• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 1999.04a
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• pp.300-307
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• 1999

신경망기법을 이용한 구조물접합부의 손상평가기법을 제안하였다. 신경망기법의 성능을 개선하기 위하여 노이즈첨가학습을 수행하였으며 효과적인 손상평가를 위하여 부분구조추정법 및 data perturbation scheme을 도입하였다. 10층 프레임구조물에 대한 수치해석과 2층 프레임구조물에 대한 실험연구를 통하여 제안기법을 검증하였다 계측지점이 부분구조로 제한되고 계측자료가 노이즈를 포함하는 경우에는 제안기법이 효과적으로 적용될수 있음을 알 수 있었으며 실험을 통하여 실제 구조물에 대한 제안기법의 적용성을 평가힐 수 있었다.

• Journal of Astronomy and Space Sciences
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• v.6 no.2
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• pp.101-108
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• 1989

The algorithm was developed for the estimation of orbital decay of the Soviet Satellite COMOS 1402 which divides into three body-COSMOS 14020-A, B and C-and fell down early in 1983. The perturbation effects due to the nonspherical geopotential and air drag were considered and the standard atmospheric model were built for obtaining the atmospheric density as a function of the height. The orbital elements of NASA GSFC during orbital decay used in estimation of orbital decay. We compared the estimation values with the published ones of the American State Department. In the case of COSMOS 1402-C, the estimated values accorded with the published ones but, in the case of COSMOS 1402-A, the decay time and the approximated position differed respectively one minute and two degrees in both latitude and longitude from the published ones.

• Journal of Electrical Engineering and Technology
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• v.13 no.1
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• pp.418-429
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• 2018

This paper studies the decentralized position/force control problem for constrained reconfigurable manipulator without torque sensing. A novel joint torque estimation scheme that exploits the existing structural elasticity of the manipulator joint with harmonic drive model is applied for each joint module. Based on the estimated joint torque and dynamic output feedback technique, a decentralized position/force control strategy is presented. In order to solve the problem of controller parameter perturbation, the non-fragile robust technique is introduced into the dynamic output feedback controller. Subsequently, the stability of the closed-loop system is proved using the Lyapunov theory and linear matrix inequality (LMI) technique. Finally, two 2-DOF constrained reconfigurable manipulators with different configurations are applied to verify the effectiveness of the proposed control scheme in numerical simulation.

• Communications for Statistical Applications and Methods
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• v.23 no.6
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• pp.445-466
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• 2016

Nonparametric Bayesian methods have seen rapid and sustained growth over the past 25 years. We present a gentle introduction to the methods, motivating the methods through the twin perspectives of consistency and false consistency. We then step through the various constructions of the Dirichlet process, outline a number of the basic properties of this process and move on to the mixture of Dirichlet processes model, including a quick discussion of the computational methods used to fit the model. We touch on the main philosophies for nonparametric Bayesian data analysis and then reanalyze a famous data set. The reanalysis illustrates the concept of admissibility through a novel perturbation of the problem and data, showing the benefit of shrinkage estimation and the much greater benefit of nonparametric Bayesian modelling. We conclude with a too-brief survey of fancier nonparametric Bayesian methods.

• Journal of the Korean Society of Safety
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• v.20 no.2 s.70
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• pp.119-126
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• 2005

Load bearing structural members in a wide variety of applications accumulate damage over their service life. From a standpoint of both safety and performance, it is desirable to monitor the occurrence, location, and extent of such damage. Structures require complicated element models with a number of degrees of freedom in structural analysis. During experiment much effort and cost is needed for measuring structural parameters. The sparseness and errors of measured data have to be considered during the parameter estimation Of Structures. In this paper we introduces damage identification algorithm by a system identification(S.I) using static and dynamic response. To study the behaviour of the estimators in noisy environment Using Monte Carlo simulation and a data measured perturbation scheme is adopted to investigate the influence of measurement errors on identification results. The assessment result by static and dynamic response were compared, and the efficiency and applicabilities of the proposed algorithm are demonstrated through simulated static and dynamic responses of a truss bridge. The assessment results by each method were compared and we could observe that the 5.1 method is superior to the other conventional methods.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.801-806
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• 2014

