• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.64-69
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• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.

• Hwankyungkyoyuk
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• v.19 no.3
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• pp.67-79
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• 2006

Education for Sustainable Development(ESD) is inclined to become popular topics in EE related debates, almost similar to populism, with declaration of UNESCO's Decade OF ESD (DESD). However we can't avoid that development in ESD practically means economic linear progress. Basically UN's declaration is to accomplish worldly task on human civilization, social & environmental problems, including ESSD. ESD is also important means for practicing ESSD, which has proved to be failure since Brutrant Report, owing to uncertain recognition of sustainability which should be something figured out by their surrounding circumstance or the conditions following its community culture, all same around the world. In this circumstance, we need certain identification on ESD globally recognized, no matter with the developing level of economy. But sustainability is usually managed or controlled by economically powered countries, by improving relatively under-development countries's economic conditions for equity. They believe under-development countries's env. problems can't be resolved without securing of economic equity. Under-development countries's economic equity can be come true ? even by another economic super powers. It really means just controlling or management by them. These all controlling process can't secure under-development countries's sustainability. Because it is not something just controlled, characterized as growing up by self-supporting system of ethnic or regional communities. So identification of sustainability in here is , not . Following its identification, we should discuss ESD, and furthermore for real ESD, there is powerful need to change it into ESE (Education for Sustainability & its Economy) to reflect this co-conceptional approach to ESD. And also we need to distinguish the educational contents boundaries among ESD and EE for this. Basically existing EE has been dealing with pollution-oriented or its related social comprehensive subjects, so it seems that EE is not familiar and harmony with ESD contents, however in alternative case I propose in this paper, changing into ESE, it could include almost all of ESD subjects, furthermore practically EE might be same with ESE.

• Structural Monitoring and Maintenance
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• v.6 no.4
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• pp.317-346
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• 2019

Performance assessment of pavements proves useful, in terms of handling the ride quality, controlling the travel time of vehicles and adequate maintenance of pavements. Roughness profiles provide a good measure of the deteriorating condition of the pavement. For the accurate estimates of pavement roughness from dynamic vehicle responses, vehicle parameters should be known accurately. Information on vehicle parameters is uncertain, due to the wear and tear over time. Hence, condition monitoring of pavement requires the identification of pavement roughness along with vehicle parameters. The present study proposes a scheme which estimates the roughness profile of the pavement with the use of accurate estimates of vehicle parameters computed in parallel. Pavement model used in this study is a two-layer Euler-Bernoulli beam resting on a nonlinear Pasternak foundation. The asphalt topping of the pavement in the top layer is modeled as viscoelastic, and the base course bottom layer is modeled as elastic. The viscoelastic response of the top layer is modeled with the help of the Burgers model. The vehicle model considered in this study is a half car model, fitted with accelerometers at specified points. The identification of the coupled system of vehicle-pavement interaction employs a coupled scheme of an unbiased minimum variance estimator and an optimization scheme. The partitioning of observed noisy quantities to be used in the two schemes is investigated in detail before the analysis. The unbiased minimum variance estimator (MVE) make use of a linear state-space formulation including roughness, to overcome the linearization difficulties as in conventional nonlinear filters. MVE gives estimates for the unknown input and fed into the optimization scheme to yield estimates of vehicle parameters. The issue of ill-posedness of the problem is dealt with by introducing a regularization equivalent term in the objective function, specifically where a large number of parameters are to be estimated. Effect of different objective functions is also studied. The outcome of this research is an overall measure of pavement condition.

• Journal of Intelligence and Information Systems
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• v.22 no.2
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• pp.1-11
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• 2016

Entani and Tanaka (2007) presented a new approach for obtaining interval evaluations suitable for handling uncertain data. Above all, their approach is characterized by the normalization of interval data and thus the elimination of redundant bounds. Further, interval global weights in AHP are derived by using such normalized interval data. In this paper, we present a heuristic method for finding extreme points of interval data, which basically extends the method by Entani and Tanaka (2007), and also helps to obtain normalized interval data. In the second part of this paper, we show that the solutions to the linear program for interval global weights can be obtained by a simple inspection. In the meantime, the absolute dominance proposed by the authors is extended to pairwise dominance which makes it possible to identify at least more dominated alternatives under the same information.

