• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집(한일합동학술편); 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.932-938
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• 1987

The dynamic equations of robotic manipulators can be derived from either Newton-Euler equation or Lagrangian equation. Model parameters which appear in the resulting dynamic equation are the nonlinear functions of both the inertial parameters and the geometric parameters of robotic manipulators. The identification of the model parameters is important for advanced robot control. In the previous methods for the identification of the model parameters, the geometric parameters are required to be predetermined, or the robotic manipulators are required to follow some special motions. In this paper, we propose an approach to the identification of the model parameters, in which prior knowledge of the geometric parameters is not necessary. We show that the estimation equation for the model parameters can be formulated in an upper block triangular form. Utilizing the special structures, we obtain a simplified least-square estimation algorithm for the model parameter identification. To illustrate the practical use of our method, a 4DOF SCARA robot is examined.

• Computers and Concrete
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• 제9권1호
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• pp.1-19
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• 2012

The size-effect study of various fracture parameters obtained from two parameter fracture model, effective crack model, double-K fracture model and double-G fracture model is presented in the paper. Fictitious crack model (FCM) for three-point bend test geometry for cracked concrete beam of laboratory size range 100-400 mm is developed and the different fracture parameters from size effect model, effective crack model, double-K fracture model and double-G fracture model are evaluated using the input data obtained from FCM. In addition, the fracture parameters of two parameter fracture model are obtained using the mathematical coefficients available in literature. From the study it is concluded that the fracture parameters obtained from various nonlinear fracture models including the double-K and double-G fracture models are influenced by the specimen size. These fracture parameters maintain some definite interrelationship depending upon the specimen size and relative size of initial notch length.

• 한국물환경학회지
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• 제36권5호
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• pp.373-384
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• 2020

Hydrological models are based on a combination of parameters that describe the hydrological characteristics and processes within a watershed. For this reason, the model performance and accuracy are highly dependent on the parameters. However, model uncertainties caused by parameters with stochastic characteristics need to be considered. As a follow-up to the study conducted by Choi et al (2020), who developed a relatively simple semi-distributed hydrological model, we propose a tool to estimate the posterior distribution of model parameters using the Metropolis-Hastings algorithm, a type of Markov-Chain Monte Carlo technique, and analyze the uncertainty of model parameters and simulated stream flow. In addition, the uncertainty caused by the parameters of each version is investigated using the lumped and semi-distributed versions of the applied model to the Hapcheon Dam watershed. The results suggest that the uncertainty of the semi-distributed model parameters was relatively higher than that of the lumped model parameters because the spatial variability of input data such as geomorphological and hydrometeorological parameters was inherent to the posterior distribution of the semi-distributed model parameters. Meanwhile, no significant difference existed between the two models in terms of uncertainty of the simulation outputs. The statistical goodness of fit of the simulated stream flows against the observed stream flows showed satisfactory reliability in both the semi-distributed and the lumped models, but the seasonality of the stream flow was reproduced relatively better by the distributed model.

• Smart Structures and Systems
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• 제29권5호
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• pp.729-746
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• 2022

In this paper, a nonlinear structural model updating methodology based on the Deep Belief Network (DBN) is proposed. Firstly, the instantaneous parameters of the vibration responses are obtained by the discrete analytical mode decomposition (DAMD) method and the Hilbert transform (HT). The instantaneous parameters are regarded as the independent variables, and the nonlinear model parameters are considered as the dependent variables. Then the DBN is utilized for approximating the nonlinear mapping relationship between them. At last, the instantaneous parameters of the measured vibration responses are fed into the well-trained DBN. Owing to the strong learning and generalization abilities of the DBN, the updated nonlinear model parameters can be directly estimated. Two nonlinear shear-type structure models under two types of excitation and various noise levels are adopted as numerical simulations to validate the effectiveness of the proposed approach. The nonlinear properties of the structure model are simulated via the hysteretic parameters of a Bouc-Wen model and a Giuffré-Menegotto-Pinto model, respectively. Besides, the proposed approach is verified by a three-story shear-type frame with a piezoelectric friction damper (PFD). Simulated and experimental results suggest that the nonlinear model updating approach has high computational efficiency and precision.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2002년도 Proceedings of International Symposium on Remote Sensing
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• pp.553-558
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• 2002

Physical sensor model in pushbroom satellite images can be made from sensor modeling by rotation parameters and attitude parameters on the satellite track. These parameters are determined by the information obtained from GPS, INS, or star tracker. Provided from satellite image, an auxiliary data error is connected directly with an error of rotation parameters and attitude parameters. This paper analyzed how obtaining satellite images influenced errors of rotation parameters and attitude parameters. furthermore, for detailed analysis, this paper generated simulated satellite image, which was changed variously by rotation parameters and attitude parameters of satellite sensor model. Simulated satellite image is generated by using high-resolution digital aerial image and DEM (Digital Elevation Model) data. Moreover, this paper determined correlation of rotation parameter and attitude parameters through error analysis of simulated satellite image that was generated by various rotation parameters and attitude parameters.

