• Journal of Institute of Control, Robotics and Systems
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• v.9 no.10
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• pp.755-767
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• 2003

This paper proposes a robust fault-tolerant control framework for robot manipulators to maintain the required performance and achieve task completion in the presence of both partial joint failures and complete joint failures and uncertainties. In the case of a complete joint failure or free-swinging joint failure causing the complete loss of torque on a joint, a fully-actuated robot manipulator can be viewed as an underactuated robot manipulator. To detect and identify a complete actuator failure, an on-line fault detection operation is also presented. The proposed fault-tolerant control system contains a robust adaptive controller overcoming partial joint failures based on robust adaptive control methodology, an on-line fault detector detecting and identifying complete joint failures, and a robust adaptive controller overcoming partial and complete joint failures, and so eventually it can face and overcome joint failures and uncertainties. Numerical simulations are conducted to validate the proposed robust fault-tolerant control scheme.

• The Journal of Korea Robotics Society
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• v.10 no.4
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• pp.223-229
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• 2015

This paper proposes a novel method for detection of hand raising poses from images acquired from a single camera attached to a mobile robot that navigates unknown dynamic environments. Due to unconstrained illumination, a high level of variance in human appearances and unpredictable backgrounds, detecting hand raising gestures from an image acquired from a camera attached to a mobile robot is very challenging. The proposed method first detects faces to determine the region of interest (ROI), and in this ROI, we detect hands by using a HOG-based hand detector. By using the color distribution of the face region, we evaluate each candidate in the detected hand region. To deal with cases of failure in face detection, we also use a HOG-based hand raising pose detector. Unlike other hand raising pose detector systems, we evaluate our algorithm with images acquired from the camera and images obtained from the Internet that contain unknown backgrounds and unconstrained illumination. The level of variance in hand raising poses in these images is very high. Our experiment results show that the proposed method robustly detects hand raising poses in complex backgrounds and unknown lighting conditions.

• Journal of the Korea Safety Management & Science
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• v.13 no.1
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• pp.41-49
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• 2011

The automatic fire detection system is an important facility installed with focusing on minimizing the damage from a fire. This paper presents in the followings as the methods to reduce the false alarm of the automatic fire detection system; first, to prepare for legal standard so that revised legal standard can be applied to the fire fighting property prior to revision; second, to introduce the performance based fire detection protection design in the law based fire protection design; third, to maintain the wiring of worn-out detector; forth, to introduce an evaluation system to the education for the fire warden; fifth, to extend the standard of MTBF(meantime between failure) of the detector; sixth, to extend of installing the analog type detector; seventh, to improve the structure of reset switch.

• Journal of the Institute of Convergence Signal Processing
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• v.11 no.4
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• pp.298-302
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• 2010

Extracorporeal circulation support system is a device for repiratory and heart failure treatment, and there have been many trials for development and clinical application in the world. These devices need to be careful while using is air embolism. Air embolism can be a lethal complication of surgical procedures during which venous pressure at the site of surgery is sub-atmospheric or air is forced under pressure into a body cavity or using extracorporeal circulation support system. To solve the problem, we developed the air detector using relative dielectric constant change. In experiments with a mock circulation system, the proposed system showed a signal difference depending on the amount of air in the tube.

• Journal of Multimedia Information System
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• v.4 no.4
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• pp.285-288
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• 2017

In this paper, we propose a vision-based object detection and tracking system using online learning. The proposed system adopts a feature point-based method for tracking a series of inter-frame movement of a newly detected object, to estimate rapidly and toughness. At the same time, it trains the detector for the object being tracked online. Temporarily using the result of the failure detector to the object, it initializes the tracker back tracks to enable the robust tracking. In particular, it reduced the processing time by improving the method of updating the appearance models of the objects to increase the tracking performance of the system. Using a data set obtained in a variety of settings, we evaluate the performance of the proposed system in terms of processing time.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.1650-1655
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• 2007

A lights-out detector, which helps the person in charge of maintenance make a quick judgment in the event of a failure of LED-type traffic lights, was explored/developed and installed/ tested, at Seoul Metro, after they developed a patented pilot product in 2005; and, a product improvement test was conducted to ensure reasonable maintenance of signaling facilities. Having better compatibility with existing circuit in use and displaying stable load current, the device makes the maintenance of lights-out detection and alert easier.

