• The Journal of Korea Robotics Society
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• v.6 no.4
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• pp.301-307
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• 2011

Based on the stability criteria of ZMP (Zero Moment Point), this paper proposes an adjusting algorithm that modifies walking trajectory of a bipedal robot for stable walking by analyzing ZMP trajectory of it. In order to maintain walking balance of the bipedal robot, ZMP should be located within a supporting polygon that is determined by the foot supporting area with stability margin. Initially tilting imposed to the trajectory of the upper body is proposed to transfer ZMP of the given walking trajectory into the stable region for the minimum stability. A neural network method is also proposed for the stable walking trajectory of the biped robot. It uses backpropagation learning with angles and angular velocities of all joints with tilting to get the improved walking trajectory. By applying the optimized walking trajectory that is obtained with the neural network model, the ZMP trajectory of the bipedal robot is certainly located within a stable area of the supporting polygon. Experimental results show that the optimally learned trajectory with neural network gives more stability even though the tilting of the pelvic joint has a great role for walking stability.

• Proceedings of the KIEE Conference
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• 1988.11a
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• pp.135-139
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• 1988

This paper presents a new algorithm using power flow solution which is given by the polar form Newton-Raphson method in a transient stability analysis. The computation time to solve network equations can be much saved by a decoupled power flow method. In addition, the time is much saved in performing a approximate stability analysis by linearizing the differential equations and using a voltage and angle sensitivity matrix given in network equations.

• Geomechanics and Engineering
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• v.34 no.3
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• pp.329-339
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• 2023

The objective of this study is to develop a Stability Evaluation System for retaining walls to assess their safety in real-time during excavation. A ground investigation is typically conducted before construction to gather information about the soil properties and predict wall stability. However, these properties may not accurately reflect the actual ground being excavated. To address this issue, the study employed a differential evolution algorithm to estimate the soil parameters of the actual ground. The estimated results were then used as input for an artificial neural network to evaluate the stability of the retaining walls. The study achieved an average accuracy of over 90% in predicting differential settlement, wall displacement, anchor force, and structural stability of the retaining walls. If implemented at actual excavation sites, this approach would enable real-time prediction of wall stability and facilitate effective safety management. Overall, the developed Stability Evaluation System offers a promising solution for ensuring the stability of retaining walls during construction. By incorporating real-time soil parameter analysis, it enhances the accuracy of stability predictions and contributes to proactive safety management in excavation projects.

• KIEE International Transactions on Power Engineering
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• v.3A no.3
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• pp.139-147
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• 2003

The paper presents a novel approach of constructing the state matrix of the multi-machine power system for SSR (subsynchronous resonance) analysis using the linearized equations of individual devices including electrical transmission network dynamics. The machine models in the local d-q reference frame are integrated with the network models in the common R-I reference frame by simply transforming their output equations into the R-I frame where the transformed output is used as the input to the network dynamics or vice versa. The salient feature of the formulation is that it allows for modular construction of various component models without rearranging the overall state space formulation. This universal SSR small signal stability program provides a flexible tool for systematic analyses of SSR small-signal stability impacts of both conventional devices such as generation systems and novel devices such as power electronic apparatus and their controllers. The paper also presents its application results to IEEE benchmark models.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.5
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• pp.268-276
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• 2003

In this paper, we present a new control and monitoring technique for a power system using CAN(Controller Area Network). Feedback control systems having co'ntrol loops closed through a network(i.e. Ethernet, ControlNet, CAN) are called NCSs(Networked Control Systems). The major problem of NCSs is the variation of stability property according to time delay including network-induced delay and computation delay in nodes. We present a new stability analysis method of NCSs with time delay exploiting a state-space model of LTI(Linear Time Invariant) interconnected systems. The proposed method can determine a proper sampling period of NCSs that preserves stability performance even in NCSs with a dynamic controller. We design CAN nodes which can transmit control and monitoring data through CAN bus and apply these to NCSs for a power system. The results of the experiment validate effectiveness of our control and monitoring technique for a power system.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.3
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• pp.1260-1283
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• 2019

Low earth orbit (LEO) satellite broadband network is a crucial part of the space information network. LEO satellite constellation design is a top-level design, which plays a decisive role in the overall performance of the LEO satellite network. However, the existing works on constellation design mainly focus on the coverage criterion and rarely take network performance into the design process. In this article, we develop a unified framework for constellation optimization design in LEO satellite broadband networks. Several design criteria including network performance and coverage capability are combined into the design process. Firstly, the quality of service (QoS) metrics is presented to evaluate the performance of the LEO satellite broadband network. Also, we propose a network stability model for the rapid change of the satellite network topology. Besides, a mathematical model of constellation optimization design is formulated by considering the network cost-efficiency and stability. Then, an optimization algorithm based on non-dominated sorting genetic algorithm-II (NSGA-II) is provided for the problem of constellation design. Finally, the proposed method is further evaluated through numerical simulations. Simulation results validate the proposed method and show that it is an efficient and effective approach for solving the problem of constellation design in LEO satellite broadband networks.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.313-318
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• 1994

It is well known that the neural network can be used as an universal approximater for functions and functionals. But these theoretical results are just an existence theorem and do not lead to decide the suitable network structure. This doubfulness whether a certain network can approximate a given function or not, brings about serious stability problems when it is used to identify a system. To overcome the stability problem, We suggest successive identification and control scheme with supervisory controller which always assures the identification process within a basin of attraction of one stable equilibrium point regardless of fittness of the network.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.172-177
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• 2006

In the networked control system (NCS), the uncertain network-induced delay and nonlinear controlled object are the main problems, because they can degrade the performance of the control system and even destabilize it. In this paper, a class of uncertain and nonlinear networked control systems is discussed and its sufficient condition for the robust asymptotic stability is presented. Further, the maximum network-induced delay that insures the system stability is obtained. The Lyapunov and LMI theorems are employed to investigate the problem. The result of an illustrative example shows that the robust stability analysis is sufficient.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.3
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• pp.189-195
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• 2000

The mathematical solutions of the stability convergence are important problems in system control. In this paper such problems are analyzed and resolved for system control using multilayer neural networks. We describe an algorithm to control an unknown nonlinear system with a disturbance, using a multilayer neural network. We include a disturbance among the modeling error, and the weight update rules of multilayer neural network are derived to satisfy Lyapunov stability. The overall control system is based upon the feedback linearization method. The weights of the neural network used to approximate a nonlinear function are updated by rules derived in this paper . The proposed control algorithm is verified through computer simulation. That is as the weights of neural network are updated at every sampling time, we show that the output error become finite within a relatively short time.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.1
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• pp.23-28
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• 2015

Two old synchronous condensers in Jeju are being replaced by new machines to operate Jeju AC network with Haenam-Jeju HVDC system stably. Before new synchronous condensers operate on site, voltage stability analysis is conducted to verify stable operation of jeju AC network. Through impedance analysis of the synchronous machine, transformer and ac network, the equivalent circuit is constructed and the voltage drop during start-up is calculated. Then, PSS/E fault analysis is performed to acquire short-circuit capacity according to the generator operation scenarios. Voltage variation when starting synchronous condenser is simulated in PSCAD/EMTDC and satisfies the operating condition of jeju AC network and HVDC #1 system.