• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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• pp.2309-2311
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• 1998

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbance link. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional link attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling a proposed inverted pendulum is consisted of a state feedback control and a fuzzy logic controller. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. In these case, the change of the angle and COG of an upper link is compensated with on-line. Simulations with a mathematical model are conducted to show the validity of the proposed controller.

• 한국공작기계학회논문집
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• 제18권1호
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• pp.90-102
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• 2009

In this paper, a tracking control problem for a mechanical servo system with nonlinear dynamic friction is treated. The nonlinear friction model contains directly immeasurable friction state and the uncertainty caused by incomplete modeling and variations of its parameter. In order to provide the efficient solution to these control problems, we propose a hybrid control scheme, which consists of a robust friction state observer, a RFNN estimator and an approximation error estimator with sliding mode control. A sliding mode controller and a robust friction state observer is firstly designed to estimate the unknown infernal state of the LuGre friction model. Next, a RFNN estimator is introduced to approximate the unknown lumped friction uncertainty. Finally, an adaptive approximation error estimator is designed to compensate the approximation error of the RFNN estimator. Some simulations and experiments on the mechanical servo system composed of ball-screw and DC servo motor are presented. Results demonstrate the remarkable performance of the proposed control scheme.

• 제어로봇시스템학회논문지
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• 제7권12호
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• pp.973-979
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• 2001

Sliding mode control guarantees robustness in the presence of modeling uncertainties and external disturbances. However, this can be obtained at the cost of high control activity that may lead to chattering As one way to alleviate this problem a boundary layer around sliding surface is typically used. In this case the selection of controller gain, control ban width and boundary layer thickness is a crucial problem for the trade-off between tracking error and chattering. The parameter tuning is usually done by trail-and-error in practice causing significant effort and time. An auto tuning method based on fuzzy rules is proposed in the paper in this method tracking error and chattering are monitored by performance indices and the controller tunes the design parameters intelligently in order to compromise both indices. To demonstrate the efficiency of the propose method a mass-spring translation system and a roboic control system are simulated and tested It is shown that the proposed algorithm is effective to facilitae the parameter tuning for sliding mode controllers.

• 융합신호처리학회논문지
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• 제1권2호
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• pp.153-159
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• 2000

제어대상인 현수형 케이블의 수학적 모델을 구성하고 이것에 장력이 발생하는 교류서보 전동기의 수학적 모델을 구하였다. 제어방법은 제어대상의 동적 모델이 비선형 시변계이기 때문에 강인성이 있는 퍼지제어를 적용하고 차대가 움직이기 시작할 때 발생하는 오버슈트를 억제하기 위해서 피드포워드 제어를 도입하여 정장력 제어 시스템을 구성하였다. 시뮬레이션에 의해 그 유효성을 평가하였으며 양호한 결과를 얻었다.

• 전기학회논문지
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• 제64권10호
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• pp.1469-1478
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• 2015

In this paper, The methodology of Type-2 fuzzy set-based Radial Basis Function Neural Network(T2RBFNN) is proposed for Sewage Treatment Process and the simulator is developed for application to the real-world sewage treatment plant by using the proposed model. The proposed model has robust characteristic than conventional RBFNN. architecture of network consist of three layers such as input layer, hidden layer and output layer of RBFNN, and Type-2 fuzzy set is applied to receptive field in contrast with conventional radial basis function. In addition, the connection weights of the proposed model are defined as linear polynomial function, and then are learned through Back-Propagation(BP). Type reduction is carried out by using Karnik and Mendel(KM) algorithm between hidden layer and output layer. Sewage treatment data obtained from real-world sewage treatment plant is employed to evaluate performance of the proposed model, and their results are analyzed as well as compared with those of conventional RBFNN.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제6권3호
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• pp.210-216
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• 2006

In the rule based modeling, data partitioning plays crucial role be cause partitioned sub data set implies particular information of the given data set or system. In this paper, we present an empirical study result of the data pattern estimation to find underlying data patterns of the given data. Presented method performs crisp type clustering with given n number of data samples by means of the sequential agglomerative hierarchical nested model (SAHN). In each sequence, the average value of the sum of all inter-distance between centroid and data point. In the sequel, compute the derivation of the weighted average distance to observe a pattern distribution. For the final step, after overall clustering process is completed, weighted average distance value is applied to estimate range of the number of clusters in given dataset. The proposed estimation method and its result are considered with the use of FCM demo data set in MATLAB fuzzy logic toolbox and Box and Jenkins's gas furnace data.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제8권3호
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• pp.175-184
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• 2008

