• 로봇학회논문지
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• 제5권2호
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• pp.110-119
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• 2010

This paper aims to add the autonomous driving capability to the inverted pendulum system which maintains the inverted pendulum upright stably. For the autonomous driving from the starting position to the goal position, the motion control algorithm is proposed based on the dynamics of the inverted pendulum robot. To derive the dynamic model of the inverted pendulum robot, a three dimensional robot coordinate is defined and the velocity jacobian is newly derived. With the analysis of the wheel rolling motion, the dynamics of inverted pendulum robot are derived and used for the motion control algorithm. To maintain the balance of the inverted pendulum, the autonomous driving strategy is derived step by step considering the acceleration, constant velocity and deceleration states simultaneously. The driving experiments of inverted pendulum robot are performed while maintaining the balance of the inverted pendulum. For reading the positions of the inverted pendulum and wheels, only the encoders are utilized to make the system cheap and reliable. Even though the derived dynamics works for the slanted surface, the experiments are carried out in the standardized flat ground using the inverted pendulum robot in this paper. The experimental data for the wheel rolling and inverted pendulum motions are demonstrated for the straight line motion from a start position to the goal position.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.328-328
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• 2000

In this paper, An inverted pendulum system is typical of a nonlinear model. We propose a stable the inverted pendulum with fuzzy controller and state observer of nonlinear system. we represent the fuzzy system as a Takagj-Sugeno fuzzy model in addition, full-order state observer of inverted pendulum. As the result show fuzzy controller of inverted pendulum with nonlinear model of full-order state observer.

• 제어로봇시스템학회논문지
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• 제10권4호
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• pp.341-349
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• 2004

In this paper, the decentralized neural network control of the reference compensation technique is proposed to control a 2-DOF inverted pendulum on an x-y plane. The cart with the 2-DOF inverted pendulum moves on the x-y plane and the 2-DOF inverted pendulum rotates freely on the x-y axis. Since the 2-DOF inverted pendulum is divided into two 1-DOF inverted pendulums, the decentralized neural network control is applied not only to balance the angle of pendulum, but also to control the position tracking of the cart. Especially, a circular trajectory tracking is tested for position tracking control of the cart while maintaining the angle of the pendulum. Experimental results show that position control of the inverted pendulum system is successful.

• KCI Concrete Journal
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• 제14권1호
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• pp.36-42
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• 2002

Flexural behaviors of the two typical precast beam sections (inverted tee and rectangular) for buildings were investigated and compared. The height of web in the inverted tee beam was generally less than half of beam depth to be adapted to that of the nib in the ends of double-tee where the total building height limited considerably. The inverted-tee beams were designed for a parking live load - 500kgf/$m^2$ and a market - 1,200kgf/$m^2$ from the currently used typical shape of a domestic building site in Korea. The area and bottom dimension of rectangular beams were the same as those of inverted tee beams. These woo beams were also reinforced with a similar strength. following results were obtained from the studies above; 1) the rectangular beam is simpler in production, transportation, and erection, and more economic than the inverted tee beam in the construction test for these two beams with a same dimension and a similar strength, 2) all of the beams considered in the tests were generally failed in values close to those of the strength requirements in ACI Provisions. The ratios of test result to calculated value are averaged to 1.04. One rectangular and one inverted tee beams failed in a value only 2-3％ larger than the estimated volue of the Strength Design Methool the results of the Strain Compatibility Method wire slightly more accurate than those of the Strength Design Method, 4) the maximum deflections of all of the beams under the full service loads were less than those of the allowable limit in ACI Code Provisions. The rectangular beams experienced more deflection then inverted tee in the same loading condition and failed with more deflection, and 5) the rectangular and inverted tee beams showed good performances under the condition of service and ultimate loads. However, one inverted tee beams with fm span developed an initial flexural crackings under 88％ of the full service load even though they designed to satisfy the ACI tensile stress limit provisions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.176.1-176
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• 2001

Conventional researches almost have been focused on the one dimensional inverted pendulum. Recently, Sprenger et al[2] have researched a two dimensional inverted pendulum Observing human's action to control an inverted pendulum, one can recognize that human uses a three dimensional metier including the up and down motion. In this paper, we propose a fuzzy logic controller(FLC) of a new three dimensional inverted pendulum system. We derive a dynamic equation of the mechanism including a 3-axis cartesian robot and a inverted pendulum. We propose a design method of a fuzzy controller of the yaw and pitch angles of a inverted pendulum. In the design, the redundant degree-of-freedom(DOF) of the robot ...

