• 한국정보과학회논문지:소프트웨어및응용
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• 제32권9호
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• pp.868-877
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• 2005

호는 패턴인식에 있어서 매우 중요한 특징으로 간주된다. 이 논문에서는 기하학적 분석을 이용하여 2차원 곡선으로부터 호를 추출하고 그 호의 중심과 반지름을 계산하는 방법을 제시한다. 제안된 방법에 의해 추출된 호는 원래의 곡선으로부터 거리오차가 항상 허용치 이내의 값을 만족한다. 제안된 방법이 부드럽게 연결된 2차원 곡선이나 잡음이 심한 2차원 곡선 내에 있는 호의 추출에도 유용함을 실험으로 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1853-1856
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• 2003

This paper considers the problem of longitudinal control of a platoon of automotive vehicles on a straight lane of a highway and proposes control laws in the event of loss of communication between the lead vehicle and the other vehicles in the platoon. Since safety plays a key role in the development of an Automated Highway System, fault-tolerant control is vital. In this paper, we develop a control algorithm in vehicle platooning and prove that this control algorithm is stable for certain class of faults such as parameter uncertainties. The performance of the controller is demonstrated through a series of simulations incorporating various vehicles and AHS faults. Results of simulation shows that the vehicles have good performance in spite of simple automotive and AHS failure, such as actuator failure,that is to say, engine input failure, communication failure between lead vehicle and the another vehicles.

• International Journal of Aeronautical and Space Sciences
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• 제11권2호
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• pp.87-97
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• 2010

A fault tolerant satellite attitude control scheme with a modified iterative learning law is proposed for dealing with actuator faults. The actuator fault is modeled to reflect the degradation of actuation effectiveness, and the solar array-induced disturbance is considered as an external disturbance. To estimate the magnitudes of the actuator fault and the external disturbance, a modified iterative learning law using only the information associated with the state error is applied. Stability analysis is performed to obtain the gain matrices of the modified iterative learning law using the Lyapunov theorem. The proposed fault tolerant control scheme is applied to the rest-to-rest maneuver of a large satellite system, and numerical simulations are performed to verify the performance of the proposed scheme.

• 한국콘텐츠학회논문지
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• 제9권8호
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• pp.91-98
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• 2009

본 논문은 암호화된 영상 데이터가 유비쿼터스 환경 하에서 무선 간섭에 의한 랜덤 오류를 가질 때 복호화 과정의 오류 산사태에 대한 해결책을 제시하였다. 영상 획득 장치는 영상 압축과 암호화 기능을 가지고서 데이터 트래픽 양을 줄이고 개인 정보를 보호하도록 구성한다. 블록 암호 알고리즘은 암호문의 단일 비트 오류가 여러 개의 픽셀 결함을 유발하는 산사태 효과를 겪을 수 있다. 새로운 고장 극복 방식은 오류의 산사태 효과를 다루는데 3 차원 데이터 셔플을 활용하여 에러 비트를 여러 프레임으로 분산시켜서 고립된 영상 결함으로 나타나도록 한다. 인접 화소 값에 대한 평균화 또는 다수결 회로는 에러정정을 위한 데이터 증가 없이 두드러져 보이는 화소 결함을 극복하도록 한다. 이 방식은 기존 Hamming code 방식보다 33% 적은 데이터 트래픽 부하를 가진다.

• Journal of Electrical Engineering and Technology
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• 제13권4호
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• pp.1740-1751
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• 2018

This paper proposes a novel fault tolerant tracking control (FTTC) scheme for a class of nonlinear systems with actuator failures based on the policy iteration (PI) algorithm and the adaptive fault observer. The estimated actuator failure from an adaptive fault observer is utilized to construct an improved performance index function that reflects the failure, regulation and control simultaneously. With the help of the proper performance index function, the FTTC problem can be transformed into an optimal control problem. The fault tolerant tracking controller is composed of the desired controller and the approximated optimal feedback one. The desired controller is developed to maintain the desired tracking performance at the steady-state, and the approximated optimal feedback controller is designed to stabilize the tracking error dynamics in an optimal manner. By establishing a critic neural network, the PI algorithm is utilized to solve the Hamilton-Jacobi-Bellman equation, and then the approximated optimal feedback controller can be derived. Based on Lyapunov technique, the uniform ultimate boundedness of the closed-loop system is proven. The proposed FTTC scheme is applied to reconfigurable manipulators with two degree of freedoms in order to test the effectiveness via numerical simulation.

