• Journal of Electrical Engineering and Technology
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• 제13권1호
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• pp.240-249
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• 2018

Individual DC voltage balance problem is an inherent issue for cascaded H-bridge (CHB) based converter. When the CHB-based static synchronous compensator (STATCOM) is operating at zero current mode, the software-based individual DC voltage balancing control techniques may not work because of the infinitesimal output current. However, the different power losses of each cell would lead to the individual DC voltages unbalance. The uneven power losses on the local supplied cell-controllers (including the control circuit and drive circuit) would especially cause the divergence of individual DC voltages, due to their characteristic as constant power loads. To solve this problem, this paper proposes an adaptive voltage balancing module which is designed in the cell-controller board with small size and low cost circuits. It is controlled to make the power loss of the cell a constant resistance load, thus the DC voltages are balanced in zero current mode. Field test in a 10kV STATCOM confirms the performance of the proposed method.

• ETRI Journal
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• 제35권3호
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• pp.414-424
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• 2013

We consider a new load balancing routing for delay-guaranteed services in the network in which the traffic is dynamic and network topologies frequently change. For such an ever-changing network, we propose a new online load balancing routing called AntLBR, which exploits the ant colony optimization method. Generally, to achieve load balancing, researchers have tried to calculate the traffic split ratio by solving a complicated linear programming (LP) problem under the static network environment. In contrast, the proposed AntLBR does not make any attempt to solve this complicated LP problem. So as to achieve load balancing, AntLBR simply forwards incoming flows by referring to the amount of pheromone trails. Simulation results indicate that the AntLBR algorithm achieves a more load-balanced network under the changing network environment than techniques used in previous research while guaranteeing the requirements of delay-guaranteed services.

• Journal of Power Electronics
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• 제10권5호
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• pp.572-578
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• 2010

This paper discusses a transformerless shunt static compensator (STATCOM) based on a modular multilevel converter (MMC). It introduces a new time-discrete appropriate current control algorithm and a phase-shifted carrier modulation strategy for fast compensation of the reactive power and harmonics, and also for the balancing of the three-phase source side currents. Analytical formulas are derived to demonstrate the accurate mechanism of the stored energy balancing inside the MMC. Various simulated waveforms verify that the MMC based STATCOM is capable of reactive power compensation, harmonic cancellation, and simultaneous load balancing, while controlling and balancing all of the DC mean voltages even during the transient states.

• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.217-222
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• 2001

We propose a new two-degree of freedom parallel mechanism for a haptic device and will refer to the mechanism as the SenSation. The SenSation is designed in order to improve the kinematic performanced and to achieve static balance. We use the panto graph mechanisms in order to change the location of active joints, which leads to transform a direct kinematic singularity into a nonsingularity. The direct kinematic singular configurations of the SenSation occur near the workspace boundary. Using the property that position vector of rigid body rotating about a fixed point is normal to the velocity vector, Jacobian matrix is derived. Using the vector method, two different types of singularities of the SenSation can be identified and we discuss the physical significance of each of the three types of singularities. We will compare the kinematic performances(force manipulability ellipsoid, kinematic isotropy) of the SenSation with those of five-var parallel mechanism. By specifying that the potential energy be fixed, the conditions for the static balancing of the SenSation is derived. The static balancing is accomplished by changing the center of mass of the links.

• 정보처리학회논문지C
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• 제15C권2호
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• pp.79-86
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• 2008

MANET(Mobile Ad hoc Network)은 두 대 이상의 이동 무선 단말로 구성되는 네트워크로 단말의 한정된 에너지 때문에 많은 제한성을 가지게 된다. MANET에서 특정 노드들의 조기 에너지 소진은 네트워크 성능에 큰 영향을 줄 수 있다. 본 논문에서는 이에 대한 해결책으로 송, 수신지 사이에 가능한 많은 노드 비중첩 다중 경로를 구축하고, 각 경로상 노드가 가진 평균 에너지, 최소 에너지, 혹은 에너지 분산 값에 따라 다중 경로를 통해 패킷을 분산 전송한다. 에너지 정보 수집 방법을 크게 Static 방식과 Dynamic 방식으로 나누며, 수집하는 에너지 정보에 따라 Static-Average, Static-Minimum, Static-Variance, 그리고, Dynamic-Average, Dynamic-Minimum, Dynamic-Variance 등 6가지 방식으로 나누고, NS2 시뮬레이션을 통해 그 성능을 비교하고 평가한다.