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2003년도 가을 학술발표회 논문집
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• pp.190-193
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• 2003

Flexural-torsional behaviors of the typical architectural precast beam sections - inverted tee and rectangular - were compared. The inverted-tee beams were designed with a parking live load - 500kgf/$\textrm{m}^2$ and a market-1,200kgf/$\textrm{m}^2$ according to the currently used typical shape in the domestic market building site. The rectangular beams were also designed as the same bottom dimension and area, and reinforced for similar strength as in the cases of inverted tee beams. Two rectangular and two inverted precast pretensioned concrete beams were tested and analyzed

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.648-652
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• 1990

In this paper, an Inverted Pendelum is made and its state equation is formulated. Inverted Pendelum position and stabilization control is performed by variable structure system. Because conventional linear controller has difficulty in controlling inverted pendelum by precise method, VSS controller is chosen as a model to stabilize the Pendelum at the unstable equiblium point. In the experiment, the controller is implemented with the PC and it can stabilize the Inverted Pendelum.

• Archives of Plastic Surgery
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• 제34권5호
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• pp.653-655
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• 2007

Purpose: The umbilicus is an important aesthetic component of the abdomen. Its absence is both cosmetically and psychologically distressing to the patient. Umbilical reconstruction should always be aimed at creating an umbilicus of sufficient depth and good morphology with less scarring. The C-V flap developed for nipple reconstruction was used in an inverted fashion in case of umbilical reconstruction. The aim of this article is to report our experience of scarred umbilical reconstruction using inverted C-V flap. Methods: A 22-year-old woman presented with contracted scar tissue in the umbilical region because she had undergone surgical correction of an umbilical hernia at 5 year of age. Pedicle of the inverted C-V flap was based cephalically. For enhancing depth of the umbilicus, three anchoring sutures to linea alba were done at both lateral and caudal aspects of the umbilical tube. Primary closures were done at donor sites of the V flaps and bolster sutures were done in the caudal direction of the inverted umbilical tube. Results: The patient was satisfied with the appearance of umbilicus. Major complications such as dehiscence, infection, and delayed healing did not occur. Conclusion: The inverted C-V flap is easy and simple technique, and it can produce a satisfactory reconstruction of umbilical structure.

• Journal of Advanced Marine Engineering and Technology
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• 제36권1호
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• pp.149-156
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• 2012

본 논문에서는 기존의 PACD (Periodically Arrayed Capacitive Devices) 선로구조가 가지는 고 손실 특성의 문제점을 개선하기 위하여, 단파장 특성이 있는 Inverted PACD 구조를 제안하였다. Inverted PACD 선로구조의 손실특성은 종래의 PACD 구조와 비교하여 훨씬 개선되었으며, 구체적으로 ${\lambda}$/4의 길이를 가지는 Inverted PACD 선로구조의 손실특성은 4GHz에서 0.41dB이다. 그리고 상기 Inverted PACD 선로구조는 종래의 마이크로스트립 선로보다 단파장 특성을 보여주었으며, 구체적으로 종래의 전송선로 파장의 11.85%로 파장이 대폭 축소되었다. MMIC용 초소형 수동소자로서의 응용가능성을 제시하기 위하여, Inverted PACD 선로구조를 이용하여 GaAs MMIC상에 임피던스 변환기를 제작 및 측정하였다. 그 결과 Inverted PACD 선로구조를 이용하여 제작한 임피던스 변환기의 크기는 0.012 $mm^2$이며, 종래의 임피던스 변환기 크기의 1.7%의 면적을 차지하였다. 상기 임피던스 변환기는 2.25~6.5GHz 대역에서 -10dB 이하 반사손실과 -1dB이하의 삽입손실 등 양호한 RF 특성을 보여주었다.

• 제어로봇시스템학회논문지
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• 제5권1호
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• pp.79-87
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• 1999

For its simplicity and cost effectiveness in implementation, the Inverted DGPS is well suited for some specific applications like automatic vehicle location systems, where the monitoring station needs accurate position of the vehicles in the street. In the Inverted DGPS, the user sends its GPS position and associated satellite informations to the reference station, and the corrections are made at the reference station to get differentially corrected user position. A fundamental requirement in IDGPS is that the user and the reference station must use the same satellites when the corrections are made. But in practice, it is not often satisfied. Inverted DGPS is also suffered from performance degradation as the baseline become large like DGPS. IDGPS system using multi-reference station can resolve this problem. In this paper a simple multi-reference IDGPS algorithm is proposed and some experiments and analysis are peformed. Experiment results show that IDGPS can achieve the positioning performance as accurate as the DGPS can provide.