• International Journal of Automotive Technology
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• v.7 no.2
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• pp.201-208
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• 2006

This paper describes the control philosophy of ESP(Electronic Stability Program) which consists of the stability control the fault diagnosis and the fault tolerant control. Besides the functional performance of the stability control, robustness of control and fault diagnosis is focused to avoid the unnecessary activation of the controller. The look-up tables are mentioned to have the accurate target yaw rate of the vehicle and obtained from vehicle tests for the whole operation range of the steering wheel angle and the vehicle speed. The wheel slip control with a design goal of wheel slip invariance is implemented for the yaw compensation and the target wheel slip is determined by difference between the target yaw rate and actual yaw rate. Since the ESP has a high severity level and the robust control is required, the robustness margin for the stability control is determined according to several uncertainties and the robust fault diagnosis is performed. Both computer simulation and test results are shown in this paper.

• Journal of Electrical Engineering and Technology
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• v.6 no.4
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• pp.474-483
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• 2011

Solid-state fault current limiters (SSFCL) in power systems are alternative devices to limit prospective short circuit currents from reaching lower levels. Fault current limiters (FCL) can be classified into two categories: R-type (resistive) FCLs and L-type (inductive) FCLs. L-type FCL uses an inductor to limit fault level and is more efficient in suppressing voltage drop during a fault. In contrast, R-type FCL is constructed with a resistance and is more effective in consuming the acceleration energy of generators during a fault. Both functions enhance the transient stability of the power system. In the present paper, a novel SSFCL is proposed to enhance power system transient stability and power quality. The proposed SSFCL uses both functions of an L-type and R-type FCL. SSFCL consists of four diodes, one self-turn-off IGCT, a current-limiting by-pass inductor (L), and a variable resistance parallel with an inductor for improvement of power system stability and prevention of over-voltage across SSFCL. The main advantages of the proposed SSFCL are the simplicity of its structure and control, low steady-state impedance, fast response, and the existence of R-type and Ltype impedances during the fault, all of which improve power system stability and power quality. Simulations are accomplished in PSCAD/EMTDC.

• 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.

• Proceedings of the Korean Geotechical Society Conference
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• 2007.09a
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• pp.182-185
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• 2007

It is important to identify the fault for solving the problem about slope failure and landslides. This brief report is to review occurrence and characteristics of the fault. Also, this is to introduce the geotechnical characteristics and properties of the fault and suggests how the fault affects to the cut slope stability and propose countermeasures with respect to the fault.

• Journal of Mechanical Science and Technology
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• v.18 no.11
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• pp.1961-1968
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• 2004

The design of a reliable and failsafe control system requires that sensor failures be detected and identified within acceptable time limit so that system malfunction can be prevented. This paper presents a model-based approach to sensor fault detection with applications to vehicle stability control systems. The effectiveness of the proposed method is illustrated through test data-based evaluation. Vehicle test data-based evaluation results show that the proposed fault management scheme can be used for the design of a failsafe VSCs.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2183-2187
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• 2005

In this paper we propose a new fault detection and isolation (FDI) method for those faults of parameter change type. First, we design a residual generator based on the ${\delta}$-operator model of the plant by using the stable pseudo inverse system. Second, the parameter change is estimated by using the property of the block Hankel operator. Third, reliability with respect to stability is quantified. Fourth, the limitations for the meaningful diagnosis in our method are given. The numerical examples demonstrate the effectiveness of the proposed method.

• Proceedings of the Korean Geotechical Society Conference
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• 2001.03a
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• pp.105-112
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• 2001

The purpose of this study is to assess the stability of tunnel for a high speed railway crossing the fault zone. The area where the tunnel crossed the fault zone can be unstable during construction and operation. Geotechnical investigations have been conducted to determine an optimum excavation method by obtaining the material properties around the fault zone and to check the stability of the tunnel. For the numerical analysis, the FLAC, numerical analysis code based on finite difference method, was utilized to analyze the behavior of the fault at three points having typical ground conditions. Based on the results of numerical analysis, the combinations of compaction grouting and LW grouting were determined as suitable methods for pre-excavation Improvement of the ground surrounding the tunnel opening. In conclusion, the stability of the tunnel construction for the high speed railway within the fault zone may be obtained by adopting the optimum excavation method and the reinforcement method. The numerical analysis based on FLAC program contains errors caused by assumptions used in numerical analysis, therefore constant monitoring with respect to the change of ground condition and groundwater is highly recommended to minimize the numerical error and the possibility of damage to tunnel.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.736-740
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• 2004

In order to overcome the problems of simulation methods, the power system transient stability assessment method using critical fault clearing time functions has been developed. Using the above method, this paper has developed the new method which can assess accurately and efficiently the effects of control and protection systems on transient stability which is the most important characteristic to assess in power systems. At first, critical fault clearing time functions CCT(W:load) are defined by taking notice of the fact that transient stability is mainly controlled by fault clearing time and load. Next, the method to be enable to assess accurately and efficiently the effects of control and protection systems on transient stability has been newly developed by using the above functions. Finally, it has been applied to the effect assessment in the occurrence of a three-phase fault in a model power system. Results of application have been clarified its effectiveness.

• 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.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.48 no.5
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• pp.227-232
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• 1999

The stability of Power system installed Hi-Tc Superconducting Fault Current Limiter(SFCL) is analyzed as a process of developing SFCL. For investigation, a simple mimic system(only one generator) is assumed and then the circuit with SFCL in that system is solved for transient performance. In case the SFCL is installed in the power system, it protected synchronization more effectively both in symmetrical 3-phase fault and single phase line to ground fault in that the machine remains in synchronism for the more time than of without superconducting fault current limiter. It shows that the superconducting fault current limiter not only limits fault current but also protest synchronism. So for design of this SFCL, its synchronism protection property must be considered.