• Journal of Ocean Engineering and Technology
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• v.23 no.2
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• pp.1-7
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• 2009

This paper presents a sliding mode controller based on Ackermann's formula and applies it to stabilizing a two-wheeled mobile inverted pendulum in equilibrium. The mobile inverted pendulum is a system with an inverted pendulum on a mobile cart. The dynamic modeling of the mobile inverted pendulum was established under the assumptions of a cart with no slip and a pendulum with only planar motion. The proposed sliding mode controller was based upon a class of nonlinear systems whose nonlinear part of the modeling can be linearly parameterized. The sliding surface was obtained in an explicit form using Ackermann's formula, and then a control law was designed from reachability conditions and made the sliding surface attractive to the equilibrium state of the mobile inverted pendulum. The proposed controller was implemented in a Microchip PIC16F877 micro-controller. The developed overall control system is described. The simulation and experimental results are presented to show the effectiveness of the modeling and controller.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.22 no.3
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• pp.217-223
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• 2004

In order to improve real-time positioning accuracy, a number of methods have been tested and one of those is the inverted RTK(Real-time kinematic) that gives a precise positioning by handling carrier phase measurements. For the inverted RTK positioning, it needs the L1 phase measurement at least for 1～2 minutes and the additional reference stations/communication system and a data processing server are required. The L1 code and carrier phase measurements for real-time application are used simultaneously and then Kalman filter is applied to estimate integer ambiguities. Double differenced integer ambiguities are resolved by utilizing the FARA(Fast Ambiguity Resolution Approach). In this paper, we propose the method to improve the positioning accuracy and performed the field tests for several baselines from DAEJ reference station in KAO(Korea Astronomy Observatory).

• Journal of the Korean institute of surface engineering
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• v.50 no.5
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• pp.315-321
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• 2017

Antireflective pyramid arrays can be readily obtained via anisotropic etching in alkaline solution (KOH, NaOH), which is widely used in crystalline-Si (c-Si) solar cells. The periodic inverted pyramid arrays show even lower light reflectivity because of their superior light-trapping characteristics. Since this inverted pyramidal structures are mostly achieved using very complex techniques such as photolithograpy and laser processes requiring extra costs, here, we demonstrate the Cu-nanoparticle assisted chemical etching processes to make the inverted pyramidal arrays without the need of photolithography. We have mainly controlled the concentration of $Cu(NO_3)_2$, HF, $H_2O_2$ and temperature as well as time factors that affecting the reaction. Optimal inverted pyramid structure was obtained through reaction parameters control. The reflectance of inverted pyramid arrays showed < 10% over 400 to 1100 nm wavelength range while showing 15~20% in random pyramid arrays.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2569-2572
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• 2003

In this paper, we Proposed the inverted pendulum control method using single neuron neural network that have weights as PID parameters. The proposed method has three inputs(proportion, integration, differentiation term of the error), and uses weights as P, I, D parameters. In order to verify the effectiveness of the proposed method, we experimented on the rotary inverted pendulum with load effect disturbance. The results showed the effectiveness and robustness of the proposed pendulum controller.

• Journal of Advanced Marine Engineering and Technology
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• v.21 no.5
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• pp.571-578
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• 1997

This paper presents a method for designing a control system to stand upright inverted triangle. A linearized model is obtained form the nonlinear system by Taylor series expansion and a state controller is designed based on the model. After implementing the control system which is combined control law and estimator with reference input, experiments are carried out to stand upright inverted triangle at any angluar position.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.124-124
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• 2000

In this paper, The PID controller for stabilization of an inverted pendulum system is proposed. The PR control rule is very common in control systems. It is the basic tool for solving most process control problem. We consider the inverted pendulum system containing two PID controllers. The first controls the angle of the pendulum. The second is used to control the position of the cart. We can show stabilization of the PID controller through simulation of the inverted pendulum system.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.2
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• pp.137-147
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• 2003

The fuzzy control and implementation of a new three-dimensional(3-D) inverted pendulum system are addressed. In comparison with conventional 1-D and 2-D systems, the 3-D inverted pendulum system is a proper benchmark system to simulate human's control action which includes the up and down motion to stabilize an inverted pendulum. To investigate the characteristics of the 3-D inverted pendulum system and to design of a fuzzy controller, we derive dynamic equations of the mechanism including a 3-axis cartesian robot and an inverted pendulum. We propose a design method of a fuzzy controller of the yaw and pitch angles of an inverted pendulum. In the design, the redundant degree-of-freedom(DOF) of the robot and the constrained workspace are taken into account. The performance of the proposed system is proved by experimental results using a developed PC-based Multi-Motion Control(MMC) board.

• Archives of Plastic Surgery
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• v.38 no.3
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• pp.300-308
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• 2011

Purpose: The goal of reduction mammaplasty is breast with natural cone shape, minimizing scars, well-placed and sensate nipple-areolar area and maintaining breast physiology. In order to satisfy that goal, variable reduction mammaplasty methods are performed, however, two methods such as vertical reduction method and inverted T-scar method are currently most used. We compared indications and advantages of the two methods and set up useful guidlines. Methods: For 15 years from 1995 to 2010, we experienced 84 patients (162 breasts). We performed vertical reduction method as Lejour's superior pedicle technique (45 patients) and inverted T-scar method as Goldwyn's inferior dermal flap technique (39 patients). We evaluated the result of the operation comparing patient's age, amount of resected tissue, complications and post-operative scars of the two methods. Results: The mean age was 36 years and the vertical reduction group was 3 years younger than inverted T-scar group. The mean breast tissue resection amount per one breast, inverted T-scar group (712 gm) was lagger than vertical reduction group (395 gm). Conclusion: There is no ideal method for reduction mammaplasty until now. However, we suggest that guide line, the vertical reduction method is effective for minimal and moderate macromastia in young and middle aged women and inverted T-scar method is appropriate for severe macromastia with ptosis in elderly women. Recently, all procedures tried shorter and smaller scar on the vertical line as small I, J or L shape scar, and inframammary fold as short inverted T-scar.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.188-191
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• 1996

In this paper, we derive dynamic equation of double pole inverted pendulum using Lagrangian equation, and design the fuzzy sliding mode controller. We demonstrate that the designed controller regulates double pole simultaneously regardless of cart position by computer simulation.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.84-91
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• 2002

A new composite control method for a carriage balancing single inverted pendulum system is proposed and applied to swing up the pendulum and to stabilize it under the state constraint. The target inverted pendulum system has an extremely limited length of the cart(below 16cm). The proposed swing-up controller comprises a sliding mode control algorithm and an optimal control algorithm based on two regions: the region near the inverted unstable equilibrium position and the rest of the state space including the downward stable equilibrium position. The sliding mode controller uses a switching control action to converge along the specified path(hyperplane) derived from energy equation from a state around the path to desired state(standing position). An optimal control method is also used to guarantee the stability at unstable equilibrium position. Compared with the reported controllers, it is simpler and easier to implement. Experimental results are given to show the effectiveness of this controller.