• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.720-727
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• 2009

This paper proposes a new integrated navigation system for a mobile robot in indoor environments. This system consists of five frameworks which are classified by function. This architecture can make the navigation system scalable and flexible. The robot can recover from exceptional situations, such as environmental changes, failure of entering the narrow path, and path occupation by moving objects, using the exception recovery framework. The environmental change can be dealt with using the probabilistic approach, and the problems with the narrow path and path occupation are solved using the ray casting algorithm and the Bayesian update rule. The proposed navigation system was successfully applied to several robots and operated in various environments. Experimental results showed good performance in that the exception recovery framework significantly increased the success rate of navigation. The system architecture proposed in this paper can reduce the time for developing robot applications through its reusability and changeability.

• Geomechanics and Engineering
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• v.15 no.4
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• pp.937-945
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• 2018

A probabilistic study of a reinforced earth wall in a frictional soil using the surface response methodology (RSM) is presented. A deterministic model based on numerical simulations is used (Abdelouhab et al. 2011, 2012b) and the serviceability limit state (SLS) is considered in the analysis. The model computes the maximum horizontal displacement of the wall. The response surface methodology is utilized for the assessment of the Hasofer-Lind reliability index and is optimized by the use of a genetic algorithm. The soil friction angle and the unit weight are considered as random variables while studying the SLS. The assumption of non-normal distribution for the random variables has an important effect on the reliability index for the practical range of values of the wall horizontal displacement.

• Structural Engineering and Mechanics
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• v.41 no.5
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• pp.575-589
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• 2012

This paper presents a reliability analysis of steel I-beams with rectangular web openings, based on a combination of the common probabilistic reliability methods, such as RSM, FORM and SORM and using data obtained from experimental tests performed at the Istanbul Technical University. A procedure is proposed to obtain the optimum design load that can be applied to this type of structural members, by taking into account specified target values of reliability indices for ultimate and serviceability limit states. The goal of the paper is to present an algorithm to obtain more realistic and economical design of beams and to demonstrate that it can be applied efficiently to steel I-beams with web openings. Finally, a sensitivity analysis is performed allowing to ranking the random variables according to their importance in the reliability analysis.

• Advances in concrete construction
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• v.7 no.3
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• pp.183-189
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• 2019

In this study, it has been tried to prepare an analytical fragility curves for isolated straight continues highway bridges by considering different spectral intensity measures. A three-span concrete isolated bridge has been selected and the seismic performance of the bridge has been improved by Lead Rubber Bearing (LRB). Incremental Dynamic Analysis (IDA) is applied to the bridge in longitudinal direction. A suite of 14 earthquake ground motions from medium to sever motions are scaled and used for nonlinear time history analysis. Fragility function considers the relationship of earthquake intensity measures (IM) and probability of exceeding certain Damage State (DS). A full three dimensional finite element model of the isolated bridge has been developed and analyzed. A wide range of different intensity measures are selected and the optimal intensity measure which has the less dispersion is proposed.

• Earthquakes and Structures
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• v.11 no.4
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• pp.701-721
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• 2016

Base isolation is a well-established passive strategy for seismic response control of buildings. In this paper, an efficient framework is proposed for reliability-based design optimization (RBDO) of isolated buildings subjected to uncertain earthquakes. The framework uses reduced function evaluations method, as an efficient tool for structural reliability analysis, and an efficient optimization algorithm for optimal structural design. The probability of failure is calculated considering excessive base displacement, superstructure inter-storey drifts, member stress ratios and absolute accelerations of floors of the isolated building as failure events. The behavior of rubber bearing isolators is modeled using nonlinear hysteretic model and the variability of future earthquakes is modeled by applying a probabilistic approach. The effects of pulse component of stochastic near-fault ground motions, fixity-factor of semi-rigid beam-to-column connections, values of isolator parameters, earthquake magnitude and epicentral distance on the performance and safety of semi-rigidly connected base-isolated steel framed buildings are studied. Suitable RBDO examples are solved to illustrate the results of investigations.

• Journal of Communications and Networks
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• v.15 no.2
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• pp.164-172
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• 2013

We consider the problem of secure and robust clustering for quantized target tracking in wireless sensor networks (WSN) where the observed system is assumed to evolve according to a probabilistic state space model. We propose a new method for jointly activating the best group of candidate sensors that participate in data aggregation, detecting the malicious sensors and estimating the target position. Firstly, we select the appropriate group in order to balance the energy dissipation and to provide the required data of the target in the WSN. This selection is also based on the transmission power between a sensor node and a cluster head. Secondly, we detect the malicious sensor nodes based on the information relevance of their measurements. Then, we estimate the target position using quantized variational filtering (QVF) algorithm. The selection of the candidate sensors group is based on multi-criteria function, which is computed by using the predicted target position provided by the QVF algorithm, while the malicious sensor nodes detection is based on Kullback-Leibler distance between the current target position distribution and the predicted sensor observation. The performance of the proposed method is validated by simulation results in target tracking for WSN.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.28 no.6
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• pp.625-633
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• 2015

