• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1120-1124
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• 2005

We reviewed controllers with a time delay estimation in this paper. Time delay control (TDC) and sliding mode control (SMC) are well known robust control schemes. Basically, the TDC has a main characteristic called a time delay estimation from which we can estimate the total uncertainty of a system. . The TDC causes the stick-slip in the case of systems with a friction. The so-called TDCSA which are short for TDC with switching action was developed to reduce the stick-slip. The TDC has the additional switching action term in the TDC structure. In the other hand, the SMC dose not have a time delay estimation but instead it can estimate the system uncertainty through the switching action. The SMC has a difficulty to estimate the total uncertainty of a system because it does not have a time delay estimation. In order to solve the difficulty, some control schemes were developed. Among them, we need to focus our attention on two control schemes: SMCPE and SMCTE, which are short for sliding mode control with a perturbation estimation and sliding mode control with a time delay estimation, respectively. In this paper, we analyzed and compared the characteristic of above three controllers. Even though the motives for the development of three control schemes are different, three control schemes have much in common in terms of their controller structures.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2005년도 춘계 학술발표회 논문집
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• pp.521-528
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• 2005

The evaluation process of rock mass properties intrinsically contains some uncertainty due to the inhomogeneity of rock mass and the measurement error. Although various empirical methods for the determination of rock mass properties were suggested, there is no way of integrating various information on rock mass properties except averaging. For these reasons, this research introduces evidence theory which can model epistemic uncertainty and yield reasonable rock mass properties through combining various information such as empirical equations, in-situ test results, and so on. Through the application of evidence theory to the real site investigation and in situ experiment results, an interval of deformation modulus, cohesion and friction angle of rock mass were obtained. The ratios between lower and upper bound of those properties ranges from 1.6 to 3.6. Numerical analyses of circular hole using the properties for TYPE-2 rock mass were carried out. The magnitude or size of plastic region and radial displacement in case of lower bound properties is about 4 times larger than that of upper bound properties.

• 상하수도학회지
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• 제20권3호
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• pp.357-366
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• 2006

In order to compute pressure variation for a water distribution system, an expression for the friction factor as a function of Reynolds number and the relative roughness needs to be properly incorporated in computational algorithm. Considering Moody s friction variation, Developed Unsteady Network Analyzer (UNA) has been modified to match computational results with EPANET 2.0. Substantial improvement can be found in the application of Improved UNA to both an hypothetical pipeline network and a real system located in Ulsan City. Random number generator is employed to represent the uncertainty of water use in real pipeline network. Comparisons of application between EPANET 2.0 and improved UNA 2.0 indicate advantages and potentials of this approach.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2009년도 춘계 학술대회 제21권1호
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• pp.337-338
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• 2009

본 연구는 마이크로파 가열기술 및 마찰 마쇄 작용에 의한 순환잔골재 표면에 고착되어 있는 시멘트 페이스트를 효율적으로 분리, 제거함으로써 구조체 콘크리트용 고품질 순환잔골재를 생산하는데 그 목적을 두었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.139.2-139
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• 2001

This paper presents identification and control of a surface mounting system. The mount head of the system is modeled to analyze its dynamic characteristics, which is critical to the placement performance of the mounter. Based on this model, an identification work is carried out to estimate the modeled parameters by using genetic algorithm (GA), which plays a role of minimizing an error between the actual response and the model response. Having obtained the identified parameters, we design a disturbance observer control to compensate the friction. The disturbance observer can estimate the friction force and the uncertainty of the system. From the experimental results, it is found that the proposed disturbance observer plus PID controller show a better performance than PID controller alone. In order to accomplish a stable contact content control for fast mounting a ...

• 한국기계가공학회지
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• 제14권3호
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• pp.57-64
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• 2015

In this paper, a model reference adaptive control (MRAC) scheme is applied for the precise and robust motion control of a pneumatic system with load variation. The reference model for MRAC is designed systematically using linear quadratic Gaussian control with loop transfer recovery (LQG/LTR). The sigmoid function of inverse velocity is used to compensate for the nonlinear friction force between the sliding parts. The experimental results show that MRAC effectively overcame the limit of the PID controller when there was unknown disturbance, including abrupt load variation and model uncertainty in the pneumatic control system.

• 한국정밀공학회지
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• 제14권4호
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• pp.126-135
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• 1997

A sensorless motion planner which succeeds in grasping a polygonal part firmly into a desired orientation has been developed through the dynamic analysis. The analytical results on the impact process with friction are used for modeling the contact motionduring the parallel-jaw grasp operation, which is com- posed of the pushing and the squeezing process. The developed planner succeeds in grasping a part into a specified orientation in the face of uncertainties of initial position and orientation of the part, motion direction of the finger, and the physical parameters such as the coefficients of friction and restitution. The motion planner has been fully implemented into a viable package on the computer system, and verified experimentally. The motion of parts is recorded using a high-speed video camera, and then compared to the results of the planner and the graphic simulation results that illustrate the simulated motion of the grasp operation.

• 한국연안방재학회지
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• 제6권3호
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• pp.111-120
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• 2019

In coastal morphological modelling, there are a number of input factors: wave height, water depth, sand particle size, bed friction coefficients, coastal structures and so forth. Measurements or estimates of these input data may include uncertainties due to errors by the measurement or hind-casting methods. Therefore, it is necessary to consider the uncertainty of each input data and the range of the uncertainty during the evaluation of numerical results. In this study, three uncertainty factors are considered with regard to the prediction of coastal erosion in Ilsan beach located in Ilsan-dong, Ulsan metropolitan city. Those are wave diffraction effect of XBeach model, wave input scenario and the specification of the coastal structure. For this purpose, the values of mean wave direction, significant wave height and the height of the submerged breakwater were adjusted respectively and the followed numerical results of morphological changes are analyzed. There were erosion dominant patterns as the wave direction is perpendicular to Ilsan beach, the higher significant wave height, and the lower height of the submerged breakwater. Furthermore, the rate of uncertainty impacts among mean wave direction, significant wave height and the height of the submerged breakwater are compared. In the study area, the uncertainty influence by the wave input scenario was the largest, followed by the height of the submerged breakwater and the mean wave direction.

• 한국정밀공학회지
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• 제19권7호
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• pp.154-162
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• 2002

The effect of nonlinear friction in the low velocity is dominant in precise controlled mechanisms and it is difficult to model. This paper is concerned with the compensation for friction using the variable structure system approach as nonmodel based method. The problem of chattering in the sliding mode controller is suppressed by the implementation of the boundary layer concept. And the estimation for friction using sliding mode observer makes the upper bound of matched uncertainty reduced. Accordingly, the effect of chattering can be more suppressed. And the sliding surface is constructed by adding an integral component to the switching function that is made by using error dynamics. This sliding surface guarantees the good tracking performance. Experimental results for a XY table system show that the proposed method has a good performance especially in the low velocity.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.401-405
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• 1996

A new method of nonlinear robust controller synthesis is introduced which is an extension of linear mixed $H_2/H_{\infty}$ control. This method guarantees robust stability fur hard nonlinearity and uncertainty of the plant. The method is applied to the control of a flexible link of robot with Coulomb friction. Simulation shows good performances with respect to the response and the robustness.