• 로봇학회논문지
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• 제6권3호
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• pp.230-236
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• 2011

In previous researches, the self-stability was studied for the spring-mass model and the two segment leg model. In these researches, it was presented that the spring-mass model has the self-stable region at relatively high speed running and the two segment leg model has the self-stable region at relatively low speed running. If the model was run in the self-stable region, the cost of transport is zero ideally. That is, actually, only the energy loss is needed to compensate for running. This means that the energy efficiency is high, running in the self-stable region. We want to have high energy efficiency at low and high speed running. So, in this paper, we propose the design direction of the three segment leg having the self-stable region at low and high speed running. And we prove the self-stable region of the three segment leg designed by the proposed design direction.

• 대한환경공학회지
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• 제38권5호
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• pp.228-235
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• 2016

아질산화 반응을 통한 nitrite 축적은 단축질소제거 혹은 anammox 공정 수립을 위해 필수적이고 이 반응의 속도가 전체 질소제거공정의 효율에 큰 영향을 미칠 수 있다. 본 연구는 부유 미생물 연속류 반응기에서 pH 농도가 암모니아 폐수(2,000 mgN/L) 처리에 주는 복잡하고 다양한 영향 들을 modeling과 실험을 통해 종합적으로 분석하였다. modeling 연구 결과 반응의 안정성(stability)은 pH에 의해 지대한 영향을 받으며, free ammonia 저해가 심해지는 알칼리성 환경일수록 안정적 운전 영역(stable region)은 축소되었다. 기질과 pH의 좌표 상에서 stable region과 unstable region을 가르는 경계(stability ridge) 근처에서 안정적인 최대반응속도를 얻을 수 있고, 이 운전조건에서 아질산 축적 가능성도 최대가 되었다. stability ridge 근처의 조건에서 반응기를 운전한 결과 아질산화속도는 안정적으로 약 $6kgN/m^3-d$까지 얻을 수 있었고, 아질산축적율은 약 99% 이었다. 그러나 unstable region에서는 부하증가를 통한 반복된 교란 결과 유출수 암모니아 농도가 회복 불가능한 상태로 상승하였다. Modeling 결과 고유(intrinsic) 최적 pH 값을 고정하여도 실험에서 관찰되는 최적 운전 pH는 사용 기질의 농도가 높을수록 낮아지는 것으로 나타났으며, 이는 문헌에서 보고된 경향과 일치 하였다. 본 연구의 modeling 조건에서 95% 아질산화(5%는 암모니아로 잔존)를 위한 최적 운전 pH는 ~8.0인 것으로 예측되었으나, anammox 유입수 생산을 위해 55% 아질산화하려 할 때의 최적 운전 pH는 ~7.2로 낮아 졌다.

• IEIE Transactions on Smart Processing and Computing
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• 제2권3호
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• pp.148-159
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• 2013

An analysis of the throughput and stability region of random access systems is currently of interest in research and industry. This study evaluated the performance of a multiuser random access channel with a retransmission gain. The channel was composed of a media access control (MAC) determined by the transmission probabilities and a multiuser communication channel characterized by the packet reception probabilities as functions of the number of packet transmissions and the collision status. The analysis began with an illustrative two-user channel, and was extended to a general multiuser channel. For the two-user channel, a sufficient condition was derived, under which the maximum throughput was achieved with a control-free MAC. For the channel with retransmission gain, the maximum steady throughput was obtained in a closed form. The condition under which the random access channel can acquire retransmission gain was also obtained. The stability region of the general random access channel was derived. These results include those of the well-known orthogonal channel, collision channel and slotted Aloha channel with packet reception as a special instance. The analytical and numerical results showed that exploiting the retransmission gain can increase the throughput significantly and expand the stability region of the random access channel. The analytical results predicted the performance in the simulations quite well.

• 대한기계학회논문집A
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• 제32권4호
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• pp.310-318
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• 2008

This paper presents a parallel typed walking robot to improve walking space and stability region. The robot is designed by inserting an intermediate mechanism between upper leg mechanism and lower leg mechanism. The leg mechanism is composed of three legs and base, which form a parallel mechanism with ground. Seven different types of walking robot are invented by combining the leg mechanisms and an intermediate mechanism. Topology is applied to design the leg mechanism. A motor vector is adopted to determine Jacobian and a wrench vector is used to analyze dynamics of the robot. We explore the stability region of the robot from the reaction force of legs and compute ZMP including the holding force to contact the foot to a wall. This investigates a walking stability when the robot walks on the ground as well as on the wall. We examine the walking space generated by support legs and by swing legs. The robot has both a large positional walking space and a large orientational walking space so that it can climb from a floor up to a wall.

