• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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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.

• 한국지능시스템학회논문지
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• 제27권2호
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• pp.89-98
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• 2017

외바퀴 로봇 제어에 있어 필수적인 균형 안정화 제어를 위해 제어 모멘트 자이로스코프(CMG)를 이용할 수 있다. 단일 짐벌 CMG는 단순한 구조를 가지면서 외란에 대해 강력한 복원 토크를 로봇에게 전달할 수 있다. 그러나 CMG는 복원 토크 외에 원치 않는 방향의 토크도 발생시킨다. 원치 않는 방향 토크는 회전 자유도가 높은 외바퀴 로봇 시스템에서 불안정성 문제를 야기한다. 본 논문에서는 원치 않는 방향 토크를 제거하기 위해 CMG 가위쌍을 이용한 외바퀴 이동 로봇 제어 시스템을 제시한다. 외바퀴 로봇 동역학식에 있어서의 모델 오차에 강인한 특성을 갖는 LQR 제어 알고리즘을 설계하였다. 3D 비선형 동역학 컴퓨터 시뮬레이션을 통해 CMG 가위쌍과 LQR 제어 알고리즘을 갖는 외바퀴 로봇 제어 시스템을 검증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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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.

• 소성∙가공
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• 제15권1호
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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.

• 한국인터넷방송통신학회논문지
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• 제10권4호
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• pp.157-162
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• 2010

Cart-pole 균형 문제는 유전자 알고리즘, 인공신경망, 강화학습 등을 이용한 제어 전략 분야의 표준 문제이다. 본 논문에서는 cart-pole 균형문제를 해결하기 위해 실시간 강화 학습을 이용한 접근 방법을 제안하였다. 본 논문의 목적은 cart-pole 균형 문제에서 OREL 학습 시스템의 학습 방법을 분석하는데 있다. 실험을 통해, 본 논문에서 제안한 OREL 학습 방법은 Q-학습보다 최적 값 함수에 더 빠르게 접근함을 알 수 있었다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2001년도 하계종합학술대회 논문집(1)
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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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• 제7권9호
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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.

• 전력전자학회논문지
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• 제23권1호
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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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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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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.

• 대한전기학회논문지
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• 제40권2호
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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.