• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1148-1153
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• 2004

This paper presents the mechanism to increase lateral stability of a mobile robot using an energy stability margin theory. Previous measure of stability used in a wheeled mobile robot has been based on a static stability margin. However, the static stability margin is independent of the height of the robot and does not provide sufficient measure for the amount of stability when the terrain is not a horizontal plane. In this work, the energy stability margin theory, which is dependent on robot's height is used to develop a 2 dof mechanism to increase lateral stability. This proposed mechanism shifts the center of gravity of the robot to the point where the energy stability margin is maximized and overall stability of the robot equipped with this mechanism will be increased.

• KIEE International Transactions on Power Engineering
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• v.4A no.3
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• pp.141-145
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• 2004

FACTS devices, such as the Thyristor Controlled Series Compensator (TCSC) and Static Var Compensators (SVC), can help increase system load margin to improve static voltage stability. In power systems, because of the high cost and the effect value, the optimal placement for FACTS devices must be determined. This paper investigates the use of the series device (SVC) and the parallel device (TCSC) from the point of load margin to increase voltage stability. It considers the sensitivity of load margin to the line reactance and eigenvector of the collapse. The study has been carried out on the IEEE 14 Bus Test System to verify the validity and efficiency of the method. It reveals that incorporation of FACTS devices significantly enhance load margin as well as system stability.

• JSTS:Journal of Semiconductor Technology and Science
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• v.15 no.6
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• pp.685-694
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• 2015

In this paper, a new dynamic reference scheme is proposed to improve the read voltage margin better than the previous static reference scheme. The proposed dynamic reference scheme can be helpful in compensating not only the background pattern dependence but also the cell position dependence. The proposed dynamic reference is verified by simulating the CMOS-memristor hybrid circuit using the practical CMOS SPICE and memristor Verilog-A models. In the simulation, the percentage read voltage margin is compared between the previous static reference scheme and the new dynamic reference scheme. Assuming that the critical percentage of read voltage margin is 5%, the memristor array size with the dynamic scheme can be larger by 60%, compared to the array size with the static one. In addition, for the array size of $64{\times}64$, the interconnect resistance in the array with the dynamic scheme can be increased by 30% than the static reference one. For the array size of $128{\times}128$, the interconnect resistance with the proposed scheme can be improved by 38% than the previous static one, allowing more margin on the variation of interconnect resistance.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.3
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• pp.83-91
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• 2000

During static walking of a quadruped walking robot, stability of the robot depends on whether the projection of the mass center is located within the supporting area that is varying with leg motion and formed by standing legs. In this paper, force margin instead of the mass center was used to determine stability and body-tilting method was used to enhance it. On-line control of body tilting was realized with simple reaction feedback based on force margin of the static walking model of the robot instead of complicated calculation. Model reference on-line control where the model searches stable pose for predefined force margin also gave good walking performance.

• Journal of the Korea Institute of Military Science and Technology
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• v.9 no.1 s.24
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• pp.89-98
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• 2006

This paper describes signal attenuation characteristics as splicing the output on LVDT for stability and reliability of switching mechanism, which is developed to use common signal between FLCC and EDFLCC, on T-50 aircraft. The method of test is classified a Pspice simulation and an actual hardware evaluation. The difference of error margin for two methods is 10times, the latter higher. The result in this experiment shows that the signal attenuation as splicing the output on LVDT doesn't affect and the static error margin is 53% for develope the EDFLCC.

• JSTS:Journal of Semiconductor Technology and Science
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• v.10 no.2
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• pp.118-129
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• 2010

A lower-threshold-voltage (LVth) SRAM cell with an elevated cell biasing scheme, which enables to reduce the random threshold-voltage (Vth) variation and to alleviate the stability-degradation caused by word-line (WL) and cell power line (VDDM) disturbed accesses in row and column directions, has been proposed. The random Vth variation (${\sigma}Vth$) is suppressed by the proposed LVth cell. As a result, the LVth cell reduces the variation of static noise margin (SNM) for the data retention, which enables to maintain a higher SNM over a larger memory size, compared with a conventionally being used higher Vth (HVth) cell. An elevated cell biasing scheme cancels the substantial trade-off relationship between SNM and the write margin (WRTM) in an SRAM cell. Obtained simulation results with a 45-nm CMOS technology model demonstrate that the proposed techniques allow sufficient stability margins to be maintained up to $6{\sigma}$ level with a 0.5-V data retention voltage and a 0.7-V logic bias voltage.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1991.11a
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• pp.146-154
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• 1991

As the application of robotic systems expand its scope, more research efforts are given in providing mobility to the robotic systems so that they can travel across various paths including those with formidable obstacles such as stairways or rough terrains. Legged locomotion is mainly concerned because the walking motion, like that of animal behavior, has many advantages over wheel type or track type locomotion especially in rough terrain. Walking robot, in general, having a discrete number of legs, have inherently low static stability. Static stability can be increased to a certain degree, by improving walking method, but it has many limitations such as reduced travel speed. A very promising possibility lies in the use of balancing weight, nevertheless its actual implementation is very rare. In this study, a 4-legged walking machine is developed and the static stability margin is increased with the balancing weight. In the future, this robot will be used to take an experiment on the walking in mush terrain.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.42-42
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• 2000

This paper concerns an efficient aperiodic static crab walking algorithm for quadruped walking machine in rough terrain. In this algorithm, the requirements for forward stability margin and backward stability margin could be given differently in order to consider the slope of terrain and disturbances resulting from moving velocity. To restrict the searing regions for motion variables, such as moving distances until a leg is lifted or is placed, the standard leg transferring sequence is decided to be that of wave gaits. standard support pattern is also proposed that enables the quadruped to continue forward motion using the standard leg transferring sequence without falling into deadlock.

• ETRI Journal
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• v.29 no.4
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• pp.457-462
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• 2007

This work presents a low-voltage static random access memory (SRAM) technique based on a dual-boosted cell array. For each read/write cycle, the wordline and cell power node of selected SRAM cells are boosted into two different voltage levels. This technique enhances the read static noise margin to a sufficient level without an increase in cell size. It also improves the SRAM circuit speed due to an increase in the cell read-out current. A 0.18 ${\mu}m$ CMOS 256-kbit SRAM macro is fabricated with the proposed technique, which demonstrates 0.8 V operation with 50 MHz while consuming 65 ${\mu}W$/MHz. It also demonstrates an 87% bit error rate reduction while operating with a 43% higher clock frequency compared with that of conventional SRAM.

• Proceedings of the Korean Nuclear Society Conference
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• 1997.05a
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• pp.508-513
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• 1997

One of the moot important constants to be Installed In COLSS, a monitoring system in CE typed reactors, is ROPM which would limit the operating space. This static ROPM was calculated from digital transient analysis assuming that every design basis transient was initiated from the most severe initial condition combination (LCO). Once It could be assured that core condition would not be located at none other than LCO, this static ROPM could be replaced with dynamic ROPM calculated at that condition and the dynamic ROPM would be definitely less than the static ROPM. In order to do, It must be required to calculate the transient discrete sensitivity parameters and parameters change distribution. The purpose of this report is just to propose the enlargement method for thermal margin.