society of Automotive Engineers
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• v.23 no.6
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• pp.633-641
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• 2015

The ROM (roll over mitigation) system is a next-generation suspension system that can improve vehicle-driving stability and ride comfort. Currently, mass-produced safety systems, such as ESC (electronic stability control) and ECS (electronic control suspension), enable measurements of longitudinal and lateral acceleration as well as yaw rate through inertial sensor clusters, but they lack direct measurements of the roll angle. Therefore, in this paper, a roll angle estimation algorithm from ESC system sensors and tire normal force has been proposed. Furthermore, this study presents a method for roll over mitigation force distribution between the front and rear of a ROM system. Performance and reliability of the roll angle estimation and roll over mitigation force distribution were investigated through simulations. The simulation results showed that the proposed control algorithm and strategy are reliable during vehicle rollovers.

• Genomics & Informatics
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• v.18 no.3
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• pp.31.1-31.8
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• 2020

The coronavirus disease 2019 (COVID-19), caused by severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2), has become a global pandemic. No specific therapeutic agents or vaccines for COVID-19 are available, though several antiviral drugs, are under investigation as treatment agents for COVID-19. The use of convalescent plasma transfusion that contain neutralizing antibodies for COVID-19 has become the major focus. This requires mass screening of populations for these antibodies. While several countries started reporting population based antibody rate, its simple point estimate may be misinterpreted without proper estimation of standard error and confidence intervals. In this paper, we review the importance of antibody studies and present the 95% confidence intervals COVID-19 antibody rate for the Korean population using two recently performed antibody tests in Korea. Due to the sparsity of data, the estimation of confidence interval is a big challenge. Thus, we consider several confidence intervals using Asymptotic, Exact and Bayesian estimation methods. In this article, we found that the Wald method gives the narrowest interval among all Asymptotic methods whereas mid p-value gives the narrowest among all Exact methods and Jeffrey's method gives the narrowest from Bayesian method. The most conservative 95% confidence interval estimation shows that as of 00:00 on September 15, 2020, at least 32,602 people were infected but not confirmed in Korea.

• Journal of Korea Water Resources Association
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• v.37 no.12
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• pp.1009-1018
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• 2004

A systematic method using an optimal estimation algorithm is presented for simultaneous estimation of diffuse pollution distributed along a stream reach and model parameters for a stream water quality model. It was applied with the QVAL2E model to the South Han River for optimal estimation of kinetic constants and diffuse loads along the river. Initial calibration results for kinetic constants selected from a sensitivity analysis reveal that diffuse source inputs for nitrogen and phosphorus are essential to satisfy the system mass balance. Diffuse loads for total nitrogen and total phosphorus were estimated solving the expanded inverse problem. Comparison of kinetic constants estimated simultaneously with diffuse sources to those estimated without diffuse loads, suggests that diffuse sources must be included in the optimization not only for its own estimation but also for adequate estimation of the model parameters. Application of optimization method to river water quality modeling is discussed in terms of the sensitivity coefficient matrix structure.

• Smart Structures and Systems
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• v.15 no.2
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• pp.335-353
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• 2015

Previous long-term measurements of the Uldolmok tidal current power plant showed that the structure's natural frequencies fluctuate with a constant cycle-i.e., twice a day with changes in tidal height and tidal current velocity. This study aims to improve structural health monitoring (SHM) techniques for offshore structures under a harsh tidal environment like the Uldolmok Strait. In this study, lab-scale experiments on a simplified offshore structure as a lab-scale test structure were conducted in a circulating water channel to thoroughly investigate the causes of fluctuation of the natural frequencies and to validate the displacement estimation method using multimetric data fusion. To this end, the numerical study was additionally carried out on the simplified offshore structure with damage scenarios, and the corresponding change in the natural frequency was analyzed to support the experimental results. In conclusion, (1) the damage that occurred at the foundation resulted in a more significant change in natural frequencies compared with the effect of added mass; moreover, the structural system became nonlinear when the damage was severe; (2) the proposed damage index was able to indicate an approximate level of damage and the nonlinearity of the lab-scale test structure; (3) displacement estimation using data fusion was valid compared with the reference displacement using the vision-based method.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.232-238
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• 2013

This paper study the position estimation of MBK system according to the non-linear filter for non-Gaussian noise in underwater sensor networks. In the filter to estimate location, recently, the extended Kalman filter (EKF) and particle filter are getting attention. EKF is widely used due to the best algorithm in the Gaussian noise environment, but has many restrictions on the usage in non-Gaussian noise environment such as in underwater. In this paper, we propose the improved One-Dimension Particle Filter (ODPF) using the distribution re-interpretation techniques based on the maximum likelihood. Through the simulation, we compared and analyzed the proposed particle filter with the EKF in non-Gaussian underwater sensor networks. In the case of both the sufficient statistical sample and the sufficient calculation capacity, we confirm that the ODPF's result shows more accurate localization than EKF's result.