• 한국음향학회지
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• 제10권2호
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• pp.13-22
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• 1991

회전체를 내포하는 회전기계에서 진동의 근원은 불평형 질량이다. 본 여구에서는 정적평형 방법을 이용하여 돌출 회전축에 설치된 회전체의 평형을 바로 잡았으며, phase angle method 와 four run method로부터 보정 질량을 산정하였다. 또한, 평형잡이 전후의 진동의 감쇠를 조사하였다. 실험결과 불평형 질량에 의해 발생하는 진동은 불평형의 효과를 제거함으로써 감쇠됨을 확인하였다. 특히 불평형 질량이 작을 때, 진동의 감쇠력에서 four run method가 phase angle method 보다 더 유효함을 입증하였다.

• Journal of Power Electronics
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• 제12권4호
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• pp.567-577
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• 2012

This paper introduces a new scheme to balance the DC bus voltages of a cascaded H-bridge converter which is used as a Distribution Static Synchronous Series Compensator (D-SSSC) in electrical distribution network. The aim of D-SSSC is to control the power flow between two feeders from different substations. As a result of different cell losses and capacitors tolerance the cells DC bus voltage can deviate from their reference values. In the proposed scheme, by individually modifying the reference PWM signal for each cell, an effective balancing procedure is derived. The new balancing procedure needs only the line current sign and is independent of the main control strategy, which controls the total DC bus voltages of cascaded H-bridge. The effect of modulation index variation on the capacitor voltage is analytically derived for the proposed strategy. The proposed method takes advantages of phase shift carrier based modulation and can be applied for a cascaded H-bridge with any number of cells. Also the system is immune to loss of one cell and the presented procedure can keep balancing between the remaining cells. Simulation studies and experimental results validate the effectiveness of the proposed method in the balancing of DC bus voltages.

• 제어로봇시스템학회논문지
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• 제20권1호
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• pp.87-93
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• 2014

Conventional two-wheeled balancing robots are limited in terms of turning speed because they lack the lateral motion to compensate for the centrifugal force needed to stop rollover. In order to improve lateral stability, this paper suggests a two-wheeled balancing mobile platform equipped with a tilting mechanism to generate roll motions. In terms of static force analysis, it is shown that the two-body sliding type tilting method is more suitable for small-size mobile robots than the single-body type. For the mathematical modeling, the tilting-balancing platform is assumed as a 3D inverted pendulum and the four-degrees-of-freedom equation of motion is derived. In the velocity/posture control loop, the desired tilting angle is naturally determined according to the changes of forward velocity and steering yaw rate. The efficiency of the developed tilting type balancing mobile platform is validated through experimental results.

• 한국콘텐츠학회논문지
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• 제5권5호
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• pp.100-106
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• 2005

게임개발을 위한 보다 효율적인 접근법은 다양하게 시도되고 있으며, 게임개발사 마다 자체적인 개발프로세스를 보유하고 있다. 보다 효율적인 게임개발 프로세스나 제작 툴은 성공적인 게임개발과 정확히 비례한다고 볼 수는 없으나, 게임개발자의 입장에서는 정형화된 디자인방법이 필요한 것이 사실이다. 본 논문에서는 RPG게임캐릭터의 발란싱 문제를 어떻게 풀어나갈 것이며, 개발하고자 하는 게임에 적용될 수 있는 발란싱 디자인의 도출을 위해서 PRG장르의 게임캐릭터의 정적 발란싱 디자인 분석을 통한 경험적인 결과를 바탕으로 접근해 보고자 한다.

• 대한인간공학회지
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• 제3권1호
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• pp.19-24
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• 1984

As in dynamic muscular activity, to support one's body may be regarded as the static workload. An examination is made of the relationship between heart rate and oxygen uptake of three male graduate students in static working postures (sitting, squatting and standing). Though it has been believed that there exists a linear relationship between heart rate and oxygen uptake, this thesis shows that both have no relationship in the case of static postures, and that they may depend upon the characteristics of postures rather than the static workload. These results are discussed analytically. The additivity between static body postures and holding up one's hands at his maximum height is tested. Compared with the sum of energy expenditure in balancing one's body and holding up hands, the net rate of energy expenditure in performing them simultaneously is equivalent. In the case of static postures, the importance of the awareness of the characteristics and relevance of the measures is discussed.