• 로봇학회논문지
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• 제7권4호
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• pp.231-242
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• 2012

This paper proposes particle filter(PF) method using acoustic signal for localization of an underwater robot. The method uses time of arrival(TOA) or time difference of arrival(TDOA) of acoustic signals from beacons whose locations are known. An experiment in towing tank uses TOA information. Simulation uses TDOA information and it reveals dependency of the localization performance on the uncertainty of robot motion and senor data. Also, comparison of the PF method with the least squares method of spherical interpolation(SI) and spherical intersection(SX) is provided. Since PF uses TOA or TDOA which comes from measurement of external information as well as internal motion information, its estimation is more accurate and robust to the sensor and motion uncertainty than the least squares methods.

• 대한토목학회논문집
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• 제30권2A호
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• pp.93-102
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• 2010

시공단계별 수치해석 및 안전성 평가는 장경간 교량의 시공 중 불안전성을 해결하기 위한 주요 검토사항으로 고려되어야 한다. 장경간 교량의 시공단계해석에 따른 구조응답특성 평가 시, 근거리지진(NFGM)의 영향은 기존 입력지진동 데이터와는 확연히 다른 특성을 가지고 있기 때문에 내진설계를 위한 주요 변수로 평가되어야 한다. 따라서 이 연구에서는 응답스펙트럼 해석결과를 바탕으로 NFGM 특성에 따른 장경간 교량의 응답양상을 재검토하였으며, 장경간 교량의 시공단계해석 및 신뢰성평가를 효율적으로 수행하기 위해 관련연구에서 제시된 수치해석 프로그램을 개선하였다. NFGM 특성을 고려한 다양한 시공방안의 우수성은 주요 부재의 시간이력해석 결과를 이용하여 평가하였다. 정량적인 안전수준 평가를 위해 확률변수에 포함된 External Uncertainty의 영향을 고려하여 신뢰성해석을 수행하였으며, NFGM 특성에 따른 주요 시공단계의 안전지수 및 파괴확률을 제시하였다. 아울러, 몬테카르로 시뮬레이션(MCS)을 이용하여 신뢰성해석 결과에 대해 Internal Uncertainty의 영향을 검토하였으며, 주요 해석결과의 분포양상을 평가하였다. 이 연구는 NFGM 특성을 고려한 장경간 교량의 내진설계 시, 시공안전성 향상을 위한 기초자료를 제공할 것으로 기대된다.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2003년도 봄 학술발표회 논문집
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• pp.789-796
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• 2003

A reliability analysis is performed to investigate the influence of the uncertainty from the limited in-situ samples and the inherent heterogeneity of the ground on the probability of piping for the marine embankment near shore. The result are compared with those of the deterministic piping stability analysis performed using the fininte element flow analysis. The random variables used are hydraulic conductivity of the ground subsurface and embankment, and the water level of both internal and external side of the embankment. The probability of piping is most sensitive to the mean and standard deviation of internal water level of the embankment among the random variables included in the reliability analysis. It is found that the lower limits of internal water level which satisfies the allowable proability of piping failure for the embankment studied were E.L(-) 1.83m and E.L(-) 1.48m during and after the construction of the embankment, respectively.

• 경영과학
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• 제17권1호
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• pp.31-40
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• 2000

With the rapidly changing external environment and the increasing internal process complexity more and more organizations are adopting the Electronic Approval System(EAS) for their competitiveness. This paper defines EAS as a core organizational communication medium investigates factors which influence EAS's use from a media rich-ness theory and shows sutiable EAS functions for equivocality resolution and uncertainty reduction. Results from the five EAS implementation sites show that most organizations use EAS only for tasks with low equivocality and low uncertainty. Additional functionalities such as video conferencing and database access were suggested for fu-ture EAS system to enhance their utilization for more cirtical and unstructed tasks.

• 대한전기학회논문지:전력기술부문A
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• 제48권8호
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• pp.987-995
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• 1999

A new robust controller design methodology for single-input single-output systems is proposed, where the proposed controller consists of a conventional or optimal servo controller at the outer loop as well as the robust internal-loop compensator(RIC) to eliminate the model uncertainty and external disturbance. It is shown that RIC with finite gain can make actual systems be nominal models within a prespecified error bound. And, it is also shown that RIC-based system is robustly stable regardless of input saturation. Several numerical examples are illustrated to show validities of the proposed robust controller.

