• 한국정밀공학회지
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• 제14권12호
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• pp.166-173
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• 1997

Influence coefficients on two-plane flexible rotor balancing model are derived by using the transfer matrix method. The model has a rigid uniform cylinder at mid-span of flexible shafts. Both faces of the rigid cylinder are used as the balancing planes. Calculated influence coefficients show that there exist the rotating speed ranges which are useless or insensitive for the balancing. Gyroscopic effect and damping are considered in the study and their effects are discussed.

• 턱관절균형의학회지
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• 제7권1호
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• pp.32-33
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• 2017

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1210-1216
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• 2004

This paper deals with a human-like gait generation of a biped robot with a balancing weight of an inverted pendulum type by using genetic algorithm. The ZMP (Zero Moment Point) is the most important index in a biped robot's dynamic walking stability. To perform a stable walking of a biped robot, a balancing motion is required according to legs' trajectories and a desired ZMP trajectory. A dynamic equation of the balancing motion is nonlinear due to an inverted pendulum type's balancing weight. To solve the nonlinear equation by the FDM (Finite Difference Method), a linearized model of equation is proposed. And GA (Genetic Algorithm) is applied to optimize a human-like balancing motion of a biped robot. By genetic algorithm, the index of the balancing motion is efficiently optimized, and a dynamic walking stability is verified by the ZMP verification equation. These balancing motion are simulated and experimented with a real biped robot IWR-IV. This human-like gait generation will be applied to a humanoid robot, at future work.

• 한국지능시스템학회논문지
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• 제25권1호
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• pp.1-6
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• 2015

본 논문에서는 한 바퀴 이동로봇의 균형제어를 위해 퍼지방법을 사용하였다. PD제어를 사용하여 균형을 유지하는 한 바퀴 로봇은 시간이 지남에 따라 플라이휠이 한 방향으로 기울어지게 되고 결국에는 균형이 무너지는 현상이 발생한다. 선행연구에서는 이를 해결하기 위해 게인 스케줄링 방법을 사용하였다. 본 논문에서는 퍼지방법을 사용하여 균형 각도를 보상하므로 균형 제어 성능을 높이고자 하였다. 퍼지제어를 통해 desired offset의 각도를 보상하므로 김벌이 한쪽으로 흘러 넘어지는 현상을 보완하였다. 한 바퀴 구동 이동로봇의 균형제어 실험을 통하여 제안하는 제어방식의 성능을 검증하였다.

• 한국소음진동공학회논문집
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• 제27권2호
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• pp.204-212
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• 2017

The rotor dynamics and balancing technic for rotating equipment during engineering and manufacture stage are to be carefully considered in order to minimize the operation troubles regarding vibration during commissioning stage. In this paper, the test rig, which includes the disks as balancing plane, is designed and manufactured, so that the characteristic of rotor dynamics can be analyzed such as critical speed and mode shape. The critical speed predicted through natural frequency analysis is verified by the actual measurement on bearing housing vibration during start-up condition of test rig. The low speed balancing and the operating speed balancing test are performed respectively with consideration of first critical speed, and the residual unbalance amounts are estimated in accordance with the relevant method described in API standard. In addition, the single and dual plane balancing are carried out on main disk and trim disk depended on phase information at each balancing step.

• 한국소음진동공학회논문집
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• 제19권11호
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• pp.1214-1221
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• 2009

A high-speed spindle can be very sensitive to rotating mass unbalance which has harmful effect on many machine tools. Therefore, the balancing procedure to reduce vibration in rotating system is certainly needed for all high-speed spindles. So, balancing procedure was performed with a spindle-bearing system for CNC automatic lathe by using numerical procedure. The spindle is supported by the angular contact ball bearings and the motor rotor is fixed at the middle of spindle. The spindle-bearing system has been investigated using combined methodologies of finite elements and transfer matrices. The balancing was performed through influence coefficient method and the comparison was made by whirl responses between before balancing and after balancing. As a result, balancing of simple spindle model reduced whirl orbit magnitude in case of a completely assembled spindle model.

