• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.2
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• pp.133-139
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• 2016

An electric wheelchair is a assistive device to maneuver on the ground. Tip-over of an electric wheelchair is increasing every year. Dynamic stability metric test item in KS P 7176 has not ensured safety of electric wheelchair on the slope. This study presents design the foldable electric wheelchair that can load in the car and analysis of tip-over measurement which is easily computed for electric wheelchair. Wheelchair frame is designed with a four-bar link mechanism for a foldable structure, and seat module, battery and power driving module can be separated. This analysis is performed during a maneuver on the ground by force-moment stability metric. Several elements, center of gravity position, rotational radius and acceleration, were evaluated how to affect stability metric. This stability metric can reduce tip-over of wheelchair and provide a clue to make of dynamic stability test item.

• Steel and Composite Structures
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• v.11 no.5
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• pp.423-434
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• 2011

Tongwamen Bridge is a critical link between Dongmen Island and the land in Shipu town, Zhejiang province, China. It is a 238 m span, half-through, concrete-filled steel tubular (CFST) X-type arch bridge. The width of the deck is only 10 m, yielding a width-to-span ratio of 1/23.8. The plane truss type section rib was adopted, which made of two CFST chords and web member system. The lateral stability is the key issue to this bridge. However, the existing researches on Tongwamen Bridge's lateral stability are all the deterministic structural analysis. In this paper, a new strategy for positioning sampling points of the response surface method (RSM), based on the composite method combining RSM with geometric method for structural reliability analysis, is employed to obtain the reliability index of lateral stability. In addition the correlated parameters were discussed in detail to find the major factors. According to the analysis results, increasing the stiff of lateral braces between the arch ribs and setting the proper inward-incline degree of the arch rib can enhance obviously the reliability of lateral stability. Moreover, the deck action of non-orienting force is less than the two factors above. The calculated results indicate that the arch ribs are safe enough to keep excellent stability, and it provides the foundation that the plane truss rib would be a competitive solution for a long-span, narrow, CFST arch bridge.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.40 no.3
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• pp.316-325
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• 1991

This paper presents the design of a new sliding mode controller to improve the rate of convergence by Lyapunov's stability analysis. The proposed controller shows that the elimination of the steady state position errors can be achieved by replacing the desired trajectory by the virtual reference trajectory. The proposed control scheme which consists of the upper bounded and estimated values of eac term of the manipulator dynamic equation does not require good knowledge of the parameters and the computation of matrix inversion. The performance of proposed controller is evaluated by the simulation for a two-link manipulator.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.2
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• pp.1-9
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• 1996

Although the fuzzy logic controller (FLC) has been adopted in many engineering applications, one hesitates to adopt the FLC in critical applications, since there was no definite control theoretic analysis. In this paper, based on the stability/robustness analysis of an FLC by S.Y.Yi$^{[3]}$, we apply the FLC to robot manipulator with the structured and unstructured uncertainties e.g., load variation and firction, etc. And we verify the performance of the FLC by computer simulation on a simple two-link robot manipulator.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.9 s.186
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• pp.92-101
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• 2006

In this paper a adaptive backstepping control scheme is proposed for control of a do motor driving a one-link manipulator. Fuzzy logic systems are used to approximate the unknown nonlinear function including the parametric uncertainty and disturbance throughout the entire electromechanical system. A compensation controller is also proposed to estimate the bound of approximation error. Thus the asymptotic stability of the closed-loop control system can be obtained. Numerical simulations are included to show the effectiveness of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.74-74
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• 2000

This paper presents a neural network controller for a rigid-link electrically-driven robot. The proposed controller is designed in conjunction with three neural networks approximating for complicated nonlinear functions. Particularly, the fact, different from conventional schemes, is that the neural network based current observer is used. Therefore, no accurate measurement of the actuator driving current is required. In the proposed controller-observer scheme, the derived weight update rule guarantees the stability of closed-loop system in the sense of Lyapunov. The effectiveness and performance of the proposed method are demonstrated through computer simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.435-438
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• 2002

In this paper, a robust controller is proposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of serial link robot dynamics. The stability of the robot with the controller is proved by Lyapunov theory. The results of computer simulations show that the robot system is stable, and has excellent trajectory tracking performance.

• 한국정보디스플레이학회:학술대회논문집
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• 2009.10a
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• pp.112-114
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• 2009

Charge injection at electrode-organic interfaces is key to the performance, lifetime and stability of organic electronic devices. The link between fundamental material properties and the energy-level alignment at electrode-organic interfaces will be discussed. In addition the impact of the injection barrier height-a parameterization of the energylevel alignment-on device characteristics will also be discussed.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.12
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• pp.2196-2201
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• 2011

According to the 5th national plan for electric power demand and supply, the 3rd HVDC link will be installed between KEPCO and Jeju Island system and go into operation in June, 2016. However, if it adopt LCC HVDC, Jeju power system could be in voltage instable condition. In order to solve the problem, we propose the application of VSC HVDC to the 3rd HVDC project. In the past, VSC HVDC has many disadvantages such as, inefficiency in conversion, size limit, and expensiveness, compared to LCC HVDC. Recently, the new technologies and the demand for renewable energy interconnection are leading a large growth in VSC HVDC market. In this paper, we will introduce the technical and market trends of VSC HVDC and power system stability analysis results for Jeju power system having LCC and VSC HVDCs.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.2
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• pp.357-364
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• 2002

A new chattering free sliding made control is proposed for robot manipulators. The control input is derived from the reaching law and the Lyapunov stability criteria, which is only composed of continuous terms. It has a chattering free characteristics and a concise farm. In implementing procedures, no change of equations is needed. Thus, it does not degrade the original merits of the sliding mode control. And it is applied to a 2-link SCARA robot manipulator. It is shown that the proposed control has good trajectory tracking performance compared with the PD control and the conventional sliding mode control which uses the boundary layer concept.