• Proceedings of the Korean Information Science Society Conference
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• 2004.04a
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• pp.868-870
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• 2004

ad-hoc 망에서 라우팅 프로토콜의 부하균등(load balancing)은 이동성과 전송 지연사이의 trade-off로 인하여 성능 관점에서 중요한 이슈가 되어왔다. 부하균등을 고려한 SLAP(Simple Load-balancing Ad-hoc routing Protocol)이 제안되었으나 혼잡이 발생하거나 망의 토폴로지가 변화하였을 때 유연하게 대처하지 못한다. 본 논문에서는 ad-hoc 망에서 트래픽 혼잡 제어와 망의 이동성에 적응하기 위하여 동적인 임계치를 사용하는 부하균등 라우팅 프로토콜을 제안하였다. 제안된 프로토콜은 성능은 GloMoSim으로 시뮬레이션을 수행하여 AODV, DSR, SLAP과 지연, 패킷 전송률 등을 비교하여 평가하였다.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.656-663
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• 2007

A new dynamic balancing algorithm has been proposed to minimize the number of sensors necessary for the horizontal balancing of the mobile inverted pendulum while maintaining the same level of the commercial performance. The inverted pendulum technique is getting attention and there have been many researches on the Segway since the US inventor Dean Kamen commercialized. One of the major problems of the Segway is that many sensors are required for the control of the Segway, which results in the high price. In this research, a single gyro and a tilt sensor are fused to obtain the absolute tilt information, which is applied for the control of the mobile inverted pendulum. A dynamic balancing technique has been developed and applied for a robust control system against disturbances. The intelligent handling and stable curving of the Segway as a next generation mobile tool are verified with a human loading.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.27 no.11C
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• pp.1040-1045
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• 2002

This paper focuses on a hash-based, distributed Wet caching network that eliminates inter-cache communication. An agent program on cache servers, a mapping program on the DNS server, and other components comprised in a distributed Web caching network were modified and developed to implement a so-called "consistent" hashing. Also, a dynamic load balancing algorithm is proposed to address the load-balancing problem that is a key performance issue on distributed architectures. This algorithm effectively balances the load among cache servers by distributing the calculated amount of mapping items that have higher popularity than others. Therefore, this developed network can resolve the imbalanced load that is caused by a variable page popularity, a non-uniform distribution of a hash-based mapping, and a variation of cache servers.

• Journal of International Academy of Physical Therapy Research
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• v.9 no.1
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• pp.1387-1392
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• 2018

The purpose of this study was to investigate the effect of fall injuries on the balancing abilities and ankle flexibility. Fifteen of the voluntary participants had no experience of falling in the last two years (none falling group, NFG) and 15 others experienced at least one (falling group, FG). Static balance (sway length, sway area), dynamic balance (timed up and go (TUG), and functional to reach test (FRT) were measured in each group. In comparison of static balance, sway length was not significantly different between NFG and FG in both eyes open and eyes close, however the sway area of the FG was significantly wider than that of the NFG (p<.05). In dynamic balance comparisons, TUG of FG was significantly longer than that of NFG (p <.05), however FRT and STS were no significant difference between groups. Ankle flexibility was significantly higher in NFG than in FG. This study suggests that the fall prevention program should include methods for improving ankle stability and lower extremity function.

• The KIPS Transactions:PartA
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• v.8A no.4
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• pp.455-460
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• 2001

For some applications, the computational structure changes dynamically during the program execution. When this happens, static partitioning and allocation of tasks are not enough to achieve high performance in parallel computers. In this paper, we propose a dynamic load balancing algorithm efficiently distributes the computation with dynamically growing tree structure to processors. We present an implementation technique for the algorithm on mesh architectures, and analyze its complexity. We also demonstrate through experiments how our algorithm provides good quality solutions.

