• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.288-295
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• 2022

This study shows a system identification method of a balancing loading device for a stair climbing delivery robot. The balancing loading device is designed as a 2-axes gimbal structure and is interpreted as two independent pendulum structures for simplifying. The loading device's properties such as mass, moment of inertia, and position of the center of gravity are changeable for luggage. The system identification process of the loading device is required, and the controller should be optimized for the system in real-time. In this study, the system identification method is based on least squares method to estimate the unknown parameters of the loading device's dynamic equation. It estimates the unknown parameters by calculating them that minimize the error function between the real system's motion and the estimated system's motion. This study improves the accuracy of parameter estimation using a null space solution. The null space solution can produce the correct parameters by adjusting the parameter's relative sizes. The proposed system identification method is verified by the simulation to determine how close the estimated unknown parameters are to the real parameters.

• Steel and Composite Structures
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• v.49 no.4
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• pp.407-417
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• 2023

After a disaster like the catastrophic earthquake, the government have to use rapid assessment of the condition (or damage) of bridges, buildings and other infrastructures is mandatory for rapid feedbacks, rescue and post-event management. Many domain schemes based on the measured vibration computations, including least squares estimation and neural fuzzy logic control, have been studied and found to be effective for online/offline monitoring of structural damage. Traditional strategies require all external stimulus data (input data) which have been measured available, but this may not be the generalized for all structures. In this article, a new method with unknown inputs (excitations) is provided to identify structural matrix such as stiffness, mass, damping and other nonlinear parts, unknown disturbances for example. An analytical solution is thus constructed and presented because the solution in the existing literature has not been available. The goals of this paper are towards access to adequate, safe and affordable housing and basic services, promotion of inclusive and sustainable urbanization and participation, implementation of sustainable and disaster-resilient buildings, sustainable human settlement planning and manage. Simulation results of linear and nonlinear structures show that the proposed method is able to identify structural parameters and their changes due to damage and unknown excitations. Therefore, the goal is believed to achieved in the near future by the ongoing development of AI and control theory.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.34 no.7
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• pp.679-688
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• 2010

The major objective of the present study is to extend the applications of inverse analysis to more realistic engineering fields with a complex combustion process rather than the traditional simple heat-transfer problems. In order to do this, the unknown initial mass fractions of $CH_4/O_2$ are estimated from the temperature measurement data by inverse analysis in the practical diffusion-controlled turbulent combustion problem. In order to ensure efficient inverse analysis, the repulsive particle swarm optimization (RPSO) method, which belongs to the class of stochastic evolutionary global optimization methods, is implemented as an inverse solver. Based on this study, it is expected that useful information can be obtained when inverse analysis is used in the diagnosis, design, or optimization of real combustion systems involving unknown parameters.

• Korean Journal of Veterinary Service
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• v.27 no.1
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• pp.17-29
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• 2004

A multiresidual analysis was performed to determine 12 sulfonamides(sulfacetamide, sulfadiazine, sulfisomidine, sulfathiazole, sulfapyridine, sulfamerazine, sulfamethazine, sulfamonomethoxine, sulfisoxazole, sulfamethoxazole, sulfaquinoxaline, and sulfadimethoxine) in beef and pork simultaneously. The multiresidual analysis for the sulfonamides currently used was able to analyze 5 kinds of sulfonamides at the same time. The method of this 12 sulfonamides multiresidual analysis in this study was matrix solid-phase dispersion(MSPD) by high performance liquid chromatography (HPLC) and liquid chromatography mass spectrometry (LC/MS). The recovery rate of the materials was measured by MSPD method with 3 different extraction solvents; Dichloromethane, DCM: Ethylacetate(3:1), DCM:EA(9:1). Also, samples (84 beef and 205 pork samples) which were positive by EEC-4 plate test from 2001 to 2003 were tested to investigate the kinds of sulfonamides using HPLC. The results from the study were as follows; 1. The recovery rate of the materials was measured by MSPD method with 3 different extraction solvents; Dichloromethane, DCM:Ethylacetate(3:1), DCM:EA(9:1). The method of extraction solvent with DCM:ethyl acetate(9:1) was the most excellent(87.7∼99.3%) in separation and reappearance. 2. In the LC/MS analysis. of sulfonamides, signal to noise ratio was showed relatively high in the positive mode and special ion in the quality analysis was determined via [M+H]$\^$+/ and m/z 156. A spectrum of sulfonamides was showed from all 12 sulfonamides. 3. The samples positive by the EEC-4 plate, a screening test method, were categorized by sulfonamides through Charm II and confirmed the kinds of sulfonamides through HPLC. 1) Among 84 beef samples positive by EEC-4 plate, 20 samples were positive by Charm II and identified as 7 sulfamethazine, 9 sulfadimethoxine, 1 sulfamonomethoxine and 3 unknown status. 2) Among 205 pork samples positive by EEC-4 plate, 42 samples were positive by Charm II and identified as 19 sulfamethazine, 1 sulfadimethoxine, 4 sulfamonomethoxine and 5 unknown status.

