• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.973-980
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• 1988

This two-part paper presents a control method that allows for stable interaction of a robot manipulator with the environment. In part 1, we focus on the input ouput relationships (unstructured modeling) of the robot and environment dynamics. This analysis leads to a general condition for stability of the robot and environment taken as a whole. This stability condition, for stable maneuver, prescribes a finite sensitivity for robot and environment where sensitivity of the robot(or the environment) is defined as a mapping forces into displacement. According to this stability condition, smaller sensitivity either in robot or in environment leads to narrower stability range. In the limit, when both systems have zero sensitivity, stability cannot be guaranteed. These models do not have any particular structure, yet they can model a wide variety of industrial and research robot manipulators and environment dynamic behavior. Although this approach of modeling may not lead to any design procedure, it will allow us to understand the fundamental issues in stability when a robot interacts with an environment.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.11
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• pp.941-949
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• 1989

This two-part paper presents a control method that allows for stable interaction of a robot manipulator with environment. In part 1, we focus on the input output relationships (unstructured modeling) of the robot and environment dynamics. This analysis leads to a general condition for stability of the robot and environment taken as a whole. This stability condition, for stable maneuver, prescribes a finite sensitivity for robot and environment where sensitivity of the robot (or the environment) is defined as a mapping forces into displacement. According to this stability condition, smaller sensitivity either in robot or in environment leads to narrower stability range. In the limit, when both systems have zero sensitivity, stability cannot be guaranteed. These models do not have any particular structure, yet they can model a wide variety of industrial and research robot manipulators and environment dynamic behavior. Although this approach of modeling may not lead to and design procedure, it will allow us to understand the fundamental issues in stability when a robot interacts with an environment.

• Proceedings of the Korean Geotechical Society Conference
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• 2005.03a
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• pp.179-184
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• 2005

Shear strength parameters obtained from filed survey are important factors in the analysis of slope stability. In this study, sensitivity analysis was performed to evaluate the effect of input parameters on the analysis of slope stability. The input parameters selected for sensitivity analysis were slope angle, cohesion, and friction angle. Monte-Carlo Simulation method was used for calculating input parameters and the factor of safety was computed by means of limit equilibrium method. A rock slope, which has failed in the field, was used for the sensitivity analysis in the analysis of slope stability. The result of analysis shows that the factor of safety of the rock slope was a little low. From partial correlation coefficient(PPC) of input parameters determined from the sensitivity analysis, slope stability was dependant on cohesion and slope angle. The effect of friction angle was lower than that of cohesion and slope angle on slope stability.

• Journal of Crop Science and Biotechnology
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• v.11 no.3
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• pp.215-222
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• 2008

Multilocation trials on 36 rice(Oryza sativa) genotypes of 3 different maturity groups were conducted at four different locations of Orissa for 3 years and 30 ragi(Eleusine coracana) genotypes of 2 different maturity groups were evaluated in three environmental conditions for 3 years. Grain yield data were subjected to stability analysis following linear regression model to estimate adaptability and stability parameters, i.e. b, and $S^2d$ Stability of performance of genotypes was also estimated by two other stability parameters viz., ecovalence W and AMMI stability value ASV. The rice and ragi genotypes of different duration groups showed wide variation in their mean yield, b, $S^2d$, W and ASV parameters. Seeds of the 36 rice and 30 ragi genotypes were treated with 500 and 100 ppm aqueous solution of maleic hydrazide(MH) for 24 hours, respectively to study MH-sensitivity. Sensitivity of genotypes to MH treatment was estimated in terms of seedling growth inhibition index(SGI). The rice and ragi genotypes showed wide differences in their MH-sensitivity in terms of SGI. Relationship of MH-sensitivity of genotypes with their yielding ability, adaptability and stability of performance was tested by contingency $x^2$ test. Low sensitivity of rice and ragi genotypes to MH in terms of SGI appeared to be good indicators of high yielding ability of genotypes. Also, low and high MH-sensitivity of genotypes would be a good indicator of better adaptability to rich and poor environments, respectively, in ragi but not in rice. Low MH-sensitivity of genotypes could be the good indicator of stability of yield performance in rice but not in ragi.

• Journal of the Society of Naval Architects of Korea
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• v.43 no.4 s.148
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• pp.521-528
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• 2006

In this study, we developed a new systematic approach to assess the influence of geometric parameter change on the horizontal and vertical stability indices. To do this, three phases of sensitivity analyses were carried out. First, typical geometric parameters were defined and their effects on hydrodynamic coefficients were assessed by the Sensitivity Analysis (SA) of the indirect method. Second, the effects of hydrodynamic coefficients on the stability indices were calculated. Finally, the sensitivities of geometric parameters on the stability indices were obtained by merging the outputs of two phases using chain rule. The developed approach cau contribute to a submarine designer to determine geometric parameters satisfying pre-requirements about stability systematically.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.52 no.5
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• pp.271-278
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• 2003

