• 로봇학회논문지
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• 제3권2호
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• pp.117-122
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• 2008

This paper presents a multi-robot localization based on multidimensional scaling (MDS) in spite of the existence of incomplete and noisy data. While the traditional algorithms for MDS work on the full-rank distance matrix, there might be many missing data in the real world due to occlusions. Moreover, it has no considerations to dealing with the uncertainty due to noisy observations. We propose a robust MDS to handle both the incomplete and noisy data, which is applied to solve the multi-robot localization problem. To deal with the incomplete data, we use the Nystr$\ddot{o}$m approximation which approximates the full distance matrix. To deal with the uncertainty, we formulate a Bayesian framework for MDS which finds the posterior of coordinates of objects by means of statistical inference. We not only verify the performance of MDS-based multi-robot localization by computer simulations, but also implement a real world localization of multi-robot team. Using extensive empirical results, we show that the accuracy of the proposed method is almost similar to that of Monte Carlo Localization(MCL).

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 춘계학술대회 학술발표 논문집
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• pp.39-42
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• 1998

This paper proposes an adaptive fuzzy control scheme for a class of continuous-time nonlinear dynamic systems for which an explicit linear parameterization of the uncertainty is either unknown or impossible. In order to improve robustness under approximation errors and disturbances the proposed scheme includes deadzone in adaptation laws which varies its size adaptively. The assumption of known bounds on the approximation errors and disturbances is not required since those are estimated using adaptation laws. The overall adaptive scheme is proven to guarantee uniform ultimate boundedness in the Lyapunov sense.

• Structural Engineering and Mechanics
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• 제46권4호
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• pp.447-458
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• 2013

Splitting tensile strength (STS) is a respectable mechanical property reflecting ability of the concrete. The STS of concrete is mainly related to compressive strength (CS), water/binder (W/B) ratio and concrete age. In this study, the assessment of STS is made by a novel uncertainty-oriented method which uses least square optimization and then predicts STS of concrete by uncertain (fuzzy) numbers. The approximation method addresses a novel integration of fuzzy set theory and multivariate statistics. The numerical examples showed that the method is applicable with relatively limited data. In addition, the prediction of uncertainty at various levels of possibility can be described. In conclusion, the uncertainty-oriented interval analysis can be suggested an effective tool for appraising the uncertainties in concrete technology.

• 한국수자원학회논문집
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• 제41권1호
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• pp.49-63
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• 2008

본 연구에서는 Bayesian MCMC 방법과 2차 근사식을 이용한 최우추정(Maximum Likelihood Estimation, MLE)방법 방법을 이용하여 낙동강 유역의 본류지점인 낙동, 왜관, 고령교, 진동지점에 대한 점 빈도분석을 수행하고 그 결과로써 불확실성을 포함한 빈도곡선을 작성하였다. 통계적 실험을 통한 두 가지 추정방법의 분석을 위하여 먼저 자료의 길이가 100인 8개의 합성 유량자료 셋을 생성하여 비교 연구를 수행하였으며, 이를 자료길이 36인 실측 유량 자료의 추정결과와 비교하였다. Bayesian MCMC 방법에 의한 평균값과 2차 근사식을 이용한 취우추정방법에 의한 모드에서의 2모수 Weibull 분포의 모수 추정값은 비슷한 결과를 보였으나, 불확실성을 나타내는 하한값과 상한값의 차이는 Bayesian MCMC 방법이 2차 근사식을 이용한 취우추정방법보다 불확실성을 감소시켜 나타내는 것을 알 수 있었다. 또한 실측 유량자료를 이용한 결과, 2차 근사식을 이용한 취우추정방법의 경우 자료의 길이가 감소됨에 따라 불확실성의 범위가 합성유량자료를 사용한 경우에 비해 상대적으로 증가되지만, Bayesian MCMC 방법의 경우에는 자료의 길이에 대한 영향이 거의 없다는 결론을 얻을 수 있었다. 그러므로 저수량 빈도분석을 수행하기 위해 충분한 자료를 확보할 수 없는 국내의 상황을 감안할 때, 위와 같은 결론으로부터 Bayesian MCMC 방법이 불확실성을 표현하는데 있어서 2차 근사식을 이용한 최우추정방법에 비해 합리적일 수 있다는 결론을 얻을 수 있었다.