In this study, a coupled probabilistic framework is developed to assess wind risk on apartment buildings by using the convolution of wind hazard and fragility functions. In this framework, typhoon induced extreme wind is estimated by applying the developed Monte Carlo simulation model to the climatological data of typhoons affecting Korean peninsular from 1951 to 2013. The Monte Carlo simulation technique is also used to assess wind fragility function for 4 different damage states by comparing the probability distributions of the window system's resistance performance and wind load. Wind hazard and fragility functions are modeled by the Weibull and lognormal probability distributions based on simulated wind speeds and failure probabilities. The modeled functions are convoluted to obtain the wind risk for the different damage levels. The developed probabilistic framework clearly shows that wind risk are influenced by various important characteristics of terrain and apartment building such as location of building, exposure category, topographic condition, roof angle, height of building, etc. The risk model presented in this paper can be used as tools to predict economic loss estimation and to establish wind risk mitigation plan for the existing building inventory.

• Journal of the Korea institute for structural maintenance and inspection
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• v.24 no.3
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• pp.47-56
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• 2020

In this study, three levels of W/B(Water to Binder) ratio (0.37, 0.42, 0.47) and substitution ratio of GGBFS (Ground Granulated Blast Furnace Slag) rate (0 %, 30 %, 50 %) were considered to perform RCPT (Rapid Chloride Diffusion Test) at the 1,095 aged day. Accelerated chloride diffusion coefficient and passed charge of each concrete mixture were assessed according to Tang's method and ASTM C 1202, and improving behaviors of durability performance with increasing aged days are analyzed based on the test results of previous aged days from the preceding study. As the age of concrete increases, the passed charge and diffusion coefficient have been significantly reduced, and especially the concrete specimens containing GGBFS showed a significantly more reduction than OPC(Ordinary Portland Cement) concrete specimen by latent hydraulic activity. In the case of OPC concrete's results of passed charge, at the 1,095 days, two of them were still in the "Moderate" class. So, if only OPC is used as the binder of concrete, the resistance performance for chloride attack is weak. In this study, the time-parameters (m) were derived based on the results of the accelerated chloride diffusion coefficient, and the deterministic and probabilistic analysis for service life were performed by assuming the design variable as a probability function. For probabilistic service life analysis, durability failure probabilities were calculated using Monte Carlo Simulation (MCS) to evaluate service life. The service life of probabilistic method were lower than that of deterministic method, since the target value of PDF (Probability of Durability Failure) was set very low at 10 %. If the target value of PDF suitable for the purpose of using structure can be set and proper variability can be considered for each design variable, it is believed that more economical durability design can be made.

• Structural Engineering and Mechanics
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• v.46 no.1
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• pp.19-37
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• 2013

The optimum design of base isolation system considering model parameter uncertainty is usually performed by using the unconditional response of structure obtained by the total probability theory, as the performance index. Though, the probabilistic approach is powerful, it cannot be applied when the maximum possible ranges of variations are known and can be only modelled as uncertain but bounded type. In such cases, the interval analysis method is a viable alternative. The present study focuses on the bounded optimization of base isolation system to mitigate the seismic vibration effect of structures characterized by bounded type system parameters. With this intention in view, the conditional stochastic response quantities are obtained in random vibration framework using the state space formulation. Subsequently, with the aid of matrix perturbation theory using first order Taylor series expansion of dynamic response function and its interval extension, the vibration control problem is transformed to appropriate deterministic optimization problems correspond to a lower bound and upper bound optimum solutions. A lead rubber bearing isolating a multi-storeyed building frame is considered for numerical study to elucidate the proposed bounded optimization procedure and the optimum performance of the isolation system.

• Journal of Communications and Networks
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• v.12 no.6
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• pp.582-591
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• 2010

Probabilistic modeling and analysis of correlation metrics have been receiving considerable interest for a long period of time because they can be used to evaluate the performance of communication receivers, including satellite broadcasting receivers. Although differential correlators have a simple structure and practical importance over channels with severe frequency offsets, closedform expressions for the output distribution of differential correlators do not exist. In this paper, we present detection error probability expressions for frame synchronization using differential correlation, and demonstrate their accuracy over channel parameters of practical interest. The derived formulas are presented in terms of the Marcum Q-function, and do not involve numerical integration, unlike the formulas derived in some previous studies. We first determine the distributions and error probabilities for single-span differential correlation metric, and then extend the result to multispan differential correlation metric with certain approximations. The results can be used for the performance analysis of various detection strategies that utilize the differential correlation structure.