• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.8
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• pp.42-47
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• 2006

In this paper, we propose a sliding mode control with the bound estimation for robot manipulators without requiring exact knowledge of the robot dynamics. For the bound estimation, the upper bound of the uncertain nonlinearities of robot dynamics is represented as a Fredholm integral equation of the first kind and we propose an adaptive scheme which is only dependent on the sliding surface function. Also, we prove the asymptotic stability for the robot systems using two important properties in the robot dynamics: skew-symmetry and positive-definiteness of robot parameters.

• Journal of the Korean Geotechnical Society
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• v.34 no.4
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• pp.5-11
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• 2018

In conventional analytical solutions for rainfall-induced soil slope stability, the Green-Ampt (1911) equation for estimating the saturation depth and the Skempton & DeLory (1957) equation for calculating the infinite slope shallow failure were compared with the numerical analysis to confirm the error. In the simple evaluation of the reason of soil slope instability due to rainfall using the conventional equations, there are many errors and, overestimation or underestimation of the calculation results. In this study, the equation consisting of the results obtained from infiltration analysis on unsaturated soil slope is proposed by applying the average range of the strength parameters of the granite weathered soils, and its reliability is verified by comparing with the numerical analysis results. The developed equation can be used easily in various fields for the estimation of slope safety factor by checking the rainfall duration and saturation depth.

• Journal of the Korean Society of Systems Engineering
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• v.16 no.2
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• pp.110-117
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• 2020

In this paper, we estimated the straight line stability by performing a 3 degree of freedom spiral test simulation of a intact/damaged surface combatant using the hydrodynamic coefficient obtained through the PMM(Planar motion mechanism) test based on system engineering process. A model ship was ONR Tumblehome and damaged compartment was set on the starboard bow. As a result of conducting a spiral test simulation based on the experimental results of J.Ha (2018), the asymmetric straight line stability due to the damaged compartment was confirmed. In the case of a ship in which the starboard bow was damaged, it was confirmed that it had the characteristic to deflect to the left when going straight. Also, when estimating the straight line stability of a both port and starboard asymmetric surface combatant, a separated equation of motion model that sees the port and starboard as different ships seems suitable.

• Journal of Microbiology and Biotechnology
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• v.4 no.1
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• pp.13-19
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• 1994

A model equation to describe the plasmid instability in recombinant Escherichia coli fermentation is proposed. The equation allows one to estimate easily the two model parameters; (1) the difference in the specific growth rates between plasmid-free cells and plasmid-harboring cells ($\delta$), and (2) the probability of plasmid loss by plasmid-harboring cells ($\rho$). The estimated values of $\delta and \rho$ were in the range of 0.02-0.07 and $10^{-3}-10^{-5}$, respectively, and were strongly dependent on the dilution rate. As another parameter, the ratio of specific growth rates of plasmid-free cells and plasmid-harboring cells ($\alha$) was calculated and the result showed the highest value of 1.28 at the lowest dilution rate of 0.075 $hr^{-l}$, examined in this work. By the sensitivity analyses on the estimates of $\delta and \rho$, it was found that the growth rate difference ($\delta$) affected the plasmid instability more seriously than the probability of plasmid loss ($\rho$). Furthermore, the profound instability of plasmid at low dilution rate could be explained by the high values of $\alpha and \rho$.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.10
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• pp.1128-1136
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• 2012

In this paper, the states and parameters in a dynamic system are estimated by applying an Unscented Kalman Filter (UKF). The UKF is widely used in various fields such as sensor fusion, trajectory estimation, and learning of Neural Network weights. These estimations are necessary and important in determining the stability of a mobile system, monitoring, and predictions. However, conventional approaches are difficult to estimate based on the experimental data, due to properties of non-linearity and measurement noises. Therefore, in this paper, UKF is applied in estimating the states and parameters needed. An experimental dynamic system has been set up for obtaining data and the experimental data is collected for parameter estimation. The measurement noises are primarily reduced by applying the Low Pass Filter (LPF). Given the simulation results, the estimated error rate is 39 percent more efficient than the results obtained using the Least Square Method (LSM). Secondly, the estimated parameters have an average convergence period of four seconds.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.7
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• pp.794-799
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• 1999

