• Journal of the Korean Society for Precision Engineering
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• v.10 no.3
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• pp.175-181
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• 1993

In this paper, a practical method to generate task strategies applicable to chamferless and high-precision assembly, is proposed. The difficulties in devising reliable assembly strategies result from various forms of uncertainty such as imperfect knowledge on the parts being assembled and functional limitations of the assembly devices. In approach to cope with these problems, the robot is provided with the capability of learning the corrective motion in response to the force signal trrough iterative task execution. The strategy is realized by adopting a learning algorithm and represented in a binary tree type database. To verify the effectiveness of the proposed algorithm, a series of simulations and experiments are carried out under assimilated real production environments. The results show that the sensory signal-to-robot action mapping can be acquired effectively and, consequently, the chamferless assembly can be performed successfully.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.1 s.307
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• pp.13-20
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• 2006

In this paper, we propose a motion control scheme of robot manipulators based on visual feedback under camera-in-hand configuration. The desired joint velocity and acceleration for motion control is made by the feature-based visual data in the outer loop. The control input for tracking feature points on the image plane uses robot kinematics dynamic. The proposed control input consists of the image feature and the joint velocity error to achieve robustness to the parametric uncertainty. The stability of the closed-loop system is proved by Lyapunov approach. Computer simulations and experiments on a two degree of freedom manipulator with 5 links are presented to illustrate the performance of proposed control system.

• Journal of the Korean Geotechnical Society
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• v.20 no.7
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• pp.33-44
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• 2004

This paper is focused on the spatial variability of measured strong motion data during earthquake and its relationship with the performance of water distribution pipelines and residential buildings. Analyses of strong motion and the correlations of peak ground velocity (PGV) and pipeline and building damage were conducted with a very large geographical information system (GIS) database including the relationship of time and earthquake intensity and the measured location, and Kriging spatial statistics. Kriging was used to develop regressions of pipeline repair rate (RR) and residential building damage ratio (DR) associated with $90\%$ confidence peak ground velocity (PGV). Such regressions using Kriging provide an explicit means of characterizing the uncertainty embodied in the strong motion data compared with other spacial statistics such as inverse distance method.

• Journal of the Society of Naval Architects of Korea
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• v.49 no.5
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• pp.400-409
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• 2012

It is not easy to know the accurate mass and mass moment of inertia of robot. Because of this uncertainty, error may exist when we control the robot based on the inaccurate mass information. Moreover the properties of the portable robot can change during its operation. Therefore we developed the motion simulator based on the adaptive control. First, the computed torque control was carried out in order to minimize an error between target angles and real angles. The computed torque control is based on the equation of robot motion, which is derived from the Lagrange-Euler equation. To minimize the error between the real model and the approximated model, the adaptive control was carried out. During this simulation, the interference check was also carried out. The interference check verifies that the robot can move successfully without any collision.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.30 no.2A
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• pp.93-102
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• 2010

The numerical analysis and safety assessment by construction stages were considered the essential examination particular in order to solving the unstability of long-span bridges in the middle a construction. When estimating structural response characteristics by the construction stage analysis of long-span bridges, the influence of the near-field ground motion (NFGM) would be evaluated as a critical factor for the seismic design because it indicates clearly different aspects from the existing input earthquake motion data. Therefore, this study re-examined the response aspect of long-span bridges considering NFGM characteristics based on the response spectrum result, and advanced the presented numerical analysis program by the related research for conducting the construction stage analysis and reliability assessment of long-span bridges efficiently. The excellency of various construction schemes was assessed using the time history analysis result of critical member considering NFGM characteristics. For evaluating quantitative safety level, the reliability analysis was conducted considering the influence of external uncertainties included in random variables, and presented the safety index and failure probability of the critical construction stage by NFGM characteristics. In addition, the reliability result was examined the influence of internal uncertainties using monte carlo simulation (MCS), and assessed the distribution aspect of the essential analysis result. It is expected that this study will provide the basic information for the construction safety improvement when performing seismic design of long-span bridges considering NFGM characteristics.

