• 한국해양공학회지
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• 제23권2호
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• pp.1-7
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• 2009

This paper presents a sliding mode controller based on Ackermann's formula and applies it to stabilizing a two-wheeled mobile inverted pendulum in equilibrium. The mobile inverted pendulum is a system with an inverted pendulum on a mobile cart. The dynamic modeling of the mobile inverted pendulum was established under the assumptions of a cart with no slip and a pendulum with only planar motion. The proposed sliding mode controller was based upon a class of nonlinear systems whose nonlinear part of the modeling can be linearly parameterized. The sliding surface was obtained in an explicit form using Ackermann's formula, and then a control law was designed from reachability conditions and made the sliding surface attractive to the equilibrium state of the mobile inverted pendulum. The proposed controller was implemented in a Microchip PIC16F877 micro-controller. The developed overall control system is described. The simulation and experimental results are presented to show the effectiveness of the modeling and controller.

• 한국측량학회지
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• 제22권3호
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• pp.217-223
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• 2004

실시간 측위 정확도 향상을 위해 많은 방법들이 수행되고 있다. 그 중에 하나가 위상 데이터를 처리함으로써 정밀한 위치 해를 제공해 주는 Inverted RTK(Real-time kinematic)이다. Inverted RTK 측위를 위해서는 최소 1～2분 정도의 1Hz 관측 데이터와 부가적으로 여러 상시 관측소 및 통신 시스템 그리고 데이터 프로세싱 서버가 필요하다. 실시간 응용을 위해서 L1 코드와 반송파 위상 데이터가 동시에 사용되었으며 모호 정수 추정을 위해 칼만 필터를 사용하였다. 또한 이중 차분된 참 모호 정수는 FARA(Fast Ambiguity Resolution Approach)를 이용하여 결정하였다. 본 연구에서는 다양한 기선에 대한 필드 테스트 수행 결과를 제시하였다.

• 한국표면공학회지
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• 제50권5호
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• pp.315-321
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• 2017

Antireflective pyramid arrays can be readily obtained via anisotropic etching in alkaline solution (KOH, NaOH), which is widely used in crystalline-Si (c-Si) solar cells. The periodic inverted pyramid arrays show even lower light reflectivity because of their superior light-trapping characteristics. Since this inverted pyramidal structures are mostly achieved using very complex techniques such as photolithograpy and laser processes requiring extra costs, here, we demonstrate the Cu-nanoparticle assisted chemical etching processes to make the inverted pyramidal arrays without the need of photolithography. We have mainly controlled the concentration of $Cu(NO_3)_2$, HF, $H_2O_2$ and temperature as well as time factors that affecting the reaction. Optimal inverted pyramid structure was obtained through reaction parameters control. The reflectance of inverted pyramid arrays showed < 10% over 400 to 1100 nm wavelength range while showing 15~20% in random pyramid arrays.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2569-2572
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• 2003

In this paper, we Proposed the inverted pendulum control method using single neuron neural network that have weights as PID parameters. The proposed method has three inputs(proportion, integration, differentiation term of the error), and uses weights as P, I, D parameters. In order to verify the effectiveness of the proposed method, we experimented on the rotary inverted pendulum with load effect disturbance. The results showed the effectiveness and robustness of the proposed pendulum controller.

• Journal of Advanced Marine Engineering and Technology
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• 제21권5호
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• pp.571-578
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• 1997

This paper presents a method for designing a control system to stand upright inverted triangle. A linearized model is obtained form the nonlinear system by Taylor series expansion and a state controller is designed based on the model. After implementing the control system which is combined control law and estimator with reference input, experiments are carried out to stand upright inverted triangle at any angluar position.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.124-124
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• 2000

In this paper, The PID controller for stabilization of an inverted pendulum system is proposed. The PR control rule is very common in control systems. It is the basic tool for solving most process control problem. We consider the inverted pendulum system containing two PID controllers. The first controls the angle of the pendulum. The second is used to control the position of the cart. We can show stabilization of the PID controller through simulation of the inverted pendulum system.

• 한국지능시스템학회논문지
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• 제13권2호
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• pp.137-147
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• 2003

새로운 3차원 도립진자 시스템의 구현 및 퍼지제어에 관하여 논한다. 기존의 1차원 또는 2차원 도립진자 시스템과 달리, 3차원 도립진자 시스템은 상하 운동을 포함하는 인간의 도립진자 제어행위를 적절히 모사할 수 있는 새로운 시스템이다. 3차원 도립진자 시스템의 특성 분석과 퍼지제어기 설계를 위하여 3축 직교로봇과 도립진자를 포함하는 기구부의 동력학식을 유도한다. 로봇의 여유자유도와 제한된 작업영역을 고려하면서 도립진자의 요오(yaw) 및 피치(pitch)각을 제어하기 위한 퍼지제어기 설계 방법을 제안한다. 개발된 PC 기반의 다축제어보드를 이용한 실험 결과를 통하여 제안된 시스템의 성능을 검증한다.

• Archives of Plastic Surgery
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• 제38권3호
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• pp.300-308
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• 2011

Purpose: The goal of reduction mammaplasty is breast with natural cone shape, minimizing scars, well-placed and sensate nipple-areolar area and maintaining breast physiology. In order to satisfy that goal, variable reduction mammaplasty methods are performed, however, two methods such as vertical reduction method and inverted T-scar method are currently most used. We compared indications and advantages of the two methods and set up useful guidlines. Methods: For 15 years from 1995 to 2010, we experienced 84 patients (162 breasts). We performed vertical reduction method as Lejour's superior pedicle technique (45 patients) and inverted T-scar method as Goldwyn's inferior dermal flap technique (39 patients). We evaluated the result of the operation comparing patient's age, amount of resected tissue, complications and post-operative scars of the two methods. Results: The mean age was 36 years and the vertical reduction group was 3 years younger than inverted T-scar group. The mean breast tissue resection amount per one breast, inverted T-scar group (712 gm) was lagger than vertical reduction group (395 gm). Conclusion: There is no ideal method for reduction mammaplasty until now. However, we suggest that guide line, the vertical reduction method is effective for minimal and moderate macromastia in young and middle aged women and inverted T-scar method is appropriate for severe macromastia with ptosis in elderly women. Recently, all procedures tried shorter and smaller scar on the vertical line as small I, J or L shape scar, and inframammary fold as short inverted T-scar.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.188-191
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• 1996

In this paper, we derive dynamic equation of double pole inverted pendulum using Lagrangian equation, and design the fuzzy sliding mode controller. We demonstrate that the designed controller regulates double pole simultaneously regardless of cart position by computer simulation.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.84-91
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• 2002

A new composite control method for a carriage balancing single inverted pendulum system is proposed and applied to swing up the pendulum and to stabilize it under the state constraint. The target inverted pendulum system has an extremely limited length of the cart(below 16cm). The proposed swing-up controller comprises a sliding mode control algorithm and an optimal control algorithm based on two regions: the region near the inverted unstable equilibrium position and the rest of the state space including the downward stable equilibrium position. The sliding mode controller uses a switching control action to converge along the specified path(hyperplane) derived from energy equation from a state around the path to desired state(standing position). An optimal control method is also used to guarantee the stability at unstable equilibrium position. Compared with the reported controllers, it is simpler and easier to implement. Experimental results are given to show the effectiveness of this controller.