• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.315-319
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• 2006

Support vector machines in biped humanoid robot are presented in this paper. The trajectory of the ZMP in biped walking robot poses an important criterion for the balance of the walking robots but complex dynamics involved make robot control difficult. We are establishing empirical relationships based on the dynamic stability of motion using SVMs. SVMs and kernel method have become very popular method for learning from examples. We applied SVM to model the practical humanoid robot. Three kinds of kernels are employed also and each result has been compared. As a result, SVM based on kernel method have been found to work well. Especially SVM with RBF kernel function provides the best results. The simulation results show that the generated ZMP from the SVM can be improve the stability of the biped walking robot and it can be effectively used to model and control practical biped walking robot.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.573-576
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• 1996

We propose robust control scheme for flexible joint manipulator in the presence of nonlinearity and mismatched uncertainty. The control is designed based on Lyapunov approach. The robust control which is based on the computed torque scheme and state transformation via implanted control is introduced. The design procedure starts with the construction of linearized subsystems via the computed torque method and then uses state transformation. With this approach we do not impose an upper-bound constraint on the inertia matrix in case it is known. Thus, this control can be applied to arbitrary manipulators. The resulting robust control guarantees practical stability for both the transformed system and the original system. The transformation is only based on the possible bound of uncertainty.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.6
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• pp.753-759
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• 2010

The variable fatigue load is simulated in this study. The stability and the life of the material are analyzed theoretically by Ansys program. These results are successfully applied to the practical wheel to predict the prevention of fracture and the endurance. The life and the damage on the every part of the fatigue specimen can be predicted. As the available lives are compared for every loading variation, the rain flow and damage matrix results can be helpful in determining the effects of small stress cycles in any loading history. The rainbow and damage matrices illustrate the possible effects of infinite life. The safety and stability of wheel and the other practical structures according to the variable load can be estimated by using the results of this study.

• Proceedings of the KSR Conference
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• 2009.05a
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• pp.505-515
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• 2009

In railway bridges, various loads including train load, transverse load and braking force are applied to continuous CWR or semi-continuous longer rail located on non-continuous bridge superstructures. The rail-girder interaction due to thermal expansion is also very complex in railway bridges because the thermal characteristics for each of the rails and girder are quite different. Recently, the bridge retrofits for seismic loads were performed on bridges not designed for these loads. These retrofits may however have limitations with respect to rail-girder interactions because, in general these retrofits address issues related only to seismic loads. In this study of seismic evaluations for railway bridges, the load effects on the bridge rails from the road beds through the continuous rails shall be considered. Practical methods will be proposed which will increase the railway stability. For this, rail-girder interaction analyses due to train loads, temperature changes and seismic loads were performed and the results reviewed from a practical point of view.

• Journal of the Korean Institute of Landscape Architecture International Edition
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• no.1
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• pp.237-246
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• 2001

We need to have a universal system for the landscape architectural profession at the national level which focuses on public facilities from an aesthetic point of view and emphasizes the landscape architectural identity and traditional idiosyncrasy in Korea society. There should be established independent official positions in governmental systems in order to work practically in the field of landscape architecture concerned with ecological and environmental stability. Professionals should be acquired and diversity maintained for administrative efficiency, so that the governmental official position could create practical need and a theoretical approach to the human needs for environmental quality and ecological stability. In order to pursue the public good, we need to establish a new community and promote a global spirit, which include an ecologically stable environment developed through professional landscape architectural harmonization. The landscape architectural profession requires a new community spirit suitable to modern society, so that the Korean people continue a tradition of cooperative control of the common wealth and the labor market.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.4
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• pp.856-861
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• 2011

The mobile robot controller is designed to track the target and to maintain the formation at the same time. Formation control is included in mobile robot controller by extending the trajectory tracking algorithm. The dynamic model of mobile robot is used with kinematic model considering the practical physical parameters of mobile robot. The dynamic model of mobile robot transforms velocity control input of kinematic model into torque control input which is the practical control input of mobile robot. Formation controller of mobile robot is designed to satisfy Lyapunov stability by backstepping method. The designed formation controller is applied to the mobile robot for various target movements and simulated to confirm the Lyapunov stability.

• Proceedings of the KIEE Conference
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• 2004.11b
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• pp.158-161
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• 2004

This paper presents practical applications of reactive power and voltage planning to obtain voltage stability and operational voltage level for 2005 year summer peak Korea power system. It also describes the new electric facilities, operation criteria, voltage levels, MVAr flows, reactive power reserves in each control area. And reactive compensation devices are installed to maintain established voltage levels and stability margins. This simulation results show the improvement of voltage levels and the increase of reactive margins & interface flow margins. Finally, the paper reports the necessity of dynamic reactive reserves. It can be applied to analysis reactive compensation requirements and P-V & V-Q curves by PSS/E & VSAT.

• Geomechanics and Engineering
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• v.2 no.2
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• pp.71-88
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• 2010

Soil nailing technique is being widely used for stabilization of vertical cuts because of its economic, environment friendly and speedy construction. Global stability and lateral displacement are the two important stability criteria for the soil nail walls. The primary objective of the present study is to evaluate soil nail wall stability criteria under the influence of in-situ soil variability. Finite element based numerical experiments are performed in accordance with the methodology of $2^3$ factorial design of experiments. Based on the analysis of the observations from numerical experiments, two regression models are developed, and used for reliability analyses of global stability and lateral displacement of the soil nail wall. A 10 m high prototype soil nail wall is considered for better understanding and to highlight the practical implications of the present study. Based on the study, lateral displacements beyond 0.10% of vertical wall height and variability of in-situ soil parameters are found to be critical from the stability criteria considerations of the soil nail wall.

• Journal of Electrical Engineering and Technology
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• v.11 no.6
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• pp.1571-1581
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• 2016

A novel method is proposed to construct the voltage stability boundary of power system considering different Reactive Power Control Mode (RPCM) of Doubly-Fed Induction Generator (DFIG) Wind Power Plant (WPP). It can be used for reflecting the static stability status of grid operation with wind power penetration. The analytical derivation work of boundary search method can expound the mechanism and parameters relationship of different WPP RPCMs. In order to improve the load margin and find a practical method to assess the voltage security of power system, the approximate method of constructing voltage stability boundary and the critical points search algorithms under different RPCMs of DFIG WPP are explored, which can provide direct and effective reference data for operators.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.12
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• pp.121-128
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• 2000

The scope of this paper is focused to the systems which have the time period and they should be necessarily studied in the sense of stability and design method of controller to stabilize the orignal unstable systems. In general, the time periodic systems or the systems having same motions during certain time interval are easily found in rotating motion device, i.e., satellite or helicopter and widely used in factory automation systems. The characteristics of the selected dynamic systems are analyzed with the new stability concept and stabilization control method based on Lyapunov direct method. The new method from Lyapunov stability criteria which satisfies the energy convergence is studied with linear algebraic method. And the numerical procedures are developed with computational programming method to apply to the practical linear periodic systems. The results from this paper demonstrate the usefulness in analysis of the asymptotic stability and stabilization of the unstable linear periodic system by using the developed simulation procedures.