• Journal of the Korea Society of Computer and Information
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• v.16 no.12
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• pp.167-174
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• 2011

This paper described the estimation methods of CO2 emission of vehicles. The important of energy and environment has emerged in the world, and the field of vehicle's development as well. CO2 was particularly the object of emission-regulation that caused of global warming. There are performance comparison methods by driving mileage, International Panel on Climate Change (IPCC) and chemical equation for the combustion of Octane. We took the measurement by getting data through OBD-II port from vehicle covered 5 km on road. We got the diagnosis information, specific mileage and fuel consumption in this experiment. We are able to expect similar CO2 emission by the methods in the normal speed driving. Also, we can make more realistic approach of CO2 emission by the method of estimation by IPCC and chemical equation for the combustion of Octane in rapid acceleration driving.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.307-311
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• 2003

2-mass system is generally used as controller of the variable-speed to transfer electromotion power to mechanical load such as industrial robot, driving parts of electric vehicle, rolling machine system of steel plant and driving parts of elevator. In this case, PI controller is often used as a velocity controller because of simplicity of system. But PI control algorithm is not enough for obtaining the control characteristics required for this system. To solve this problem, 2-mass system based on the PID controller derives the optimum PID parameters by pole assignment and estimation of the ITAE performance index. In this case, the system have tenacious properties about disturbance, but it causes extreme overshoot and vibration because of rapidly output of controller in early transient response about desired value. And if speed control system is applied by 2-DOF parameter ${\alpha}$, a temporary value, we must induce most suitable parameter by complicate pole assignment and estimation of the ITAE performance index whenever ${\alpha}$ changes. In this paper, to solve this problem we suggest control algorithm to followed exactly value of ${\alpha}$ as 2-DOF parameter by using fuzzy algorithm . So, intelligence algorithm modeled by human knowledge, experience, teachability and judgment follow exact ${\alpha}$ value and it can compose the efficient 2-DOF PID controller to improve following performance, overshoot decrease.

• Journal of Environmental Science International
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• v.8 no.5
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• pp.575-586
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• 1999

From the environmental aspects, primary productivity of phytoplankton plays the most improtant role in enhancement of marine culture oyster production. This study may be divided into two branches; one is estimation of maximum oyster meat production per unit facility(Carrying Capacity) under the present enviromental conditions in Kamak Bay, the other is improvement of carrying from increase of primary productivity by changing the environmental conditions that cause not ot form an unfavorable environment such as the formation of oxygen deficient water mass using the eco-hydrodynamic model. By simulation of three-dimensional hydrdynamic model and ecosystem model, the comparison between observed and computed data showed good agreement. The results of sensitivity analysis showed that phytoplankton maximum growth rate was the most important parameter for phytoplankton and dissolved oxygen. The estimation of mean primary productivity of Wonpo, Kamak, Pyongsa, and Kunnae culture grounds in Kamak Bay during culturing period were 3.73gC/$m^2$/d, 2.12gC/$m^2$/d, 1.98gC/$m^2$/d, and 1.26gC/$m^2$/d, respectively. Under condition not ot form the oxygen deficient water mass, four times increasing of pollutants loading as much as the present loading from river increased mean primary productivity of whole culture grounds to 4.02gC/$m^2$/d. Sediment N, P fluxes that allowed for 35% increasing from the present conditions increased mean primary productivity of whole culture grounds to 3.65gC/$m^2$/d. Finally, ten times increasing of boundary loadings from the present conditions increased mean primary productivity of whole culture grounds to 3.95gC/$m^2$/d. The maximum oyster meat production per year and that of unit facility in actual oyster culture grounds under the present conditions were 6,929ton and 0.93ton, respectively. This 0.93ton/unit facility is considered to be the carrying capacity in study area, and if the primary productivity is increased by changing the environmental conditions, oyster production can be increased.

• Transactions of the Korean Society of Pressure Vessels and Piping
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• v.14 no.1
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• pp.38-47
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• 2018

For safe operation of nuclear power plants, a loose-part monitoring system (LPMS) is used to detect and locate loose-parts within the reactor coolant system, and to estimate their mass and damage potential. There are several methods to estimate mass, such as the center frequency method based on the Hertz's impact theory, a frequency ratio method and so on, but it is known that these methods cannot provide accurate information on impact response for identifying the impact source. Thanks to increasing computing power, finite element analysis (FEA) method recently become an available option to calculate reliably impact response behavior. In this paper, a finite element analysis model to simulate the propagation behavior of the bending wave, generated by a metal ball impact, is validated by performing a series of impact tests and the corresponding finite element analyses for flat plate and shell structures. Also, a FEA-based metal sphere signal map is developed, and then blind tests are performed to verify the map. This study provides an accurate simulation method for predicting the metal impact behavior and for building a metal sphere signal map, which can be used to estimate the mass of loose-parts on site in nuclear power plants.