• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.4
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• pp.45-52
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• 1989

The size of links and actuators of robots tends to be overdesigned compared with their performance. It is recently reported that the balancing of a robot links simplifies its dynamics and eliminates the gravity terms. As a way of avoiding overdesign problem, an auto-balancing mechanism is proposed, which enables to satisfy varying balancing condition according to payloads. The performance of this auto-balancing mechanism is illustrated by the computer simulation evidences.

• Journal of Biosystems Engineering
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• v.15 no.2
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• pp.88-98
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• 1990

The purpose of this study was twofold : first, to reduce as much as possible the shaking moments of the crank-type transplanting mechanism of walking-type rice transplanters, and second, to evaluate whether or not a crank-type transplanting mechanism, if its shaking moment is reduced, can be used in riding-type transplanters for high speed transplanting operations. For these purposes, kinematic and force analyses of the currently available crank-type transplanting mechanisms were made and their results were compared with those observed by experimentation. The degree of shaking moment effect was also estimated Various efforts to minimize the shaking moments led to the development of a crank-type mechanism with a balancing gear, in which an eccentric balancing gear is combined into the driven link axis. Analysis of the developed mechanism showed that about 20% of the shaking energy can be reduced and about 40% of reduction in peak shaking moment can be obtained when comparing with those obtained without the balancing gear. It was concluded that crank-type transplanting mechanisms can be used for high speed operations with a forward speed of 0.9-1.2m/s if the balancing gear is additionally mounted. However, further considerations must be made to solve the space constraints in relation to the structural frame of riding type of rice transplanters.

• The Journal of Korea Robotics Society
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• v.4 no.4
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• pp.289-297
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• 2009

This paper presents the development and control of a two wheeled car-like mobile robot using balancing mechanism whose heading control is done by turning the handle. The mobile inverted pendulum is a combined system of a mobile robot and an inverted pendulum system. A sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. Experimental studies of the trajectory following control task has been conducted by command of steering wheel while balancing.

• 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.

• The Journal of Korea Robotics Society
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• v.8 no.4
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• pp.229-237
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• 2013

In this paper, we report a self-balancing robot wheelchair which has the capability of keeping upright posture regardless of the terrain inclination in terms of the three dimensional balancing motion. It has the mobility of five degrees of freedom, where pitching, yawing, and forward motions are generated by the two-wheeled inverted pendulum mechanism and the rolling and vertical motions are implemented by the movement of the tilting mechanism. Several design considerations are suggested for the sliding type vehicle body, wheel actuator module, tilting actuator module, power and control system, and the riding module.

• ETRI Journal
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• v.30 no.4
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• pp.618-620
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• 2008

A distributed virtual environment (DVE) allows multiple geographically distributed objects to interact concurrently in a shared virtual space. Most DVE applications use a non-replicated server architecture, which dynamically partitions a virtual space. An important issue in this system is effective scalability as the number of users increases. However, it is hard to provide suitable load balancing because of the unpredictable movements of users and hot-spot locations. Therefore, we propose a mechanism for sharing roles and separating service regions. The proposed mechanism reduces unnecessary partitions of short duration and supports efficient load balancing.

• Journal of TMJ Balancing Medicine
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• v.8 no.1
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• pp.6-10
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• 2018

In order to propose a fundamental and appliable theories for balancing therapy of temporomandibular joint (TMBT), evolutionary proofs and up-down theories in evolutionary biology and Korean medicine were investigated. Balancing therapy of temporomandibular joint treats disorder and diseases of the whole body through straightening of the abnormal linking between temporomandibular joint and axis. Although the mechanism of this therapy contains many merits like multicellular integrity and coadjustment, ease of balance and alert forward mobility by the bipedal stepping and evolution to Homo sapiens, increasing disadvantages of balancing pressure of right and left in the lengthened perpendicular axis and the balancing load of temporomandibular joint and axis following the reactional change of dental occlusion are deeply related and considered in this therapy. As for up-down theory, crossing of heavenly qi and earth qi centering on cervical joint is presented as the first mechanism for TMBT, and the other ones like in-out and up-down qi activity of tripple energizer, up-down of essence-qi-spirit in the three backbone barrier and three cinnabar field, up-down of yin-yang-water-fire of viscera and bowels can be related too.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.534-539
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• 1988

This paper presents a method to balance the links of an articulated robot for an unknown payload using an automatic balancing mechanism. The balancing masses are controlled to move in their appropriate locations so that the joint torques of the links are eliminated. After balancing the mass of the payload is obtained from the balancing conditions. Based upon a series of simulation studies some results are discussed.

• 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 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.