• Journal of Institute of Control, Robotics and Systems
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• v.17 no.3
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• pp.269-276
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• 2011

This paper proposes a novel control method using phase plane for a hydraulic biped humanoid robot. In biped walking control, it is much more difficult to control the posture of a biped robot in the coronal plane because the supporting area formed by the both feet in the coronal plane is much narrower than that of the sagittal plane. When the biped robot walks stably, the phase portrait of the pelvis in the coronal plane makes an elliptical shape. From this point of view, we develop an ankle torque controller and a foot placement controller for tracking the desired phase portrait during walking. We design these controllers by using simulations of a simplified compass gait biped model to regulate the desired phase portrait of pelvis. The effectiveness of the proposed control method is proved through full-body dynamic walking simulations and real experiments of the SARCOS hydraulic biped humanoid.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.11
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• pp.1691-1696
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• 2013

In this paper, an analysis of behavior is performed in the circular hybrid energy harvesting device. This analysis of behavior is to confirm with or without an existence of nonlinear system because its system is required to produce the more energy. To do this, first of all the phase portrait is reconstructed through Taken's embedding method, and then Poincare map is organized by using phase portrait and finally Lyapunov exponent is analyzed.

• ETRI Journal
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• v.35 no.2
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• pp.218-225
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• 2013

The pull-out frequency of a second-order phase lock loop (PLL) is an important parameter that quantifies the loop's ability to stay frequency locked under abrupt changes in the reference input frequency. In most cases, this must be determined numerically or approximated using asymptotic techniques, both of which require special knowledge, skills, and tools. An approximating formula is derived analytically for computing the pull-out frequency for a second-order Type II PLL that employs a sinusoidal characteristic phase detector. The pull-out frequency of such PLLs can be easily approximated to satisfactory accuracy with this formula using a modern scientific calculator.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.799-805
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• 1996

In many cases, the magnetic farce model is linearized at the origin in designing the controller of a magnetic bearing system. However. this linear assumption is violated by the unmodeled nonlinear effect such as sensor dislocation and backup bearing dislocation. Therefore, a direct probe into the nonlinear magnetic force model in an active magnetic bearing system is necessary. To analyze the nonlinear magnetic force model of a magnetic bearing system, phase plot analysis which is to plot the numerical solution of the nonlinear equation in several initial points in the interested region is applied. Phase plot analysis is used to observe a nonlinear dynamic system qualitatively (not quantitatively). With this method, we can get much useful information of the nonlinear system. Among this information, a bifurcation graph that represents stability and locations of fixed points is essential. From the bifurcation graph, a stability criterion of magnetic bearing system is derived.

• The Journal of the Korea institute of electronic communication sciences
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• v.11 no.5
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• pp.523-530
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• 2016

Human mind can be divided by conscious and nonconscious. The action that can be seen by eyes express of conscious world, but brain researchers tell us that the world of nonconscious more occupied than world of conscious. In this paper, we divide conscious and nonconscious of world in basic love model of Romeo and Juliet, and then we represent complex number for the conscious and nonconscious. We also display as time series and phase plane for their behavior. Finally, we confirms the existence of nonlinear characteristics in their behavior.