• Journal of the Earthquake Engineering Society of Korea
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• v.25 no.2
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• pp.59-69
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• 2021

Historical records of earthquakes are generally used as a basis to extrapolate the instrumental earthquake catalog in time and space during the probabilistic seismic hazard analysis (PSHA). However, the historical catalogs' input parameters determined through historical descriptions rather than any quantitative measurements are accompanied by considerable uncertainty in PSHA. Therefore, quantitative assessment to verify the historical earthquake parameters is essential for refining the reliability of PSHA. This study presents an approach and its application to constrain reliable ranges of the magnitude and corresponding epicenter of historical earthquakes. First, ranges rather than specific values of ground motion intensities are estimated at multiple locations with distances between each other for selected historical earthquakes by reviewing observed co-seismic natural phenomena, structural damage levels, or felt areas described in their historical records. Based on specific objective criteria, this study selects only one earthquake (July 24, 1643), which is potentially one of the largest historical earthquakes. Then, ground motion simulations are performed for sufficiently broadly distributed epicenters, with a regular grid to prevent one from relying on strong assumptions. Calculated peak ground accelerations and velocities in areas with the historical descriptions on corresponding earthquakes are converted to intensities with an empirical ground motion-intensity conversion equation to compare them with historical descriptions. For the ground motion simulation, ground motion prediction equations and a frequency-wavenumber method are used to consider the effects of possible source mechanisms and stress drop. From these quantitative calculations, reliable ranges of epicenters and magnitudes and the trade-off between them are inferred for the earthquake that can conservatively match the upper and lower boundaries of intensity values from historical descriptions.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.10
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• pp.1147-1155
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• 2014

Biomechanical models are often used to predict muscle and joint forces in the human body. For estimation of muscle forces, the body and muscle properties have to be known. However, these properties are difficult to measure and differ from person to person. Therefore, it is necessary to predict the change in muscle forces depending on the body and muscle properties. The objective of the present study is to develop a numerical procedure for estimating the muscle forces in the human lower extremity under uncertainty of body and muscle properties during rising motion from a seated position. The human lower extremity is idealized as a multibody system in which eight Hill-type muscle force models are employed. Each model has four degrees of freedom and is constrained in the sagittal plane. The eight muscle forces are determined by minimizing the metabolic energy consumption during the rising motion. Uncertainty analysis is performed using a first-order reliability method. The one-standard-deviation range of agonistic muscle forces is calculated to be about 150-300 N.

• Environmental and Resource Economics Review
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• v.27 no.4
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• pp.613-637
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• 2018

Fuel cell power plant which has advantages as a distributed generation is influenced by high cost of investment and uncertainty of electricity price. This study suggests the model of real options which considers the irreversibility of investment in the fuel cell plant and the uncertainty of electricity price. Most models of real options assume the geometric Brownian motion for convenience, but this study develops the model for the feasibility analysis considering the mean reverting process of electricity price, with the closed form solution on the value of investment option. The result of the empirical analysis considering the data related to the fuel cell generation with the scale of 20MW and the domestic RPS circumstance represents that the investment is feasible without the uncertainty, and is not feasible with the uncertainty. This result implies that the political support as well as the improvement of profit system including revenue and cost are necessary for the activation of the fuel cell power plant.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.534-539
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• 1986

This paper considers the ring rolling process contorl and treats the problem of controlling the pressure roll and conical roll motion which critically affects final quality of the rolled products. Since the process dynamics reveals nonlinear characteristics and parameter uncertainty, an adaptive control scheme was applied. The results show that this proposed adaptive control scheme can produce rolled rings of closer dimensional tolerances as compared with nonadaptive control system.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.8
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• pp.140-146
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• 1995

In case the uncertainty existing in a system is assumed to satisfy the matching condition and to be come-bounded. Y. H. Chen proposed an adaptive robust control algorithm which introduced adaptive sheme for a design parameter into robust deterministic controls. In this paper, the adaptive robust control algorithm is applied to the position tracking control of direct drive robots, and simulation and experimental studies are conducted to evaluate control performance.