• 제어로봇시스템학회논문지
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• 제8권9호
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• pp.719-727
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• 2002

We proposed a decoupled adaptive fuzzy sliding-mode control scheme for a class of fourth-order nonlinear systems. The system is decoupled into two second-order systems such that each subsystem has a separate control target expressed in terms of sliding surface. For these sliding surfaces, we define main and sub target conditions. and, we made intermediate variables which are interconnected both surface conditions from the sub target sliding surface. Then, Two sets of fuzzy rule bases are utilized to represent the equivalent control input with unknown system functions of the main target sliding surface including intermediate variables. The membership functions of the THEN-part, which is used to construct a suitable equivalent control of sliding-mode control, are changed according to the adaptive law. With such a design scheme, we not only maintain the distribution of membership functions over state space but also reduce the computing time considerably. We apply the decoupled adaptive sliding-mode control to a nonlinear Cart-Pole system and confirms the validity of the proposed approach.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권9호
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• pp.3885-3906
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• 2020

Hybrid fuzzing which combines fuzzing and concolic execution, has proved its ability to achieve higher code coverage and therefore find more bugs. However, current hybrid fuzzers usually suffer from inefficiency and poor scalability when applied to complex, real-world program testing. We observed that the performance bottleneck is the inefficient cooperation between the fuzzer and concolic executor and the slow symbolic emulation. In this paper, we propose a novel solution named EPfuzzer to improve hybrid fuzzing. EPfuzzer implements two key ideas: 1) only the hardest-to-reach branch will be prioritized for concolic execution to avoid generating uninteresting inputs; and 2) only input bytes relevant to the target branch to be flipped will be symbolized to reduce the overhead of the symbolic emulation. With these optimizations, EPfuzzer can be efficiently targeted to the hardest-to-reach branch. We evaluated EPfuzzer with three sets of programs: five real-world applications and two popular benchmarks (LAVA-M and the Google Fuzzer Test Suite). The evaluation results showed that EPfuzzer was much more efficient and scalable than the state-of-the-art concolic execution engine (QSYM). EPfuzzer was able to find more bugs and achieve better code coverage. In addition, we discovered seven previously unknown security bugs in five real-world programs and reported them to the vendors.

• Structural Engineering and Mechanics
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• 제67권5호
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• pp.427-437
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• 2018

Structural pounding is commonly observed phenomenon during major ground motion, which can cause both structural and architectural damages. To reduce the amount of damage from pounding, the best and effective way is to increase the separation distance. Generally, existing design procedures for determining the separation distance between adjacent buildings subjected to structural pounding are based on approximations of the buildings' peak relative displacement. These procedures are based on unknown safety levels. The aim of this research is to estimate probabilistic separation distance between adjacent structures by considering the variability in the system and uncertainties in the earthquakes characteristics through comprehensive numerical simulations. A large number of models were generated using a robust Monte-Carlo simulation. In total, 6.54 million time-history analyses were performed over the adopted models using an ensemble of 25 ground motions as seismic input within OpenSees software. The results show that a gap size of 50%, 70% and 100% of the considered design code for the structural periods in the range of 0.1-0.5 s, leads to have the probability of pounding about 41.5%, 18% and 5.8%, respectively. Finally, based on the results, two equations are developed for probabilistic determination of needed structural separation distance.

• 한국자동차공학회논문집
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• 제4권6호
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• pp.39-51
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• 1996

In the turning maneuver of the vehicle, its motion is mainly dependent on the genuine steering characteristics in view of the directional stability for stable turning ability. The under steer vehicle has an ability to maintain its own directonal performance for unknown external disturbances to some extent. From a few years ago, in order to acquire the more enhanced handling performance, some types of four wheel steering vehicle were considered and constructed. And, various rear wheel control logics for external disturbances has not been suggested. For this reason, in this posed rear wheel control logic is based on the yaw rate feed back type and is slightly modified by an yaw rate tuning factor for more stable turning performance. And an external disturbance is defined as a motivation of the additional yaw rate in the center of gravity by an uncertain input. In this study, an external disturbance is applied to the vehicle as a form of the additional yawing moment. Finally, the proposed rear wheel control logic is tested on the multi-body analysis software(ADAMS). J-turn and double lane change test are performed for the validation of the control logic.

• Journal of the Korean Data and Information Science Society
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• 제28권5호
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• pp.971-980
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• 2017

가변계수 회귀모형은 회귀계수의 동적변화를 모형화함으로써 종속변수와 입력변수의 관계에 대한 쉬운 해석이 가능하고 회귀계수의 변동성도 추정할 수 있는 장점을 지니고 있으므로, 여러 과학 분야에서 많은 주목을 받고 있다. 본 논문에서 입력변수와 출력변수의 오차를 효과적으로 고려한 가변계수 오차모형을 제안한다. 가변계수가 평활변수의 알려지지 않은 형태의 비선형함수이므로 이를 추정하기 위하여 커널 방법을 사용한다. 제안된 모형의 성능에 영향을 미치는 초모수의 최적값을 구하기 위하여 일반화 교차타당성 방법 또한 제안한다. 제안된 방법은 모의자료와 실제자료를 이용한 수치적 연구를 통하여 평가된다.

