• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.803-806
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• 1997

In this paper, a force estimation method is proposed for the sensorless force control. For this, a disturbance observer is applied to each joint of an n degrees of freedom manipulator to obtain a simple equivalent robot dynamics(SERD) being represented as an n independent double integrator system. To estimate the output of disturbance observer in the absence of external force, the observer estimator is designed, where the uncertain parameters of the robot manipulator are adjusted by gradient method to minimize the output between the disturbance observer and the observer estimator. When the external force is exerted, the external force is estimated using the difference between the output of disturbance observer which include the external torque signal and that of observer estimator. And then, a force controller is designed for force feedback control employing the estimated force signal. To verify the effectiveness of the proposed force estimation method, several numerical examples are illustrated for the 2-axis planar type robot manipulator.

• Smart Structures and Systems
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• 제20권3호
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• pp.351-368
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• 2017

To peruse the free vibration of curved functionally graded piezoelectric (FGP) nanosize beam in thermal environment, nonlocal elasticity theory is applied for modeling the nano scale effect. The governing equations are obtained via the energy method. Analytically Navier solution is employed to solve the governing equations for simply supported boundary conditions. Solving these equations enables us to estimate the natural frequency for curved FGP nanobeam under the effect of a uniform temperature change and external electric voltage. The results determined are verified by comparing the results by available ones in literature. The effects of various parameters such as nonlocality, uniform temperature changes, external electric voltage, gradient index, opening angle and aspect ratio of curved FGP nanobeam on the natural frequency are successfully discussed. The results revealed that the natural frequency of curved FGP nanobeam is significantly influenced by these effects.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2003년도 추계학술대회논문집
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• pp.355-358
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• 2003

To estimate the residual stresses in the thin film and surface coatings, combined method based on nanoindentation and finite element (FE) analysis was developed. A simple equation for estimating the residual stress was composed of the hardness and the parameters which can be driven from the nanoindentation loading and unloading behaviors. FE analysis on the nanoindentation procedure under the various residual stress levels was performed to determine the parameters that included in the equation. The equation showed a good coincidence between the estimated residual stresses and those for the FE analysis. Thus the proposed method was considered as a useful method for estimating the residual stresses in the thin film without stress free specimen.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1994년도 봄 학술발표회 논문집
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• pp.1-8
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• 1994

An automated procedure which allows adaptation of spatial and time discretization simultaneously in finite element analysis of linear elastodynamic problems is presented. For dynamic problems having responses dominated by high frequency modes, such as those with impact, explosive, traveling and earthquake loads high gradient stress regions change their locations from time to time. And the time step size may need to vary in order to deal with whole process ranging from transient phase to steady state phase. As the sizes of elements in space vary in different regions, the procedure also permits different time stepping. In such a way, the best performance attainable by the finite element method can be achieved. In this study, we estimate both of the kinetic energy error and stran energy error induced by spatial and time discretization in a consistent manner. Numerical examples are used to demonstrate the performance of the procedure.

• 대한전기학회논문지:시스템및제어부문D
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• 제50권3호
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• pp.130-135
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• 2001

In this paper, an observer-based adaptive controller is proposed to control the longitudinal motion of vehicles. The standard gradient method will be used to estimate the vehicle parameters, mass, time constant, etc. The nonlinear model between the driving force and the vehicle acceleration will be chosen to design the state observer for the vehicle velocity and acceleration. It will be shown that the proposed observer is exponentially stable, and that the adaptive controller proposed on this paper is stable. It will be proved that the errors of the relative distance, velocity and acceleration converge to zero asymptotically fast, and that the overall system is also asymptotically stable. The simulation results are presented to investigate the effectiveness of the proposed method.

• 대기
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• 제17권3호
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• pp.281-289
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• 2007

Micrometeorlogical and upper air observation have been conducted in order to determine the atmospheric boundary layer depth based on data from satellite and automatic weather systems. Terra/MODIS temperature profiles and sensible heat fluxes from the gradient method were used to estimate the mixed layer height over a coastal region. Results of the integral model were in good agreement with the mixed layer height observed using GPS radiosonde at Wolsung ($35.72^{\circ}N$, $129.48^{\circ}E$). Since the variation of the mixed layer height depends on the surface sensible heat flux, the integral model estimated properly the mixed layer height in the daytime. The buoyant heat flux, which is more important than the sensible heat flux in the coastal region, must be taken into consideration to improve the integral model. The vertical structure of atmospheric boundary layer can be analyzed only with the routine data and the satellite data.

• International Journal of Vascular Biomedical Engineering
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• 제2권1호
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• pp.25-30
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• 2004

Catheters are used to measure translesional pressure gradients in the stenosed coronary arteries. Uses of catheters during coronary angioplasty cause flow obstructions. A narrowed flow cross section with catheter effectively introduced a tighter stenosis than the enlarged residual stenoses after balloon angiplasty. Catheters in blood vessels cause pressure gradient rise and blood flow drop during the measurements. In this study, three dimensional computer simulations are conducted to investigate the flow blockage effects due to the catheter obstructions during the coronary angioplasty. The computer simulation models are generated by the data, which are measured by coronary angiogram, and the blood is treated as non-Newtonian fluid. The velocity, pressure, and wall shear stress variations are observed for the estimate of damages of blood vessel. This study is also extended to investigate the effects of stenotic vessel size, and shape and catheter size and location.

• 전기학회논문지
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• 제67권11호
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• pp.1536-1541
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• 2018

For effective electricity consumption in urban railway station such as peak load shaving, it is important to know each electrical load pattern by various usage. The total electricity consumption in the urban railway substation is already measured in Korea, but the electricity consumption for each usage is not measured. The author proposed the deep learning method to estimate the electrical load pattern for each usage in the urban railway substation with public data such as weather data. GRU (gated recurrent unit), a variation on the LSTM (long short-term memory), was used, which aims to solve the vanishing gradient problem of standard a RNN (recursive neural networks). The optimal model was found and the estimation results with that were assessed.

• 한국시뮬레이션학회:학술대회논문집
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• 한국시뮬레이션학회 2001년도 The Seoul International Simulation Conference
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• pp.223-230
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• 2001

This paper proposes a new contour detection method and adaptive reconstruction scheme for the cylindrical organs, such as blood vessels or arteries. Furthermore, we present java-based navigation controller which has been built to examine the inside of cylindrical objects. Tn the preprocessing procedure, a few preprocessing image filters are applied in order to remove unwanted artifacts from the medical images and to estimate threshold values for the object of interest. We define a context-free grammar, which is proper fur properties of contours of cylindrical objects. In the next procedure, we extract contours using advanced radial gradient method and represent contours as context-free grammar derivation trees. We build polygons between two contours efficiently by traversing the derivations trees of the contours. We fly through the reconstructed virtual models using java-based navigation controller and VRML viewer.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1-4
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• 1996

It is difficult that a non-translational motion in a block is estimated by the block matching algorithm (BMA). In this paper, a nodal-displacement-based deformation model is used for this reason. This model assumes that a selected number of control nodes move freely in a block and that displacement of any interior point can be interpolated from nodal displacements. As a special case with a single node this model is equivalent to a translational model. And this model can represent more complex deformation using more nodes. We used an iterative gradient based search algorithm to estimate nodal displacement. Each iteration involves the solution of a simple linear equation. This method is called the deformable block matching algorithm (DBMA).