• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.5 s.311
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• pp.19-27
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• 2006

Improvement in gait stability of fault-tolerant gaits for quadruped robots is addressed in this paper. The previously developed fault-tolerant gait gives a quadruped robot the ability to continue its walk against the occurrence of a leg failure. But it has a drawback of having marginal gait stability, which may lead to tumbling when the robot body's center of gravity is perturbed. To overcome such a drawback, a novel fault-tolerant gait is presented in this paper that generates positive stability margin against a locked joint failure, in which a joint of a leg is locked in a known place. Positive stability margin is obtained by adjusting foot positions of supporting legs between leg swing sequences. The advantages of the proposed fault-tolerant gait are discussed by comparing with the previous gait in terms of gait stability, stride length and gait velocity.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.7
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• pp.4494-4499
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• 2014

The margin of transient stability of a weak grid system is very low because of the small short-circuit ratio and large impedance. If the fault of the weak grid is cleared by the protection system, one of the major lines is disconnected after the fault is cleared. This further reduces the system strength. Therefore, it is necessary that a new generation system be added to the weak grid to enhance the transient stability margin. A conventional synchronous generator and wind turbine generator were added to a base grid system. The results of transient stability analysis with additional generators using PSSE were compared. The simulations showed that wind turbine generators provide good damping performance and enhance the transient stability margin based on CCT up to 5 times.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.6
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• pp.651-659
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• 2011

With the increase in the thermal power output of recently developed nuclear power plants, the applied forces and moments are increased in some piping systems, so that the leak-before-break (LBB) application criteria would not be satisfied in those pipes. In this paper, we present a method for obtaining the additive LBB margin in the pipes by considering the nonlinearity of the crack and material properties. Finite element analysis and the moment-rotation equation of beam theory were used to calculate the nonlinearity of the crack and material properties. Moreover crack stability analysis was performed using the method proposed in this study. The LBB margin was increased effectively through consideration of the nonlinearity of the crack and material properties in the pipe.

• Proceedings of the KIEE Conference
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• 2002.11b
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• pp.218-220
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• 2002

본 논문은 시간영역 모의 테크닉과 과도안정도 해석 직접법을 결합한 하이브리드형 방법을 설명한다. 먼저 객체지향기법을 이용한 시간영역 모의를 통해 실제 시스템의 궤도를 계산하고, 과도안정도 여유도를 계산하기 위한 안정도 지수를 유도하기 위해 과도 에너지함수를 평가한다. 일단 시스템의 어떤 상태(안정 또는 불안정)가 확인되면 CPU 시간을 줄이기 위해 시간영역 모의를 중단하기 위한 적절한 기준이 제시되었다.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.11
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• pp.1665-1674
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• 2013

In this paper, we propose a genetic algorithm(GA) based locomotion method of a quadruped robot with waist joint, which makes a quadruped robot walk on the slop efficiently. In the proposed method, we first derive the kinematic model of a quadruped robot with waist joint and then set the gene and the fitness function for GA. In addition, we determine the best attitude for a quadruped robot and the landing point of a foot in the walk space, which has the optimal energy stability margin(ESM). Finally, we verify the effectiveness of the proposed method by comparing with the performance of the previous method through the computer simulations.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.54 no.7
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• pp.337-344
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• 2005

An energy function is derived on the basis of the EMM(Equivalent Mechanical Model) to take account of the effects of tap changer, and then the VC(Voltage Collapse) criteria is proposed to predict the voltage collapse in Power systems. The VC criterion can be evaluated by using the energy margin given by the energy gap between UEP(Unstable Equilibrium Point) and SEP(Stable Equilibrium Point) of the energy function adopted, in which it is noted that the energy contour should be considered due to energy discontinuity associated with tap changing. This paper shows that the proposed VC criterion improves the accuracy of voltage stability analysis with application to a two-bus sample system.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.290_291
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• 2009

우리나라는 냉방부하로 인해 여름철에 연중 전력소모량이 가장 많다. 이때에는 전력설비의 여유도는 가장 낮아져서 전력계통의 취약성이 가장 높아진다. 전기사업자는 송변전설비 신 증설, 발전설비 준공 시기를 여름철 전에 완료하여 최대전력 발생에 대한 준비를 한다. 전력거래소는 여름철을 기준으로 신규로 운영되는 송변전설비 및 발전 설비를 고려하여 전력계통의 안정운영 방안을 수립 한다. 이때 수립된 운영방안과 전력계통의 구성은 향후 1년 동안 우리나라 전력계통의 기본 틀이 된다. 본 논문은 2009년 여름철 최대부하에 대비하여 수립한 전력계통 안정 운영 방안을 기술하고자 한다. 주로 전년도와 비교하여 올해의 설비 변동내용 및 계통변화 내용, 상정고장 발생에 대한 전압안정도 및 과부하를 해소하기 위한 방안, 송전제약 검토결과 등을 소개할 것이다.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.7
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• pp.319-326
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• 2006

This paper proposes a novel fault-tolerant gait for Quadruped robots using energy stability margins. The previously developed fault-tolerant gaits for quadruped robots have a drawback of having marginal stability margin, which may lead to tumbling. In the process of tumbling, the potential energy of the center of gravity goes through a maximum. The larger the difference between the potential energy of the center of gravity of the initial position and that of this maximum, the less the robot tumbles. Hence this difference of potential energy, dubbed as Energy Stability Margin (ESM), can be regarded as the stability margin. In this paper, a novel fault-tolerant gait is presented which gives positive ESM to a quadruped robot suffering from a locked joint failure. Positive ESM is obtained by adjusting foot positions between leg swing sequences. The advantage of the proposed fault-tolerant gait is demonstrated in a case study where a quadruped robot with a failed leg walks on a even slope.

• Nuclear Engineering and Technology
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• v.17 no.4
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• pp.279-289
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• 1985

The purpose of this paper is to investigate the density-wave oscillation type instability in the recirculating loop of U-tube steam generator (UTSG). The perturbed and nodalized conservations equations based on the drift-flux model have been derived to obtain the single-and two-phase pressure drop perturbations, by taking into account the slip between phases, nonuniform heat flux and heated wall dynamics. To assess the stability, the frequency domain technique with the Nyquist criterion has been used under the constant pressure drop boundary condition through the loop. The computer implementation of this model, SASG, was used for the parametric study of the steam generator in Kori-Unit 1. The results of the parametric study revealed important factors influencing UTSG stability margin.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.17 no.10 s.113
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• pp.929-934
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• 2006

In the paper, we suggest a simpler synthesis technique for capacitively-coupled match circuit(CCMC) which have a function of DC block and impedance matching simultaneously, and introduce a stability margin analysis technique for designing microwave amplifier under conditionally stable state. Stability margin analysis is used to determine optimum match point that ensure maximum gain under the given stability margin. It can reduce time consuming work for selecting match points in the conditionally stable state. Also, suggested miniaturization scheme of matching network is distinguished from previous work with respect to reducing deterministic parameters for CCMC synthesis. To verify utility of suggested method, 24 GHz gain block is fabricated under conditionally stable state using an internal thin-film fabrication process, Measured results show a stable gain of 10 dB and flatness of 1 dB, which is well coincident with simulated one.