• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1186-1190
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• 1995

This paper is focused on the formulation of explicit closed-form functions describing the performance measures of the general flexible manufacturing system (FMS)according to the strategy of material handling system(MHS). the performance measures such as the production rate, the production lead-time and the utilization rate of the general FMS are expressed, respectively, as the explicit closed-form functions of the part processing time, the service rate of the material handling system (MHS) and the number of machine tools in the FMS. For this, the gensral FMS is presented as a generalized stochastic Petri net model, then, the moment generating function (MGF) based approach is applied to obtain the steady-state probabity formulation. Based on the steady-state formulation, the explicit closed-form functions for performance measures of the probability FMS can be obtained. Finally, the analytical results are compared with the Petri net simulation results to verify the validity of the suggested method. The paper is of significance in the sense that it provides a comprehensive formula for performance measures of the FMS even to the industry engineers and academic reademic resuarchers who have no background on Markov chain analysis method or Petrinet modeling

• Journal of the Korean Society for Precision Engineering
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• v.21 no.4
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• pp.120-131
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• 2004

In this paper, we propose the method of a motion planning generation in which the movement of the 3-link leg subsystem is constrained to a slider-link and a singular posture can be easily avoided. The proposed method is the jumping control moving in vertical direction which mimics a cat's behavior. That is, it is jumping toward wall and kicking it to get a higher-place. Considering the movement from the point of constraint mechanical system, the robotic system which realizes the motion changes its configuration according to the position and it has several phases such as; ⅰ) an one-leg phase, ⅱ) in an air-phase. In other words, the system is under nonholonomic constraint due to the reservation of its momentum. Especially, in an air-phase, we will use a control method using state transformation and linearization in order to control the landing posture. Also, an iterative learning control algorithm is applied in order to improve the robustness of the control. The simulation results for jumping control will illustrate the effectiveness of the proposed control method.

• Journal of Korean Institute of Industrial Engineers
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• v.27 no.1
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• pp.111-117
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• 2001

Most of the techniques for the performance estimation of unit-load AS/RS are a static model or computer simulation. Especially, their models have been developed under the assumption that the Storage/Retrieval (S/R) machine performs either single command(SC) or dual command(DC) only. In reality, depending on the operating policy and the status of the system at a particular time, the S/R machine performs a SC or a DC, or becomes idle. In order to resolve this weak point, we propose a stochastic model for the performance estimation of unit-load ASIRS by using a M/G/1 queueing model with a single server and two queues. Server utilization, expected numbers of waiting storage and retrieval commands and mean time spent in queue and system are found.

• Journal of Electrical Engineering and Technology
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• v.12 no.5
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• pp.1709-1718
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• 2017

This paper presents a hybrid stochastic deterministic multi-timescale scheduling (SDMS) approach for generation scheduling of a power grid. SDMS considers flexible resource options including conventional generation flexibility in a chance-constrained day-ahead scheduling optimization (DASO). The prime objective of the DASO is the minimization of the daily production cost in power systems with high penetration scenarios of variable generation. Furthermore, energy storage is scheduled in an hourly-ahead deterministic real-time scheduling optimization (RTSO). DASO simulation results are used as the base starting-point values in the hour-ahead online rolling RTSO with a 15-minute time interval. RTSO considers energy storage as another source of grid flexibility, to balance out the deviation between predicted and actual net load demand values. Numerical simulations, on the IEEE RTS test system with high wind penetration levels, indicate the effectiveness of the proposed SDMS framework for managing the grid flexibility to meet the net load demand, in both day-ahead and real-time timescales. Results also highlight the adequacy of the framework to adjust the scheduling, in real-time, to cope with large prediction errors of wind forecasting.

• Journal of the Korean Society of Safety
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• v.21 no.4 s.76
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• pp.25-32
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• 2006

LonWorks over IP(LonWorks-IP) virtual device network(VDN) is an integrated form of LonWorks device network and IP data network. In especially real-time distributed servo applications on the factory floor, timely response is essential for predictive and preventive maintenance. The time delay in servo control on LonWorks-IP based VDN has highly stochastic nature. LonWorks-IP based VDN induced transmission delay deteriorates the performance and stability of the real-time distributed control system and can't give an effective preventive and predictive maintenance. In order to guarantee the stability and performance of the system, and give an effective preventive and predictive maintenance, LonWorks-IP based VDN induced time-varying uncertain time delay needs to be predicted and compensated. In this paper new Pill control scheme based on Smith predictor, disturbance observer and band pass filter is proposed and tested through computer simulation about position control of DC servo motor. It is shown that how can the proposed control scheme be designed to minimize the effects of uncertain varying time delay and model uncertainties. The validity of the proposed control scheme is compared and demonstrated with the comparison of internal model controllers(IMC) based on Smith predictor with and without disturbance observer.