• Journal of English Language & Literature
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• v.58 no.6
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• pp.1001-1021
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• 2012

This paper is concerned with John Ashbery's poetics of difficulty, questioning in particular the nature of communication in his difficult poems. Ashbery has an idea of poetry as 'information' to be transmitted to the reader. Meaning, however, is to be created by a series of selections among equally probable choices. Ashbery's poetry has been characterized by resistance to the interpretive system of meaning. But the resistance itself, as I will argue, can be an effective medium of communication as the communicated message is not simply transmitted but 'selected' and thus created by the reader. In Ashbery's poetry, disruptive 'noise' elements can be processed as constructive information. What is normally considered a hindrance or noise can be reversed and added to the information. In Ashbery's poems, random ambiguities or noises can be effectively integrated into the final structure of meaning. Such a stochastic sense of information transfer has been embodied in Ashbery's idea of creating a network of verbal elements in his poetry, analogous to the interconnecting web of hypertext, the most dynamic medium 'information technology' has brought to us. John Ashbery, whose poems are simultaneously incomprehensible and intelligent, employs ambiguities or noise in his poetry, with an attempt to reach through linear language to express nonlinear realities. It is therefore my intention to examine Ashbery's poetics of difficulty, from a perspective of communication transmission, using the theories of information technology and the principles of hypertext theory. Ashbery's poetry raises precisely the problem confronted in the era of communication and information technology. The paper will also show how his aesthetics of difficulty reflects the culture of our uncertain times with overflowing information. With his difficult enigmatic poems, Ashbery was able to move ahead of the technological advances of his time to propose a new way of perceiving the world and life.

• Journal of applied mathematics & informatics
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• v.42 no.4
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• pp.831-854
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• 2024

The transportation problem (TP) is one of the earliest and the most significant implementations of linear programming problem (LPP). It is a specific type of LPP that mostly works with logistics and it is connected to day-to-day activities in our everyday lives. Nowadays decision makers (DM's) aim to reduce the transporting expenses and simultaneously aim to reduce the transporting time of the distribution system so the bi-objective transportation problem (BOTP) is established in the research. In real life, the transportation parameters are naturally uncertain due to insufficient data, poor judgement and circumstances in the environment, etc. In view of this, neutrosophic bi-objective transportation problem (NBOTP) is introduced in this paper. By introducing single-valued trapezoidal neutrosophic numbers (SVTrNNs) to the co-efficient of the objective function, supply and demand constraints, the problem is formulated. The DM's aim is to determine the optimal compromise solution for NBOTP. The extended weighted possibility mean for single-valued trapezoidal neutrosophic numbers based on [40] is proposed to transform the single-valued trapezoidal neutrosophic BOTP (SVTrNBOTP) into its deterministic BOTP. The transformed deterministic BOTP is then solved using the dripping method [10]. Numerical examples are provided to illustrate the applicability, effectiveness and usefulness of the solution approach. A sensitivity analysis (SA) determines the sensitivity ranges for the objective functions of deterministic BOTP. Finally, the obtained optimal compromise solution from the proposed approach provides a better result as compared to the existing approaches and conclusions are discussed for future research.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.6
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• pp.747-752
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• 2006

In this paper, the adaptive fuzzy sliding mode controller with two systems is designed. The existing sliding mode controller used to $approximation{\^{u}}(t)$ with discrete sgn function and sat function for keeping the state trajectories on the sliding surface[1]. The proposed controller decrease the disturbance for uncertain control gain and This paper is concerned with an Adaptive Fuzzy Sliding Mode Control(AFSMC) that the fuzzy systems ate used to approximate the unknown functions of nonlinear system. In the adaptive fuzzy system, we adopt the adaptive law to approximate the dynamics of the nonlinear plant and to adjust the parameters of AFSMC. The stability of the suggested control system is proved via Lyapunov stability theorem, and convergence and robustness properties ate demonstrated. Futhermore, fuzzy tuning improve tracking abilities by changing some sliding conditions. In the traditional sliding mode control, ${\eta}$ is a positive constant. The increase of ${\eta}$ has led to a significant decrease in the rise time. However, this has resulted in higher overshoot. Therefore the proposed ${\eta}$ tuning AFSMC improve the performances, so that the controller can track the trajectories faster and more exactly than ordinary controller. The simulation results demonstrate that the performance is improved and the system also exhibits stability.