This study deals with robustness bounds estimation for uncertain linear systems with structured perturbations where the eigenvalues of the perturbed systems are guaranteed to stay in a prescribed region. Based upon the Lyapunov approach, new theorems to estimate allowable perturbation parameter bounds are derived. The theorems are referred to as the zero-order or first-order asymmetric robustness measure depending on the order of the P matrix in the sense of Taylor series expansion of perturbed Lyapunov equation. It is proven that Gao's theorem for the estimation of stability robustness bounds is a special case of proposed zero-order asymmetric robustness measure for eigenvalue assignment. Robustness bounds of perturbed parameters measured by the proposed techniques are asymmetric around the origin and less conservative than those of conventional methods. Numerical examples are given to illustrate proposed methods.

• Journal of Korean Tunnelling and Underground Space Association
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• v.13 no.2
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• pp.115-131
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• 2011

Recently, considering the aspects of disaster prevention and environmental damage, the construction of a twin tunnel is increasing. When constructing a twin tunnel, the stresses are concentrated at the pillar so that stability of the tunnel is decreased. Since the previous studies on the behavior of a twin tunnel pillar are mainly restricted to the estimation of the tunnel behavior and the analysis of surface settlement, there is a limit to a quantitative stability estimation of the pillar. Therefore, it was quantitatively investigated how the pillar width of a twin tunnel affects its stability. To ensure this end, global tunnel safety factors obtained numerically using shear strength reduction technique, local safety factors of a pillar using the equation that Matsuda et al. suggested, and strength/stress ratios of the pillar were estimated and their results were analyzed for two sections with different rock covers. For a reasonable design of a twin tunnel pillar, it was turned out that strength/stress ratio, the local pillar safety factor, and global tunnel safety factor should be used interrelatedly rather than independently.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.1905-1913
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• 2011

The dynamic characteristic of bogie that is driving system of railway vehicle is very important regarding decision of vehicle characteristics as running safety and comport. The dynamic characteristic test of bogie is tested on full size in place on field testing on track. But, the testing on the full size caused many problems. To overcome these problem by full size test, the Railway Safety Research Center in Seoul National University of Science & Technology developed 1/5 scale size of small scale derailment simulator and is currently testing running stability of 1/5 scaled bogie. Also To take effectively advantage of running stability test using small scale derailment simulator in actuality design and reliability estimation, it is necessary comparison and examination with field test and theoretical analysis result In this paper. to achieve running stability analysis of 1/5 scaled bogie on small scale derailment. the program using MATLAB that is fast compose and analysis the motion equation of Saemaul power bogie is developed. It is achieved analysis according to various specification (weight, size, suspension, etc..) and is evaluated corelation between test result and dynamic characteristic of actual railway vehicle.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.923-931
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• 1999

In this paper, a modeling and a robust time-delay control for the reclaimer are investigated. Supplying the same amount of a raw material throughout the reclamation process from the raw yard to a sinter plant is important to keep the quality of the molten steel uniform in blast furnaces. As the actual parameter values of the reclaimer are not available, the boom rotational dynamics are modeled as a second order differential equation with unknown coefficients. The unknown parameters in the nominal model are estimated using a recursive estimation method. Another important factor in the control design of the reclaimer is the large time-delay in output measurement. Assuming a multiplicative uncertainty, that accounts for both the unstructured uncertainty neglected in the modeling and the structured uncertainty contained in the parameter estimation, a robust Smith predictor is designed. A robust stability criterion for the multiplicative uncertainty is also derived. Following the work of Goodwin et al. [4], a quantifying procedure of the multiplicative uncertainty bound, through experiments , is described. Experimental and simulation results are provided.

• Journal of Korean Society of Steel Construction
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• v.13 no.2
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• pp.211-221
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• 2001

The dynamic force estimation and strength design of KALES(Korea Accelerated Loading and Environmental Simulator) are studied. The KALES is continuously rotating the test track and subjected to the dynamic or impact forces during operation since the track is composed of straight and curved line. To estimate the dynamic equation for the model car which was already made is derived with analytical and experimental techniques. Using similarity relationships between the model car and KALES, the dynamic force and stability properties for KALES can be predicted. The stress analysis and fatigue life estimation of KALES is also estimated with the calculated dynamic load. From the stress analysis and fatigue life estimation results, it was found that the design of KALES is safe.