• Proceedings of the Korea Society for Industrial Systems Conference
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• 1997.03a
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• pp.235-246
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• 1997

Hybrid fuzzy gain scheduling controller is composed of a PD control and a fuzzy control for taking the advantage of each scheme. The key structure of the hybrid fuzzy gain scheduling control scheme is so called a switch which calculates weighting values between the fuzzy controller and the PD controller. However, due to the requirement of the switch , the hybrid fuzzy gain scheduling control scheme needs extra fuzzy logic processing, thus the structure is complicated. and requires more calculation time. To eliminate the drawbacks, a new hybrid fuzzy gain scheduling control scheme is proposed in this paper. In the proposed scheme, the membership function, for calculating of weithting value, and the input and output membership functions are combined. Thus the proposed hybrid scheme does not require switch for calculation of weighting value, and as a result, the calculation time is faster and the structure is more simple than the existing hybrid controller. Computer simulation results for an inverted pendulum model under Pole-Placement PID controller, fuzzy gain scheduling controller,existing hybrid controller , and proposed hybrid controller are compared to demonstrate the good property of the proposed hybrid controller.

• International Journal of Railway
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• v.2 no.1
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• pp.22-29
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• 2009

A simple pendulum shows how efficient gravity is in recovering energy. Any transportation is a linearly oscillating system; every load gains kinetic energy, but loses the same to come to a stop. The Gravity Power Towers comprise of a set of vertically moving heavy masses coupled, through microprocessor controlled continuously variable gear and cable system, to a horizontally rolling unit on wheels either on rail or road. The heavy masses move vertically up against gravity gaining potential energy while stopping a moving mass; move down under gravity force, giving out energy. The Tower thus accelerates or sustains the speed a rolling unit, and while decelerating, recover the kinetic energy. Speeds of 360 kmph can be attained. Recovery of energy varies from 98.5-70%; the longer the distance between stops, the lesser is recovery. The economical, omnipresent & eternal Gravity Power grants energy independence to many a nation. Global warming reduces.

• Journal of the Korean earth science society
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• v.24 no.6
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• pp.524-532
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• 2003

The purpose of the present study was to test the hypothesis that student's abductive reasoning skills play an important role in the generation of hypotheses on pendulum motion tasks. To test the hypothesis, a hypothesis-generating test on the pendulum motion and a prior knowledge test about the length of the pendulum motion were developed and administered to a sample of 5th grade children. A significant number of subjects who have the prior knowledge about the length of the pendulum motion failed to apply that prior knowledge to generate a hypothesis on a swing task. These results showed that students' failure in hypothesis-generating was related to their deficiency in abductive reasoning ability, rather than the simple lack of prior knowledge. Furthermore, children's successful generating hypothesis should be required their abductive reasoning skills as well as prior knowledge. Therefore, this study supports the notion that abductive reasoning ability beyond prior knowledge plays an important role in the process of hypothesis-generation. This study suggests that science education should provide teaching about abdctive reasoning as well as scientific declarative knowledge for developing children's hypothesis-generating skills.

• Proceedings of the KIEE Conference
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• 1989.07a
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• pp.57-61
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• 1989

An adaptive control scheme is presented for uncertain systems whose uncertaintiy bounds are expressed as a linear combination of unknown functions of special form. Both the states and the parameter estimate errors of the closed-loop system are proven to be bounded. The regulation errors can be made sufficiently small by adjusting the design parameters. An application of the proposed method to the position control of a simple pendulum is given.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.102-107
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• 1986

This paper presents a new idea to obtain moment of inertia values of an arbitrary shape body by applying inverse modal transformation technique. A multiaxes inertia pendulum apparatus was designed to measure 6 rigid body modes of a test body. A software was developed to calculate inertia properties as well as the location of center of gravity and total mass of the test body from the measured modal data. The developed method was applied to a simple body of which the inertia properties are known then the obtained values were compared with the known values.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.2
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• pp.236-242
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• 2008

