• Journal of Institute of Control, Robotics and Systems
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• v.19 no.3
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• pp.233-239
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• 2013

This paper presents the analysis and control of the position of the COG (Center of Gravity) for a two-wheel balancing robot. The two-wheel balancing robot is required to maintain balance by driving two wheels only. Since the robot is not exactly symmetrical and its dynamics is changing with respect to moving parts, robust balancing control is difficult. Balancing performance becomes difficult when two arms hold a heavy object since the center of gravity is shifted out of the wheel axis. Novel design of a sliding waist mechanism allows the robot to react against the shift of the COG by moving the whole upper body to compensate for the imbalance of the mass as a counter balancer. To relocate the COG position accurately, the COG is analyzed by force data measured from two force sensors. Then the sliding COG mechanism is utilized to control the sliding waist position. Experimental studies are conducted to confirm the proposed design and method.

• Journal of Power Electronics
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• v.12 no.4
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• pp.567-577
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• 2012

This paper introduces a new scheme to balance the DC bus voltages of a cascaded H-bridge converter which is used as a Distribution Static Synchronous Series Compensator (D-SSSC) in electrical distribution network. The aim of D-SSSC is to control the power flow between two feeders from different substations. As a result of different cell losses and capacitors tolerance the cells DC bus voltage can deviate from their reference values. In the proposed scheme, by individually modifying the reference PWM signal for each cell, an effective balancing procedure is derived. The new balancing procedure needs only the line current sign and is independent of the main control strategy, which controls the total DC bus voltages of cascaded H-bridge. The effect of modulation index variation on the capacitor voltage is analytically derived for the proposed strategy. The proposed method takes advantages of phase shift carrier based modulation and can be applied for a cascaded H-bridge with any number of cells. Also the system is immune to loss of one cell and the presented procedure can keep balancing between the remaining cells. Simulation studies and experimental results validate the effectiveness of the proposed method in the balancing of DC bus voltages.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.6 no.8
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• pp.1259-1268
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• 2002

One of the major goals suggested in distributed system is to improve the performance of the system through the load balancing of whole system. Load balancing among systems improves the rate of processor utilization and reduces the turnaround time of system. In this paper, we design the rule of decision-making and information interchange based on knowledge based mechanism which makes optimal load balancing by sharing the future load state information inferred from past and present information of each nodes. The result of performance evaluation shows that utilization of processors is balanced, the processing time is improved and reliability and availability of systems are enhanced. The proposed mechanism in this paper can be utilized in the design of load balancing algorithm in distributed operating systems.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.6
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• pp.1-7
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• 2011

This paper presents implementation and control of a two wheeled mobile robot system which consists of two systems, an inverted pendulum system and a mobile robot system. Control purpose is to regulate its balancing and navigation. The balancing robot has advantages of one point turning and robust balancing against disturbances from the ground. Simulation studies of local and global control methods are performed. Since the robot is implemented to have a symmetrical structure, simple linear control algorithms are used for balancing and navigation. Low cost sensors such as gyro and tilt sensor are fused together to detect the inclined angle. Experimental studies of following desired circular trajectory are conducted.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.87-93
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• 2014

Conventional two-wheeled balancing robots are limited in terms of turning speed because they lack the lateral motion to compensate for the centrifugal force needed to stop rollover. In order to improve lateral stability, this paper suggests a two-wheeled balancing mobile platform equipped with a tilting mechanism to generate roll motions. In terms of static force analysis, it is shown that the two-body sliding type tilting method is more suitable for small-size mobile robots than the single-body type. For the mathematical modeling, the tilting-balancing platform is assumed as a 3D inverted pendulum and the four-degrees-of-freedom equation of motion is derived. In the velocity/posture control loop, the desired tilting angle is naturally determined according to the changes of forward velocity and steering yaw rate. The efficiency of the developed tilting type balancing mobile platform is validated through experimental results.

• Journal of Electrical Engineering and Technology
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• v.11 no.3
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• pp.629-638
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• 2016

This paper proposes a State-of-Charge (SOC) balancing control of Battery Power Modules (BPMs) for a modularized battery for Electric Vehicles (EVs) without additional balancing circuits. The BPMs are substituted with the single converter in EVs located between the battery and the inverter. The BPM is composed of a two-phase interleaved boost converter with battery modules. The discharge current of each battery module can be controlled individually by using the BPM to achieve a balanced state as well as increased utilization of the battery capacity. Also, an SOC balancing method is proposed to reduce the equalization time, which satisfies the regulation of a constant DC-link voltage and a demand of the output power. The proposed system and the SOC balancing method are verified through simulation and experiment.

• The Journal of the Korea Contents Association
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• v.5 no.5
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• pp.100-106
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• 2005

It has been attempted to approach a method to develop games efficiently. Many companies in game industries have their own developing process. A efficient game developing process or manufactory tools doesn't show the successful development, but it is necessary to propose the typical design method on viewpoint of game developer. In this paper, we propose how we solve RPG game character balancing problem in order to derive the balancing design to be applicable on a game. We will approach to game balancing design based on experienced experiments through balancing analysis of game character in RPG genre.

• Journal of TMJ Balancing Medicine
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• v.5 no.1
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• pp.16-19
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• 2015

The purpose of this study was to report the effect of Yinyang balancing appliance (YBA) of Functional Cerebrospinal Therapy (FCST) and Korean medicine methods treating idiopathic scoliosis. YBA was applied for 146 times from 29th March 2014 to 5th September 2015. Herbal medicine used for treatment were Yeonggamgangmisinhaintang, Eokgansangagambang, Gamihangchetang. The change of symptoms was evaluated by Visual Analogue Scale. When treated with YBA and herbal medicine, the patient showed improvement. After about 1 year, the patient was recovered completely. This case showed that YBA and herbal medicine can be effective to improve idiopathic scoliosis.

• Journal of Power Electronics
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• v.12 no.6
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• pp.869-877
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• 2012

This paper presents a current-balancing circuit for security lights that uses parallel-connected LEDs. The parallel connection of LEDs causes current differences between the LED strings because of characteristic deviations. These differences can reduce the lifespan of a particular point of LEDs by thermal spotting. They can also cause non-uniform luminance of the lighting device. Among the different methods for solving these problems, the method using current-balancing transformers makes it easy to compensate for current differences and it has a simple circuitry. However, while the balancing transformer has been applied to AC light sources, LEDs operate on a DC source, so the driving circuitry and the design method have to be changed and their performances must be verified. Thus in this paper, a design method of the balancing transformer network and the driving circuitry for LEDs is proposed. The proposed design method could have a smaller size than the conventional design method. The proposed circuitry is applied to three types of 100-watt LED security lights, which use different LEDs. Experimental results are presented to verify the performance of the designed driving circuits.

• Journal of the Institute of Convergence Signal Processing
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• v.5 no.3
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• pp.236-242
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• 2004

In this paper, we propose an approach to parallelize a load balancing algorithm that was shown to be very effective in distributing workload for parallel computations. Load balancing algorithms are required in executing parallel program efficiently As a parallel computation model, we used dynamically growing tree structure that can be found in many application problems. The load balancing algorithm tries to balance the workload among processors while keeping the communication cost under certain limit. We show how the load balancing algorithm is effectively parallelized on mesh and hypercube interconnection networks, and analyzed the time complexity for each case to show that parallel algorithm actually reduced the various overhead.