• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1148-1153
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• 2004

This paper presents the mechanism to increase lateral stability of a mobile robot using an energy stability margin theory. Previous measure of stability used in a wheeled mobile robot has been based on a static stability margin. However, the static stability margin is independent of the height of the robot and does not provide sufficient measure for the amount of stability when the terrain is not a horizontal plane. In this work, the energy stability margin theory, which is dependent on robot's height is used to develop a 2 dof mechanism to increase lateral stability. This proposed mechanism shifts the center of gravity of the robot to the point where the energy stability margin is maximized and overall stability of the robot equipped with this mechanism will be increased.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.54.3-54
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• 2001

This paper presents a controller design technique for standard 2nd-order system satisfying user-specified phase margin. A simple method is presented to meet stability margin for the 2nd-order system, which is important since the 2nd-order plant models are frequently encountered in the practical plant models such as actuators of the optical drive systems. Through the comparison of the specified stability margin and achieved stability margin, it is shown in the simple example that the proposed technique is useful in the initial design of control systems with stability margin specifications.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.10
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• pp.856-860
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• 2002

The guaranteed stability margin of LQ optimal regulators with cross-product terms in a performance index is derived for the discrete-time case. In order to obtain the guaranteed stability margin, the singular value of the return difference matrix is examined. A numerical simulation is provided to demonstrate the validity of the derived stability margin.

• Proceedings of the KIEE Conference
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• 2003.11a
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• pp.251-254
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• 2003

A voltage stability assessment consists of the contingency screening, voltage stability analysis, and counter measures. A widely used index for the voltage stability assessment of power system is the reactive power margin. It shows some factors of voluntariness as following the status of power system and load levels for the target analyzing area. Therefore, it has a demerit that the absolute amounts of reactive power margin is not to be applied by the quantized margin criterion. This paper selects a vulnerable area by assigning the voltage instability for the particular contingency for the selection of vulnerable area in the respect of the investigation of reactive power margin or VQVI as an index of V-Q margin sensitivity in order to overcome the demerit. This will be able to grasp the V-Q margin sensitivity for the target analyzing area by presenting the ratio of power margin between the margin before and after contingency as following the calculation of reactive power margin. The presented method is applied to the voltage stability assessment for the Metropolitan area of 2003 KEPCO summer peak system.

• KIEE International Transactions on Power Engineering
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• v.4A no.3
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• pp.141-145
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• 2004

FACTS devices, such as the Thyristor Controlled Series Compensator (TCSC) and Static Var Compensators (SVC), can help increase system load margin to improve static voltage stability. In power systems, because of the high cost and the effect value, the optimal placement for FACTS devices must be determined. This paper investigates the use of the series device (SVC) and the parallel device (TCSC) from the point of load margin to increase voltage stability. It considers the sensitivity of load margin to the line reactance and eigenvector of the collapse. The study has been carried out on the IEEE 14 Bus Test System to verify the validity and efficiency of the method. It reveals that incorporation of FACTS devices significantly enhance load margin as well as system stability.

• 한국연소학회:학술대회논문집
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• 2013.06a
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• pp.117-119
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• 2013

Combustion stability margin of a model gas turbine has been assessed by utilizing damping ratios of measured dynamic pressure data. It is known that acoustic oscillations in combustion chambers can be described as a superposition of nonlinearly interacting oscillators. Based on this theoretical background, CSMA (Combustion Stability Margin Assessment) code has been developed. The code has been employed into a model gas turbine combustion experiment, focused on the combustion instability, to show its capability to determine the damping ratio of measured dynamic pressure and further to assess combustion stability margin of the experiment, and turned out that the code works well.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.7
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• pp.319-326
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• 2006

This paper proposes a novel fault-tolerant gait for Quadruped robots using energy stability margins. The previously developed fault-tolerant gaits for quadruped robots have a drawback of having marginal stability margin, which may lead to tumbling. In the process of tumbling, the potential energy of the center of gravity goes through a maximum. The larger the difference between the potential energy of the center of gravity of the initial position and that of this maximum, the less the robot tumbles. Hence this difference of potential energy, dubbed as Energy Stability Margin (ESM), can be regarded as the stability margin. In this paper, a novel fault-tolerant gait is presented which gives positive ESM to a quadruped robot suffering from a locked joint failure. Positive ESM is obtained by adjusting foot positions between leg swing sequences. The advantage of the proposed fault-tolerant gait is demonstrated in a case study where a quadruped robot with a failed leg walks on a even slope.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.27 no.1
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• pp.68-75
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• 2013

This paper presents a scheme to improve transient stability using Newton's Approach for generation rescheduling. For a given contingency, the energy margin and sensitivities are computed. The bigger energy margin sensitivity of generator is, the more the generation of the generator effects to the transient stability. According to energy margin sensitivity, the control variables of generation rescheduling are selected. The fuel cost function is used as objective function to reallocate power generation. The results are compared to the results of time simulation to show its the effectiveness.

• Journal of Aerospace System Engineering
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• v.16 no.1
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• pp.17-27
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• 2022

A certain level of stability margin airworthiness criteria should be met to secure robustness against uncertainties between the real plant and the model in a flight control system design. The U.S. Department of Defense (DoD) specification of MIL-F-9490D and airworthiness certification standard of MIL-HDBK-516B uses gain and phase margin criteria of flight control system. However, the same stability margin criteria is applied at all development phases without considering the design maturity of each development phase of the aircraft. Ultimately, a problem arises when the aircraft operation envelope is excessively restricted. This paper proposes the relation of handling qualities and stability margin, and presents re-established stability margin criteria as a development phases and verification methods. The results of the research study are considered to contribute to the verification of the stability margin criteria more flexibly and effectively by applying the method to not only the currently manned developing aircrafts but also the unmanned vehicle to be developed in the future.

• Journal of Korean Dental Science
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• v.1 no.1
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• pp.22-27
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• 2008

Purpose : This study sought to evaluate the dimensional stability of the SITT (Silicone Index Tooth Tray) impression system and to determine whether providing space for wash impression material in SITT is a necessary step in obtaining accurate prostheses. Materials and methods : After mounting metal dies with shoulder and chamfer margins arbitrarily, SITT was fabricated using Blu-mousse$^{(R)}$. To test the dimensional stability of the SITT system for margin design, the shoulder margin and chamfer margin were evaluated. Furthermore, to test the effect of space for wash impression material, 0.5mm space in SITT and zero space in SITT were statistically compared. Results : 1. There was no significant difference between the group with shoulder margin and that with chamfer margin. 2. There was no significant difference between the group with 0.5mm space and that with zero space for wash impression material. Conclusions : Considering the limitations of this study, the dimensional stability of the SITT system did not interfere with the margin design. Space for the wash impression material was also unnecessary.