• 대한환경공학회지
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• 제30권11호
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• pp.1123-1131
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• 2008

본 연구는 대기 중 PM2.5의 미량금속 중 As을 중성자방사화분석법을 이용하여 분석할 때 발생되는 측정불확도를 ISO GUM 방법과 MCS 방법을 모두 적용하여 비교, 평가하였다. 불확도의 요인은 ISO GUM을 엄격하게 준용하여 파악하였으며 특정일에 채취된 PM2.5 내 As 농도에 대해 두 방법의 계산 결과가 4% 미만으로 크게 다르지 않는 것으로 나타났다. 연구기간 중 채취된 총 60개의 PM2.5 시료에 대해 As 농도의 확장불확도를 역시 MCS 방법을 이용하여 산출하였는데, 연구지역에서의 As의 개별 농도값에 대한 95% 신뢰구간의 확장불확도는 대부분 10%의 범위에서 존재하는 것으로 나타났다. 확장불확도에 대한 표준불확도 요인의 기여율은 계측통계오차(62.3%), 검출효율(18.5%), 시료 채취 시 유량(12.3%), flux 변동(2.3%), 특정감마선 방출률(1.8%) 등의 순으로 크게 나타났다.

• 항공우주시스템공학회지
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• 제12권3호
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• pp.53-57
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• 2018

몬테카를로 시뮬레이션 방법과 측정불확도 표현 지침은 불확도 평가를 위해 가장 널리 사용되는 방법들이다. 본 논문에서는 자체 개발된 질량관성모멘트 측정장비의 신뢰도를 평가하기 위해 몬테카를로 방법과 GUM방법이 사용되었다. 결과에 따르면 GUM방법에 의해 평가된 불확도가 몬테카를로 방법에 의한 것보다 약간 과소평가되었고 그 차이는 GUM방법의 근사화에 기인한 것으로, 두 방법에 의해 평가된 관성모멘트 불확도들은 추정량의 1% 미만으로 개발된 관성모멘트 측정시스템의 높은 측정신뢰성을 보여준다.

• 대한기계학회논문집A
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• 제33권10호
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• pp.1163-1170
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• 2009

Reliability analysis is of great importance in the advanced product design, which is to evaluate reliability due to the associated uncertainties. There are three types of uncertainties: the first is the aleatory uncertainty which is related with inherent physical randomness that is completely described by a suitable probability model. The second is the epistemic uncertainty, which results from the lack of knowledge due to the insufficient data. These two uncertainties are encountered in the input variables such as dimensional tolerances, material properties and loading conditions. The third is the metamodel uncertainty which arises from the approximation of the response function. In this study, an integrated method for the reliability analysis is proposed that can address all these uncertainties in a single Bayesian framework. Markov Chain Monte Carlo (MCMC) method is employed to facilitate the simulation of the posterior distribution. Mathematical and engineering examples are used to demonstrate the proposed method.

• Nuclear Engineering and Technology
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• 제56권5호
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• pp.1562-1573
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• 2024

This study rigorously examined uncertainty in the TMI-1 benchmark within the Uncertainty Analysis in Modeling (UAM) benchmark suite using the STREAM/RAST-K two-step method. It presents two pivotal advancements in computational techniques: (1) Development of an uncertainty quantification (UQ) module and a specialized library for the pin-based pointwise energy slowing-down method (PSM), and (2) Application of Principal Component Analysis (PCA) for UQ. To evaluate the new computational framework, we conducted verification tests using SCALE 6.2.2. Results demonstrated that STREAM's performance closely matched SCALE 6.2.2, with a negligible uncertainty discrepancy of ±0.0078% in TMI-1 pin cell calculations. To assess the reliability of the PSM covariance library, we performed verification tests, comparing calculations with Calvik's two-term rational approximation (EQ 2-term) covariance library. These calculations included both pin-based and fuel assembly (FA-wise) computations, encompassing hot zero-power and hot full-power operational conditions. The uncertainties calculated using both the EQ 2-term and PSM resonance treatments were consistent, showing a deviation within ±0.054%. Additionally, the data compression process yielded compression ratios of 88.210% and 92.926% for on-the-fly and data-saving approaches, respectively, in TMI fuel assembly calculations. In summary, this study provides a comprehensive explanation of the PCA process used for UQ calculations and offers valuable insights into the robustness and reliability of newly developed computational methods, supported by rigorous verification tests.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2005년도 추계 학술대회논문집
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• pp.99-104
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• 2005

For the efficient reliability analysis, Bi-direction two-point approximation(BTPA) method is developed which solves shortcomings of conventional two-point approximation(TPA) methods that generate an approximate surface with low accuracy or sometimes do an unstable approximate surface. The conventional reliability based design optimization(RBDO) methods require high computational cost compared with the deterministic design optimization(DO) methods. To overcome the computational inefficiency of RBDO, the approximate reliability analysis approaches on the TPA surface are proposed. Using these FORM and SORM analysis strategies, multi-point aerodynamic-structure interacted shape design optimizations with uncertainty are performed very efficiently.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.416-419
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• 1995

A finite-dimensional approximation technique is developed for a class of spectral systems with input and output operators which are unbounded. A corresponding bounding technique on the frequency-response error is also established for control system design. Our goal is to construct an uncertainty model including a nominal plant and its error bounds so that the results from robust linear control theory can be applied to guarantee a closed loop control performance. We demonstrate by numerical example that these techniques are applicable, with a modest computational burden, to a wide class of distributed parameter system plants.