• 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.

• Convergence Security Journal
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• v.14 no.1
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• pp.11-21
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• 2014

South Korea should not be in subordinate position in international relationships like the past. As the status of middle power. South Korea achieves peaceful unification through overcoming North Korea's nuclear and conventional threats, and builds military power in Northeast Asia as a 'balancer'. This can firstly be achieved by constructing "attack systems triad". 'attack systems triad' can be established through integrating the C41SR as a common strategy for the purposes of preemptive deterrence and retaliatory deterrence against the dangers of the present and the future. Second, denial deterrence can be achieved by establishing "defense system triad" by combining common military power and defensive weapon system. Finally, development of independent advanced technological strategies can be achieved by building defense industry and combination of research and development through constructing "Infra triad". As for constructing and reinforcing the future of the ROK military, a unilateral principle and policy efforts to achieve the aforementioned force construction models are needed. This can only be achieved through the government's national vision to take on the role of mediator and a basis founded upon the consensus of the public.