• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.518-521
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• 1995

In this paper, a learning control problem is formulated for cooperating multiple-robot manipulators with uncertain system parameters. The commonly held object is also assumed to be unknown and the multiple-robots themselfs experience uncertain operating conditions such as link parameters, viscous friction parameters, suctions, actuator bias, and etc. Under these conditions, the learning controllers designed for learning of uncertain parameters and robot control inputs for multiple-robot systems are shown to drive the multiple-robot manipulators to follow the desired Cartesian trajectory with the desired internal forces to the unknown object.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.177-182
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• 1989

In this paper a new adaptive control algorithm is derived, with the unknown manipulator and payload parameters being estimated online. In practice, we may simplify the algorithm by not explicity estimating all unknown parameters. Further, the controller must be robust to residual time-varying disturbance, such as striction or torque ripple. Also, the reference model is a simple douple integrator and the acceleration input for robot manipulator consists of a proportion and derivative controller for trajectory tracking purposes. The validity of this control is confirmed in simulation where two-link robot manipulator shows the robust performances in spite of the existing nonlinear interaction and unknown parametrictings

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.3
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• pp.207-213
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• 2000

This paper introduces a high-performance speed control system based on artificial neural networks(ANN) to estimate unknown parameters of a DC servo motor. The goal of this research is to keep the rotor speed of the DC servo motor to follow an arbitrary selected trajectory. In detail, the aim is to obtain accurate trajectory control of the speed, specially when the motor and load parameters are unknown. By using an artificial neural network, we can acquire unknown nonlinear dynamics of the motor and the load. A trained neural network identifier combined with a reference model can be used to achieve the trajectory control. The performance of the identification and the control algorithm are evaluated through the simulation and experiment of nonlinear dynamics of the motor and the load using a typical DC servo motor model.

• Steel and Composite Structures
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• v.26 no.4
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• pp.421-437
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• 2018

Free vibration analysis of a three-layered microbeam including an elastic micro-core and two piezo-magnetic face-sheets resting on Pasternak's foundation are studied in this paper. Strain gradient theory is used for size-dependent modeling of microbeam. In addition, three-unknown shear and normal deformations theory is employed for description of displacement field. Hamilton's principle is used for derivation of the governing equations of motion in electro-magneto-mechanical loads. Three micro-length-scale parameters based on strain gradient theory are employed for prediction of vibrational characteristics of structure in micro-scale. The results show that increase of three micro-length-scale parameters leads to significant increase of three natural frequencies especially for increase of second micro-length-scale parameter. This result is according to this fact that stiffness of a micro-scale structure is increased with increase of micro-length-scale parameters.

• East Asian mathematical journal
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• v.16 no.2
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• pp.251-266
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• 2000

The problem of solution uniqueness to the task of determining unknown parameters of mathematical models from input-output observations is studied. This problem is known as structural identifiability problem. We offer a new approach for testing structural identifiability of linear state space models. The approach compares favorably with numerous methods proposed by other authors for two main reasons. First, it is formulated in obvious mathematical form. Secondly, the method does not involve unfeasible symbolic computations and thus allows to test identifiability of large-scale models. In case of non-identifiability, when there is a set of solutions to the task, we offer a method of computing functions of the unknown parameters which can be determined uniquely from input-output observations and later used as new parameters of the model. Such functions are called parametric functions capable of estimation. To develop the method of computation of these functions we use Lie group transformation theory. Illustrative example is given to demonstrate applicability of presented methods.

• Communications for Statistical Applications and Methods
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• v.26 no.2
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• pp.131-148
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• 2019

Constant stress partially accelerated life tests are studied according to exponentiated Weibull distribution. Grounded on multiple censoring, the maximum likelihood estimators are determined in connection with unknown distribution parameters and accelerated factor. The confidence intervals of the unknown parameters and acceleration factor are constructed for large sample size. However, it is not possible to obtain the Bayes estimates in plain form, so we apply a Markov chain Monte Carlo method to deal with this issue, which permits us to create a credible interval of the associated parameters. Finally, based on constant stress partially accelerated life tests scheme with exponentiated Weibull distribution under multiple censoring, the illustrative example and the simulation results are used to investigate the maximum likelihood, and Bayesian estimates of the unknown parameters.