• 동력기계공학회지
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• 제21권3호
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• pp.51-59
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• 2017

In the early design stage of underwater vehicles, it is important to estimate the vehicle's underwater motion performance. The key design elements for the motion are propellers, battery power, and underwater resistance of the vehicle. Small thrusters with motor and propeller are usually used for the UUV(unmanned underwater vehicles). In this study, a multiphysics thruster model combining electro-mechanical and hydrodynamics characteristics was proposed to estimate the thruster performance. To show the applicability of the mathematical model, an sample thruster was used for the derive the unknown parameters of thruster. Hydrodynamic parameters were calculated for a 3D geometry model of the propeller by ANSYS/CFX program. Finally, Matlab/simulink program was used for the numerical simulation to predict the thruster performance from the given voltage/current input to the motor. Also, proved validity of simulation model by experiment test. Test were done by 2 mode(middle/high speed, reverse). The thruster performance curves obtained from this simulation were confirmed to be similar with experiment results.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 B
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• pp.1228-1230
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• 1992

The permanent magnet synchronous motor(PMSM) is receiving Increased attention for servo drive applications in recent years because of its high torque to inertia ratio, superior power density and high efficiency. By vector-controll method, PMSM has the same operating characterics as seperately excited dc motor. The drive system of servo motor is requested to have an accurate response for the reference input and a quick recovery for the disturbance such as load torque. However, when the unknown disturbances and parameter variations are imposed on the permanent magnet synchronous motor(PMSM), the drive system is significantly effected by them. As a result, the drive system with both a fast compensation and a robustness to a parameter variations is requested. This paper investigates the possibility of applying the fuzzy logic controller(FLC) using Multi-Rule Base In a servo motor control system. In this paper, The five Rule Bases(1 to 5) are selected to recover the state error caused by the disturbance in steady state. In the initial operating mode. Rule Base 0 is used. To show the validity of the proposed fuzzy logic controll system, the computer simulation results are provided.

• 전기학회논문지
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• 제61권4호
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• pp.542-548
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• 2012

This study presents a new method of system modeling by using the Discrete Fourier Transform for the position control system of DC Motor. And the proposed method is similar to the method of System Identification by analysis of correlation of the measured input-output data. The measured output signals are transformed to the frequency domain using DFT. The Fourier Spectrum of the transformed signals is used for knowing to the feature of having an important effect on the system. And transfer function of the second order system is estimated by the dominant parameter which is computed in the magnitude and the phase of Fourier spectrum of the transformed signals. In addition, the output signal includes the unique feature of system. So, although the basic parameter of the system is unknown for us, the proposed method has an advantage to system modeling. And the controller is easily designed by the estimated transfer function. Thus, in this paper, the proposed method is applied to the system modeling for the position control system of DC Motor and the PD-controller is designed by the estimated model. And the efficiency and the reliability of the proposed method are verified by the experimental result.

• Earthquakes and Structures
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• 제3권1호
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• pp.59-81
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• 2012

A ductility inverse-mapping method for SDOF systems including passive dampers is proposed which enables one to find the maximum acceleration of ground motion for the prescribed maximum response deformation. In the conventional capacity spectrum method, the maximum response deformation is computed through iterative procedures for the prescribed maximum acceleration of ground motion. This is because the equivalent linear model for response evaluation is described in terms of unknown maximum deformation. While successive calculations are needed, no numerically unstable iterative procedure is required in the proposed method. This ductility inverse-mapping method is applied to an SDOF model of bilinear hysteresis. The SDOF models without and with passive dampers (viscous, viscoelastic and hysteretic dampers) are taken into account to investigate the effectiveness of passive dampers for seismic retrofitting of building structures. Since the maximum response deformation is the principal parameter and specified sequentially, the proposed ductility inverse-mapping method is suitable for the implementation of the performance-based design.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 추계학술대회 논문집 학회본부 D
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• pp.689-693
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• 2000

In this paper, we proposed a decoupled adaptive fuzzy sliding-mode control scheme in designing the SMC of a class of fourth-order nonlinear systems. These systems are decoupled the whole system into two second-order systems such that each subsystem has a separate control target expressed in terms of a sliding surface. Then, information from the secondary target conditions the main target, which, in turn, generates a control action to make both subsystem move toward their sliding surface. respectively, and Two sets of fuzzy rule bases are utilized to represent the equivalent control input with unknown system functions of the main target, The membership functions of the THEN-part. which is used to construct a suitable equivalent control of SMC. are changed according to adaptive law, Under this design scheme, we not only maintain the distribution of membership functions over state space but also reduce considerably computing time, we apply the decoupled adaptive sliding-mode control to control a nonlinear inverted pendulum system and confirms the validity of the proposed approach.