• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
• /
• pp.903-905
• /
• 2003

In this paper, adaptive high-order neural network controller(AHONNC) is adopted to control of an induction servomotor. A algorithm is developed by combining compensation control and high-order neural networks. Moreover, an adaptive bound estimation algorithm was proposed to estimate the bound of approximation error. The weight of the high-order neural network can be online tuned in the sense of the Lyapunov stability theorem; thus, the stability of the closed-loop system can be guaranteed. Simulation results for induction servomotor drive system are shown to confirm the validity of the proposed controller.

• Geomechanics and Engineering
• /
• 제11권6호
• /
• pp.867-877
• /
• 2016

Collapse shape of tunnel roof in layered Hoek-Brown rock media is investigated within the framework of upper bound theorem. The traditional collapse mechanism for homogeneous stratum is no longer suitable for the present analysis of roof stability, and it would be necessary to propose a curve failure mode to describe the velocity discontinuity surface in layered media. What is discussed in the paper is that the failure mechanism of tunnel roofs, consisting of two different functions, is proposed for layered rock media. Then it is employed to investigate the impending roof failure. Based on the nonlinear Hoek-Brown failure criterion, the collapse volume of roof blocks are derived with the upper bound theorem and variational principle. Numerical calculations and parametric analysis are carried out to illustrate the effects of different parameters on the shape of failure mechanism, which is of overriding significance to the stability analysis of tunnel roof in layered rock media.

• 한국항행학회논문지
• /
• 제23권6호
• /
• pp.577-583
• /
• 2019

음이 아닌 입력에 대하여 음이 아닌 초기상태에서 출발한 모든 상태변수 값들이 시간에 대하여 항상 음이 아닌 값을 유지하는 시스템은 양의 시스템으로 정의된다. 본 논문에서는 상태변수에 시변 지연시간과 비구조화된 불확실성이 함께 존재하는 양의 시변 선형 이산 구간 시스템의 안정조건을 새롭게 제안한다. 시변 지연시간은 변동가능한 최소와 최대 지연시간 범위 내에서 변하는 것으로 고려되며, 불확실성은 비선형성을 포함하여 그 최대 크기만을 알 수 있는 것으로 고려한다. 제안된 안정조건은 이전의 결과들이 시불변시스템에만 적용되었거나 불확실성에 대한 고려가 없었던 것을 개선한 것으로 매우 간단한 부등식의 형태로 표현된다. 안정조건은 리아프노프 안정이론을 이용하여 유도되며, 리아프노프 방정식의 상한 해 한계(upper solution bound)를 이용한 기존 결과에 비하여 많은 장점을 갖는다. 제안된 안정조건은 기존의 결과들을 포함하는 효과적인 것으로 수치예제를 통하여 이를 검증한다.

• 한국지반공학회논문집
• /
• 제20권7호
• /
• pp.207-215
• /
• 2004

본 연구는 보강사면에 상계이론를 적용하여 실제 한계상태에 가까운 신뢰성이 높은 해석방법을 개발하는데 목적이 있으며 상계해석의 유한요소공식화를 전개하는데 있어 거시적인 관점으로부터 비등방성이면서 균질한 재료에 대한 수치해석의 기본 개념은 얻을 수 있다. 보강토는 뒷채움한 성토와 보강재 경계면의 상호작용으로 보강토의 강도가 보강재의 재료적 특성에 의존하고 있기 때문에 흙의 역학적 특성과 보강토의 전체 거동은 보강재의 기하학적인 배열과 상대적인 면적에 의해서 조절할 수 있다. 따라서, 상계이론은 보강사면의 한계상태 거동을 효과적으로 산정할 수 있어 국부적으로 발생하는 소성파괴를 예측할 수 있다.

• 한국지반공학회논문집
• /
• 제28권12호
• /
• pp.123-131
• /
• 2012

최근에 발생한 아이티지진, 칠레지진의 지진파 기록에서 일반적으로 비탈면 안정해석에서 무시되었던 수직방향 지진가속도 성분이 크게 나타났다. 특히, 수직방향 지진성분은 진원이 내륙에 위치한 경우 더욱 뚜렷하게 나타난다. 그러므로 설계에 수직방향 지진성분을 고려하지 않은 지반 구조물들은 많은 인명과 재산 피해를 가져올 수 있다. 따라서, 본 연구는 지진계수비에 따른 수평방향 항복지진계수의 하계해를 산정하였고, 비탈면 안정성에 미치는 영향을 평가하였다. 또한, 한계상태 수직방향 지진계수의 방향(상향, 하향)을 결정할 수 있는 관계식을 제안하였다.

