• 로봇학회논문지
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• 제16권1호
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• pp.72-78
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• 2021

This paper presents a robust impedance control of high-DOF robot based on disturbance observer(DOB). A novel DOB is derived by considering the residual disturbance caused by the difference between actual disturbance and disturbance decoupling input which utilizes the estimated disturbance. It focuses on the elimination of the residual disturbance and improvement of the control performance as well as the good estimation of disturbances. In the control of high-DOF robot, numerical dynamic model, which is conducted by a software based on dynamics, is utilized because the analytical model of high-DOF robot is difficult to be obtained. The simulation of high-DOF robot with numerical dynamic model is provided to verify the performance of the proposed controller.

• Journal of applied mathematics & informatics
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• 제40권1_2호
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• pp.47-59
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• 2022

This paper concerns the problem of simultaneous fault detection and disturbance reject control(SFDDRC) for a class of linear time-invariant system. In the framework of fault detection, residual generators are required to be robust to disturbances existing in the system. Different from most of the existing simultaneous fault and control(SFDC) methods, SFDDRC rejects the influences of disturbances on residual generators by disturbance observer-based control(DOBC). This not only effectively improves the accuracy of fault detection, but also solves the problem that most of the existing SFDC methods require that the disturbance must be bounded. Finally, a numerical example is given to verify the validity of the method.

• 한국인터넷방송통신학회논문지
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• 제16권3호
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• pp.81-87
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• 2016

본 논문에서는 기존 MMA 적응 등화 알고리즘의 안정성과 낮은 신호대 잡음비에서 robustness를 개선하기 위해 adaptive modulus와 miniumum-disturbance 기법을 적용한 AM-SCS-MMA (Adaptive Modulus-Soft Constraint Satisfaction-MMA) 알고리즘의 성능을 해석하였다. AM-SCS-MMA는 적응 등화를 비용 함수를 최소화하기 위해 adaptive modulus와 기존의 LMS 나 gradient descent algorithm 대신 deterministic optimization problem의 minimum-disturbance 기법을 적용하여 탭 계수를 갱신하므로서 채널에서 발생되는 진폭과 위상 찌그러짐에 의한 부호간 간섭을 동시에 줄이면서 등화 필터의 안정성 및 다양한 잡음에 대한 roburstness를 개선시킬 수 있다. 이의 개선 성능을 확인하기 위해 시뮬레이션을 수행하였으며 등화기 출력 성상도, 잔류 isi, MSE와 채널 추적 능력을 나타내는 EMSE (Excess MSE) 및 SER을 적용하였다. 컴퓨터 시뮬레이션의 결과 AM-SCS-MMA는 MMA보다 잔류 isi와 MSE에서는 수렴 속도는 늦지만 정상 상태 이후 잔여량이 감소되고 열악한 신호대 잡음비에서 robustness가 있었지만, 채널 추적 능력에서는 열화됨을 확인하였다.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2003년도 봄 학술발표회 논문집
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• pp.325-332
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• 2003

In general, soil characteristics are estimated through the sample gathered by field boring without considering sample disturbance. However, soil characteristics must be changed by the degree of sample disturbance. Therefore it be need to estimate the soil characteristic considering sample disturbance which can be occurred by the change of stress condition, sampling technique and handling method. On this study, we analyzed the sample disturbance by using the methods of volume change, residual effective stress, elastic modulus and the curve of consolidation tests. In order to estimate the relationship between sample disturbance and soil characteristics, we used the piston sample and the block sample. As the results, it should be considered in design that the disturbance of the block sample, which affects the strength and compression properties of clay, is smaller than the disturbance of piston sample.

• 한국생산제조학회지
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• 제7권1호
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• pp.51-57
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• 1998

In order to minimize vibration problems of rotating machinery rotors have been assembled through balancing machines. Since perfect balancing is impossible, residual unbalances cause serious vibration while the rotor is in high speed region. To minimize unbalance effects of magnetic bearing systems (AMB) during rotation on-line balancing methodology was studied. Unbalances were considered as disturbances of the system. The disturbance observer was used to estimate unbalance force from measurable state and input variables. Balancing inputs computed according to LQR and outputs of the observer were applied to eliminate unbalances during high speed rotation of the AMB. the effectiveness of the on-line balancing was verified through numerical simulations.

