• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1995.10a
• /
• pp.315-318
• /
• 1995

In this paper, an optimal trunk trajectory for stable walking of biped robots is expressed as a simple differential equation, which is then solved by numerical methods. We used ZMP (Zero Moment Point), the virtual total ground reaction point within the region of the supporting food, as the criterion of stability of biped robot walking. If the ZMP is located outside of the stable region in dynamic walking, biped robots fall down. The biped robot considered in this paper consists of two legs and a trunk. The trajectories of the two legs and the ZMP of the biped robot are determined such that they are similar ti those of a human. Based upon those trajectories, the trunk trajectory is solved by numerically integrating differential dynamic equations. Leg motions are controlled by the computed torque control method. The effectiveness of control algorithm as well as the trajectories is confirmed by computer simulations.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.36 no.3
• /
• pp.244-249
• /
• 2008

In this paper, the stable region for missile guidance loop employing an integrated proportional navigation guidance law is derived. The missile guidance loop is formulated as a closed-loop control system consisting of a linear time-invariant feed-forward block and a time-varying feedback gain. By applying the circle criterion to the system, a bound for the time of flight up to which stability can be assured is established as functions of flight time. Less conservative results, as compared to the result by Popov criterion, are obtained.

• 한국연소학회:학술대회논문집
• /
• 2002.11a
• /
• pp.149-155
• /
• 2002

A promising new approach to achieve low pollutants emission and improvement of flame stabilities is tested experimentally using a hybrid cyclone jet combustor employing both premixed and diffusion combustion mode, Three kind of nozzles are used for LNG(Liquified Natural Gas) as a fuel. The combustor is operated by two method, One is ATI(Air Tangential Injection) mode, generated swirl flow by air as general swirl combustor, and the other is PTI(Premixed gas Tangential Injection) mode, The PTI mode consists of diffusion flame of axial direction and premixed cyclone flame of tangential direction in order to stabilized the diffusion flame. The results showed that the stable region of the PTI mode is more larger than the ATI mode. In addition, the reduction of NOx emission in PTI mode, as compared with that for the ATI mode is at least 50% in stable region. Also, even using the low calorific fuel as $CO_2$-blended gas, the cyclone jet combustor has high performance of flame stability.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2003.11a
• /
• pp.277-283
• /
• 2003

It is well known that the natural frequencies of the pipe come to be lower as internal fluid velocity and pressure increase, and the pipe will be unstable if the fluid velocity is higher than critical velocity. But even if the velocity of the fluid below the critical velocity, resonance will be caused by pulsation of the fluid. So it should be also taken into consideration that the effect of pulsating fluid in pipe design. The research of the piping system vibration due to a fluid pulsation has been studied by many people. But almost is dealt with determining the boundary between stable and unstable region without analyzing forced response in the stable region. In this study, not only stability analysis but also forced response analysis, which is caused by harmonically excited fluid especially, is conducted.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.8 no.1 s.20
• /
• pp.81-91
• /
• 2005

It is well known that the natural frequencies of the pipe come to be lower as internal fluid velocity and pressure increase, and the pipe will be unstable if the fluid velocity is higher than critical velocity. But even if the velocity of the fluid below the critical velocity, resonance will be caused by pulsation of the fluid. So the effects of pulsating fluid in pipe should be also taken into consideration for better analysis. The research of the vibration of piping system due to a fluid pulsation has been studied by many people. But most of them are dealt with determining the boundary between stable and unstable region without analyzing forced response in the stable region. In this study, not only stability analysis but also forced response analysis, which is caused by harmonically excited fluid especially, is conducted. In order to analyze the system numerically, the descretized equation is formulated by using FEM(Finite Element Method). And the results of this method are compared with those of AMM(Assumed Mode Method) which were used by many researcher earlier.

• Proceedings of the KIEE Conference
• /
• 2000.07d
• /
• pp.2687-2689
• /
• 2000

In many cases the systems are so complex that it is not possible to obtain reasonable models using physical insight. Also a model based on physical insight contains a number of unknown parameters even if the structure is derived from physical laws. These problems can be solved by system identification. In this paper, Arago's disk system which has both stable and unstable regions is selected as an example for identification and a state-space model is identified using tailor-made model structure of this system. In stable region, a state-space model of Arago's disk system is identified through open loop experiment and a state-space model of unstable region is identified through closed loop experiment after using fuzzy controller to stabilize unstable system.

• ETRI Journal
• /
• v.37 no.4
• /
• pp.780-786
• /
• 2015

This paper describes an audio source separation that is based on nonnegative matrix factorization (NMF) and expectation maximization (EM). For stable and highperformance separation, an effective auxiliary source separation that extracts source residuals and reprojects them onto proper sources is proposed by taking into account an ambiguous region among sources and a source's refinement. Specifically, an additional NMF (model) is designed for the ambiguous region - whose elements are not easily represented by any existing or predefined NMFs of the sources. The residual signal can be extracted by inserting the aforementioned model into the NMF-EM-based audio separation. Then, it is refined by the weighted parameters of the separation and reprojected onto the separated sources. Experimental results demonstrate that the proposed scheme (outlined above) is more stable and outperforms existing algorithms by, on average, 4.4 dB in terms of the source distortion ratio.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.2271-2274
• /
• 2005

The desired ZMP is different from the actual ZMP of a humanoid robot during actual walking and stand upright. A humanoid robot must maintain its stable posture although external force is given to the robot. A humanoid robot can know its stability with ZMP. Actual ZMP may be moved out of the foot-print polygons by external disturbance or uneven ground surfaces. If the position of ZMP moves out of stable region, the stability can not be guaranteed. Therefore, The control of the ZMP is necessary. In this paper, ZMP control algorithm is proposed. Herein, the ZMP control uses difference between desired ZMP and actual ZMP. The proposed algorithm gives reaction moment with ankle joint when external force is supplied. 3D simulator shows motion of a humanoid robot and calculated data.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
• /
• 2001.10a
• /
• pp.282-286
• /
• 2001

In this study, CT specimens were prepared from spring steel(SUP9) processed shot peening which was room temperature, low temperature and high temperature experiment. And we got the following characteristics from fatigue crack growth test carried out in the environment of room, low temperature and high temperature at $25^{\circ}C$,$-30^{\circ}C$,$-50^{\circ}C$,$-70^{\circ}C$ and $-100^{\circ}C$ in the range of stress ratio of 0.05 by means of opening mode displacement. The threshold stress intensity factor range $\Delta K_{th}$ in the early stage of fatigue crack growth (Region I ) and stress intensity factor range $\Delta K$ in the stable of fatigue crack growth (Region II) was decreased in proportion to descend temperature. It assumed that the fatigue resistance characteristics and fracture strength at low temperature and high temperature is considerable higher than that of room temperature in the early stage and stable of fatigue crack growth region.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
• /
• 2002.05a
• /
• pp.167-172
• /
• 2002

In this study, CT specimens were prepared from spring steel(SUP9) processed shot peening which was room temperature, high temperature experiment. And ire got the following characteristics from fatigue crack growth test carried out in the environment of room, and high temperature at $25^{\circ}C,\;100^{\circ}C,\;150^{\circ}C$ and $180^{\circ}C$ in the range of stress ratio of 0.3 by means of opening mode displacement. The threshold stress intensity factor range ${\Delta}Kth$ in the early stage of fatigue crack growth (Region I) and stress intensity (actor range ${\Delta}K$ in the stable of fatigue crack growth (Region II) was decreased in proportion to descend temperature. It assumed that the fatigue resistance characteristics and fracture strength at high temperature is considerable higher than that of room temperature in the early stage and stable of fatigue crack growth region.