병렬형 도립진자를 수학적으로 모델링하고 주파수 응답법에 의해 파라미터를 동정하여, H∞제어이론 중 혼합감도문제에 의거하여 제어계를 설계한 후 응답 시뮬레이션을 한 결과그 응답으로부터 모델링의 불확실성에 대처할 수 있는 강인한 제어계를 구성할 수 있었다. 앞으로 실제 시스템에 대하 s제어들 과제로 남겨두고 있다. 시뮬레이션 응답과는 달리 실제 으답실험에서도 좋은 결과를 얻기 위해서는 여러 가지의 어려움이 있을 것으로 예상된다. 특히 응답 시뮬레이션에서도 나타난 바와 같이 전자가 미소각으로 기울어진 상태에서 제어를 할 경우에도 각 상태의 변동량이 크고, 또한 상당한 제어입력을 요한다. 따라서 센서 잡음에 대한 영향을 충분히 고려할 필요가 있으므로, 노이즈를 많이 발생시키는 PWM방식의 직류모터 구동 드라이버보다는 선형 드라이버를 이용하는 것이 적절할 것으로 예상된다

The inverted pendulum is one of the control mechanism that has been frequently used to verify the control theory in the laboratory. In this paper, the author made an inverted pendulum driven by DC servomotor with a simple DC motor drive circuit, and constituted a control system. The control mechanism is modeled, and identified parameters of inverted pendulum system by experimental method. The author used the LQ regulator as control algorithm and the minimum order observer algorithm to observe states that can not be measured. And the validity of parameter identification and the excellent performance of the control system designed by LQR are confirmed

부유체의 횡동요는 승조원의 피로를 누적시키고, 심지어 구조물 전체를 전복시키기까지 하고, 또 선체에 반복적인 외력을 가하는 등 부유체의 안정성과 구조물의 안전에 심대한 영향을 끼친다. 그래서 거의 모든 선박의 경우에는 빌지킬을 설치하여 횡동요를 감소시키고 있고, 특수한 경우에는 안티롤링 탱크나 핀 스태빌라이저나 자이로스코프 등을 설치하여 횡동요를 줄이고 있다. 그러나 안티롤링 탱크는 설치하는데 용적을 많이 차지하고, 핀 스태빌라이저나 자이로스코프는 설치비와 유지 관리비가 많이 든다. 저자들은 안티롤링진자를 이용한 부유체의 롤링 저감에 대한 연구를 하여 실험과 Runge-Kutta 해석에 의하여 그 유효성을 보인 바 있다. 여기에서는 선박에 안티 롤링 진자를 설치한 모델을 2자유도 점성감쇠계로 선형화하여 시스템을 해석하고 실험과 비교하여 수학 모델의 정당성을 보이고, 수학 모델의 정당성을 바탕으로 최적의 안티 롤링 진자를 제안한다. 7.7kg의 모형선의 경우 모형선 질량의 0.26%인 20g의 안티롤링 진자가 가장 효율이 좋음을 보였다. 또 안티 롤링 진자의 질량이 다른 몇 가지 경우에 대하여서 자유 롤링 실험을 하여 안티 롤링 진자의 유효성을 보인다.

The purpose of this study is to develop a motion generation technique based on a double inverted pendulum model (DIPM) that learns and reproduces humanoid robot (or virtual human) motions while keeping its balance in a pattern similar to a human. DIPM consists of a cart and two inverted pendulums, connected in a serial. Although the structure resembles human upper- and lower-body, the balancing motion in DIPM is different from the motion that human does. To do this, we use the motion capture data to obtain the reference motion to keep the balance in the existence of external force. By an optimization technique minimizing the difference between the motion of DIPM and the reference motion, control parameters of the proposed method were learned in advance. The learned control parameters are re-used for the control signal of DIPM as input of linear quadratic regulator that generates a similar motion pattern as the reference. In order to verify this, we use virtual human experiments were conducted to generate the motion that naturally balanced.

