• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.241-250
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• 2023

This paper describes the posture stabilization control of a bipedal transformer robot being developed for military use. An inverted pendulum model with a rectangular that considers the robot's inertia is proposed, and a posture stabilization moment that can maintain the body tilt angle is derived by applying disturbance observer and state feedback control. In addition, vertical force and posture stabilization moments that can maintain the body height and balance are derived through QP optimization to obtain the necessary torques and vertical force for each foot. The roll and pitch angles of the IMU sensor attached to the robot's feet are reflected in the ankle joint to enable flexible adaptation to changes in ground inclination. Finally, the effectiveness of the proposed algorithm in posture stabilization is verified by comparing and analyzing the difference in body tilt angle due to disturbances and ground inclination changes with and without algorithm application, using Gazebo dynamic simulation and a down-scale test platform.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.3
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• pp.176-180
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• 2001

In this papers, we derive a simple kinematic and dynamic formulation of an unmanned electric bicycle. We also check the controllability of the stabilization problem of bicycle. We propose a new control algorithm for the self stabilization of unmanned bicycle with bounded wheel speed and steering angle by using nonlinear control based on the sliding patch and stuck phenomena which was introduced by W. Ham. We also propose a sort of optimal control strategy for steering angle and driving wheel speed that make the length of bicycle\`s path be the shortest. From the computer simulation results, we prove the validity of the proposed control algorithm.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.7
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• pp.72-78
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• 2008

The line-of-sight(LOS) stabilization system is a precision electro-mechanical gimbals assembly for suppressing vibration due to its environment and tracking the target in a desired direction. This paper describes the design of gimbals system to reject the disturbance and to improve stabilization. The controller consists of a DSP with transducer and actuator interfaces. Unknown parameters of the gimbals are estimated by the signal compression method. The cross-correlation coefficient between the impulse response from the assumed model and the one from model of the gimbals is used to obtain the better estimation. The quasi-impulse response through linear element included in the gimbals could be obtained by the signal compression method. The unknown parameter of the linear element could be estimated as comparing the bode plots for impulse response from gimbals with them from model's response.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.9
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• pp.3177-3195
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• 2014

In many moving object detection problems of an aerial video, accurate and robust stabilization is of critical importance. In this paper, a novel accurate image alignment algorithm for aerial electronic image stabilization (EIS) is described. The feature points are first selected using optimal derivative filters based Harris detector, which can improve differentiation accuracy and obtain the precise coordinates of feature points. Then we choose the Delaunay Triangulation edges to find the matching pairs between feature points in overlapping images. The most "useful" matching points that belong to the background are used to find the global transformation parameters using the projective invariant. Finally, intentional motion of the camera is accumulated for correction by Sage-Husa adaptive filtering. Experiment results illustrate that the proposed algorithm is applied to the aerial captured video sequences with various dynamic scenes for performance demonstrations.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.3
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• pp.95-101
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• 2004

Stability rating of KSR-III rocket engine is conducted based on stability rating tests in the course of development of KSR-III rocket engine. Rocket engine is approved to have combustion stabilization ability when it can suppress the external perturbation or pressure oscillation with finite amplitude and recover the original stable combustion. Rocket engine in flight may be perturbed by unexpectedly large-amplitude pressure oscillation and thus a designer should not only assure combustion stabilization ability of the engine but also quantify the stabilization capacity. For this, principal quantitative parameters and their evaluation are introduced. To verify dynamic stability of KSR-III rocket engine, six stability rating tests have been conducted. Based on these test results, such parameters are quantified and thereby, the stabilization capacity of KSR-III rocket engine is evaluated.

• International Journal of Contents
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• v.9 no.4
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• pp.72-77
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• 2013

The purpose of this study was to examine the effects of general sling-bridge exercise (GSE) and sling-bridge exercise with rhythmic stabilization technique (SER) on trunk muscle endurance and flexibility in adolescents with low back pain (LBP). 30 adolescents who had complaints of LBP were randomly assigned to one of the two groups: the GSE group (n=15) and SER group (n=15). Subjects performed each exercise programs for 4 weeks with the aim of improving trunk muscle stability; GSE group trained general bridge exercise with sling, SER group trained rhythmic stabilization bridge exercise with sling. The static and dynamic trunk muscle endurance and flexibility were measured before and at the end of the exercise program. The static and dynamic trunk muscle endurance were significantly improved in both groups (p<.05) and the SER group showed significant difference from the GSE group after the exercise (p<.05). The trunk muscle flexibility was significantly improved in both groups (p<.05) and the SER group were significantly different from GSE group post-exercise (p<.05). The results of this study showed that sling bridge exercise with rhythmic stabilization technique may be appropriate for improving trunk muscle stability in adolescents with LBP.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.538-538
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• 2000

This paper presents a learning controller for repetitive gate control of biped robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of teaming control to biped robotic motion is shown via dynamic simulation with 12 dof biped robot.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.79-81
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• 2009

In this paper, we design a dynamic state feedback smooth stabilizer for a nonlinear system whose Jacobian linearization may have uncontrollable because its eigenvalues are on the right half-plane. After designing an augmented system, a dynamic exponent scaling and backstepping enable one to explicitly design a smooth stabilizer and a continuously differentiable Lyapunov function which is positive definite and proper.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.46 no.2
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• pp.7-14
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• 2009

In this paper we consider the problem of global finite-time stabilization for a class of uncertain nonlinear systems which include uncertainties. The uncertainties are time-varying disturbances or parameters belong to a known compact set. The proposed design method is based on backstepping and dynamic exponent scaling using an augmented dynamics, from which, a dynamic smooth feedback controller is derived. The finite-time stability of the closed-loop system and boundedness of the controller are preyed by the finite-time Lyapunov stability theory and a new notion 'degree indicator'.

• The KIPS Transactions:PartA
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• v.10A no.6
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• pp.677-684
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• 2003

Most policies of VOD services are mainly studied about server system, and make no touch on clients buffer stabilization which is the basis of guaranteeing playback quality and playing without cut off. In this paper, we proposed a skipping frame transfer policy that can sending dynamic buffer control signal to server in accordance with clients buffer state of starvation or overrun, and server transfers a skipped frame to client after receive the control signal. And through a simulation, we show the suggested policy is more efficiency on playback quality by buffer stabilization which is by preventing loss and miss for receiving frame due to grow worse client buffer state.