• Journal of the Korean Society for Precision Engineering
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• v.17 no.1
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• pp.138-144
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• 2000

Robot manipulators, which are nonlinear structures and have uncertain system parameters, have complex in dynamics when are operated in unknown environment. To compensate for estimate errors of the uncertain system parameters and to accomplish the desired trajectory tracking, nonlinear robust controllers are appropriate. However, when estimation errors or tracking errors are large, they require large input torques, which may not be satisfied due to torque limits of actuators. As a result, their stability can not be guaranteed. In this paper, a new robust control scheme is presented to solve stability problem and to achieve fast trajectory tracking in the presence of torque limits. By using fuzzy logic, new desired trajectories which can be reduced are generated based on the initial desired trajectory, and torques of the robust controller are regulated to not exceed torque limits. Numerical examples are shown to validate the proposed controller using an uncertain two degree-of-freedom underwater robot manipulator.

• International Journal of Reliability and Applications
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• v.5 no.2
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• pp.59-74
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• 2004

There are many uncertain parameters associated with vibration components. Their physical parameters, the machining quality of vibration components, and the applied load acting on them are all uncertain. As a result, the natural frequency and the fatigue limits are also uncertain variables. In this paper, we express these parameters of vibration components and the frequency zone of resonance through interval models; this way, the robust reliability of the vibration components is defined. The robust reliability model measures and assesses the reliability of vibration components. The robust reliability of a cantilever beam is evaluated as an example. The results show that this method is reasonable for robust reliability analysis of vibration components because it does not require a large amount of failure data, it avoids the evaluation of the probability density function, and the computation is simple.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1996.04a
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• pp.15-18
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• 1996

Shewhart control chart is a basic technique to monitor the state of a process. We observe observations of a group of size four or five in a rational way and plot some statistics (e.g., means and ranges) on the chart. When setting up the control chart, the control limits are calculated based on preliminary 20-40 samples, which were supposedly obtained from stable operating conditions. But it may be hard to believe, especially at the beginning of constructing the chart for the first time, whether the process is stable and hence all samples were generated under the homogeneous operating conditions. In this report we suggest a mechanism to obtain robust control limits under self-criticism. When outliers are present in the sample, we obtain tighter control limits and hence increase the sensitivity of the chart. Examples will be given via simulation study.

• The Korean Journal of Applied Statistics
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• v.29 no.2
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• pp.369-379
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• 2016

The Sigma Level, proposed by Motorola Inc., is one of the many Process Capability Index (PCI)'s that have been presented since the 1970's. It is used to evaluate process capability and unlike other PCI's, it has an advantage in that it uses population probability distribution. However, it is originally designed for mass production and is inadequate to evaluate prototypes or early products in the R&D stages. For use in such cases, we propose an R&D target Sigma Level, derived by considering 1.5 sigma shifts in traditional sigma level from a statistical point of view. We also explain the way to find robust limits for design tolerance because the sigma level or defect probability is useful to establish economical tolerance limits at the R&D stage and mass production.

• Proceedings of the KIEE Conference
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• 2000.07a
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• pp.110-112
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• 2000

A new robust digital fuzzy controller design methodology is proposed for load frequency of nonlinear power system with valve position limits of governor in the presence of parametric uncertainties. The Takagi-Sugeno (TS) fuzzy model is adopted for fuzzy modeling of the nonlinear power system. A sufficient condition of robust stability for robust fuzzy control with parametric uncertainties is presented in the sense of Lyapunov. The controller that designed by preposed robust fuzzy controller design method is based compounding condition between continues system and discrete system. The effectiveness of controller that designed by the proposed robust fuzzy controller design method is demonstrated through simulation example.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2006.04a
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• pp.836-840
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• 2006

Design optimization of layered plates bonding process is conducted to achieve high product quality by considering uncertainties in a manufacturing process. During the cooling process of the sequential sub-processes, different thermal expansion coefficients lead to residual stress and displacement. thus resulting in defects on the surface of the adherent. So robust process optimization is performed to minimize the residual stress mean and variation of the assembly while constraining the distortion as well as the instantaneous maximum stress to the allowable limits. In robust process optimization, the dimension reduction (DR) method is employed to quantify both reliability and quality of the layered plate bonding. Using this method. the average and standard deviation is estimated. Response surface is constructed using the statistical data obtained by the DRM for robust objectives and constraints. from which the optimum solution is obtained.

• Journal of Korean Society for Quality Management
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• v.25 no.1
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• pp.100-115
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• 1997

Shewhart control chart is a basic technique to monitor the state of a process. We observe samples of size four or five and plot some statistic(e.g., mean or range) of each sample on the chart. When setting up the chart, we need to obtain u, pp.r and lower control limits. It is common practice that those limits are calculated from the preliminary 20-40 samples presumed to be homogeneous. However, it may ha, pp.n in practice that the samples are contaminated by outlying observations caused by various reasons. The presence of outlying observations make the control limits wider and hence decrease the sensitivity of the charts. In this paper, we introduce robust control charts with tighter control limits when outlying observations are present in the preliminary samples. Examples will be given via simulation study.

• International Journal of Quality Innovation
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• v.6 no.2
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• pp.31-45
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• 2005

The target costing technique, mathematically discussed by Sauers, only uses the $C_p$ index along with Taguchi loss function and ${\bar{X}}-R$ control charts to set up goal control limits. The new specification limits derived from Taguchi loss function is linked through the $C_p$ value to ${\bar{X}}-R$ control charts to obtain goal control limits. This study further considers the reflected normal loss function as well as the $C_{pk}$ index along with its lower confidence interval in forming goal control limits. With the use of lower confidence interval to replace the point estimator of the $C_{pk}$ index and reflected normal loss function proposed by Spiring to measure the loss to society, this modified and improved target costing technique would become more robust and applicable in practice. Finally, an example is provided to illustrate how this modified and improved target costing technique works.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.24 no.67
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• pp.11-18
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• 2001

The efficiency and robustness of the scale estimator based on the Gini's mean difference are well known in Nam et al.(2000). In this paper we propose use of robust control limits based on the Gini's mean difference for the control of the process deviation. To compare the performances of the proposed control chart with the existing R-chart or S-chart, some Monte Carlo simulations are performed. The simulation results show that the use of the Gini's mean difference in construction of the control limits has good performance.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.1 s.256
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• pp.113-120
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• 2007

Design optimization of layered plates bonding process is conducted by considering uncertainties in a manufacturing process, in order to reduce the crack failure arising due to the residual stress at the surface of the adherent which is caused by different thermal expansion coefficients. Robust optimization is peformed to minimize the mean as well as its variance of the residual stress, while constraining the distortion as well as the instantaneous maximum stress under the allowable reliability limits. In this optimization, the dimension reduction (DR) method is employed to quantify the reliability such as mean and variance of the layered plate bonding. It is expected that the DR method benefits the optimization from the perspectives of efficiency, accuracy, and simplicity. The obtained robust optimal solution is verified by the Monte Carlo simulation.