• 한국지열·수열에너지학회논문집
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• 제12권4호
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• pp.15-20
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• 2016

Even though the control device of the heating system works well, insufficient water flow rates can degrade control performance and thermal comfort. The water flow rate should be adjusted appropriately to cope with the heating load of each zone. In order to solve these problems, a new balancing concept 'dynamic balancing' was proposed where a balancing valve opening can be automatically modulated according to the heating condition of the room. This study analyzed the effects of dynamic balancing upon indoor thermal environment and energy consumption in a radiant floor heating system through field measurement. Under part-load conditions, the use of a dynamic balancing is a more effective method to reduce energy consumption and to prevent a cavitation. Dynamic balancing is able to help boost the temperature of a room in the start-up period.

• Journal of Power Electronics
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• 제17권3호
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• pp.653-663
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• 2017

Multilevel active neutral-point-clamped (ANPC) converter combines the advantages of three-level ANPC converter and multilevel flying capacitor (FC) converter. However, multilevel ANPC converter often suffers from capacitor voltage balancing problems. In order to solve the capacitor voltage balancing problems for five-level ANPC converter, phase-shifted pulse width modulation (PS-PWM) is used, which generally provides natural voltage balancing ability. However, the natural voltage balancing ability depends on the load conditions and converter parameters. In order to eliminate voltage deviations under steady-state and dynamic conditions, the active voltage-balancing control (AVBC) methods of floating capacitors and dc-link capacitors based on PS-PWM are proposed. First, the neutral-point current is regulated to balance the neutral-point voltage by injecting zero-sequence voltage. After that, the duty cycles of the redundant switch combinations are adjusted to balance the floating-capacitor voltages by introducing moderating variables for each of the phases. Finally, the effectiveness of the proposed AVBC methods is verified by experimental results.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제8권9호
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• pp.2982-3003
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• 2014

With the explosive deployment of the wireless communications technology, the increased QoS requirement has sparked keen interest in network planning and optimization. As the major players in wireless network optimization, the BS's resource utilization and mobile user's QoS can be improved a lot by the load-balancing technology. In this paper, we propose a load-balancing strategy that uses Coordinated Multiple Points (CoMP) technology among the Base Stations (BS) to effectively extend network coverage and increase edge users signal quality. To use universally, different patterns of load-balancing based on CoMP are modeled and discussed. We define two QoS metrics to be guaranteed during CoMP load balancing: call blocking rate and efficient throughput. The closed-form expressions for these two QoS metrics are derived. The load-balancing capacity and QoS performances with different CoMP patterns are evaluated and analyzed in low-dense and high-dense traffic system. The numerical results present the reasonable CoMP load balancing pattern choice with guaranteed QoS in each system.

• 턱관절균형의학회지
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• 제10권1호
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• pp.21-25
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• 2020

Objectives: The aim of this study was to report the effectiveness of TMJ balancing therapy and Traditional Korean Medicine (TKM) treatments on a thalamus cerebral infarction patient with hemiparesis and gait disturbance. Methods: The patient was treated with TMJ balancing therapy, along with korean herbal medicine, acupuncture, moxibustion, cupping and physical therapy. The motor function was evaluated through the Manual Muscle Test (MMT), Grasp power and Functional Ambulatory Category (FAC). And the daily life ability was evaluated by the Korean version of the Modified Barthel Index (K-MBI) and Korean National Institute of Health Stroke Scale (K-NIHSS). Results: After 17 days of TMJ balancing therapy and TKM treatments, the score of MMT did not improved, but the score of FAC, K-MBI, K-NIHSS improved. Conclusions: This study suggested that TMJ balancing therapy and TKM treatments could be effective for hemiparesis and gait disturbance in patients with thalamus cerebral infarction.