• 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.

• Geotechnical Engineering
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• v.12 no.2
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• pp.43-58
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• 1996

In spite of drastic development of underground technology too many uncertainties still exist in design and construction of underground structures. Estimation of ground parameters might be one of those uncertainties in design of underground structures. It is not an easy task to estimate the parameters reasonably well in advance in the design stage. The main purpose of this paper is the best parameter estimation in the underground structures. In order to estimate unknown model parameters from the in-eitu measurements as well as prior estimates, the Extended Bayesian Method(EBM) is utilized and implemented with Finite Element Program. The parameter estimation model utilized in this study is applied to two underground structures : the one Pusan subway tunnel: and the other Darlington intake tunnel in Canada, and the effectiveness of the proposed model is illustrated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.5
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• pp.850-856
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• 2001

Even though the hydraulic servo system has been widely used in industrial and military equipments since it has a lot of advantages, it is not easy to design controller due to the high nonlinearities and the parametric uncertainties. The dynamic behavior of the real process in the hydraulic servo system differs from that described by its model because the model is linearized. Another reason of the difference is caused by the variety of parameters, since the system parameters of the dynamic equation are affected by the operating conditions such as temperature and pressure. In this study, the designing process of the MRNC with a PID compensator is introduced and applied to the load sensing hydraulic servo system. The results show that the designed controller guarantees the robust control performance despite of both the nonlinearities and the parametric uncertainties.

• Korean Journal of Construction Engineering and Management
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• v.8 no.4
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• pp.203-213
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• 2007

In the past, several construction projects have exceeded their schedule resulting in financial losses to the owners; at present there are very few methods available to accurately forecast the completion date of a project. These nay be because of unforeseen outcomes that cannot be accounted for earlier and because of deficiency of proper tools to forecast completion date of said project. To overcome these difficulties, project managers may need a tool to predict the completion date at the early stage of project development. Bayesian Inference introduced in this paper is one such tool that can be employed to forecast project progress at all construction stages. Using this inference, project managers can combine an initially planned project progress (growth curve) with reported information from ongoing projects during the development, and in addition, dynamically revise this initial plan and quantify the uncertainty of completion date. This study introduces a theoretical model and proposes a mathematically information-based framework to forecast a project completion date that corresponds with the actual progress data and to monitor the modified uncertainties using Bayesian Inference.

• Proceedings of the Korean Nuclear Society Conference
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• 1999.10a
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• pp.248.1-248
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• 1999

Preliminary analysis of in-reactor thermal performance of three MOX fuel rods, which are going to be irradiated in the Halden reactor beginning in the first Quarter of the year 2000 under the framework of the OECD Halden Reactor Programme, have been conducted by using the computer code COSMOS to ensure their safe operation. Parametric studies have been carried out to investigate the effect of uncertainties on in-reactor behavior by considering the four kinds of uncertainties; thermal conductivity, linear power, manufacturing parameters, and model constants. The analysis shows that, in the case of annular MOX -1 fuel, calculation results for thermal performance vary widely depending on the selection of model constants for fission gas release (FGR). On the contrary, the thermal performance of solid MOX - 3 fuel does not depend on the choice of FGR constants to a large extent as MOX-I, because the fuel temperature is very high in the MOX-3 irrespective of the choice of FGR constants and hence the capacity of grain boundaries to retain gas atoms is not large enough to accommodate the number of gas atoms reaching the grain boundaries. It is planned that when the data on microstructure and thermal conductivity for each type of MOX fuel are available, new analysis will be made using these information. In addition, FGR model constants will be derived from the measured fuel centerline temperature, rod internal pressure and other related data.

• Korean Journal of Organic Agriculture
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• v.29 no.4
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• pp.507-521
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• 2021

The livestock farmers are producing under uncertainties such as Foot-and-Mouth Disease (FMD) and Free Trade Agreement (FTA). The purpose of this study is to strengthen the management capabilities of Hanwoo farmers to prepare them for the uncertainties just mentioned. To this end, this study was conducted to find the optimal rearing period in order to reduce the feed cost, which accounts for the largest portion of the operation cost of Hanwoo. Using the universal lattice model, 41,139 of 289,000 Hanwoo slaughter data from 2010 to 2019 were used for the FMD period and 246,605 heads for the general period. The results show that the maximum cutoff price of Hanwoo steer is 6,394,457 won at the 4th week of 27 months of age in general period, where as 6,242,752 won at the 2nd week of 26 months of age in the FMD period. Therefore, it is judged that it will be helpful for Hanwoo farms to maximize their business profits by slaughtering one month and two weeks earlier in the FMD period than in the general period. In addition, Hanwoo farmers need to break away from the conventional rearing method and improve their management efficiency through a more flexible rearing method.