• Structural Engineering and Mechanics
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• v.63 no.6
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• pp.779-788
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• 2017

System identification and damage detection for structural health monitoring have received considerable attention. Various time domain analysis methodologies based on measured vibration data of structures have been proposed. Among them, recursive least-squares estimation of structural parameters which is also known as parametric Kalman filter (PKF) approach has been studied. However, the conventional PKF requires that all the external excitations (inputs) be available. On the other hand, structural uncertainties are inevitable for civil infrastructures, it is necessary to develop approaches for probabilistic damage detection of structures. In this paper, a parametric Kalman filter with unknown inputs (PKF-UI) is proposed for the simultaneous identification of structural parameters and the unmeasured external inputs. Analytical recursive formulations of the proposed PKF-UI are derived based on the conventional PKF. Two scenarios of linear observation equations and nonlinear observation equations are discussed, respectively. Such a straightforward derivation of PKF-UI is not available in the literature. Then, the proposed PKF-UI is utilized for probabilistic damage detection of structures by considering the uncertainties of structural parameters. Structural damage index and the damage probability are derived from the statistical values of the identified structural parameters of intact and damaged structure. Some numerical examples are used to validate the proposed method.

• Journal of Ocean Engineering and Technology
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• v.23 no.2
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• pp.8-17
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• 2009

This paper presents an adaptive tracking control method for a welding mobile manipulator with several unknown parameters such as the last length of the manipulator, the wheel radius and the distance from the center to the wheel. The mobile manipulator consisted of the manipulator and the mobile-platform. Kinematic modelings for the manipulator and the mobile-platform with several unknown parameters were produced. The tracking error vectors for the manipulator and the mobile-platform were defined. These adaptive controllers were designed based on the Lyapunov function to guarantee the stability of the whole system when the mobile manipulator performs a welding task. Update laws were also designed to estimate the unknown dimensional parameters. To implement the designed controllers, a control system integrated with PIC16F877 microprocessors and a TMS320C32 DSP was developed. Simulation and experimental results are presented to show the effectiveness of the proposed controllers.

• Journal of Advanced Marine Engineering and Technology
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• v.40 no.2
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• pp.131-137
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• 2016

In reliability analysis, it is quite common for the failure of any individual or item to be attributable to more than one cause. Moreover, observed data are often censored. Recently, progressive hybrid censoring schemes have become quite popular in life-testing problems and reliability analysis. However, a limitation of the progressive hybrid censoring scheme is that it cannot be applied when few failures occur before time T. Therefore, generalized progressive hybrid censoring schemes have been introduced. In this article, we derive the likelihood inference of the unknown parameters under the assumptions that the lifetime distributions of different causes are independent and exponentially distributed. We obtain the maximum likelihood estimators of the unknown parameters in exact forms. Asymptotic confidence intervals are also proposed. Bayes estimates and credible intervals of the unknown parameters are obtained under the assumption of gamma priors on the unknown parameters. Different methods are compared using Monte Carlo simulations. One real data set is analyzed for illustrative purposes.

• Proceedings of the KIEE Conference
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• 1988.07a
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• pp.898-901
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• 1988

Up to now, using adaptive control method, Identification deals with system whose entire state variables and prameters are accessible for measurement. In practical situations, all the state variables cannot be measured and it is impossible to directly apply since the parameters of the system are unknown. Therefore, in this paper, using only input-output data, such a model of the system is not available since the parameters of the system are unknown. this leads to the concept of an adptive observer in which both the parameters and the state variable of the system are identified simultaniously. Lyapunov's direct method and Kalman-Yakubovich (K-Y) lemma are employed to ensure the stability of this schemes. The feature is that the signal and adaptive gain which is generated from filter is imposed upon feedback vector and then state variables and the unknown parameters can be identified. To show the usefulness of the proposed schemes, computer simulation result of unknown second-order system shows the effectiveness of the proposed schems.