• Journal of Forest and Environmental Science
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• 제31권1호
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• pp.7-13
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• 2015

Forest disturbance sometime considered as a tool of management as it believed that mid level disturbance constructs better micro-climatic conditions which ultimately boost up the plant diversity. The effect of different levels of disturbance on species composition and regeneration is very important. Present attempt was carried out in a temperate evergreen oak forest which was under various degree of disturbance. The study area is one of the large ranges of oak forest in Garhwal Himalaya and compensating various types of daily needs of local people. On the basis of IVI values Quercus leucotrichophora holds first position in all the disturbance zones whereas Myrica esculenta upgraded it's rank in highly disturbed zone and showed less impacted species by disturbance. Berberis aristata and Eupatorium adenophorum in shrub layer and Anaphalis adnata and Bidens pilosa in herb layer were found as disturbance friendly species because they attained higher rank in highly disturbed zone whereas Caryopteris foetida was found disturbance-sensitive in shrub layer. The banj oak regenerated well under mid disturbance as compared to no and high degree of disturbance and a sharp downfall in the species diversity was recorded with increasing magnitude of disturbance. Density-diameter curves showed a reverse trend of lower density in higher girth classes. The results of the study should be useful for the forest management strategies.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.915-920
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• 2007

A new optimal state feedback and disturbance feedforward control design in the sense of minimizing $L_{2}-gain$ from disturbance to control output is proposed for disturbance attenuation of systems with bounded control input and measurable disturbance. The controller is derived in the framework of linear matrix inequality(LMI) optimization. A gain scheduled state feedback and disturbance feedforward control design is also suggested to improve disturbance attenuation performance. The control gains are scheduled according to the proximity to the origin of the state of the plant and the magnitude of disturbance. This procedure yields a stable linear time varying control structure that allows higher gain and hence higher performance controller as the state and the disturbance move closer to the origin. The main results give sufficient conditions for the satisfaction of a parameter-dependent performance measure, without violating the bounded control input condition.

• 한국정밀공학회지
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• 제24권11호
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• pp.59-65
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• 2007

A new optimal state feedback and disturbance feedforward control design in the sense of minimizing $L_2$-gain from disturbance to control output is proposed for disturbance attenuation of systems with bounded control input and measurable disturbance. The controller is derived in the framework of linear matrix inequality(LMI) optimization. A gain scheduled state feedback and disturbance feedforward control design is also suggested to improve disturbance attenuation performance. The control gains are scheduled according to the proximity to the origin of the state of the plant and the magnitude of disturbance. This procedure yields a stable linear time varying control structure that allows higher gain and hence higher performance controller as the state and the disturbance move closer to the origin. The main results give sufficient conditions for the satisfaction of a parameter-dependent performance measure, without violating the bounded control input condition.

• 제어로봇시스템학회논문지
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• 제22권5호
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• pp.332-338
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• 2016

In industrial applications, there are disturbances and uncertainties that bring unfavorable effects to achieving the desired performance of a closed-loop system. Not surprisingly, many researchers have developed various techniques to attenuate influence of the disturbance. One intuitive idea is to design a disturbance estimator, called a disturbance observer, and cancel the effects by feedback action. This paper is a survey of disturbance observers and related methods. We categorize existing methods by design approach, applied system, and characterization of disturbance. Several disturbance observers are explained by simple examples. The readers could use this paper to help understand the configurations of representative disturbance observer methods.

• 로봇학회논문지
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• 제16권1호
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• pp.72-78
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• 2021

This paper presents a robust impedance control of high-DOF robot based on disturbance observer(DOB). A novel DOB is derived by considering the residual disturbance caused by the difference between actual disturbance and disturbance decoupling input which utilizes the estimated disturbance. It focuses on the elimination of the residual disturbance and improvement of the control performance as well as the good estimation of disturbances. In the control of high-DOF robot, numerical dynamic model, which is conducted by a software based on dynamics, is utilized because the analytical model of high-DOF robot is difficult to be obtained. The simulation of high-DOF robot with numerical dynamic model is provided to verify the performance of the proposed controller.