• Biotechnology and Bioprocess Engineering:BBE
• /
• 제11권1호
• /
• pp.32-37
• /
• 2006

In this study, we have purified and characterized the membrane bound nitrate reductase obtained from the denitrifying bacteria, Ochrobactrum anthropi SY509, which was isolated from soil samples. O. anthropi SY509 can grow in minimal medium using nitrate as a nitrogen source. We achieved an overall purification rate of 15-fold from the protein extracted from the membrane fraction, with a recovery of approximately 12% of activity. The enzyme exhibited its highest level of activity at pH 5.5, and the activity was increased up to $70^{\circ}C$. Periplasmic and cytochromic proteins, including nitrite and nitrous oxide reductase, were excluded during centrifugation and were verified using enzyme essay. Reduced methyl viologen was determined to be the most efficient electron donor among a variety of anionic and cationic dyestuffs, which could be also used as an electron donor with dimethyl dithionite. The effects of purification and storage conditions on the stability of enzyme were also investigated. The activity of the membranebound nitrate reductase was stably maintained for over 2 weeks in solution. To maintain the stability of enzyme, the cell was disrupted using sonication at low temperatures, and enzyme was extracted by hot water without any surfactant. The purified enzyme was stored in solution with no salt to prevent any significant losses in activity levels.

• 제어로봇시스템학회논문지
• /
• 제14권10호
• /
• pp.1014-1021
• /
• 2008

This paper proposes an intelligent sliding mode control method for robotic systems with the unknown bound of model uncertainties. In our control structure, the unknown bound of model uncertainties is used as the gain of the sliding controller. Then, we employ the function approximation technique to estimate the unknown nonlinear function including the width of boundary layer and the uncertainty bound of robotic systems. The adaptation laws for all parameters of the self-recurrent wavelet neural network and those for the reconstruction error compensator are derived from the Lyapunov stability theorem, which are used for an on-line control of robotic systems with model uncertainties and external disturbances. Accordingly, the proposed method can not only overcome the chattering phenomenon in the control effort but also have the robustness regardless of model uncertainties and external disturbances. Finally, simulation results for the five-link biped robot are included to illustrate the effectiveness of the proposed method.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1991년도 하계학술대회 논문집
• /
• pp.687-690
• /
• 1991

In deterministic design of feedback controllers for uncertain dynamical systems, the bound on the uncertainty is an important clue to guarantee the asymptotic stability or uniform ultimate boundedness of the closed-loop system. In this paper, using only the measurable output we propose an adaptation law for the estimation of the bound of the uncertainty. And based on this adaptation law an adaptive control which renders the uncertain dynamical systems uniformly ultimately bounded is constructed.

• 한국경영과학회지
• /
• 제23권2호
• /
• pp.1-13
• /
• 1998

The purpose of this paper is to formulate the three-dimensional loading problem and to develop an exact algorithm. The three-dimensional loading problem is not only to load as many boxes as possible, but also to ensure load stability. In this Paper, we propose formulation by zero-one integer programming. Further we propose as an algorithm the branch-and-bound enforced by efficient bounding criteria. As an upper bound, we use the solution of the Lagrangean relaxation problem which relaxes constraints of zero-one IP, and as a lower bound, we use a heuristic solution induced by the solution of the Lagrangean relaxation problem. Last, we show computational experiments on convergency of upper and lower bounds.

• 제어로봇시스템학회논문지
• /
• 제16권3호
• /
• pp.245-248
• /
• 2010

Almost all of control schemes proposed so far have been designed in the continuous-time domain theoretically. Actual systems, however, have been implemented in the discrete-time domain since Micro Control Unit(MCU) and/or microprocessors have been used for the controllers. Thus, the overall system turned to be a sampled-data system, and generally speaking, the ultimate error cannot converge to zero in the actual system even though the proposed control algorithm showed the asymptotic stability in the continuous-time domain. In this paper, therefore, the ultimate error bound of a sampled data system with a short sampling period has been investigated. The ultimate error is shown to be related in the sampling period.