• Journal of the Korea institute for structural maintenance and inspection
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• v.12 no.4
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• pp.187-194
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• 2008

Recently, the constructions of widening bridges or new bridges are often undergoing as a part of road widening because traffic volumes are rapidly increasing caused by fast-growing population and urbanization. But in general, there is no rational decision process and specification to justify the validity of the bridge widening. Moreover, there are also numerous events including various uncertainties involved in widening bridges. In this paper, therefore, a decision making model is proposed for widening bridges using decision tree based on quantitative LCC analysis considering a variety of uncertainties for the rational and practical approach to a quantitative decision making for alternatives.

• Journal of the Society of Naval Architects of Korea
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• v.61 no.4
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• pp.216-225
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• 2024

The sliding mode controller has characteristics that ensure stability and robustness against system uncertainty and disturbance. However, chattering occurs in the control inputs to compensate for system uncertainties and ensure that the system operates efficiently on the sliding surface. When the disturbance is large, using a sliding mode controller requires a large control gain value, which also increases chattering and reduces performance. Therefore, in this study, a nonlinear disturbance observer was used to compensate for external disturbances such as currents and waves and uncertainty in the control system for autonomous underwater vehicles. Accordingly, a robust controller can be implemented while reducing the control gain. The disturbance observer serves to ensure that the behavior of the actual system is closer to the nominal model by compensating for uncertainties between the actual system model and the nominal model during the control process. Therefore, the simulation results show that the performance and robustness of the autonomous underwater vehicle controller are improved by introducing a disturbance observer.

• Journal of the Korean Society of Safety
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• v.27 no.5
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• pp.148-157
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• 2012

Reliability-based design optimization (RBDO) problem is usually formulated as an optimization problem to minimize an objective function subjected to probabilistic constraint functions which may include deterministic design variables as well as random variables. The challenging task is that, because the probability models of the random variables are often assumed based on limited data, there exists a possibility of selecting inappropriate distribution models and/or model parameters for the random variables, which can often lead to disastrous consequences. In order to select the most appropriate distribution model from the limited observation data as well as model parameters, this study takes into account a set of possible candidate models for the random variables. The suitability of each model is then investigated by employing performance and risk functions. In this regard, this study enables structural design optimization and fitness assessment of the distribution models of the random variables at the same time. As the first paper of a two-part series, this paper describes a new design method considering probability model uncertainties. The robust performance of the proposed method is presented in Part 2. To demonstrate the effectiveness of the proposed method, an example of ten-bar truss structure is considered. The numerical results show that the proposed method can provide the optimal design variables while guaranteeing the most desirable distribution models for the random variables even in case the limited data are only available.

• International Journal of Aeronautical and Space Sciences
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• v.14 no.2
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• pp.172-182
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• 2013

This paper focuses on the modeling and intelligent control of the new Eight-Rotor MAV, which is used to solve the problem of the low coefficient proportion between lift and gravity for the Quadrotor MAV. The Eight-Rotor MAV is a nonlinear plant, so that it is difficult to obtain stable control, due to uncertainties. The purpose of this paper is to propose a robust, stable attitude control strategy for the Eight-Rotor MAV, to accommodate system uncertainties, variations, and external disturbances. First, an interval type-II fuzzy neural network is employed to approximate the nonlinearity function and uncertainty functions in the dynamic model of the Eight-Rotor MAV. Then, the parameters of the interval type-II fuzzy neural network and gain of sliding mode control can be tuned on-line by adaptive laws based on the Lyapunov synthesis approach, and the Lyapunov stability theorem has been used to testify the asymptotic stability of the closed-loop system. The validity of the proposed control method has been verified in the Eight-Rotor MAV through real-time experiments. The experimental results show that the performance of the interval type-II fuzzy neural network based adaptive sliding mode controller could guarantee the Eight-Rotor MAV control system good performances under uncertainties, variations, and external disturbances. This controller is significantly improved, compared with the conventional adaptive sliding mode controller, and the type-I fuzzy neural network based sliding mode controller.