• 한국환경과학회지
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• 제2권3호
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• pp.193-199
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• 1993

This study has two objectives. One is developing the runoff model for Hoe-Dong Reservoir basin located at the upstream of Su-Young River in Pusan. To develop the runoff model, basic hydrological parameters - curve number to find effective rainfall, and storage coefficient, etc. - should be estimated. In this study, the effective rainfall was calculated by the SCS method, and the storage coefficient used in the Clark watershed routing was cited from the report of P.E.B. The other is the derivation of transfer function for Hoe-Dong Reservoir basin. The linear, discrete, input-output model which contained six parameters was selected, and the parameters were estimated by the least square method and the correlation function method, respectively. Throughout this study, rainfall and flood discharge data were based on the field observation in 1981.8.22 - 8.23 (typhoon Gladys). It was observed that the Clark watershed routing regenerated the flood hydrograph of typhoon Gladys very well, and this fact showed that the estimated hydrological parameters were relatively correct. Also, the calculated hydrograph by the linear, discrete, input-output model showed good agreement with the regenerated hydrograph at Hoe-Dong Dam site, so this model can be applicable to other small urban areas. Key Words : runoff, effective rainfall, SCS method, clark watershed iou상ng, hydrological parameters, parameter estimation, least square method, correlation function method, input-output model, typhoon gladys.

• 한국도로학회논문집
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• 제18권4호
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• pp.63-68
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• 2016

PURPOSES : The nonlinear model of fatigue cracking is typically used for determining the maintenance period. However, this requires that the model parameters be known. In this study, the particle filter (PF) method was used to determine various statistical parameters such as the mean and standard deviation values for the nonlinear model of fatigue cracking. METHODS : The PF method was used to determine various statistical parameters for the nonlinear model of fatigue cracking, such as the mean and standard deviation. RESULTS : On comparing the values obtained using the PF method and the least square (LS) method, it was found that PF method was suitable for determining the statistical parameters to be used in the nonlinear model of fatigue cracking. CONCLUSIONS : The values obtained using the PF method were as accurate as those obtained using the LS method. Furthermore, reliability design can be applied because the statistical parameters of mean and standard deviation can be obtained through the PF method.

• Coupled systems mechanics
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• 제12권5호
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• pp.419-428
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• 2023

We have developed a model for estimating the parameters of viscous materials from indirect tensile tests for asphalt. This is a simple Burger nonlinear rheological two-cell model or standard model. At the same time, we begin to develop a more versatile and complex multi-cell model. The simple model is validated using experimental load-displacement results from laboratory tests: The recorded displacements are used as input values and the measured force data are simulated with the model. The optimal model parameters are estimated using the Levenberg-Marquardt method and a very good agreement between the experimental results and the model calculations is shown. However, not all parts of the model are active in the loading phase of the experiment, so we extended the validation of the model to the simulation of the relaxation behaviour. In this stage, the other model parameters are activated and the simulation results are consistent with the literature. At this stage, we have estimated the parameters only for the two-cell uniaxial model, but further work will include results for the multi-cell model.

• 한국환경과학회지
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• 제12권10호
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• pp.1109-1116
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• 2003

The genetic algorithm is investigated fer parameters estimation of SED (storage - effective drainage) model from the Wi-stream watershed in Nakdong river basin. In the practical application of model, as a number of watershed parameters do not measure directly, it is desirable to make a good estimation from the known rainfall and runoff data. For the estimation of parameters of the SED model using the genetic algorithm, parameters of Green-Ampt equation(SM, K$\_$s/) for the estimation of an effective rainfall and initial storage(y$\_$in/) used in SED model are obtained a regression equation with 5, 10, 20 days antecedent precipitation. And as a consequence of computation, the parameters were obtained to satisfy the proposed objective function. From the comparison of observed and computed hydrographs, it shows a good agreement in the shape and the rising limb, peak, falling limb of hydrograph, so the SED model using the genetic algorithm shows a suitable model for runoff analysis in river basin.

• Structural Engineering and Mechanics
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• 제43권3호
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• pp.371-394
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• 2012

Accurate finite element (FE) models are needed in many applications of Civil Engineering such as health monitoring, damage detection, structural control, structural evaluation and assessment. Model accuracy depends on both the model structure (the form of the equations) and the model parameters (the coefficients of the equations), and can be generally improved through that process of experimental reconciliation known as model updating. However, modelling errors, including (i) errors in the model structure and (ii) errors in parameters excluded from adjustment, may bias the solution, leading to an updated model which replicates measurements but lacks physical meaning. In this paper, an application of ambient-vibration-based model updating to a large-scale benchmark prototype of a building structure is reported in which both types of error are met. The error in the model structure, originating from unmodelled secondary structural elements unexpectedly working as resonant appendages, is faced through a reduction of the experimental modal model. The error in the model parameters, due to the inevitable constraints imposed on parameters to avoid ill-conditioning and under-determinacy, is faced through a multi-model parameterization approach consisting in the generation and solution of a multitude of models, each characterized by a different set of updating parameters. Results show that modelling errors may significantly impair updating even in the case of seemingly simple systems and that multi-model reasoning, supported by physical insight, may effectively improve the accuracy and robustness of calibration.