• The KIPS Transactions:PartC
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• v.9C no.5
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• pp.709-718
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• 2002

Cluster based VOD systems require elaborate load balancing and buffer management techniques in order to ensure real-time display for multiuser concurrently. In this paper, we propose a new load balancing technique based on the dynamic buffer partitioning in cluster based VOD servers. The proposed technique evenly distribute the user requests into each service node according to its available buffer capacity and disk access rate. In each node, the dynamic buffer partitioning technique dynamically partitions the buffer to minimize the average waiting time for the requests that access the same continuous media. The simulation results show that our proposed technique decreases the average waiting time by evenly distributing the user requests compared with the exiting techniques and then increases the throughput in each node. Particularly under the overloaded condition in the cluster server, the simulation probes that the performance of the proposed technique is better two times than the Generalized Interval Caching based technique.

• Journal of Power Electronics
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• v.17 no.3
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• pp.653-663
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• 2017

Multilevel active neutral-point-clamped (ANPC) converter combines the advantages of three-level ANPC converter and multilevel flying capacitor (FC) converter. However, multilevel ANPC converter often suffers from capacitor voltage balancing problems. In order to solve the capacitor voltage balancing problems for five-level ANPC converter, phase-shifted pulse width modulation (PS-PWM) is used, which generally provides natural voltage balancing ability. However, the natural voltage balancing ability depends on the load conditions and converter parameters. In order to eliminate voltage deviations under steady-state and dynamic conditions, the active voltage-balancing control (AVBC) methods of floating capacitors and dc-link capacitors based on PS-PWM are proposed. First, the neutral-point current is regulated to balance the neutral-point voltage by injecting zero-sequence voltage. After that, the duty cycles of the redundant switch combinations are adjusted to balance the floating-capacitor voltages by introducing moderating variables for each of the phases. Finally, the effectiveness of the proposed AVBC methods is verified by experimental results.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.342-348
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• 2015

This paper presents a two-wheel balancing mobile robot with linear workspace extension structures. The two-wheel mobile robot has two linear motions at the waist and shoulder to have extended workspace. The linear motion of the waist and shoulder provides some structural advantages. A dynamic equation of the simplified robot system is derived. Simulation studies of the position control of the robot system are performed based on the dynamic equations. The dynamic relationship between a two-wheel mobile system and linear extension mechanism is observed by simulation studies.

• Journal of KIISE:Information Networking
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• v.33 no.3
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• pp.231-246
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• 2006

A server load balancer is used to accept and distribute client requests to one of servers in a wireless internet proxy server cluster. LVS(Linux Virtual Server), a software based server load balancer, can support several load balancing algorithms where client requests are distributed to servers in a round robin way, in a hashing-based way or in a way to assign first to the server with the least number of its concurrent connections to LVS. An improved load balancing algorithm to consider server performance was proposed where they check upper and lower limits of concurrent connection numbers to be allowed within each maximum server performance in advance and apply the static limits to load balancing. However, they do not apply run-time server load information dynamically to load balancing. In this paper, we propose a dynamic load balancing scheme where the load balancer keeps each server CPU load information at run time and assigns a new client request first to the server with the lowest load. Using a cluster consisting of 16 PCs, we performed experiments with static content(image and HTML). Compared to the existing schemes, experimental results show performance improvement in the cases of client requests requiring CPU-intensive processing and a cluster consisting of servers with difference performance.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.1
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• pp.144-149
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• 2017

There have been lots of interest on service and entertainment robots. To ensure that robots work in harmony with humans, their stability and compactness are some of the key issues. Obviously, robots with fewer wheels occupy a smaller floor area compared to those with more wheels. In addition, robots with fewer wheels, whose posture stabilities are maintained by feedback control, are stable even under larger accelerations and/or higher locations of the center of mass. To facilitate controller design, it is assumed that both pitch and roll dynamics are decoupled. The dynamic equations of motion for the proposed robot are derived from the Euler-Lagrange equation. To obtain the optimal balancing control law, linear quadratic regulator control methods are applied to the linearized dynamic equations. Simulation and experimental results verify the effectiveness and performance of the proposed balancing control algorithm for a single-wheeled mobile robot.