Background : Cirsium plants have been used for perennial edible plants and grow wild in the mountainous regions of Korea, including Cirsium setidens and C. pendulum. In particular, C. setidens is commonly called 'gondre', and it has been used medicinally for diseases such as hematuria, hepatitis and hypertension. Hairy roots cultivation can be used as a method for increasing production through mass culture of medicinal plants, and elicitors such as methyl jasmonate (MeJa) can be treated to increase the content of certain useful ingredients. In this study, the hairy root was derived from the leaf tissues of C. setidens and C. pendulum, and the HPLC pattern was compared by MeJa treatment. Methods and Results : Agrobacterium rhizogenes R1000 was used to induce hairy roots in 1/2× MS medium. In addition, the hairy roots was treated with MeJa for different time (0, 1, 2, 5, 10, 24, 48, 72 h) and with various concentrations (0, 10, 50, 100, 200, 300 μM). The HPLC pattern changes were analyzed by on-line HPLC-ABTS. Four new peaks were observed in both Cirsium setidens and C. pendulum hairy roots, all of which showed antioxidant activity. In the case of C. pendulum, chlorogenic acid content was about 4 times higher than that of leaves. These peaks, including chlorogenic acid, were all affected by MeJa treatment. Conclusion : Four peaks were detected in the hairy roots of C. setidens and C. pendulum not in the leaves, and they were confirmed to be affected by the treatment of MeJa. It is necessary to clarify the structure through the subsequent compound separation.

부유체의 횡동요는 승조원의 피로를 누적시키고, 심지어 구조물 전체를 전복시키기 까지 하고, 또 선체에 반복적인 외력을 가하는 등 부유체의 안정성과 구조물의 안전에 심대한 영향을 끼친다. 그래서 거의 모든 선박의 경우에는 빌지킬을 설치하여 횡동요를 감소시키고 있 고, 특수한 경우에는 안티롤링 탱크나 핀 스태빌라이저나 자이로스코프 등을 설치하여 횡동요를 줄이고 있다. 그러나 안티롤링 탱크는 설치하 는데 용적을 많이 차지하고, 핀 스태빌라이저나 자이로스코프는 설치비와 유지 관리비가 많이 든다. 본 연구에서는 안티롤링 진자를 이용하여 부유체의 횡동요를 줄이고자 한다. 보통 단진자라고 하면 질량체를 끈으로 어디엔가 고정시켜 놓고 자유롭게 흔들리는 구조를 말한다. 여기에 서는 통상의 진자 대신에 진자를 원궤도에 올려놓아서 단진동 운동을 하도록 하는 원리를 이용한다. 제안한 장치를 실험선에 적용하여 그 효능 을 입증하였다. 안티롤링 탱크의 약 1/8의 중량과 약 1/6의 용적을 가진 안티롤링 진자를 이용하여 이것보다 더 좋은 효과를 낼 수 있음을 확인 하였다. 여기에 더하여 선체에 안티롤링 진자를 부가한 모델의 선형운동방정식과 비선형 운동방정식을 제시하였다.

면진장치 중에 하나인 마찰진자시스템(FPS)은 진자의 성질을 활용하여 면진된 구조물의 고유주기를 임의로 결정할 수 있는 지진격리장치이며, 면진장치의 진자운동으로 인하여 곡률반경과 중력에 의한 고유복원력과 마찰에 의한 감쇠력을 갖는다는 장점이 있다. 마찰진자시스템은 곡률반지름과 재료의 마찰계수를 기본적인 설계변수로 하며 면진장치를 설계할 때 중요하게 작용되는 변수 중 하나이다. Coulomb 마찰이론에 따르면, 마찰계수는 상재압이나 마찰속도에 따라 그 값은 변하지 않는 일정한 값을 지닌다고 정의하고 있다. 하지만 실제로 진자운동의 속도, 상부하중 및 유지시간, 외·내 온도 등과 같은 영향을 주는 인자에 따라 마찰계수는 변한다. 여기서 마찰계수는 크게 정지마찰계수, 운동 마찰계수로 나뉠 수 있으며, 정지마찰계수는 마찰에 의한 면진장치 거동 시, 실제 면진된 구조물이 거동하는데 큰 영향을 끼치지 않는 것으로 알고 있다. 하지만, 운동 마찰계수는 마찰진자시스템의 거동에 의한 속도에 의존하여 느린 속도에서의 저속마찰계수, 평균속도 이상에서의 고속마찰계수로 분류될 수 있으며, 구조물에 적지 않은 영향을 끼치는 것으로 알고 있다. 본 연구에서는 마찰진자시스템의 마찰계수의 변화에 따라 면진된 원전 구조물의 구조적 응답 비교를 실시하고 Coulomb 마찰이론의 일정한 마찰계수를 갖는 모델과 비교·분석하여 면진장치에서의 마찰계수 영향성에 대해 검토하고자 한다.

The Industrial Ethernet technology enables advanced control architectures and offers several advantages for high precision multiple motors actuation. This paper presents the implementation and analysis of a motor drive with EtherCAT, an industrial standard for real time Ethernet. Considering the characteristics of the implemented software and the network interface, the motion and time-response of motor actuation for the networked Mobile Inverted Pendulum have been analyzed. Using the analysis with the task execution times measured from the developed drive, the performance characteristics of the drive in respect of the maximum achievable throughput have been verified by comparing to the conventional RS232.