• Advances in aircraft and spacecraft science
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• v.4 no.5
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• pp.585-611
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• 2017

This article covenants with the post buckling witticism of carbon nanotube reinforced composite (CNTRC) beam supported with an elastic foundation in thermal atmospheres with arbitrary assumed random system properties. The arbitrary assumed random system properties are be modeled as uncorrelated Gaussian random input variables. Unvaryingly distributed (UD) and functionally graded (FG) distributions of the carbon nanotube are deliberated. The material belongings of CNTRC beam are presumed to be graded in the beam depth way and appraised through a micromechanical exemplary. The basic equations of a CNTRC beam are imitative constructed on a higher order shear deformation beam (HSDT) theory with von-Karman type nonlinearity. The beam is supported by two parameters Pasternak elastic foundation with Winkler cubic nonlinearity. The thermal dominance is involved in the material properties of CNTRC beam is foreseen to be temperature dependent (TD). The first and second order perturbation method (SOPT) and Monte Carlo sampling (MCS) by way of CO nonlinear finite element method (FEM) through direct iterative way are offered to observe the mean, coefficient of variation (COV) and probability distribution function (PDF) of critical post buckling load. Archetypal outcomes are presented for the volume fraction of CNTRC, slenderness ratios, boundary conditions, underpinning parameters, amplitude ratios, temperature reliant and sovereign random material properties with arbitrary system properties. The present defined tactic is corroborated with the results available in the literature and by employing MCS.

• Journal of Korea Multimedia Society
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• v.21 no.8
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• pp.969-981
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• 2018

Recent advances in machine learning approaches such as deep neural network and reinforcement learning offer significant performance improvements in generating detailed and varied motions in physically simulated virtual environments. The optimization methods are highly attractive because it allows for less understanding of underlying physics or mechanisms even for high-dimensional subtle control problems. In this paper, we propose an efficient learning method for stochastic policy represented as deep neural networks so that agent can generate various energetic motions adaptively to the changes of tasks and states without losing interactivity and robustness. This strategy could be realized by our novel trajectory search method motivated by the trust region policy optimization method. Our value-based trajectory smoothing technique finds stably learnable trajectories without consulting neural network responses directly. This policy is set as a trust region of the artificial neural network, so that it can learn the desired motion quickly.

• Journal of environmental and Sanitary engineering
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• v.15 no.2
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• pp.65-74
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• 2000

The purpose of this study is to develop the stochastic stream water quality model for the intake station of Chung-Ju city waterworks in the Han river system. This model was based on the theory of Box-Jenkins Multiplicative ARIMA(SARIMA) and the state space model to simulate changes of water qualities. Variable of water qualities included in the model are temperature and dissolved oxygen(DO). The models development were based on the data obtained from Jan. 1990 to Dec. 1997 and followed the typical procedures of the Box-Jenkins method including identification and estimation. The seasonality of DO and temperature data to formulate for the SARIMA model are conspicuous and the period of revolution was twelve months. Both models had seasonality of twelve months and were formulates as SARIMA {TEX}$(2,1,1)(1,1,1)_{12}${/TEX} for DO and temperature. The models were validated by testing normality and independency of the residuals. The prediction ability of SARIMA model and state space model were tested using the data collected from Jan. 1998 to Oct. 1999. There were good agreements between the model predictions and the field measurements. The performance of the SARIMA model and state space model were examined through comparisons between the historical and generated monthly dissolved oxygen series. The result reveal that the state space model lead to the improved accuracy.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.93-100
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• 2006

In this paper, a new-type Extended Kalman Filter (EKF) is proposed as a robust nonlinear filter for a stochastic nonlinear system. The original EKF is widely used for various nonlinear system applications. But it is fragile to its estimation errors because they give rise to linearization errors that affect the system mode1 as the modeling errors. The linearization errors are nonlinear functions of the estimation errors therefore it is very difficult to obtain the accurate error covariance of the EKF using the linear form. The inaccurately estimated error covariance hinders the EKF from being a sub-optimal estimator. The proposed filter tries to obtain the upper bound of the error covariance tolerating the uncertainty of the error covariance instead of trying to obtain the accurate one. It treats the linearization errors as uncertain modeling errors that can be handled by the robust linear filtering. In order to be more robust to the estimation errors than the original EKF, the proposed filter minimizes the upper bound like the robust linear filter that is applied to the linear model with uncertainty. The in-flight alignment problem of the inertial navigation system with GPS position measurements is a good example that the proposed robust filter is applicable to. The simulation results show the efficiency of the proposed filter in the robustness to initial estimation errors of the filter.

• Computational Structural Engineering
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• v.10 no.3
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• pp.125-131
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• 1997

Most dynamic systems have are known to various random properties in excitation and system parameters. In this paper, a procedure for response analysis is proposed for the linear dynamic system with random properties in both excitation and system parameters. The system parameters and responses with random properties are modeled by perturbation technique, and then response analysis is formulated by probabilistic and vibration theories. And probabilistic FEM is also used for the calculation of mean response which is difficult by the proposed response model. As an applicative example, the transient response is considered for systems of single degree of freedom with random mass and spring constant subjected to stationary white-noise excitation and the results are compared to those of numerical simulation.