• Journal of the Society of Cosmetic Scientists of Korea
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• v.19 no.1
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• pp.1-19
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• 1993

Gas chromatography serves to separate the mixtures into its components, and mass spectrometer is used to analyzing of unknown compounds. But there are many problems the identification of horn compounds using by GC only. As this reason GC/MS a very powerful analyzing technique. Mass spectrometer consists of 1) inlet stem 2) ion source 3) Bass filter 4) detectors and 5) data system. There are two analyzing modes in the GC/MS, those are scan and SIM(selected ion mom toping) modes. Scan mode is used when analyzing unknown compounds and SIM mode al lows the mass spectrometer to detect specific compound with very high sensitivity. As GC/MS applications for the analysis of cosmetic products, volatile compounds in lotion, earn foundation and hair color, and carbon distribution of fatty acids in soap were performed. Also as a new sample pre-treatment technique, head space sampler/GC/MS introduced in order to analyze the volatile compounds in a toothpaste.

• The Korean Journal of Ecology
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• v.20 no.6
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• pp.397-403
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• 1997

The monoterpenes and sesquiterpenes are analysed in the leaf and stem of Chrysanthemum boreale using gas chromaltography-mass spectrometry (GC-MS). The total amount of sesquiterpenes are always higher than monoterpenes in both leaf (2.0-3.4 times) and stem (1.6-8.3 times). The mono- and sesquiterpenes yields of the leaf are higher than the stem. There was no significant difference among the leaf developmental stages, while those of stem were varied. Seventeen monoterpenes and 9 sesquiterpenes compound in this plants comprised more than 5% of the mean total monoterpenes and the total sesquiterpenes in each dates. Among leaf monoterpenes, the concentration of (+)-Limonene and unknown compound no. 13 (Retention time, R.T.=17.28) varied significantly during leaf growing season, and the concentrafion of unknown compound no. 7 (R.T.=35.04) and no. 9(R.T.=35.71) varied in the leaf sesquiterpenes. Similarly the results from the leaf, the concentration of five monoterpenes in stem also varied significantly during maturing period, and much varied in seven compounds of stem sesquiterpene. The major sesquiterpenes of leaf and stem were ${\alpha}-Humulene$ and compound no. 2(R.T.=26.19).

• Journal of the Korean Society for Precision Engineering
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• v.11 no.6
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• pp.20-27
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• 1994

This paper presents a controller design to coordinate a robot manipulator under unknown system parameters and bounded disturbance inputs. To control the motion of the manipulator, an inverse dynamics control scheme is applied. Since parameters of the robot manipulators such as mass and inertia are not perfectly known, the difference between the actual and estimated parameters works as a disturbance force. To identify the unknown parameters, an improved adaptive control algorithm is directly derived from a chosen Lyapunov's function candidate based on the Lyapunov's Second Method. A robust control algorithm is devised to counteract the bounded disturbance inputs such as contact forces and disturbing forces coming from the difference between the actual and the estimated system parameters. Numerical examples are shown using three degree-of-freedom planar arm.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.156-160
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• 1993

This paper presents a controller design to coordinate a robot manipulator under unknown system parameters and bounded disturbance inputs. To control the motion of the manipulator, an inverse dynamics control scheme is applied. Since parameters of the robot manipulators such as mass and inertia are not perfectly known, the difference between the actual and estimated parameters works as a disturbance force. To identify the unknown parameters, an inproved adaptive control algorithm is directly derived from a chosen Lyapunov's function candidate based on the Lyapunov's Second Method. A robust control algorithm is devised to counteract the bounded disturbance inputs such as contact forces and disturbing force coming from the difference between th actual and the estimated system parameters. Numerical examples are shown using three degree-of-freedom planar arm.

• Korean Journal of Head & Neck Oncology
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• v.15 no.2
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• pp.239-242
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• 1999

Spindle cell carcinomas of the head and neck are unusual neoplasms that are histologically biphasic, having both squamous cell carcinoma and apparently malignant spindle cell or sarcomatous element. Controversy about the histogenesis of these tumors has resulted in various terminology ; sarcomatoid carcinoma, pseudosarcoma, carcinosarcoma, and spindle cell carcinoma. The clinical course and natural history of these tumors are also variable. We report a case of 64-year-old male who complained of a neck mass. The patient was treated with extended radical neck dissection and postoperative radiotherapy, but the primary site of spindle cell carcinoma could not be found. We reviewed the clinical course, treatment, prognosis, and histogenesis of spindle cell carcinoma of the head and neck.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1134-1136
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• 1996

A necessary and suficient conditions is proposed for feedback linearizable SISO systems with unknown constant parameters. It is shown that the systems which satisfy the proposed conditions can be transformed into a controllable linear system with unknown parameter and it can be stabilized using the nonlinear feedback linearizing controller. We also present the analysis and implementation of a nonlinear feedback linearizing control for an Electro-Magnetic Suspension (EMS) system. We show that an EMS system is nonlinear feedback linearizable and satisfies the proposed conditions, and hence that the proposed nonlinear feedback controller for an EMS system is robust against mass parameter perturbation and force disturbance.