• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.5
• /
• pp.353-360
• /
• 2016

In this paper, a DOB (disturbance observer) is designed for the steering stabilization of one-wheeled balancing robot. Based on the simple stick model of the single-wheeled robot, DOBs and the corresponding Q filters are designed. Although the proposed models are simple, DOBs are desired to deal with model uncertainties for the enhanced balancing performance. Experimental studies of two different cases of Q filter design are conducted to evaluate the performances of DOBs. Their performances are compared through balancing control experiments.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.51 no.2
• /
• pp.190-196
• /
• 2014

In this paper, we get state equations based on wheel's rotation, tilt and steering are independent each other in balancing robot. Accordingly, we propose two LQR controllers which are appropriate for rotation and steering control of a balancing robot. And its superiority and appropriateness are demonstrated by a comparison to a PID method. Simulation results verify the possibility of upright balancing, rectilinear motion and position control. Moreover, experimental results show that it guarantees the performance to apply the two LQR controllers to balance the robot.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.6 no.2
• /
• pp.155-160
• /
• 2006

In the paper a robust indirect adaptive fuzzy controller is proposed for balancing and position control of the inverted pendulum system. Because balancing control rules of the pendulum and position control rules of the cart can be opposite, it is difficult to design an adaptive fuzzy controller that satisfy both objectives. To stabilize the pendulum at a specified position, the proposed fuzzy controller consists of a robust indirect adaptive fuzzy controller for balancing and a supervisory fuzzy controller which emulates heuristic control strategy and arbitrate two control objectives. It is proved that the signals in the overall system are bounded. Simulation results are given to verify the proposed adaptive fuzzy control method.

• Proceedings of the IEEK Conference
• /
• 2008.06a
• /
• pp.249-250
• /
• 2008

In the field of mobile communications, load balancing between 3GPP LTE and other networks is expected to be an important topic from the perspective of current technical development. The load balancing technique includes the definition of functions and structures needed to incooperate 3G LTE E-Node B and base-stations designed for heterogeneous networks. The major goal attained from this paper is to ensure an algorithm for the mechanism of load balancing and to achieve a technical leading for the next generation mobile network.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.9 no.6
• /
• pp.2035-2049
• /
• 2015

Applications deployed in cloud receive a huge volume of requests from geographically distributed users whose satisfaction with the cloud service is directly proportional to the efficiency with which the requests are handled. Assignment of user requests based on appropriate load balancing principles significantly improves the performance of such cloud-based applications. To study the behavior of such systems, there is a need for simulation tools that will help the designer to set a test bed and evaluate the performance of the system by experimenting with different load balancing principles. In this paper, a novel architecture for cloud called Request Assignment Simulator (RAS) is proposed. It is a customizable, visual tool that simulates the request assignment process based on load balancing principles with a set of parameters that impact resource utilization. This simulator will help to ascertain the best possible resource allocation technique by facilitating the designer to apply and test different load balancing principles for a given scenario.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.6
• /
• pp.501-507
• /
• 2013

This paper presents the development and balancing control of GYROBO, a one wheeled mobile robot system. GYROBO is a disc type one wheel mobile robot that has three actuators, a drive motor, a spin motor, and a tilt motor. The dynamics and kinematics of GYROBO are analyzed, and simulation studies conducted. A one-wheeled robot, GYROBO is built and its balancing control is performed. Experimental studies of GYROBO's balancing abilities are conducted to demonstrate the gyroscopic effects generated by the spin and tilt angles of a flywheel.

• Journal of applied mathematics & informatics
• /
• v.14 no.1_2
• /
• pp.343-351
• /
• 2004

In order to maintain load balancing in a distributed system, we should obtain workload information from all the nodes on network. This processing requires $O(v^2)$ communication overhead, where v is the number of nodes. In this paper, we present a new synchronous dynamic distributed load balancing algorithm on a (v, k ＋ 1, 1)-configured network applying a symmetric balanced incomplete block design, where $v\;=\;k^2$\;＋\;k\;＋\;1$. Our algorithm needs only $O(\sqrt[v]{v})$ communication overhead and each node receives workload information from all the nodes without redundancy. Therefore, load balancing is maintained since every link has the same amount of traffic for transferring workload information.

• Journal of TMJ Balancing Medicine
• /
• v.5 no.sup
• /
• pp.19-24
• /
• 2015

A dizziness case with functional cerebro-spinal therapy (FCST) was reviewed to explore the effect of FCST. The case was managed with Yinyang Balancing Appliance (YBA) and the TMJ Balancing Appliance (TBA), combined with acupuncture, cupping and herbal medicine. Clinical outcome measurement was performed based on subjective measures and clinical observation. The patient showed positive changes starting after the first treatment. Futher clinical and biological research on FCST is expected.

• Journal of TMJ Balancing Medicine
• /
• v.4 no.1
• /
• pp.12-16
• /
• 2014

Therapeutic effect of Yinyang Balancing Appliance of functional cerebrospinal therapy (FCST) for meridian and neurologic yinyang balance was observed in chronic motor tic disorder. One chronic motor tic Disorder case was managed with the Yinyang Balancing appliance on tempromandibular joint (TMJ), combined with acupuncture. Clinical outcome measurement was based on subjective measures and clinical observations. The patient showed positive changes after the treatment and this effect maintained over the follow-up period. Although it is not clear the effect is sustaining or temporary in its nature, a positive effect was observed and further clinical and biological research on FCST is expected.

• Journal of TMJ Balancing Medicine
• /
• v.6 no.1
• /
• pp.19-23
• /
• 2016

Therapeutic effect of Yinyang Balancing Appliance of functional cerebrospinal therapy (FCST) for meridian and neurologic yinyang balance was observed in tic disorder patients. Seventy tic disorder cases were managed with the Yinyang Balancing Appliance on temporomandibular joint (TMJ), combined with acupuncture. Clinical outcome measurement was based on subjective measures and overall clinical impressions. Patients showed a trend toward improvement by clinical observations. In some cases, such changes were visible even after the initial treatment, and this effect was observed to be maintained over the follow-up period. Further clinical and biological research on tic disorder is expected with respect to the FCST.