Due to the limited pendulum motion range, the conventional one-pendulum driven spherical robot has limited driving capability. Especially it can not drive parallel direction with center horizontal axis to which pendulum is attached from stationary state. To overcome the limited driving capability of one-pendulum driven spherical robot, we introduce a spherical robot, called KisBot II, with a new type of curved two-pendulum driving mechanism. A cross-shape frame of the robot is located horizontally in the center of the robot. The main axis of the frame is connected to the outer shell, and each curved pendulum is connected to the end of the other axis of the frame respectively. The main axis and pendulums can rotate 360 degrees inside the sphere orthogonally without interfering with each other, also the two pendulums can rotate identically or independent of each other. Due to this driving mechanism, KisBot II has various motion generation abilities, including a fast steering, turning capability in place and during travelling, and four directions including forward, backward, left, and right from stationary status. Experiments for several motions verify the driving efficiency of the proposed spherical robot.

An augmented state feedback controller for a Wheeled Inverted Pendulum (WIP) is proposed in this research. The augmented state feedback controller is able to keep the WIP returning to the origin. Generally, the WIP has both stable and unstable equilibrium points. To keep the WIP over the unstable equilibrium point, the WIP consistently is being controlled. A simple state feedback controller is letting the WIP out of the origin when the center of gravity of the WIP locates out of the schematic center line. In some case of applications, it may not be desirable that the WIP is drifting out of the initial location. The proposed augmented state feedback controller is able to keep the WIP at the initial location whether its center of gravity lies out of the center line or not. Numerical simulations are carried out to show the validation of the augmented sated feedback controller.

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, i.e., mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

This paper aims to add the autonomous driving capability to the inverted pendulum system which maintains the inverted pendulum upright stably. For the autonomous driving from the starting position to the goal position, the motion control algorithm is proposed based on the dynamics of the inverted pendulum robot. To derive the dynamic model of the inverted pendulum robot, a three dimensional robot coordinate is defined and the velocity jacobian is newly derived. With the analysis of the wheel rolling motion, the dynamics of inverted pendulum robot are derived and used for the motion control algorithm. To maintain the balance of the inverted pendulum, the autonomous driving strategy is derived step by step considering the acceleration, constant velocity and deceleration states simultaneously. The driving experiments of inverted pendulum robot are performed while maintaining the balance of the inverted pendulum. For reading the positions of the inverted pendulum and wheels, only the encoders are utilized to make the system cheap and reliable. Even though the derived dynamics works for the slanted surface, the experiments are carried out in the standardized flat ground using the inverted pendulum robot in this paper. The experimental data for the wheel rolling and inverted pendulum motions are demonstrated for the straight line motion from a start position to the goal position.

Antioxidant activity of the extract fractions from leaves, stems, roots and flowers of Cirsium pendulum Fisch. was investigated. The results showed the greatest antioxidant activities in leaves by Rancimat, TBA and DPPH methods. Extracts of common thistle plants dose-dependently increased DPPH free radical scavenging activity, The extract from flowers and its hexane fraction showed the strongest antioxidant activity. HPLC analysis showed that BuOH fraction of the leaves had the highest amount of antioxidant chlorogenic and p-coumaric acids at 5.38 and 9.71 mg 100 g-1, respectively. It implies that common thistle plants had potent antioxidant activity, and their activities were differently exhibited depending on plant part and solvent fraction.

Common thistle contains water-soluble substances that are phytotoxic to neighboring plant species. A series of aqueous extracts from leaves, stems, roots and flowers of common thistle (Cirsium pendulum Fisch.) were assayed against alfalfa (Medicago sativa) seedlings to determine their allelopathy, and the results showed highest inhibition in the extracts from flowers and leaves, and followed by stems, and roots. The extracts at 40 g dry tissue L-1(g~;L-1) applied on filter paper in a Petri-dish significantly inhibited root growth of test plant by 87%. Methanol extracts at 100 g L-1 from leaves inhibited root growth of alfalfa and barnyardgrass (Echinochloa crus-galli) by 89 and 98%, respectively. Hexane and ethylacetate fractions of common thistle reduced alfalfa root growth more than did butanol and water fractions. Incorporation into soil with the leaf residues at 100g~;kg-1 inhibited shoot fresh weights of barnyardgrass and eclipta (Eclipta prostrate) by 88 and 58%, respectively, showing higher sensitivity in grass species. These results suggest that common thistle plants had allelopathic potential for eco-friendly vegetation management, and that especially their activities were differently exhibited depending on plant part.