• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.9
• /
• pp.959-966
• /
• 2009

An essential consideration when analyzing the gait of walking robots is their ability to maintain stability during walking. Therefore, this study proposes a vertical waist-jointed walking robot and gait algorithm to increase the gait stability margin while walking on the slope. First, the energy stability margin is compared according to the posture of the walking motion on slope. Next, a vertical waist-jointed walking robot is modeled to analyze the stability margin in given assumption. We describe new parameters, joint angle and position of a vertical waist-joint to get COG (center of gravity of a body) in walking. Finally, we prove the superiority of the proposed gait algorithm using simulation and conclude the results.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.24 no.3
• /
• pp.207-214
• /
• 2019

In this study, discrete-time domain analysis is proposed to investigate the input current of a buck AC/DC light-emitting diode (LED) driver. The buck power factor correction converter can operate in both discontinuous conduction mode (DCM) and continuous conduction mode (CCM). Two discontinuous and two continuous conduction operating modes are possible depending on which event terminates the conduction of the main switch in a switching cycle. All four operating modes are considered in the discrete-time domain analysis. The peak current-mode control with slope compensation is used to design a low-cost AC/DC LED driver. A slope compensation design of the buck AC/DC LED driver is described on the basis of a discrete-time domain analysis. Experimental results are presented to confirm the usefulness of the proposed analysis.

• The Transactions of the Korean Institute of Electrical Engineers B
• /
• v.55 no.1
• /
• pp.9-15
• /
• 2006

The conventional hysterysis band DTC(Direct Torque Control) strategy have relatively high torque ripple at low speed and variable switching frequency according to motor speed even though it provides a fast torque response with very simple scheme consisted with only two hysteresis band comparators and a switching table for torque and flux control. In this paper, author proposed a new DTC scheme based on the torque slope and reference voltage control. The new scheme can maintain the minimized torque ripple and constant switching frequency. Experimental tests carried out with an 1.5kW induction motor drive system show improved dynamic characteristics and prove the feasibility of proposed strategy.

• Proceedings of the Korean Society for Agricultural Machinery Conference
• /
• 2000.11c
• /
• pp.690-697
• /
• 2000

The objective of this study is to develop a method that is able to realize autonomous traveling for tractor-like robot on the slope terrain. A neural network (NN) and genetic algorithms (GAs) have been used for resolving nonlinear problems in this system. The NN is applied to create a vehicle simulator that is capable to describe the motion of the tractor robot on the slope, while it is impossible by the common dynamics way. Using this vehicle simulator, a control law optimized by GAs was established and installed in the computer to control the steering wheel of tractor robot. The autonomous traveling carried out on a 14-degree slope had initial successful results.

• Proceedings of the KIEE Conference
• /
• 2015.07a
• /
• pp.1052-1053
• /
• 2015

풍력발전기의 대용량화와 전력변환장치를 이용한 출력 안정화로 인하여 그리드 코드에서는 상정 사고 시 풍력발전기를 탈락시키지 않고 전압제어에 참여하도록 요구하고 있다. 풍력발전단지의 전압제어참여는 크게 단지 레벨과 발전기 레벨로 나누어지며, 개별풍력발전기가 단지 급 제어기로부터 무효전력 지령신호를 받아 필요량을 출력하는 구조이다. 따라서 풍력발전단지와 기존발전기 및 FACTS 설비와의 협조제어 알고리즘 연구에 앞서 개별풍력발전기의 전압제어특성에 대한 선행연구가 필요하다. 풍력발전기는 상정사고 시 전압강하가 크게 발생하는 경우 전압제어 Slope 특성을 이용하여 무효전력출력량을 산정하여 제어하도록 구성되어있다. 본 논문에서는 서로 다른 무효전력 출력 전압제어 Slope를 갖는 영구 자석형 풍력발전기의 출력특성에 대하여 모의하였으며, 해외 독일 Grid Code인 E.ON 및 SDLWindV에서 제안하는 전압데드밴드 변경 및 K_slope 변경을 통해 풍력발전기가 전압제어에 효과적으로 참여하여 전압강하가 개선됨을 증명하였다.

