• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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• pp.563-569
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• 2014

This article focuses on a hemispherical resonator gyro driven by the Coriolis effect. A hemispherical shell, called a resonator, is maintained in the resonance state by amplitude control and phase locking control. Parametric excitation has been used to control the amplitude. For rate measurement mode or FTR mode, nodal points have been kept to an amplitude of zero. Angular rate measurement has been demonstrated by rotating a resonator. Frequency mismatch between two stiffness principal axes is a major cause of low performance: vibrating pattern drift and reduced control effectiveness. This mismatch has been reduced significantly by the addition of small mass. A negative spring effect, which lowers resonance frequencies, has been verified experimentally.

• ETRI Journal
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• v.31 no.5
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• pp.565-575
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• 2009

This paper concerns the use of support vector regression (SVR), which is based on the kernel method for learning from examples, in identification of walking robots. To handle complex dynamics in humanoid robot and realize stable walking, this paper develops and implements two types of reference natural motions for a humanoid, namely, walking trajectories on a flat floor and on an ascending slope. Next, SVR is applied to model stable walking motions by considering these actual motions. Three kinds of kernels, namely, linear, polynomial, and radial basis function (RBF), are considered, and the results from these kernels are compared and evaluated. The results show that the SVR approach works well, and SVR with the RBF kernel function provides the best performance. Plus, it can be effectively applied to model and control a practical biped walking robot.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.24 no.2
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• pp.169-176
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• 2000

Natural convection in a wide-gap horizontal annulus is considered, and the transition of flows and the bifurcation phenomenon are investigated for the fluids with Pr=0.2 and 0.3. At Pr=0.2, a bicellular flow pattern is observed at high Rayleigh number, and the solution is unique. At Pr=0.3, both the steady unicellular and bicellular flows exist above a certain critical Rayleigh number. For the fluids of Pr=0.2, the bicellular flow can be obtained by the impulsive heating of the inner cylinder, but it is not obtained from the zero initial condition for Pr=0.3. Hysteresis phenomena have not been observed. A transition from a bicellular flow to a unicellular flow occurs for Pr=0.3.

• Proceedings of the KIEE Conference
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• 2003.04a
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• pp.176-178
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• 2003

This paper presents a new velocity estimation strategy of a non-salient permanent magnet synchronous motor(PMSM) drive without high frequency signal injection or special PWM pattern. This approach is based on the d-axis current regulator output voltage of the drive system which has the information of rotor position error. The rotor velocity can be estimated through a rotor position tracking PI controller that controls the position error to aero. For zero and low speed operation, the PI gains of rotor position tracking controller have a variable structure. The PI tuning formulas are derived by analyzing this control system using the frequency domain specifications such as phase margin and bandwidth assignment.

• Bulletin of the Korean Mathematical Society
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• v.43 no.2
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• pp.343-352
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• 2006

A real matrix A is called a sign-central matrix if for, every matrix $\tilde{A}$ with the same sign pattern as A, the convex hull of columns of $\tilde{A}$ contains the zero vector. A sign-central matrix A is called a tight sign-central matrix if the Hadamard (entrywise) product of any two columns of A contains a negative component. A real vector x = $(x_1,{\ldots},x_n)^T$ is called stable if $\|x_1\|{\leq}\|x_2\|{\leq}{\cdots}{\leq}\|x_n\|$. A tight sign-central matrix is called a $tight^*$ sign-central matrix if each of its columns is stable. In this paper, for a matrix B, we characterize those matrices C such that [B, C] is tight ($tight^*$) sign-central. We also construct the matrix C with smallest number of columns among all matrices C such that [B, C] is $tight^*$ sign-central.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1830-1831
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• 2006

In this paper, the search is conducted along each of the coordinate directions for finding the minimum. If $e_i$ is the unit vector along the coordinate direction i, we determine the value a, minimizing f(a)= $f(x+ae_i)$, where a is a real number. A move is made to the new point $x+a_ie_i$ at the end of the search along the direction i. In an n dimensional problem, we define the search along all the directions as one stage. The function value at the end of the stage is compared to the value at the beginning of the stage in establishing the convergence. The gradient appears to be zero at point. We can safeguard this by introducing an acceleration step of one additional step along the pattern direction developed by moves along the coordinate directions.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1937-1938
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• 2006

최근 들어 안정적인 보행 패턴 생성을 위해서 많은 방법들이 제안 되고 있다. 대부분의 논문에서 주기적인 보행에 대한 연구는 이루어지고 있으나 첫 보행 구간과 마지막 보행 구간에 대한 분석은 이루어지지 않고 있다. 본 논문은 첫 보행 구간과 마지막 보행 구간에 대한 분석을 통해 기존의 역 진자 모델(Inverted pendulum model)을 기반으로 부드러운 무게 중심의 궤적을 생성하는 해석적 방법을 제안한다. 이를 위해 먼저 정현파 함수를 이용해 영 모멘트 위치(ZMP, Zero Moment Point) 궤적을 설계한다. 영 모멘트 위치 궤적 설계 시 첫 보행 구간과 마지막 보행 구간에 대해 영 모멘트 위치와 무게 중심 간의 비 최소 위상(non-minimum phase) 시스템의 특성을 이용한다. 제안된 방법을 이용하여 주기적인 보행 구간 및 첫 보행 구간과 마지막 보행 구간에서 부드러운 무게 중심 궤적이 생성됨을 시뮬레이션을 통해 구현하여 제안된 방법의 유효성을 보인다.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.358-364
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• 2007

Intelligent walking modeling of humanoid robot using learning based neuro-fuzzy system is presented in this paper. Walking pattern, trajectory of the zero moment point (ZMP) in a humanoid robot is used as an important criterion for the balance of the walking robots but its complex dynamics makes robot control difficult. In addition, it is difficult to generate stable and natural walking motion for a robot. To handle these difficulties and explain empirical laws of the humanoid robot, we are modeling practical humanoid robot using neuro-fuzzy system based on the two types of natural motions which are walking trajectories on a t1at floor and on an ascent. Learning based neuro-fuzzy system employed has good learning capability and computational performance. The results from neuro-fuzzy system are compared with previous approach.

• Proceedings of the KIPE Conference
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• 1999.07a
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• pp.295-298
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• 1999

In this paper, the diode bridge-type ZVT(Zero-Voltage Transition) inverter is proposed. It consists of one auxiliary switch, three resonant inductors and six blocking diodes. So, the advantage of the proposed topology is the reduction of the auxiliary switch. The topology of the proposed ZVT inverter is analyzed with a description of the control conditions based on the load current. Therefore, this paper two control algorithms were discussed. A variable resonant pattern control algorithm by using load current feedback and a resonant period control algorithm by using resonant inductor current feedback is proposed in order to achieve the ZVT switching condition in full control range and the reducing current spike main switches cause by reverse recovery problem.

• Proceedings of the KSPS conference
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• 2003.10a
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• pp.101-104
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• 2003

In this paper, speech quality is improved by removing abrupt noise intervals and then substituting the gaps with estimates of the previous speech waveform. An abrupt noise detection signal has been proposed as a prediction error signal by utilizing LP coefficients of the previous frame. Abrupt noise intervals are estimated by using spectral energy. After removing estimated noise intervals, we applied several waveform substitution techniques such as zero substitution, previous frame repetition, pattern matching, and pitch waveform replication. To prove the validity of our algorithm, the LPC spectral distortion test and the recognition test are executed and, the results show that the speech quality is fairly well improved.