• 한국인터넷방송통신학회논문지
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• 제14권6호
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• pp.55-61
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• 2014

본 논문은 CMA 적응등화기에서 최소 disturbance 기법을 적용하여 진폭과 위상의 동시 보상이 가능한 ECMA (Enchanced CMA) 알고리즘의 성능에 관한 것이다. ECMA는 적응등화기 탭 계수의 변화량을 squared euclidean norm 관점에서 최소화하는 최소 disturbance 기법과 decision directed mode에 의한 gradient noise amplification 문제와 안정도 및 roburstness 성능을 알고리즘 연산량의 큰 증가없이 개선할 수 있고, 수신신호에서 진폭과 위상의 동시 보상이 가능하도록 새로운 비용함수를 제안하였다. 논문에서는 ECMA 알고리즘의 성능을 MCMA와 비교하기 위하여 컴퓨터 시뮬레이션을 수행하였다. 이를 위하여 수신측에서의 등화기 출력신호인 복원된 신호 성상도, 수렴 성능을 나타내는 성능지수인 잔류 isi 및 MD (Maximum Distortion), MSE 특성곡선과 채널과 등화기의 종합 주파수 특성을 성능 비교 지수로 사용하였다. 시뮬레이션 결과 ECMA가 복원성상도에서 진폭과 위상보상 능력 및 적응등화를 위한 수렴시간에서 MCMA보다 우월함을 알 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.130-130
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• 2000

This paper presents a robust fault diagnosis and fault tolerant control lot the actuator and sensor faults in the closed-loop systems affected by unknown inputs or disturbances. The fault diagnostic scheme is based on the residual set generation by using robust Parity space approach. Residual set is evaluated through the threshold test and then fault is isolated according to the decision logic table. Once the fault diagnosis module indicates which actuator or sensor is faulty, the fault magnitude is estimated by using the disturbance-decoupled optimal state estimation and a new additive control law is added to the nominal one to override the fault effect on the system. Simulation results show that the method has definite fault diagnosis and fault tolerant control ability against actuator and sensor faults.

• 한국해양공학회지
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• 제14권4호
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• pp.35-42
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• 2000

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. But in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying intertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the LMI approach and simultaneous optimization design method to design the anti-swing motion control system for the controlled plant. And the simulation result shows that the proposed control strategy is shown to be robust to disturbances like winds and initial sway motion.

• Geomechanics and Engineering
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• 제23권6호
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• pp.513-521
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• 2020

In this paper, due to the need for cutting cement-soil group pile composite foundation under the 7-story masonry structure of Zhenghe District and the shield tunnel of Zhengzhou Metro Line 5, a field test was conducted to directly cut cement-soil single pile composite foundation with diameter Ф=500 mm. Research results showed that the load transfer mechanism of composite foundation was not changed before and after shield tunnel cut the pile, and pile body and the soil between piles was still responsible for overburden load. The construction disturbance of shield cutting pile is a complicated mechanical process. The load carried by the original pile body was affected by the disturbance effect of pile cutting construction. Also, the fraction of the load carried by the original pile body was transferred to the soil between the piles and therefore, the bearing capacity of composite foundation was not decreased. Only the fractions of the load carried by pile and the soil between piles were distributed. On-site monitoring results showed that the settlement of pressure-bearing plates produced during shield cutting stage accounted for about 7% of total settlement. After the completion of pile cutting, the settlements of bearing plates generated by shield machine during residual pile composite foundation stage and shield machine tail were far away from residual pile composite foundation stage which accounted for about 15% and 74% of total settlement, respectively. In order to reduce the impact of shield cutting pile construction on the settlement of upper composite foundation, it was recommended to take measures such as optimization of shield construction parameters, radial grouting reinforcement and "clay shock" grouting within the disturbance range of shield cutting pile construction. Before pile cutting, the pile-soil stress ratio n of composite foundation was 2.437. After the shield cut pile is completed, the soil around the lining structure is gradually consolidated and reshaped, and residual pile composite foundation reaches a new state of force balance. This was because the condensation of grouting layer could increase the resistance of remaining pile end and friction resistance of the side of the pile.

• 지구물리와물리탐사
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• 제6권1호
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• pp.28-34
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• 2003

지반침하는 지난 3년간의 본 연구실의 중요한 연구 주제로 본 연구에서는 채굴적 붕괴로 육안상 지표침하는 뚜렷이 관측되지 않으나 그 하부 지반은 이미 교란되었다고 판단되는 영역을 천부 탄성파 반사법을 이용하여 고찰함으로써 향후 예상 침하영역을 정량적으로 도출하였다. 지반교란에 의한 탄성파 신호의 왜곡 및 감쇠를 최소화하고자 좁은 송수신 간격(0.3m) 및 가능한 짧은 오프셋(<30m)의 0.15m의 CMP간격을 가지는 측선배열로써 고주파수 천부 탄성파 자료를 획득하였다. 짧은 측선길이(43m)를 감안하여 고정된 지오폰에 대하여 송신원을 이동하는 배열법을 선택하였다. 침하에 의해 지반교란이 심한 조사지역의 탄성파 자료의 특성과 획득자료 대부분이 짧은거리 오프셋 탄성파 자료임을 고려하여 신중한 뮤팅과 잔여정보정 처리과정을 거쳐 탄성파 중합단면을 작성하였다. 지표 침하양상과 대비하여 중합단면을 해석, 정량적인 예상 침하영역을 분리하였다.