In this paper, we propose an optimized fuzzy controller based on Hierarchical Fair Competition-based Genetic Algorithms (HFCGA) for rotary inverted pendulum system. We adopt fuzzy controller to control the rotary inverted pendulum and the fuzzy rules of the fuzzy controller are designed based on the design methodology of Linear Quadratic Regulator (LQR) controller. Simple Genetic Algorithms (SGAs) is well known as optimization algorithms supporting search of a global character. There is a long list of successful usages of GAs reported in different application domains. It should be stressed, however, that GAs could still get trapped in a sub-optimal regions of the search space due to premature convergence. Accordingly the parallel genetic algorithm was developed to eliminate an effect of premature convergence. In particular, as one of diverse types of the PGA, HFCGA has emerged as an effective optimization mechanism for dealing with very large search space. We use HFCGA to optimize the parameter of the fuzzy controller. A comparative analysis between the simulation and the practical experiment demonstrates that the proposed HFCGA based fuzzy controller leads to superb performance in comparison with the conventional LQR controller as well as SGAs based fuzzy controller.

• The Journal of the Korea Contents Association
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• v.10 no.5
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• pp.325-332
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• 2010

The purpose of this study was to investigate the relationship between three quantitative measures of the pendulum test for spasticity in strokes: The relaxation index, the number of oscillations, and the duration of oscillations. Twenty-six stroke subjects participated in the study. Correlations among these measures of spasticity used Pearson's correlation coefficient. There was a statistically significant positive correlation between the relaxation index and number of oscillations in strokes (r=.881, p<.01). In addition there was significant positive correlation between the relaxation index and duration of oscillations (r=.896, p<.01), and between the number of oscillations and duration of oscillations (r=.938, p<.01). Thus, it is possible to use the number of oscillations and duration of oscillations as quantitative measures of spasticity, rather than the relaxation index, which is more complicated to obtain. According to the result of this study, the use of the simple and objective measurements of the number of oscillations and the duration of oscillations are required clinically in the quantitative measures of spasticity in the future.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.22 no.5
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• pp.117-122
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• 2022

In this study, Electromagnetic Induction Power Generation (EMG) is a structure consisting of a stator and a permanent magnet rotor, and is a method that enables power generation by using the kinetic energy of the human arm. Among them, the axial flux permanent magnet (AFPM) technique is a method that can act sensitively to the kinetic energy of the arm at a slow speed of the human body, and has a simple structure and can be designed and manufactured with an ultra-small size. Under the conditions of size of ø46×11mm, rotation speed of 7Hz (420rpm), output voltage 0.4VAC, output current 4.5mA, and output power 30mW were measured and analyzed the same as the target specification. Therefore, the purpose of this study is to study the power generation of the pendulum applying the AFPM (Axial Flux Permanent Magnet) technique to charge power to smart devices with kinetic energy of the human body.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.6
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• pp.1-7
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• 2011

This paper presents implementation and control of a two wheeled mobile robot system which consists of two systems, an inverted pendulum system and a mobile robot system. Control purpose is to regulate its balancing and navigation. The balancing robot has advantages of one point turning and robust balancing against disturbances from the ground. Simulation studies of local and global control methods are performed. Since the robot is implemented to have a symmetrical structure, simple linear control algorithms are used for balancing and navigation. Low cost sensors such as gyro and tilt sensor are fused together to detect the inclined angle. Experimental studies of following desired circular trajectory are conducted.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.136-138
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• 2006

Recently, network systems are widely used in several areas, and some considerable attentions have been directed to the Networked Control System(NCS). In NCS, network-induced delays are inevitable, and they sometimes degrade the performance of networked control systems to be a source of potential instability. In this paper, We proposes a compensation method for networked control system subject to network-induced delays by using a simple method, which is based on a sort of predictive strategy. To evaluate its feasibility and effectiveness, a real-time NCS for a rotary inverted pendulum is implemented via an Ethernet. Based on the experimental results. we show that the proposed simple method can be a practical and feasible solution to NCS design.