• Geomechanics and Engineering
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• 제33권1호
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• pp.53-63
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• 2023

Rock disturbance caused by blasting and stress relaxation is commonly observed during excavation. As the distance from the source of disturbance increases, the degree of disturbance decreases, and rock at a large depth does not experience disturbance. However, in stability analyses, a single value of disturbance is often applied to the entire rock mass, which leads to underestimated results. In this study, this modeling mistake is addressed by considering realistically varying rock disturbance. The safety of infinite slopes in a disturbed rock mass with a strength governed by the Hoek-Brown failure criterion is investigated based on the kinematic approach of limit analysis. The maximum disturbance is assigned to the outermost slope face because it is directly exposed to blasting damage and dilation, and the disturbance progressively decays with distance in the rock mass. The safety analysis results indicate that the assumption of uniform disturbance in the entire rock mass leads to underestimation of the rock strength and safety on infinite rock slopes. A critical slip surface appears to be within the disturbed rock layer as well as the interface between the disturbed upper rock and undisturbed lower rock.

• 항공우주시스템공학회지
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• 제10권1호
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• pp.95-102
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• 2016

There are many possible disturbance sources on such a spacecraft, but reaction wheel assembly (RWA) which is generally used for spacecraft attitude control is anticipated to be the largest. These effects on degradation of performance of spacecraft such as attitude stability. In reaction wheel, disturbance caused by imbalance and speed error. It is hard to emulate speed error disturbance because it is not coincide with wheel frequency. This paper concentrates on emulating and analyzing the speed error disturbance. Firstly, classify the causes that lead to speed error disturbance which generate RPM fluctuation. Secondly, simulated with disturbance driver module and reaction wheel assembly which are developed by Spacecraft Control Lab. Experimental investigations have been carried out to test the disturbance emulator module as a disturbance generator for RWA. Measurements and test have been conducted on various fault. Frequency analysis of test data show that speed error disturbance effects on wheel settling wheel speed or fluctuation type.

• 제어로봇시스템학회논문지
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• 제21권7호
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• pp.615-620
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• 2015

DOB (Disturbance Observer) is an useful control method for estimating the disturbance applied to dynamic systems. Disturbance observer can be used to implement a robust control system to generate a control input for rejecting the disturbance, and it can be also used to estimate the disturbance to obtain information. The system that uses disturbance estimation is investigated for high performance control such as automatic door systems, walking robot and electric power steering system in vehicles. In this paper, a novel disturbance observer which is called disturbance and current observer for estimating load torque in the motor system is proposed. The difference between the DOB for disturbance rejection and DCOB is mathematically verified. Current and angular velocity are required for estimating the load torque of the motor in DOB. However, the DCOB can estimate load torque and current without current sensor. DCOB is designed based on modeling of the motor system. Appropriate Q-filter is selected and the applicability of DCOB is verified by simulation. The estimated disturbance and current of the electric motor can be verified without current sensor, as experiments of the actual motor system.

• 한국소음진동공학회논문집
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• 제16권1호
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• pp.40-49
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• 2006

A novel disturbance measurement method, model based disturbance observer (MBDO) for optical disk drives (ODDs), is proposed and the disturbance analysis using the proposed method is performed under various conditions. In ODDs, the quantitative and qualitative analysis for the generated disturbance during normal operation is very important to successful servo loop design. However, the disturbance measurement is difficult, and high precision measurement is necessary. Furthermore, the conventional disturbance measurement method using a LDV (laser Doppler vibrometer) has many difficulties in eccentricity direction due to the vertical movement of an optical disk. To solve this problem, the MBDO is proposed. First, the relationship between the servo loop for ODDs and the generated disturbance are briefly reviewed. Second, the principle of the MBDO is introduced, and the disturbance measurement results, which are measured by the MBDO and a LDV, are compared. In these experiments, test DVD-ROM disks are used to generate quantitative/qualitative disturbance. Then, the disturbance analysis under various conditions is performed using waterfall technique. This technique clearly shows the disturbance trend from the inner part of an optical disk to the outer part of it. Finally, the various disturbances measurement results are summarized and some remarks for it are commented.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2003년도 봄 학술발표회 논문집
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• pp.325-332
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• 2003

In general, soil characteristics are estimated through the sample gathered by field boring without considering sample disturbance. However, soil characteristics must be changed by the degree of sample disturbance. Therefore it be need to estimate the soil characteristic considering sample disturbance which can be occurred by the change of stress condition, sampling technique and handling method. On this study, we analyzed the sample disturbance by using the methods of volume change, residual effective stress, elastic modulus and the curve of consolidation tests. In order to estimate the relationship between sample disturbance and soil characteristics, we used the piston sample and the block sample. As the results, it should be considered in design that the disturbance of the block sample, which affects the strength and compression properties of clay, is smaller than the disturbance of piston sample.