• 대한기계학회논문집A
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• 제24권4호
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• pp.1065-1074
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• 2000

A robust nonlinear $H_2$/$H_{\infty}$ control method for a parallel inverted pendulum with structured perturbation and dry friction is proposed. By the random input describing function techniques, the nonlinear dry friction is approximated into the quasi-linear system. Introducing the quadratic robustness theorem, the robust $H_2$/$H_{\infty}$ control system is constructed for the quasi-linear perturbed system. But it is difficult to design a controller due to the nonlinear correction term in Riccati equation. With some transformations on the Riccati equation containing nonlinear correction term, the design of the robust nonlinear controller can be done easily. Hence when the stiffness and mass of the parallel inverted pendulum vary in certain ranges, the proposed control scheme has the robustness for both the structured perturbation and dry friction. The results of computer simulation show the effectiveness of our proposed control method.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2006년도 학술발표회 논문집
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• pp.425-429
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• 2006

The understanding and prediction of the behavior of flow in open channels are important to the solution of a wide variety of practical flow problems in water resources engineering. Recently, frequent drought has increased the necessity of an effective water resources control and management of river flows for reserving instream flow. The objective of this study is to develop an efficient and accurate finite element model based on Streamline Upwind/Petrov-Galerkin(SU/PG) scheme for analyzing and predicting two dimensional flow features in complex natural rivers. Several tests were performed in developed all elements(4-Node, 6-Node, 8-Node elements) for the purpose of validation and verification of the developed model. The U-shaped channel of flow and natural river of flow were performed for tests. The results were compared with these of laboratory experiments and RMA-2 model. Such results showed that solutions of high order elements were better accurate and improved than those of linear elements. Also, the suggested model displayed reasonable velocity distribution compare to RMA-2 model in meandering domain for application of natural river flow. Accordingly, the developed finite element model is feasible and produces reliable results for simulation of two dimensional natural river flow. Also, One contribution of this study is to present that results can lead to significant gain in analyzing the accurate flow behavior associated with hydraulic structure such as weir and water intake station and flow of chute and pool.

• 한국정밀공학회지
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• 제16권12호
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• pp.119-125
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• 1999

This paper gives an overview of the various approaches to designing statistical pattern recognition scheme based on Bayes discrimination rule and the artificial neural networks for rotating machine condition classification. Concerning to Bayes discrimination rule, this paper contains the linear discrimination rule applied to classification into several multivariate normal distributions with common covariance matrices, the quadratic discrimination rule under different covariance matrices. Also we discribes k-nearest neighbor method to directly estimate a posterior probability of each class. Five features are extracted in time domain vibration signals. Employing these five features, statistical pattern classifier and neural networks have been established to detect defects on rotating machine. Four different cases of rotation machine were observed. The effects of k number and neural networks structures on monitoring performance have also been investigated. For the comparison of diagnosis performance of these two method, their recognition success rates are calculated form the test data. The result of experiment which classifies the rotating machine conditions using each method presents that the neural networks shows the highest recognition rate.

• Advances in environmental research
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• 제1권4호
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• pp.289-304
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• 2012

Tris (2-methyl-1-aziridinyl) phosphine oxide (MAPO) is extremely poisonous and persistent in aqueous media. An efficient UV/nano$TiO_2$ process was employed for its mineralization in a high duty falling film photo-reactor based on an experimental design scheme that considers interactions between the main variables. The influencing variables and their range were determined with preliminary studies. The results show substrate mineralization to some extent under mild conditions of: T = $30^{\circ}C$, pH = 8.5, $[MAPO]_0=60\;mg\;L^{-1}$ and $[TiO_2]=110\;mg\;L^{-1}$. The relative importance of the influencing parameters were initial pH > temperature > $[MAPO]_0$ > [$TiO_2$]; while the interdependence of all the parameters was significant. Accordingly, a reduced quadratic expression was developed. Meanwhile, mineralization kinetic studies, based on chemical oxygen demand, revealed a power law model with order of 2.6 during process time until 150 min.