• 대한전기학회논문지:전력기술부문A
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• 제48권6호
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• pp.773-780
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• 1999

A digital tracking controller is proposed for micro electrostatic actuator with input nonlinearity, where disturbance observer is utilized in cooperation with inverse function. Generally the disturbance observer is announced to be robust to modeling uncertainty, and external disturbance. But, when the nonlinearity exists in the systems, the disturbance observer may not directly be applied to that system, because the nonlinearity may destabilize the overall system. Therefore, first, we linearize the nonlinear input characteristics of micro electrostatic actuator by the use of inverse function. Secondly, we apply disturbance observer to approximately linearized system for eliminating the residuals of nonlinearity and the modeling uncertainty. Then, we get the good properties of the disturbance rejection as well as the robustness due to the own nature of disturbance observer. In this case, we propose a sufficient condition for the robust stability of overall systems. Furthermore, we discuss the problem that may be exposed when disturbance observer is applied to the internally stable system with saturation, and analyze two methods to overcome input saturation problem in the sense of internal stability. Simulations have been carried out to show the effectiveness of the proposed controller.

• 산업경영시스템학회지
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• 제39권4호
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• pp.137-146
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• 2016

In recent years, business environment is faced with multi uncertainty that have not been suffered in the past. As supply chain is getting expanded and longer, the flow of information, material and production is also being complicated. It is well known that development service industry using application software has various uncertainty in random events such as supply and demand fluctuation of developer's capcity, project effective date after winning a contract, manpower cost (or revenue), subcontract cost (or purchase), and overrun due to developer's skill-level. This study intends to social contribution through attempts to optimize enterprise's goal by supply chain management platform to balance demand and supply and stochastic programming which is basically applied in order to solve uncertainty considering economical and operational risk at solution supplier. In Particular, this study emphasizes to determine allocation of internal and external manpower of developers using S&OP (Sales & Operations Planning) as monthly resource input has constraint on resource's capability that shared in industry or task. This study is to verify how Stochastic Programming such as Markowitz's MV (Mean Variance) model or 2-Stage Recourse Model is flexible and efficient than Deterministic Programming in software enterprise field by experiment with process and data from service industry which is manufacturing software and performing projects. In addition, this study is also to analysis how profit and labor input plan according to scope of uncertainty is changed based on Pareto Optimal, then lastly it is to enumerate limitation of the study extracted drawback which can be happened in real business environment and to contribute direction in future research considering another applicable methodology.

• 지식경영연구
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• 제20권1호
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• pp.133-153
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• 2019

Due to the uncertainty of dynamic business environment, modern organizations have been giving attention to dynamic capabilities beyond traditional notion of core competence. Among them, absorptive capacity and boundary-spanning activity are considered the most important. The former refers to activities regarding acquisition, assimilation, transformation and exploitation of internal and external knowledge. The latter is composed of boundary-loosening and boundary-tightening activities to detect internal or external information and then to preserve, protect, or acquire resources. Thus, both have achieved wide recognition as a potential source of change and innovation. This study investigated the cross-level relation between boundary-spanning leadership at team level and absorptive capacity at individual level. We also explored self-efficacy and extra-role behavior that can affect employees' absorptive capacity. To test multi-level analysis, the survey data were collected from 862 members in 137 teams of different firms. Results revealed that boundary-spanning leadership had the positive cross-level impact on absorptive capacity in the team context. Moreover, absorptive capacity was positively associated with self-efficacy and extra-role behavior at individual level. Based on these findings, we provided theoretical and practical implications to address rapidly changing environments and discussed limitations of this paper for further research.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2087-2092
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• 2005

Using disturbance observer (DOB) is effective in enhancing the performance of dynamic system in the presence of disturbances. Recently the definition of disturbance has been expanded to modeling uncertainty including parameter variation, internal disturbance. Various structures of DOB have been proposed to improve sensitivity of system for better disturbance rejection performance. However in the case of improvement of sensitivity function, it tends to bring poor transient response due to cross-coupling and phase lag. Furthermore it could be very sensitive to measurement noise due to increased peak of complementary sensitivity function. In this paper, a dual disturbance observer (Dual-DOB) is proposed to reduce the effect of such cross-coupling. It is possible for us to improve the sensitivity function with additional external DOB with hardly affecting complementary sensitivity function. Thus it is able to have robustness against measurement noise. Since we are able to design DOBs of internal and external loop independently, we could prevent transient response quality from degrading while improving the sensitivity function. The proposed Dual-DOB is applied to a commercial optical disk drive tracking servo system. The experimental result shows that the Dual-DOB is an effective method in rejecting the disturbance as well as improving the tracking performance.

• 전기학회논문지
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• 제64권5호
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• pp.751-754
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• 2015

This paper deals with a robust speed control problem of a vertical one-link manipulator in the presence of parameter uncertainties and unknown input disturbance. Uncertain load weight causes an additional sinusoidal disturbance in the rotation of the link. In order to improve the robustness against parameter uncertainties and external input disturbances, this paper employs an internal model-based disturbance observer approach. Comparative computer simulations are performed to test the performance of the proposed controller. The simulation results show the enhanced performance of the proposed method.