• Journal of the Korean Society of Environmental Restoration Technology
• /
• v.9 no.6
• /
• pp.123-132
• /
• 2006

This research was studied to inverstigate the effect of plant mixtures and tackifibers on the vegetation of slope sites. 5 type plant mixtures(tree type, forest type, native herbaceous plant type, foreign herbaceous plant type, and cool-season turfgrass type) and 3 different tackifibers (Guar tackifibers, Polyarchrylamide tackifibers and Cellulose methyl starch) were treated with 3 replications on the experimented slope. The germination and coverage rate were high on native and foreign herbaceous plants and low on cool-season turfgrass, forest and tree types. We could notice that herbaceous plant types were effective on the vegetation of slope in the short term. Because tree or forest type vegetations similar to natural plant habitat, however, were preferable on slope vegetation in the long term, tree species of high germination rate should be selected in this experiment for tree or forest type slope vegetations. Tackifiber treatments increased the germination rate during the early treatment stage. However, the effect of tackifiber treatment on germination rate was decreased on the elapse of time. Guar tackifiber treatment was most effective on the vegetation of slope. As far as soil erosion control was concerned, all tackifiber treatments were effective compared to control.

• The Journal of Engineering Geology
• /
• v.16 no.2 s.48
• /
• pp.189-199
• /
• 2006

This paper presents a field study of the stability of slope collapsed during road construction and proposes a reasonable countermeasure if the current slope is unstable. As a result of slope investigation, it was found that the slope includes five tension cracks and the sliding surface is started from the tension crack and propagated the surface soil layer through weathered rock layer. The slope stability analyses are conducted in case of dry and rainfall seasons. The results indicate that the slope is unstable status. A reinforcement method of slope failure should be selected according to the scale of failure. That is, the scale of slope failure, which is classified small, middle and large size determines the reinforcement method of slope. Since the slope interested in this study is large size failure slope, the reinforcement method to control slope failure is selected stabilizing piles, and seed spray and drainage of surface waterare also selected to remain the factor of safety. The SLOPILE (Ver. 3.0) program is applied in order to do stability analysis of slope reinforced by piles. As the result of analysis, the slope reinforced by a row of piles shows the stable state. It is clearly confirmed that the stabilizing of piles can improve the stability of slope.

• Journal of the Korean Society of Visualization
• /
• v.19 no.1
• /
• pp.12-17
• /
• 2021

A three-dimensional slope valve component is used for controlling micro volume of liquid on a centrifugal force-based microfluidic disk platform, also called a lab-on-a-disk. The modeling factor of the slope valve component is determined to centrifugal force for liquid passing the crest of a slope valve via variation of slope length and angle as well as the radius to start point of slope valve. The centrifugal force is calculated by the equilibrium equation of the capillary and gravitational forces according to the microchannel surface roughness and the liquid volume, respectively. As a result, the slope valve is analyzed by the minimum angular velocity for liquid passing at crest point and the ratio between the length of micro liquid and slope length to obtain the factors for optimal slope angle modeling.

• The Journal of Engineering Geology
• /
• v.24 no.2
• /
• pp.191-199
• /
• 2014

We describe a method for detecting slope instability in flume tests using pore pressure and water content data in conjunction with a statistical control chart analysis. Specifically, we conducted univariate statistical analysis on x-MR control chart data (pore pressure and water content) collected at several points along the flume slope, which we separated into three parts: upper, middle, and lower. To assess our results in the context of landslide forecasting and warning systems, we applied control limit lines at $1{\sigma}$, $2{\sigma}$, and $3{\sigma}$ levels of uncertainty. In doing so, we observed that dispersion time varies depending on the control limit line used. Moreover, the detection of instabilities is highly dependent on the position and type of sensor. Our findings indicate that different characteristics of the data on various factors predict slope failure differently and these characteristics can be identified by univariate statistical analysis. Therefore, we suggest that a univariate statistical approach is an effective method for the early detection of slope instability.

• International Journal of Control, Automation, and Systems
• /
• v.4 no.2
• /
• pp.197-203
• /
• 2006

This paper addresses dynamic modeling and task-space trajectory following issues for nonholonomic mobile manipulators moving on a slope. An integrated dynamic modeling method is proposed considering nonholonomic constraints and interactive motions. An adaptive neural-fuzzy controller is presented for end-effector trajectory following, which does not rely on precise apriori knowledge of dynamic parameters and can suppress bounded external disturbances. Effectiveness of the proposed algorithm is verified through simulations.