• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.631-636
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• 2004

The sway motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system in which a small auxiliary mass is installed on the spreader made by ourselves. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. Especially, we apply the $H_{\infty}$ based gain-scheduling control technique the anti-sway control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the experiment result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• 한국정밀공학회지
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• 제18권7호
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• pp.53-64
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• 2001

The gain-scheduling control technique is vary useful in the control problem incorporating time varying parameters which can be measured in real time. Based on these facts, in this paper 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 container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration 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 inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we assume that an plant parameter is varying and apply the gain-scheduling control technique design the anti-swing motion control system for the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• 로봇학회논문지
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• 제6권2호
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• pp.108-117
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• 2011

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, $i.e.$, mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

• 한국산림과학회지
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• 제95권6호
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• pp.778-783
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• 2006

표고버섯의 재배와 출하 결정에서 단기 가격의 예측은 매우 중요하다. 표고버섯 가격의 형성에는 많은 요인들이 작용하고 있기 때문에 이를 구조모형으로 예측하는 것은 어려운 일이다. Box-Jenkins 방법을 이용한 표고버섯과 모형선정 과정에서 발생할 수 있는 오류를 줄이고 경우에 따라서는 더 높은 예측력을 가지기도 한다. 이 연구는 1992~2005년의 가락시장 표고버섯 중품 가격자료를 이용하여 시계열 분석 모형을 구축하고 단기 가격을 예측한 것이다. 그리고 분석에 포함되지 않은 2006년의 실제가격과 예측결과를 비교하였다. 분석 결과는 날씨 변화의 영향으로 시장에 교란이 발생하였던 시기를 제외하면 비교적 높은 정확도를 보여 주어 모형의 유용성을 시사한다.

• 국제초고층학회논문집
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• 제3권4호
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• pp.297-304
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• 2014

Recently, there have been some reported examples of structural collapse due to gravity, subsequent to damage from accident or an excitation that was not prepared for in the design process. A close view of new concepts, such as a redundancy and key elements, has been taken with the aim of ensuring the robustness of a structure, even in the event of an unexpected disturbance. The author previously proposed a sensitivity index of the vertical load carrying capacity to member disappearance for framed structures. The index is defined as the ratio of the load carrying capacity after a member or a set of an adjacent member disappears, to the original load carrying capacity. The member with the highest index may be regarded as a key element. The concept of bio-mimicry is being applied to various fields of engineering, and tree-shaped structures are sometimes used for the design of building structures. In this study a sensitivity analysis is applied to the irregular-framed structures such as tree-shaped structures.

• 대한불안의학회지
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• 제12권1호
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• pp.21-27
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• 2016

Objective : The aim of this study was to investigate the relationship between subjective sleep problems and various types of traumatic events of patients with depressive disorder. Methods : A total of 411 patients diagnosed with depressive disorders were recruited in this study. The participants filled out Life Time Events Checklist (LEC), Pittsburgh Sleep Quality Index (PSQI), Beck Depression Inventory (BDI), and State-Trait Anxiety Inventory (STAI). We used the independent t-test and analysis of covariance to compare each component of PSQI between depressive patients with and without traumatic experiences. Results : The groups of patients who experienced a serious accident at work, home or during recreational activity, sexual assault, other unwanted or uncomfortable sexual experience, life-threatening illness or injury, and sudden, unexpected death of a near and dear one showed lower scores in a few components of PSQI. Sleep disturbance was a common problem in all five groups. Lower subjective sleep quality and longer sleep latency was observed in three groups. There were no differences in the other components of PSQI among groups. Conclusion : This study showed that various types of traumatic events may have different effects on subjective sleep quality as a consequence of the traumatic event which they had experienced.