• Journal of Power Electronics
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• 제14권4호
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• pp.695-703
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• 2014

In this paper, a fault detection scheme for DC-link voltage sensor and its fault tolerant control strategy for three-phase AC/DC/AC PWM converters are proposed, where the Luenberger observer is applied to estimate the DC-link voltage. The Luenberger observer is based on a converter model, which is derived from the voltage equations of a grid-side converter and the power balance on a DC link. A fault of the voltage sensor is detected by comparing the measured value of the DC-link voltage with the estimated one. When a sensor fault is detected, a fault tolerant control strategy is performed, where the estimated DC-link voltage is used for the feedback control. The estimation error from the observer is about 1.5 V, which is sufficiently accurate for feedback control. In addition, it is shown that the observer performance is robust to parameter variations of the converter. The validity of the proposed method has been verified by simulation and experimental results.

• Journal of Electrical Engineering and Technology
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• 제8권4호
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• pp.752-759
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• 2013

This paper proposes a method for fault diagnosis and fault-tolerant control of DC-link voltage sensor for two-stage three-phase grid-connected PV inverters. Generally, the front-end DC-DC boost converter tracks the maximum power point (MPP) of PV array and the rear-end DC-AC inverter is used to generate a sinusoidal output current and keep the DC-link voltage constant. In this system, a sensor is essential for power conversion. A sensor fault is detected when there is an error between the sensed and estimated values, which are obtained from a DC-link voltage sensorless algorithm. Fault-tolerant control is achieved by using the estimated values. A deadbeat current controller is used to meet the dynamic characteristic of the proposed algorithm. The proposed algorithm is validated by simulation and experiment results.

• 자동차안전학회지
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• 제12권4호
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• pp.13-22
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• 2020

This paper presents an adaptive feedback based actuator fault detection and tolerant control algorithms for longitudinal functional safety of autonomous driving. In order to ensure the functional safety of autonomous vehicles, fault detection and tolerant control algorithms are needed for sensors and actuators used for autonomous driving. In this study, adaptive feedback control algorithm to compute the longitudinal acceleration for autonomous driving has been developed based on relationship function using states. The relationship function has been designed using feedback gains and error states for adaptation rule design. The coefficients in the relationship function have been estimated using recursive least square with multiple forgetting factors. The MIT rule has been adopted to design the adaptation rule for feedback gains online. The stability analysis has been conducted based on Lyapunov direct method. The longitudinal acceleration computed by adaptive control algorithm has been compared to the actual acceleration for fault detection of actuators used for longitudinal autonomous driving.

• International Journal of Computer Science & Network Security
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• 제22권2호
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• pp.167-174
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• 2022

Vehicular Ad hoc Networks are considered as special kind of Mobile Ad Hoc Networks. VANETs are a new emerging recently developed, advanced technology that allows a wide set of applications related to providing more safety on roads, more convenience for passengers, self-driven vehicles, and intelligent transportation systems (ITS). Delay Tolerant Networks (DTN) are networks that allow communication in the event of connection problems, such as delays, intermittent connections, high error rates, and so on. Moreover, these are used in areas that may not have end-to-end connectivity. The expansion from DTN to VANET resulted in Vehicle Delay Tolerant Networks (VDTN). In this approach, a vehicle stores and carries a message in its buffer, and when the opportunity arises, it forwards the message to another node. Carry-store-forward mechanisms, packets in VDTNs can be delivered to the destination without clear connection between the transmitter and the receiver. The primary goals of routing protocols in VDTNs is to maximize the probability of delivery ratio to the destination node, while minimizing the total end-to-end delay. DTNs are used in a variety of operating environments, including those that are subject to failures and interruptions, and those with high delay, such as vehicle ad hoc networks (VANETs). This paper discusses DTN routing protocols belonging to unicast delay tolerant position based. The comparison was implemented using the NS2 simulator. Simulation of the three DTN routing protocols GeOpps, GeoSpray, and MaxProp is recorded, and the results are presented.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권10호
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• pp.3965-3982
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• 2015

Event detection is one of the key issues in many wireless sensor network (WSN) applications. The uncertainties that are derived from the instability of sensor node, measurement noise and incomplete sampling would influence the performance of event detection to a large degree. Many of the present researches described the sensor readings with crisp values, which cannot adequately handle the uncertainties inhered in the imprecise sensor readings. In this paper, a fault-tolerant event detection algorithm is proposed based on Dempster-Shafer (D-S) theory (also called evidence theory). Instead of crisp values, all possible states of the event are represented by the Basic Probability Assignment (BPA) functions, with which the output of each sensor node are characterized as weighted evidences. The combination rule was subsequently applied on each sensor node to fuse the evidences gathered from the neighboring nodes to make the final decision on whether the event occurs. Simulation results show that even 20% nodes are faulty, the accuracy of the proposed algorithm is around 80% for event region detection. Moreover, 97% of the error readings have been corrected, and an improved detection capability at the boundary of the event region is gained by 75%. The proposed algorithm can enhance the detection accuracy of the event region even in high error-rate environment, which reflects good reliability and robustness. The proposed algorithm is also applicable to boundary detection as it performs well at the boundary of the event.