• Proceedings of the KSME Conference
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• 2004.11a
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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.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.7
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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.

• The Journal of Korea Robotics Society
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• v.6 no.2
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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.

• Journal of Korean Society of Forest Science
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• v.95 no.6
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• pp.778-783
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• 2006

Price prediction is essential to decisions of investment and shipment in oak mushroom cultivation. But predicting the prices of oak mushroom is very difficult because there are so many uncertain factors affecting the demand and the supply in the market. The Box-Jenkins methodology is one of strong tools in price prediction especially for the short-term using historical observations of time series. In this paper, the Box-Jenkins methodology is applied to find a model to forecast future oak mushroom prices. And out-of-sample test was conducted to check out the prediction accuracy. The result shows the high accuracy except for market disturbance period affected by unexpected weather change and reveals the usefulness of the model.

• International Journal of High-Rise Buildings
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• v.3 no.4
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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.

• Anxiety and mood
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• v.12 no.1
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.7
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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.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2004.05b
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• pp.506-510
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• 2004

A torque transmission system composed of several gears and couplings is flexible. In order to get an exact response of motor, the torsional vibration due to an unexpected change of motor speed must be suppressed. Therefore, it is very important that motor control suppress vibration. Various methods to control it including dual inertia system are proposed. Specially, the method of vibration suppression is that vibration can be suppressed to fee㏈ack the estimated torsion torque via the disturbance observer filter being of normal filter. The suitable Proportional controller and coefficient parameter can be designed using CDM and the torsional vibration also be suppressed, but it has a low degree of adaptability to disturbance. The PID controller can be designed easily, but makes the excessive overshoot and oscillation for system response in the early period. To resolve these problems, simple and practical PID controller with two degree of freedom is proposed recently that it ran improve performance of obeying the reference unconcerned in any disturbance by changing the proportional gain by two degree of freedom parameter. But it has also the defect that parameter a must be changed to obtain the ideal Proportional parameter. On this paper, we design the controller which automatically adjusts parameter u using fuzzy Algorithm to overcome such defects. Also, we compare the proposed method with established one and evaluate them to confirm performance of the designed controller.

• Journal of the Korean Society of Safety
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• v.35 no.1
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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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• v.14 no.6
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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.