• 제어로봇시스템학회논문지
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• 제7권7호
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• pp.559-566
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• 2001

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, deceleration 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. In this paper, we introduce and synthesize a new type of swing motion control system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mall applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H^{\infty}$ based gain-scheduling control technique to the anti-swing motion control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful for the case of time-varying system and, robust to disturbances such as winds and initial sway motion.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2004년도 춘계종합학술대회
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• pp.506-510
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• 2004

토크 전달시스템은 다수의 기어와 커플링이 유연하게 구성되어 있으므로 모터의 속도가 갑자기 변할 때 비틀림 진동이 발생한다. 모터의 정확한 응답 특성을 얻기 위해서는 반드시 이 진동은 억제되어야 한다. 따라서 진동억제는 모터제어에 있어서 매우 중요하다. 특히 2관성 시스템의 진동억제를 위해 다양한 제어방법들이 소개되었다. 토크의 비틀림 현상으로 인해 발생하는 진동을 억제하기 위해 토크의 비틀림 성분을 궤환시키고 일반적인 필터로 구성된 외란 관측기 필터를 사용하는 방법이 소개되었다. 또한 이를 계수도법(CDM)을 이용 적절한 P 제어기와 필터의 계수값을 설계하여 진동을 억제하는 방법이다. 그러나 계수도법을 이용하여 설계된 제어기 파라미터는 외란 인가시 적응성이 떨어짐을 알 수 있다. 반면 PID 제어기는 설계가 간단하나 초기에 과도한 오버슈트를 및 진동 문제를 유발한다. 이러한 문제점들을 해결하기 위하여 최근에는 2자유도 파라미터 a로 비례이득을 가변함으로써 외란에는 영향을 받지 않고 목표치 추종 성능을 개선할 수 있는 단순하고 실용적인 2자유도 PID 제어기가 소개되었다. 그러나 이 방법 역시 원하는 P값을 얻기 위해 u를 가변 하여야 하는 단점을 가지고 있다. 따라서 본 논문에서는 이러한 단점들을 극복하기 위해 퍼지 알고리즘을 사용 파라미터 $\alpha$를 자동 조정하는 제어기를 설계하였다. 사용된 제어기의 성능을 입증하기 위하여 기존의 제어방법과 시뮬레이션을 통해 비교, 평가한다.

• 한국안전학회지
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• 제35권1호
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• pp.116-129
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• 2020

Resilience is defined as the intrinsic ability of a system to adjust its functioning prior to, during, or following changes and disturbances, so that it can sustain required operations or functions with the related systems under both expected and unexpected conditions. Resilience engineering is a relatively new paradigm for safety management that focuses on how to cope with complexity under pressure or disturbance to achieve successful functioning. This study aims to develop a quantitative resilience model for severe accident response organizations of nuclear power plants using the Analytic Hierarchy Process (AHP) method. First, we investigated severe accident response organizations based on a radiation emergency plan in the Korean case and developed a qualitative resilience model for the organizations with resilience-influencing factors, which have been identified in the author's previous studies. Then, a quantitative model for entire severe accident response organizations was developed by using the Analytic Hierarchy Process (AHP) method with a tool for System Dynamics. For applying the AHP method, several experts who are working on implementing, regulating or researching the severe accident response participated in collecting their expertise on the relative importance between all the possible relations in the model. Finally, a sensitivity analysis was carried out to discuss which factors have the most influenceable on resilience.

• Geomechanics and Engineering
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• 제14권6호
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• pp.589-600
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• 2018

For foundations in permafrost regions, the displacement characteristics are uncertain because of the randomness of temperature characteristics and mechanical parameters, which make the structural system have an unexpected deviation and unpredictability. It will affect the safety of design and construction. In this paper, we consider the randomness of temperature characteristics and mechanical parameters. A stochastic analysis model for the uncertain displacement characteristic of foundations is presented, and the stochastic coupling program is compiled by Matrix Laboratory (MATLAB) software. The stochastic displacement fields of an embankment in a permafrost region are obtained and analyzed by Neumann stochastic finite element method (NSFEM). The results provide a new way to predict the deformation characteristics of foundations in permafrost regions, and it shows that the stochastic temperature has a different influence on the stochastic lateral displacement and vertical displacement. Construction disturbance and climate warming lead to three different stages for the mean settlement of characteristic points. For the stochastic settlement characteristic, the standard deviation increases with time, which imply that the results of conventional deterministic analysis may be far from the true value. These results can improve our understanding of the stochastic deformation fields of embankments and provide a theoretical basis for engineering reliability analysis and design in permafrost regions.