Power system stability is correlated with system structure, disturbances and operating conditions, and power flows on transmission lines are closely related with those conditions. This paper proposes a methodology to identify correlative power flows for power system transient and small-signal stability prediction. In transient stability sense, the Critical Clearing Time is used to select some dominant contingencies, and Transient Stability Prediction index is proposed for the quantitative comparison. For small-signal stability, this paper discusses a methodology to identify crucial transmission lines for stability Prediction by introducing a sensitivity factor based on eigenvalue sensitivity technique. On-line monitoring of the selected lines enables to predict system stability in real-time. Also, a Procedure to make a priority list of monitored transmission lines is proposed. The procedure is applied to a test system and the KEPCO systems in the year of 2003 and it shows capabilities of the proposed method

• KIEE International Transactions on Power Engineering
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• v.11A no.4
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• pp.15-20
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• 2001

Power system stability is correlated with system structure, disturbances and operating conditions, and power flows on transmission lines are closely related with those conditions. This paper proposes a methodology to identify correlative power flows for power system transient and small-signal stability prediction. In transient stability sense, the Critical Clearing Time is used to select some dominant contingencies, and Transient Stability Prediction index is proposed for the quantitative comparison. For small-signal stability discusses a methodology to identify crucial transmission lines for stability prediction by introducing a sensitivity factor based on eigenvalue sensitivity technique. On-line monitoring of the selected lines enables to predict system stability in real-time. Also, a procedure to make a priority list of monitored transmission lines is proposed. The procedure is applied to a test system, and it shows capabilities of the proposed method.

• Journal of Industrial Technology
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• v.26 no.B
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• pp.73-81
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• 2006

A sensitivity analysis about effects of influencing factors on the stability of Soil cut slope was performed. Slope stability analyses were carried out under dry, rainy and seismic conditions. Dominant factors controlling the slope stability were chosen such as cohesion and internal friction angle, unit weight of soil, water table and seismic horizontal coefficient used for the slope stability during earthquake. Parametric stability analysis with those factors was performed for sensitivity analysis. As results of analyzing the sensitivity of factors under dry and rainy conditions, effects of cohesion, internal friction angle and unit weight of soil on the stability of slope are more critical in the dry condition than in the rainy condition. Cohesion and internal friction angle are more dominant factors influencing the slope stability irrespective of dry or rainy conditions than unit weight of soil and the horizontal seismic coefficient. The unit weight and the horizontal seismic coefficient affects crucially the stability according to conditions of slope formation and dry or rainy seasons. For the effect of horizontal seismic coefficient on stability of slope, safety factor of slope is not affected significantly by dry or rainy conditions. However, increase of the horizontal seismic coefficient under the rainy condition floes reduce the safety factor significantly rather than the dry condition. Therefore, it is needed that the location of the water table is assigned appropriately to satisfy the required safety factor of stability in the case of checking slope stability for the rainy and seismic conditions.

• Journal of the Korean Geotechnical Society
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• v.21 no.5
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• pp.75-82
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• 2005

Shear strength parameters obtained from field tests are important factors in the analysis of slope stability. In this paper, sensitivity analysis was performed to evaluate the effect of input parameters on the analysis of slope stability. The input parameters selected for sensitivity analysis were slope angle, cohesion, and friction angle. Monte-Carlo Simulation method was to estimate input parameters for sensitivity analysis in slope stability, and the limit equilibrium method was used to calculate the factor of safety of slope stability. A rock slope, failed in the field, was used for the sensitivity analysis of input parameters in the analysis of slope stability. The result of analysis shows that the factor of safety of the rock slope was a little low. From partial correlation coefficient (PCC) of input parameters from the sensitivity analysis, slope stability was dependant mainly on cohesion and slope angle. The effect of friction angle was smaller than those of cohesion and slope angle on slope stability.

• Korean Journal of Child Studies
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• v.38 no.2
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• pp.205-218
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• 2017

Objective: This study examined the correlation between variables influencing teacher sensitivity to infant classes in Educare Center teachers and teacher sensitivity, by classifying their personal psychological, socio-psychological, and work environment variables. Furthermore, it aimed to inquire the extent to which these variables influence teacher sensitivity. Methods: The study included 236 Educare Center teachers in charge of infant classes working in infant-caring facilities. Based on stepwise multiple regression analysis, a significance test was conducted for each variable. Results: Firstly, according to the correlations regarding teacher sensitivity to infant classes, for sensitive interaction, emotional stability showed significant positive correlation, while there were significant negative correlations with relationships with the director, colleagues,and parents; mean working hours in other places; and mean daily personal time. For insensitive interaction, there were significant negative correlations with emotional stability and mean daily break time, while there were significant positive correlations with relationships with the director, colleagues, and parents. Secondly, regarding the influences on teacher sensitivity to infant classes, for sensitive interaction, the most significant influences consisted in the relationships with colleagues and parents. On the other hand, for insensitive interaction, the most significant influences were the relationship with colleagues and emotional stability. Conclusion: Reducing interpersonal relationship stress and increasing the emotional stability of Educare Center teachers will increase their sensitivity level. Furthermore, the quality of care will be improved.