LAS (Laparoscopy Assisted Surgery) has been substituted alternatively for traditional open surgery. However, when using a commercialized robot assisted laparoscopic such as Da Vinci, surgeons have encountered some problems due to having to depend only on information by visual feedback. To solve this problem, a haptic function is required. In order to realize the haptic teleoperation system, a force feedback and bilateral control system are needed. Previous research showed that the perturbation value estimated by a SPO (Sliding Perturbation Observer) followed a reaction force that loaded on the surgical robot instrument. Thus, in this paper, the force feedback problem of surgical robots is solved through the reaction force estimation method. This paper then introduces the possibility of the haptic function realization of a laparoscopic surgery robot using a bilateral control system. For bilateral control, the master uses an impedance control and the slave uses a SMC (Sliding Mode Control). The experiment results show that a torque and force sensorless teleoperation system can be implemented using a bilateral control structure.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.506-506
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• 2000

To improve control performance of a non-linear system, many other researches have used the sliding mode control algorithm. The sliding mode controller is known to be robust against nonlinear and unmodeled dynamic terms. However. this algorithm raises the inherent chattering caused by excessive switching inputs around the sliding surface. Therefore, in order to solve the chattering problem and improve control performance, this study has developed the sliding mode controller with a perturbation estimator using the observer-based fuzzy adaptive network generates the control input for compensating unmodeled dynamics terms and disturbance. And, the weighting parameters of the fuzzy adaptive network are updated on-line by adaptive law in order to force the estimation errors to converge to zero. Therefore, the combination of sliding mode control and fuzzy adaptive network gives rise to the robust and intelligent routine. For evaluating control performance of the proposed approach. tracking control simulation is carried out for the hydraulic motion simulator which is a 6-degree of freedom parallel manipulator.

• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.387-396
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• 2005

The Rotational/Translational Actuator (RTAC) benchmark problem considers a fourth-order dynamical system involving the nonlinear interaction of a translational oscillator and an eccentric rotational proof mass. This problem has been posed to investigate the utility of a rotational actuator for stabilizing translational motion. In order to experimentally implement any of the model-based controllers proposed in the literature, the values of model parameters are required which are generally difficult to determine rigorously. In this paper, an approach to the least-squares estimation of the parameters of a system is formulated and practically applied to the RTAC system. On the other hand, this paper shows how to model a nonlinear system as a linear uncertain system via nonparametric system identification, in order to provide the information required for linear robust $H_\infty$ control design. This method is also applied to the RTAC system, which demonstrates severe nonlinearities, due to the coupling from the rotational motion to the translational motion. Experimental results confirm that this approach can effectively condense the whole nonlinearities, uncertainties, and disturbances within the system into a favorable perturbation block.

• Journal of Korean Society of Water and Wastewater
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• v.36 no.4
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• pp.219-228
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• 2022

In this study, we propose a flow velocity evaluation scheme based on pressure measurement in pressurized pipeline systems. Conservation of mass and momentum equations can be decomposed into mean and perturbation of pressure head and flowrate, which provide the pressure head and flowrate relationship between upstream and donwstream point in pressurized pipeline system. The inverse impedance formulations were derived to address measured pressure at downstream to evaluation of flow velocity or pressure at any point of system. The convolution of response function to pressure head in downstream valve provides the flow velocity response in any point of the simple pipeline system. Simulation comparison between traditional method of characteristics and the proposed method provide good agreements between two distinct approaches.

• Journal of the Korea Institute of Military Science and Technology
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• v.4 no.2
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• pp.179-188
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• 2001

The objective of this paper is to design and implement sliding mode control scheme for an actuation system using BLDC motor. Since the dynamic characteristics of this system with unknown disturbance and parameter variations are very complicated and highly nonlinear, the conventional linear control approaches may not guarantee satisfactory control performances. In order to improve the dynamic performances of this system, a model following sliding mode control(MFSMC) with perturbation estimation approach is designed and implemented. It eliminates the conventional requirements for the knowledge of uncertainty upper boundary. The effectiveness of this control approach is verified by comparison with a PID control through a series of simulation and experimental studies.