• The Journal of Korea Robotics Society
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• v.6 no.3
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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.

• Journal of Korean Society of Environmental Engineers
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• v.38 no.5
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• pp.228-235
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• 2016

Nitrite accumulation is essential for constructing an anammox process. As the pH in the reactor exerts a complicated and strong influence on the reaction rate, we investigated its effects upon treatment of an ammonic wastewater (2,000 mgN/L) through modeling and experiment. The modeling results indicated that the reaction stability is strongly affected by pH, which results in a severe reduction of the 'stable region' of operation under alkaline environments. On a coordinate of the total ammonia nitrogen (TAN) concentration vs. pH, the maximal stable reaction rates and the maximal nitrite accumulation potentials could be found on the 'stability ridge' that separates the stable region from the unstable region. We achieved a stable and high ammonia oxidation rate (${\sim}6kgN/m^3-d$) with a nitrite accumulation ratio of ~99% when operated near the 'stability ridge'. The optimum pH that can be observed in experiments varies with the TAN concentrations utilized, although the intrinsic optimum pH is fixed. The direction of change is that the optimum operational pH falls as the TAN concentration increases, which is in excellent accordance with the observations in the literature. The optimum operational pH for 95% nitritation was predicted to be ~8.0, whereas it was ~7.2 for 55% partial nitritation to produce an anammox feed in our experimental conditions.

• IEIE Transactions on Smart Processing and Computing
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• v.2 no.3
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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.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.4
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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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• v.29 no.4
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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.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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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 the Korean Society for Precision Engineering
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• v.25 no.5
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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.

• Journal of Welding and Joining
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• v.16 no.6
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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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• 1999.10a
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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.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.50 no.7
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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.