• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1876-1879
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• 2003

Due to the conventional half-bridge switch-mode converters for dc motor drive have been usually using unbalanced circuit topologies which generate common-mode currents through parasitic capacitors distributed between the ground and the dc motor frame such as the heat-sink of switching devices or the frame of the dc motor. This paper describes methods that cancel common-mode current generated in half-bridge switch-mode converters by using circuit balancing technique. The circuit balancing is to make the noise pickup or occurring in both conductor lines, signal and return pathes, is equal in amplitude and opposite in phase so that it will be canceled out in the ground plane. The common-mode current cancellation in the proposed converter is confirmed by experimental results.

• Journal of the Korean Institute of Intelligent Systems
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• v.27 no.2
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• pp.89-98
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• 2017

The control moment gyroscope(CMG) can be used for essential balancing control of a one-wheeled mobile robot. A single-gimbal CMG has a simple structure and can supply strong restoring torque against external disturbances. However, the CMG generates unwanted directional torque also besides the restoring torque; the unwanted directional torque causes instability in the one-wheeled robot control system that has high rotational degrees of freedom. This study proposes a control system for a one-wheeled mobile robot by using a CMG scissored pair to eliminate the unwanted directional torque. The well-known LQR control algorithm is designed for robustness against modeling error in the dynamic motion equations of a one-wheeled robot. Computer simulations for 3D nonlinear dynamic equations are carried out to verify the proposed control system with the CMG scissored pair and the LQR control algorithms.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.391-394
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• 1993

A new approach using a Hopfield type neural network to solve line balancing problems for manufacturing planning is proposed. The energy function of the network to evaluate solutions is composed of three terms;(a) an operation should be processed at one and only one workstation, (b) the precedence-relationship between two operations shoud be satisfied, and (c) the cycle-time of operations should be minimized. It is shown that the network can solve the line balancing problems but not always because of the difficulty to keep the precedence-relationship. Therefore, a method to keep the precedence-relationship by software logic is proposed and it is verified that the line-balancing prblems can be solved with high probability.

• Transactions of Materials Processing
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• v.15 no.1 s.82
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• pp.47-56
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• 2006

It is well known that the family-mold has an advantage to reduce the cost for production and mold. However, defects are frequently occurred by over packing the smaller volume cavity during molding, especially when the family-mold has a volumetric difference between two cavities. In this study, the cavity-filling imbalance was confirmed by the temperature and the pressure sensors, and a variable-runner system was developed for balancing the cavity-filling. Experiments of balancing the cavity filling was carried out in the family-mold with the variable-runner system, and balancing the cavity-filling was confirmed by changing the cross-sectional area of a runner in the variable-runner system with the temperature and pressure sensors. The influence of the injection speed to the balancing-capability of the variable-runner system was also examined in the experiment.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.10 no.4
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• pp.157-162
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• 2010

The cart-pole balancing problem is a pseudo-standard benchmark problem from the field of control methods including genetic algorithms, artificial neural networks, and reinforcement learning. In this paper, we propose a novel approach by using online reinforcement learning(OREL) to solve this cart-pole balancing problem. The objective is to analyze the learning method of the OREL learning system in the cart-pole balancing problem. Through experiment, we can see that approximate faster the optimal value-function than Q-learning.

• Proceedings of the IEEK Conference
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• 2001.06a
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• pp.163-166
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• 2001

Software controlled traffic management becomes more difficult with increasing switch size, because a huge number of connections are multiplexed in a high speed switching system and each ATM connections does not have a fixed bandwidth It is based on high-speed WDM(wavelength division multiplexed) links that can multiplex a huge number of connections on a statistical basis, and a self-load balancing technique. the Proposed switching system is scalable, and achieves the non-blocking capability without the use of complicated software control, using instead a hardware self-load balancing mechanism

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.7 no.9
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• pp.2326-2337
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• 2013

Many applications can be parallelized by using multicore platforms. We propose a load-balancing technique for parallelizing a whole application, whose first module (H.264) has data independency and whose second module (AES) has data dependency. Instead of distributing the first module symmetrically over the multi-core platform, we distribute the data-independent workload asymmetrically in order to start the data-dependent workload as early as possible. Based on the experimental results with a compression/encryption application, we confirm that the asymmetric load balancing can provide better performance than the typical symmetric load balancing.

• The Transactions of the Korean Institute of Power Electronics
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• v.23 no.1
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• pp.40-46
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• 2018

In this study, the output voltage balancing characteristics of parallel-input series-output (PISO) boost converter is analyzed. The PISO boost converter is derived by combining two basic boost converters. In comparison with the conventional three-level boost converter, the PISO boost converter can balance the output voltages under an unbalanced load condition without requiring additional circuit components and control strategy. A 2 kW prototype converter is built and tested to verify the output voltage balancing characteristics of the PISO boost converter.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.113-118
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• 1993

This paper represents mechanical compliance & ZMP(Zero Moment Point) control algorithm for IWR(Inha Walking Robot) system. In case of walking in different environments, a biped walking robot must vary its gait(walking period or step length, etc.) according to the environments. However, most of biped walking robots do not have the capability to change their gaits or need more complex control algorithm, because ZMP cannot be defined in their control algorithm. Therefore new linear type with balancing joint is proposed which is used as an aid in balancing & ZMP control itself. In IWR system, ZMP can be defined by solving differential equations and it does not need to be predefined ZMP trajectory. Furthermore we can input the desired ZMP position. In parallel with the development, we also considered a mechanical compliance for reducing the inverse kinematics, dynamics and the control complexity. It will figure out some powerful adaptation with 3D irregular terrains.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.40 no.2
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• pp.217-223
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• 1991

Most common applications of neural networks to control problems are the automatic motor controls using the artificial perceptual function. These control mechanisms are similar to those of the intelligent and pattern recognition control of an adaptive method frequently performed by the animate nature. In this paper, the pole-balancing problem is selected as the control object and an actual cart-pole controller is implemented by a computer interfacing and demonstrated as motor control using the reinforcement learning rule. In the experiment, given a change of the main parameters of cart-pole dynamics, a comparison is made between the LQR scheme and neural network method. The neural network method exhibits a more effecftive control action in a real situation having a large uncertainty than the LQR scheme.