• Biomedical Science Letters
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• v.3 no.1
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• pp.29-35
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• 1997

Cardiovascular disease has been the leading cause of death among patients with chronic renal failure. Many reports have been described that homocysteine is one of the independent risk factor to the occulsive vascular disease. In this study, HPLC/FLD (high performance liquid chromatography-fluorescence detector) technique was used to measure homocysteine level in patients with chronic renal failure and normal control group. The detection limit and recovery of total plasma homocysteine using HPLC/FLD were 98.6$\pm$5.8% and 0.2 nmol/ml, respectively. The linearity of this method was established in concentration range of 2~50 nmol/ml (correlation coefficient=0.9997). The concentrations of total plasma homocysteine were 6.81$\pm$1.54 nmol/ml and 27.28$\pm$14.94 nmol/ml in normal control (n=20) and patient group (n=90), respectively (p<0.05). In this study, the HPLC/FLD method showed high sensitivity and reproducibility for a routine clinical laboratory testing. Moreover determination of homocysteine level in plasma might be useful for a biochemical marker for predicting the cardiovascular diseases and for monitoring of therapeutic effect of lowering homocysteine in patients with chronic renal failure.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2002.10b
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• pp.465-466
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• 2002

In any mechanical system consisting of gears, shafts and/or bearings, the majority of metallic particles deposited into and carried by the lubrication system originate from the deterioration of oil-wetted working surfaces, even in proper lubrication system, due to failure mechanism (s) such as wear, fatigue and fretting corrosion. Determination of the point at which transition from normal to abnormal or to actual damage occurs has become a focus of attention in research activities for years, because it has been recognized that reliable, economic operation can be achieved through appropriate preventative measures. Known collectively from 'all size wear debris analysis' as early failure detection, the methods of testing for damage differ considerably, range from a micron or a submicron size debris analysis to Magnetic Chip Detector (MCD) ferrous debris analysis. This paper will be focused on the utilization of the low-cost analysis techniques for evaluation of industrial machinery condition.

• International Journal of Contents
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• v.7 no.4
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• pp.30-34
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• 2011

A Leader is a Coordinator that supports a set of processes to cooperate a given task. This concept is used in several domains such as distributed systems, parallelism and cooperative support for cooperative work. In completely asynchronous systems, there is no solution for the election problem satisfying both of safety and liveness properties in asynchronous distributed systems. Therefore, to solve the election problem in those systems, one property should be weaker than the other property. If an election algorithm strengthens the safety property in sacrifice of liveness property, it would not nearly progress. But on the contrary, an election algorithm strengthening the liveness property in sacrifice of the safety property would have the high probability of violating the safety property. In this paper, we presents a safety strengthened Leader Election protocol with an unreliable failure detector and analyses it in terms of safety and liveness properties in asynchronous distributed systems.

• International Journal of Contents
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• v.1 no.1
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• pp.21-28
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• 2005

This paper is about the hardness of Leader Election problem in asynchronous distributed systems in which processes can crash but links are reliable. Recently, the hardness of a problem encountered in the systems is defined with respect to the difficulty to solve it despite failures: a problem is easy if it can be solved in presence of failures, otherwise it is hard [9]. It is shown in [9] that problems are classified as three classes: F (fault-tolerant), NF (Not fault-tolerant) and NFC (NF-completeness). Among those, the class NFC is the hardest problem to solve. It is also shown in [9] that the construction of Perfect Failure Detector (problem P) belongs to NFC. In this paper, we show that Leader Election is also one of NFC problems by using a general reduction protocol that reduces the Leader Election Problem to P. We use a formulation of the Leader Election problem as a prototype to show that it belongs to NFC.