• Journal of Astronomy and Space Sciences
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• 제29권4호
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• pp.389-395
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• 2012

The problem of spacecraft attitude control is solved using an adaptive neuro-fuzzy inference system (ANFIS). An ANFIS produces a control signal for one of the three axes of a spacecraft's body frame, so in total three ANFISs are constructed for 3-axis attitude control. The fuzzy inference system of the ANFIS is initialized using a subtractive clustering method. The ANFIS is trained by a hybrid learning algorithm using the data obtained from attitude control simulations using state-dependent Riccati equation controller. The training data set for each axis is composed of state errors for 3 axes (roll, pitch, and yaw) and a control signal for one of the 3 axes. The stability region of the ANFIS controller is estimated numerically based on Lyapunov stability theory using a numerical method to calculate Jacobian matrix. To measure the performance of the ANFIS controller, root mean square error and correlation factor are used as performance indicators. The performance is tested on two ANFIS controllers trained in different conditions. The test results show that the performance indicators are proper in the sense that the ANFIS controller with the larger stability region provides better performance according to the performance indicators.

• 한국정밀공학회지
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• 제25권5호
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• pp.121-131
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• 2008

In this paper, the dynamic stability of a cracked simply supported pipe conveying fluid with an attached mass is investigated. Also, the effect of attached masses on the dynamic stability of a simply supported pipe conveying fluid is presented for the different positions and depth of the crack. Based on the Euler-Bernoulli beam theory, the equation of motion can be constructed by the energy expressions using extended Hamilton's principle. The crack section is represented by a local flexibility matrix connecting two undamaged pipe segments. The crack is assumed to be in the first mode of a fracture and to be always opened during the vibrations. Finally, the critical flow velocities and stability maps of the pipe conveying fluid are obtained by changing the attached masses and crack severity. As attached masses are increased, the region of re-stabilization of the system is decreased but the region of divergence is increased.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.283-286
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• 1995

Due to finite bandwidth of missile dynamics, guidance commands in PN guidance tend to diverage as the missile approaches to the target. In this paper, a new method based on the short-time stability theorem is introduced to extend the stability region.

• Journal of Welding and Joining
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• 제16권6호
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• pp.52-58
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• 1998

The effect of Si content in welding wires on th arc stability was investigate, in the region of short circuit transfer and spray transfer. In the region of short circuit transfer, with increasing Si content, average arcing time and average short circuit time were increased. Therefore, droplet transfer frequency was decreased, due to the increase of arcing time and peak current at the moment of arc-reiginition was increased, due to the increase of short circuit time. In the region of spray transfer, the fluctuations of arc current and arc voltage was the most stable in wire with Si content of about 00.60 wt.%.

• 한국연소학회:학술대회논문집
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• 한국연소학회 1999년도 제19회 KOSCO SYMPOSIUM 논문집
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• pp.165-172
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• 1999

Landfill gas has merely half heating value compared with liquified natural gas but can be greatly utilized as a commercial fuel. The authors have examined emission characteristics as well as measured burning velocity of LFG mixed gas which contains plenty of $CO_{2}$. With the viewpoint of fuel utilization, flame stability could be one of important characteristics of LFG. In this study, the comparison experiments are conducted between $CH_{4}$ and LFG for searching the region of flame stabilization based upon the flame blowout at maximum fuel stream velocity. As a result, it is found that stabilization region of LFG is not improved with that of $CH_{4}$ in non-swirl/or weak swirl jet diffusion flame. However, it is also known that flame stability is hardly affected by inert gas in the strong swirl with considering widened flame stabilization region of LFG rather than LNG.

• 대한전기학회논문지:전력기술부문A
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• 제50권7호
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• pp.340-347
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• 2001

In this Paper, we proposed a new voltage stability analysis algorithm. Using $ $ calculated by the optimal load How method(OLF), it rapidly and correctly calculates a PV curve with voltage collapse point in the stable region. OLF can calculates voltage collapse point as well as the operating point in the stable region. Specially, $ $ indicates the relative distance between voltage collapse point and the solution in the unstable region. In the study of a sample system, we verified the superiority of proposed algorithm.