• Journal of the Korean Society for Precision Engineering
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• v.30 no.2
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• pp.171-176
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• 2013

In this research a Self-Standable mobile Robot with standing arms based on an Wheeled Inverted Pendulum is developed. Almost existing mobile robots have wide planar shape that is statistically stable and it is sometimes hard for them to run or steer on a narrow road. A Wheeled Inverted Pendulum based mobile robot has vertical shape that is upright-running and easily steering on a narrow road. It, however, requires actively balancing control and never restores the shape once it falls down. This research develops a Self-Standable mobile robot which equips standing arms and is able to change its chassis' posture freely from planar to vertical shape or vice versa.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.484-491
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• 2002

We developed a new type of human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The robot overcomes the limit of the driving torque of conventional BWRs. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has a space to board DC battery and controllers. In the performance test, the BWR performed sitting-up and down motion, and walking motion. Through the test, we found the possibility of a high performance biped-walking.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.2
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• pp.14-21
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• 1993

Pneumatic actuators have greater power to weight ratio than electric ones, but they have been rarely used as robotic actuators because of poor accuracy resulted from nonliearity of air. On the other hand, electric servo motors have glld controllability, but they have poor power to weight ratio. For the heavy load handling robot a combined actuating method was developed for vertical and horizontal axes of RISTBOT-ll which handles up to 250kgf load. In this paper, the control method is implemented and analyzed for the manufactured heavy load handling robot.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.135-139
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• 1990

In general, the control of robot arms falls into two board categories (position control and force control). The joint interpolated trajectory schemes generally interpolate the desired joint path by a class of polynomial functions and generate a sequence of time based control set points for the control of a manipulator from a initial location to its destination. A digital position controller was designed and adapted to the industrial balancing manipulator. And also, the joint interpolated trajectory using 3rd order polynomial was generated in this study. The IBM PC used as the main controller and the trajectory planner had enough run-time capabilities. The 8097BH microcontroller is an integral pan of the joint controller which directly controls an axis of motion. The PI servo control system to treat each joint of the robot arm as a independent joint servo mechanism had satisfying performance, and a sequence of time-based intermediate configurations of the manipulator hand showed good continuity and smoothness on position and velocity of the manipulator's joint coordinates along the trajectory.

• Journal of Korea Multimedia Society
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• v.3 no.6
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• pp.557-565
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• 2000

According to CORBA specification, there are some mechanisms for object reference management such as Naming Service and Trading service, but these mechanism cant's supply all functionalities needed fomanagement in MICS. So, We have designed and implemented additional special-purpose IPO manager. It provides load balancing service based on real-time information for IPO and fault-tolerable services with the management of redundant IPOs and also provides transparent configuration of client environment with the lists of registered IPOs.

• Proceedings of the Korea Information Processing Society Conference
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• 2000.10a
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• pp.669-672
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• 2000

회선분배장치를 제어관리하는 W/S의 Daemon 중에서 Event 처리를 담당하는 EvtProc Daemon의 경우를 들어 효율적인 부하 분산 알고리즘을 설계하였다. 본 논문에서는 대량의 Event 발생 시 담당 프로세스가 연속적으로 fork, exec 하지 않고 일정시간 대기하므로써 fork 와 exec 의 오버헤드를 줄이고 같은 Op Code의 연이은 Event 발생에 대기중인 프로세스가 이를 처리함으로써 더욱더 오버헤드를 줄일 수 있다. 그리고 Event를 처리하는 Child 생성에 있어 주 Child 가 부하분산을 담당하게 함으로써 효율적이고 안정적으로 관리할 수 있는 방안을 제시하였고 이를 구현 분석하였다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.5 no.2
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• pp.108-113
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• 2005

This paper suggests a control method for an efficient topology/parameter evolution in a bond graph-based GP design framework that automatically synthesizes designs for multi-domain, lumped parameter dynamic systems. We adopt a hierarchical breeding control mechanism with fitness-level-dependent differences to obtain better balancing of topology/parameter search - biased toward topological changes at low fitness levels, and toward parameter changes at high fitness levels. As a testbed for this approach in bond graph synthesis, an eigenvalue assignment problem, which is to find bond graph models exhibiting minimal distance errors from target sets of eigenvalues, was tested and showed improved performance for various sets of eigenvalues.

• Korean System Dynamics Review
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• v.10 no.1
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• pp.5-32
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• 2009

This paper revisited the key advances on System Dynamics modeling about traditional macro-economic models and economic growth structures, and then tries to elaborate a new model based on the endogenous growth theory that incorporates new growth factors, relevant to knowledge/technology as well as the Environment, into traditional growth models. Accordingly, the new model augments the acceleration and multiplier loops and the balancing ones representing market clearing mechanism with a simple numerical example. The authors thus provides macroeconomic System Dynamics analysts with a milestone to model macro-economic structures reflecting on traditional and cutting-edge theories on sustainable economic growth and general equilibrium modeling.

• ETRI Journal
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• v.40 no.5
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• pp.604-612
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• 2018

To solve the problem of unbalanced loads and the short network lifetime of heterogeneous wireless sensor networks, this paper proposes a node-selection algorithm based on energy balance and dynamic adjustment. The spacing and energy of the nodes are calculated according to the proximity to the network nodes and the characteristics of the link structure. The direction factor and the energy-adjustment factor are introduced to optimize the node-selection probability in order to realize the dynamic selection of network nodes. On this basis, the target path is selected by the relevance of the nodes, and nodes with insufficient energy values are excluded in real time by the establishment of the node-selection mechanism, which guarantees the normal operation of the network and a balanced energy consumption. Simulation results show that this algorithm can effectively extend the network lifetime, and it has better stability, higher accuracy, and an enhanced data-receiving rate in sufficient time.

• Journal of the Korea Society of Computer and Information
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• v.22 no.5
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• pp.11-19
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• 2017

In this paper, we propose a hypervisor for embedded systems based on ARM microprocessor. The proposed hypervisor makes it possible to run several real-time kernels concurrently on a single embedded system by virtualizing its microprocessor. With assistance of MMU, it supports virtual memory which enables each guest operating system has its own address space. Exploiting the fact that most embedded systems use memory-mapped I/O device, it provides a mechanism to distribute an external interrupt to virtual machines properly. It also achieves load balancing through live migration which moves a running virtual machine to other embedded system. Unlike other para-virtualization techniques, minor modifications are needed to run it on the hypervisor. Extensive performance measurement studies are conducted to show that the proposed hypervisor has enough potentiality of its real-world application.