• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.53 no.8
• /
• pp.585-593
• /
• 2004

Fault-tolerant gait planning in legged locomotion is to design gaits with which legged robots can maintain static stability and motion continuity against a failure in a leg. For planning a robust and deadlock-free fault-tolerant gait, kinematic constraints caused by a failed leg should be closely examined with respect to remaining mobility of the leg. In this paper, based on the authors's previous results, deadlock avoidance scheme for fault-tolerant gait planning is proposed for a hexapod robot walking over even terrain. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. It is shown that for guaranteeing the existence of the previously proposed fault-tolerant tripod gait of a hexapod robot, the configuration of the failed leg must be within a range of kinematic constraints. Then, for coping with failure situations where the existence condition is not satisfied, the previous fault-tolerant tripod gait is improved by including the adjustment of the foot trajectory. The foot trajectory adjustment procedure is analytically derived to show that it can help the fault-tolerant gait avoid deadlock resulting from the kinematic constraint and does not make any harmful effect on gait mobility. The post-failure walking problem of a hexapod robot with the normal tripod gait is addressed as a case study to show the effectiveness of the proposed scheme.

• Proceedings of the Korean Nuclear Society Conference
• /
• 1998.10a
• /
• pp.92-92
• /
• 1998

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.29 no.10A
• /
• pp.1113-1122
• /
• 2004

This paper is basically to achieve the high-availability and high-reliability of the control system from the implementation of the fault-tolerant system using the hot-standby sparing technique. To meet the objective, we design and implement a board with fault tolerance I/O bus to detect the fault. Warm-standby sparing technique is the fault tolerance technique usually used for switching control system in present. This technique can be easily implemented, but can not detect the fault quickly and can malfunction because of the hardware fault. The hot-standby sparing fault tolerant technique implemented in this paper is consists of dual processor modules and a I/O processor using fault tolerant I/O bus. The proposed method can find the faults as soon as possible, so it can prevent from wrong operation. Also it is possible to normal re-service due to the short recovering time. To implement the fault-tolerant dual system with fault detection be, two daughter, called FTMA and FTIA, boards designed and implemented are applied to the system. And we also simulated the proposed method to verify the high-availability and high-reliability of the control system using Markov process.

• The KIPS Transactions:PartD
• /
• v.10D no.3
• /
• pp.375-386
• /
• 2003

A rapid growth of mobile devices and a proliferation of wireless networks lead to changing the existing environment into a mobile environment. Expansion of mobile environment makes a pressing need of mobile databases, and there are several solutions to achieve it. But they still accompany with some problems. Especially, the current synchronization server that manages consistently many mobile database management systems is based on the centralized method to synchronize data between the mobile database systems. It is the major factor that causes the lower performance of the whole system. Furthermore, the fault tolerance has not been considered in the existing systems. Therefore, we suggest the mobile agent-based mobile database system in order to resolve the problems. The system, we propose in this paper, provides the high-performance of the whole system by mobile grouping, and also may support a fault-tolerance management method.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.22 no.1
• /
• pp.49-55
• /
• 2012

Asynchronous counters, where the counter value is changed not by a synchronizing clock but by outer inputs, are used in various modern digital systems such as spaceborne electronics. In this paper, we propose a scheme of fault tolerance for asynchronous counters with critical races caused by total ionizing dose (TID) in space. As a typical design flaw of asynchronous digital circuits, critical races cause an asynchronous circuit to show non-deterministic behavior, i.e., the next stable state of a state transition is not a fixed value but may be any value of a state set. Using the corrective control scheme for asynchronous sequential machines, this paper provides an existence condition and design procedure for a state feedback controller that can invalidate the effect of critical races. We implement the proposed control system in VHDL code and conduct experiments to demonstrate that the proposed control system can overcome critical races.

• Journal of the Korean Society for Railway
• /
• v.15 no.2
• /
• pp.122-128
• /
• 2012

Considering structure of depot, it is impossible to install the track circuit systems due to iron-beam. Because rails and earth are connected by the iron-beam, there is much leakage current. So, it is hard to apply the track circuit systems. Thus, when trains go to the depot, sign which indicates existence of trains is used manually. In case of wrong sign, accidents occur such as train crash, derailment etc. Currently, location of trains has been found by using optical sensor in the depot to prevent the accidents. However, it costs a great deal to install and maintain the optical sensor. Therefore, this method is hardly used in train operation institutes. In this paper, virtual track circuit systems are introduced by using software program in the depot. Also, algorithm of the virtual track circuit systems is proposed. In case that signal is handled to the depot which is occupied by the train, safety is ensured by indicating sign which means existence of trains and stop signal. Also, proper fault tolerance techniques are proposed to the software by analyzing reliability and availability.

• The Journal of the Korea Contents Association
• /
• v.7 no.9
• /
• pp.89-99
• /
• 2007

With the development of the internet technology, network application services based on a large number of network nodes have been focused. However, such application services require much larger network size and traffic than current network. In order to develop them, efficient solutions as well as a simple improvement of network infra processing time are required. In this paper, to contribute a improvement of network computing technology, we design and implement the agent platform software based on the agent technology that performs works independently and asynchronously on a network and platform. The proposed agent platform software supports the scalability to accommodate the number of network hosts with rapid growth, the adaptability on a variable environments, and the availability for a fault-tolerance.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.22 no.3
• /
• pp.382-391
• /
• 2019

The naval combat system is a distributed system in which various subsystems are integrated and operated together. The integrated management system(IMS) is a software system for systematically and consistently managing the application software which control and operate various devices in such a combat system. Since the malfunction or failure of such an IMS can disable the entire combat system, the IMS is more important than other application software of the combat system. In this paper, we propose a method to guarantee the stable and correct operation of the combat system. To this end, we propose a redundancy scheme composed of one leader and several followers so as to tolerate the failure situation of the IMS. We also propose a leader selection algorithm to select a new leader when the leader fails and can no longer perform its role. To verify the validity of the study, we verify the fault tolerance behavior of the system and the accuracy of the leader selection algorithm.

• Journal of the Korean Society of Propulsion Engineers
• /
• v.20 no.2
• /
• pp.56-66
• /
• 2016

Robustness is essential for model based FDI (Fault Detection and Isolation) and it is inevitable to have modeling errors and sensor signal noises during the process of FDI. This study suggests an improved method by applying NARX (Nonlinear Auto Regressive eXogenous) model and Kalman estimator in order to cope with problems caused by linear model errors and sensor signal noises in the process of fault diagnoses. Fault decision is made by the probability of the trend of gradually accumulated errors applying Fuzzy logic, which are robust to instantaneous sensor signal noises. Reliability of fault diagnosis is verified under various fault simulations.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.29B no.4
• /
• pp.22-30
• /
• 1992

A redundant control scheme which can maintain its tracking capability in the case of a controller failure is proposed for the industrial applications which need high reliability with fault-tolerance. It consists of two identical controllers and a switching mechanism which includes failure detection and reconfiguration algorithm. The new detection method against controller failure using fuzzy logic enables the detection of controller failures without failure assumptions through the instability of the failed controller. The failed controller is smoothly removed from the control loop by reducing time weight of the failed controller.