• Structural Engineering and Mechanics
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• 제52권1호
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• pp.149-172
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• 2014

Four algorithms for damage detection of trusses are presented in this paper. These approaches can detect damage by using both complete and incomplete measurements. The suggested methods are based on the minimization of the difference between the measured and analytical static responses of structures. A non-linear constrained optimization problem is established to estimate the severity and location of damage. To reach the responses, the successive quadratic method is used. Based on the objective function, the stiffness matrix of the truss should be estimated and inverted in the optimization procedure. The differences of the proposed techniques are rooted in the strategy utilized for inverting the stiffness matrix of the damaged structure. Additionally, for separating the probable damaged members, a new formulation is proposed. This scheme is employed prior to the outset of the optimization process. Furthermore, a new tactic is presented to select the appropriate load pattern. To investigate the robustness and efficiency of the authors' method, several numerical tests are performed. Moreover, Monte Carlo simulation is carried out to assess the effect of noisy measurements on the estimated parameters.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1080-1085
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• 2005

A hybrid control scheme is proposed for the stabilization of backward movement along simple paths for a vehicle composed of a truck and six trailers. The hybrid comprises the combination of a linear quadratic regulator (LQR) and a neurocontroller (NC) that is trained by a genetic algorithm (GA). Acting singly, either the NC or the LQR are unable to perform satisfactorily over the entire range of the operation required, but the proposed hybrid is shown to be capable of providing good overall system performance. The evaluation function of the NC in the hybrid design has been modified from the conventional type to incorporate both the squared errors and the running steps errors. The reverse movement of the trailer-truck system can be modeled as an unstable nonlinear system, with the control problem focusing on the steering angle. Achieving good backward movement is difficult because of the restraints of physical angular limitations. Due to these constraints the system is impossible to globally stabilize with standard smooth control techniques, since some initial states necessarily lead to jack-knife locks. This paper demonstrates that a hybrid of neural networks and LQR can be used effectively for the control of nonlinear dynamical systems. Results from simulated trials are reported.

• 제어로봇시스템학회논문지
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• 제14권9호
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• pp.931-938
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• 2008

In this paper, a novel localization algorithm robust to the unmodeled systematic odometry errors is proposed for low-cost non-holonomic mobile robots. It is well known that the most pose estimators using odometry measurements cannot avoid the performance degradation due to the dead-reckoning of systematic odometry errors. As a remedy for this problem, we tty to reflect the wheelbase error in the robot motion model as a parametric uncertainty. Applying the Krein space estimation theory for the discrete-time uncertain nonlinear motion model results in the extended robust Kalman filter. This idea comes from the fact that systematic odometry errors might be regarded as the parametric uncertainties satisfying the sum quadratic constrains (SQCs). The advantage of the proposed methodology is that it has the same recursive structure as the conventional extended Kalman filter, which makes our scheme suitable for real-time applications. Moreover, it guarantees the satisfactoty localization performance even in the presence of wheelbase uncertainty which is hard to model or estimate but often arises from real driving environments. The computer simulations will be given to demonstrate the robustness of the suggested localization algorithm.

• 전자공학회논문지S
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• 제36S권6호
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• pp.57-66
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• 1999

본 논문에서는 자기부상시스템의 부상제어기 설계방법을 제시한다. 국내에서는 여러 이점을 갖는 상전도부상방식에 관한 연구가 주로 수행되고 있다. 그러나 이 상전도 부상시스템은 높은 비선형성과 불안정성을 갖기 때문에 여러 외부조건에 대해서 견실한 안정도와 높은 정밀도를 유지하는 부상제어기 설계는 매우 어려운 문제이다. 본 논문에서는 극배치방식에 근거한 이득계획제어 설계기법과 LQG방식에 근거한 이득계획제어 설계기법을 제시하고 제어성능을 모의 실험을 통하여 보인다.

• 소음진동
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• 제10권6호
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• pp.1048-1058
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• 2000

본 논문에서는 압전 세라믹 재료를 작동기 및 감지기로 이용한 사각 경계면이 고정된 얇은 사각평판의 능동 진동제어 방법을 제시한다. 실험 데이터에 기초한 다중 입출력계의 주파수영역 모델링방법을 이용하여 분포된 센서 및 구동기 특성이 포함된 구조물의 동적 특성이 규명된다. 제어기 구조로는 혼합형을 채택하고 되먹임 제어기는 LQG 제어기법에 의해 설계된다. 앞먹임 제어기는 다중 filtered-$x$ 최소자승오차법에 의해 적응되도록 한다. 진동제어에 대한 시뮬레이션 및 실험결과는 제안된 제어기법이 지속적 외란 및 과도적 외란에 효율적으로 적용될 수 있음을 보인다.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제21권3호
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• pp.167-180
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• 2017

According to the fact that the low convergence level of the complete elliptic integral of the first kind for the modulus which having values approach to one. In this paper we propose novelty of the complete elliptic integral which having new infinite series that consists of new modulus introduced as own modulus function. We apply scheme of iteration by substituting the common modulus with own modulus function into the new infinite series. We obtained so many new exact formulas of the complete elliptic integral derived from this method correspond to the number of iterations. On the other hand, it has been also obtained a lot of new transformation functions with the corresponding own modulus functions. The calculation results show that the enhancement of the number of significant figures of the new infinite series of the complete elliptic integral of the first kind corresponds to the level of quadratic convergence.