• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.5
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• pp.837-844
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• 2013

This study performs erection of a pendulum hanging at a free end of an arm by rotating the arm to the upright position. A mathematical model of a rotary inverted pendulum system (RIPS) is derived. A brain emotional learning based intelligent controller (BELBIC) is designed and used as a controller for swinging up and balancing the pendulum of the RIPS. In simulations performed in the study, a pendulum is initially inclined at $45^{\circ}$ with respect to the upright position. A simulation is also performed for evaluating the adaptiveness of the designed BELBIC in the case of system variation. In addition, a simulation is performed for evaluating the robustness of the designed BELBIC against a disturbance in the control input.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.176.1-176
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• 2001

Conventional researches almost have been focused on the one dimensional inverted pendulum. Recently, Sprenger et al[2] have researched a two dimensional inverted pendulum Observing human's action to control an inverted pendulum, one can recognize that human uses a three dimensional metier including the up and down motion. In this paper, we propose a fuzzy logic controller(FLC) of a new three dimensional inverted pendulum system. We derive a dynamic equation of the mechanism including a 3-axis cartesian robot and a inverted pendulum. We propose a design method of a fuzzy controller of the yaw and pitch angles of a inverted pendulum. In the design, the redundant degree-of-freedom(DOF) of the robot ...

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.341-345
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• 1996

This paper presents the dynamics and the teal-time control of a horizontally rotating inverted pendulum. The dynamic equations representing three degrees of freedom rigid body motion of the pendulum are derived, and the state feedback controller is applied to the motion control of the pendulum. A 32 bit counter board with 16 bit hardware communication ability is developed to improve the real-time control performance and is applied to a horizontally rotating inverted pendulum. The simulation and experimental studies are conducted to evaluate the performance of the developed pendulum system and the timing in the real-time control is analyzed.

• Structural Engineering and Mechanics
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• v.89 no.6
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• pp.549-556
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• 2024

A serial pendulum dynamic vibration absorber (DVA) was designed to suppress the vibration of two degrees of freedom (Two-DOF) structure model. The optimal DVA parameters are selected using a genetic algorithm (GA) by minimizing the fitness function formulated from the system's frequency response function (FRF). Two fitness function criteria, using one and two target frequency ranges, were utilized to calculate the optimal DVA parameters. The optimized serial pendulum DVA parameters were used to reduce structural vibration under free and forced excitation conditions. The simulation study found that the serial pendulum DVA can effectively reduce the vibration response for a small excitation amplitude. However, the DVA performance decreases for a large excitation amplitude due to the nonlinearity of pendulum motion, and the percentage of vibration response attenuation is smaller than that obtained using a small excitation amplitude.

• Proceedings of the IEEK Conference
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• 2003.07c
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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.

• Coupled systems mechanics
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• v.6 no.2
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• pp.127-139
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• 2017

During the last decades, Pendulum Bearings with one or more concave sliding surfaces have been dominating bridge structures. For bridges with relative small lengths, the use of classical pendulum bearings could be a simple and cheaper solution. This work attempts to investigate the effectiveness of such a system, and especially its behavior for the case of a seismic excitation. The results obtained have shown that the classical pendulum bearings are very effective, mainly for bridges with short or intermediate length.

• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.863-865
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• 1995

The studies about the swing control of the travelling pendulum have been developed in many ways. Most of them deal with the linearized pendulum model. This paper shows that the pendulum can be modelled without linearization by using MATRIXx, the dynamics simulation software. The fuzzy controller for reducing swing of the travelling pendulum is implemented with fuzzy tools supplied by MATRIXx.

• Journal of the korean academy of Pediatric Dentistry
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• v.36 no.3
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• pp.464-474
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• 2009

To distalize the maxillary molars, the traditional techniques such as extra-oral traction, Wilson distalizing arches, removable spring appliances and Schwarz plate-type appliances have been used. But, these need considerable patient cooperation. For minimal patient compliance, many practitioners use the pendulum appliances. Several clinical studies demonstrated pendulum is effective molar distalization appliance in the growing patient(using the premolars and the palate as anchorage). But unfortunately, maxillary anterior teeth also shift mesially as the molar moves distally. As a result anchorage loss is occurred. To overcome these disadvantages, we used bone-supported pendulum, combined the conventional pendulum with Skeletal Anchorage System(SAS). The miniscrew was implanted in the anterior paramedian region of the median palatal suture, which has comparatively sufficient bone thickness and is low risk to damage on the dental follicles. We report three cases, using bone-supported pendulum for the maxillary molar distalization in children. After treatment, we find out anchorage stability, minimal unfavorable anterior tooth movement and sufficient molar distalization.

• Journal of Ocean Engineering and Technology
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• v.23 no.2
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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.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.3
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• pp.63-70
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• 2010

We are able to find many materials of pendulum dynamic/analysis using linearized model. Usually, analysis of pendulum is to calculate for velocity, period and angle by linearized model on Newton's law. In this paper, analyzed periodical movement of pendulum using nonlinear load model. That is, analyzed load value according to location of moving pendulum at real time. And for the shake of maneuver for pendulum's location, found load control value and compared result of linearized mode with nonlinear model. The result makes know that it is possibility of nonlinear load control model to apply to various model of movement object including flight object, pendulum and etc.