To construct user profiles automatically, an extraction method for representative keywords from a set of documents is needed. In our previous works, we suggested such a method and showed its usefulness. Here, we apply it to the classification problem and observe how much it contributes to performance improvement. The method can be used as a linear document classifier with few modifications. So, we first evaluate its performance for that case. The method is also applicable to some non-linear classification methods such as GIS (Generalized Instance Set). In GIS algorithm, generalized instances are built from training documents by a generalization function and then the K-NN algorithm is applied to them, where the method can be used as a generalization function. For comparative works, two famous linear classification methods, Rocchio and Widrow-Hoff algorithms, are also used. Experimental results show that our method is better than the others for the case that only positive documents are considered, but not when negative documents are considered together.

• Computers and Concrete
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• 제28권6호
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• pp.567-583
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• 2021

The use of waste materials as a binder or aggregate in the concrete mixture is a great step towards sustainability in the construction industry. Waste rubber (WR) can be used as coarse and fine aggregates in concrete and improves the crack resistance, impact resistance, and fatigue life of the produced concrete. However, the mechanical properties of rubberized concrete degrade significantly by replacing the natural aggregate with WR. To have accurate estimations of the mechanical properties of rubberized concrete, two machine learning methods consisting of artificial neural network (ANN) and neuro-fuzzy system (NFS) were served in this study. To do this, a comprehensive dataset was collected from reliable literature, and two scenarios were addressed for the selection of input variables. In the first scenario, the critical ratios of the rubberized concrete and the concrete age were considered as the input variables. In contrast, the mechanical properties of concrete without WR and the percentage of aggregate volume replaced by WR were assumed as the input variables in the second scenario. The results show that the first scenario models outperform the models proposed by the second scenario. Moreover, the developed ANN models are more reliable than the proposed NFS models in most cases.

• 국제학술발표논문집
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• The 4th International Conference on Construction Engineering and Project Management Organized by the University of New South Wales
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• pp.382-388
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• 2011

Being aware of the risk in advance necessitates intricate processes but is feasible. Although previous studies have demonstrated high accuracy, their performance still leaves room for improvement. A self-organizing feature map (SOM) based neurofuzzy model is developed in this study to provide another alternative for forecasting corporate financial distress. The model is designed to yield high prediction accuracy, as well as reference rules for evaluating corporate financial status. As a database, the study collects all financial reports from listed construction companies during the latest decade, resulting in over 1000 effective samples. The proportion of "failed" and "non-failed" companies is approximately 1:2. Each financial report is comprised of 25 ratios which are set as the input variable s. The proposed model integrates the concepts of pattern classification, fuzzy modeling and SOM-based optimization to predict corporate financial distress. The results exhibit a high accuracy rate at 85.1%. This model outperforms previous tools. A total of 97 rules are extracted from the proposed model which can be also used as reference for construction practitioners. Users may easily identify their corporate financial status by using these rules.

• Geomechanics and Engineering
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• 제37권3호
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• pp.197-211
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• 2024

This research studies the effect of geotechnical factors on EPB-TBM performance parameters. The modeling was performed using simple and multivariate linear regression methods, artificial neural networks (ANNs), and Sugeno fuzzy logic (SFL) algorithm. In ANN, 80% of the data were randomly allocated to training and 20% to network testing. Meanwhile, in the SFL algorithm, 75% of the data were used for training and 25% for testing. The coefficient of determination (R²) obtained between the observed and estimated values in this model for the thrust force and cutterhead torque was 0.19 and 0.52, respectively. The results showed that the SFL outperformed the other models in predicting the target parameters. In this method, the R² obtained between observed and predicted values for thrust force and cutterhead torque is 0.73 and 0.63, respectively. The sensitivity analysis results show that the internal friction angle (φ) and standard penetration number (SPT) have the greatest impact on thrust force. Also, earth pressure and overburden thickness have the highest effect on cutterhead torque.