• Journal of the Korean Society for Precision Engineering
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• v.16 no.4 s.97
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• pp.205-212
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• 1999

A three dimensional binary parallel robot manipulator uses actuators which have only two stable states and its structure is variable geometry truss. As a result, it has a finite number of states and fault tolerant mechanism because of kinematic redundancy. This kind of robot manipulator has some advantages compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. Because the number of states of a binary robot manipulator grows exponentially with the number of actuators it is very difficult to solve and inverse kinematic problem. The goal of this paper is to develop an efficient algorithm to solve an inverse kinematic problem of three dimensional binary parallel robot manipulator using a backbone curve when the number of actuators are too much. We first derive the coordinate transformations associated with a three degree of freedom in-parallel actuated robot manipulator. The backbone curve is generated optimally by considering the maximum roll and pitch angles of the robot manipulator configuration and length of link. Then, the robot manipulator is fitted along the backbone curve with some criterion.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.9
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• pp.887-893
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• 2009

In this paper, a mask-panel alignment robot system is considered for IT industry applications. Two kinds of solutions are suggested which are required in constructing a control system for the alignment robot with actuation redundancy. First, the kinematic solution for the 4PPR parallel positioning mechanism is formulated for an arbitrary initial posture, which relates the mask-panel misalignment in the task space and the desired actuator displacements in the joint space. Secondly, in order to increase the stiffness of the control motion and also to avoid the mechanical lock which may happen due to the redundant actuation, a new synchronous control method is proposed which has the merit of coordinating joint control motions while not losing individual joint control performance. In addition, the engineering process to develop a visual alignment robot system is described with the results of experimental setup and GUI software. Finally, the experimental results demonstrate the effectiveness of the proposed alignment system control methodology and how much beneficial it will be in real industrial applications.

• Journal of the Korea Computer Industry Society
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• v.3 no.2
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• pp.209-216
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• 2002

World Wide Web has potential possibility of infrastructure for parallel computing environment connecting massive computing resources, not just platform to provide and share information via browser. The approach of Web-based parallel computing has many advantages of the ease of accessibility, scalability, cost-effectiveness, and utilization of existing networks. Applet has the possibility of decomposing the independent/parallel task, moving over network, and executing in computers connected in Web, but it lacks in the flexibility due to strict security semantic model. Therefore, in this paper, Web-based parallel computing environment using mobile agent, Aglet (Agile applet) was designed and possible implementation technologies and architecture were analyzed. And simple simulation and analysis was done compared with applet-based approach.

• Proceedings of the IEEK Conference
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• 2000.07a
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• pp.289-293
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• 2000

We propose two new algorithms for parallelism-independent scheduling. The machine code generated from the compiler using these algorithms in its scheduling phase is parallelism-independent code, executable in minimum time regardless of the number of the processors in the parallel computer. Our new algorithms have the following phases: finding the minimum number of processors on which the program can be executed in minimal time, scheduling by an heuristic algorithm for this predefined number of processors, and serialization of the parallel schedule according to the earliest start time of the tasks. At run time tasks are taken from the serialized schedule and assigned to the processor which allows the earliest start time of the task. The order of the tasks decided at compile time is not changed at run time regardless of the number of the available processors which means there is no out-of-order issue and execution. The scheduling is done predominantly at compile time and dynamic scheduling is minimized and diminished to allocation of the tasks to the processors. We evaluate the proposed algorithms by comparing them in terms of schedule length to the CP/MISF algorithm. For performance evaluation we use both randomly generated DAGs (directed acyclic graphs) and DACs representing real applications. From practical point of view, the algorithms we propose can be successfully used for scheduling programs for in-order superscalar processors and shared memory multiprocessor systems. Superscalar processors with any number of functional units can execute the parallelism-independent code in minimum time without necessity for dynamic scheduling and out-of-order issue hardware. This means that the use of our algorithms will lead to reducing the complexity of the hardware of the processors and the run-time overhead related to the dynamic scheduling.

• Proceedings of the Korean Information Science Society Conference
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• 1999.10c
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• pp.759-761
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• 1999

본 논문에서는 동적 병렬 태스크를 추출하는 메커니즘을 공유 메모리 구조상에서 구현하는데 있어서 최적화 기법에 대해서 소개한다. 최대의 호환성을 고려하여 POSIX thread와 C언어를 사용하였는데 이에 따른 오버헤드를 여러 가지 구현 기법을 사용하여 줄이고자 노력하였다. 그리고 병렬 처리시 대부분의 계산은 각 처리기에서 순차 계산에 의해 이루어지므로 이 순차 계산시에 발생하는 오버헤드를 줄이는 것을 최우선으로 하였다.

• Proceedings of the KIEE Conference
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• 1997.07a
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• pp.12-14
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• 1997

The analysis of eigenvalue and eigenvector is a crucial procedure for many electromagnetic computation problems. However, eigenpair computation is timing-consuming task. Thus, its parallelization is required for designing large-scale and precision three-dimensional electromagnetic machines. In this paper, the Davidson method is parallelized on a cluster of workstations. Performance of the parallelization scheme is reported. This scheme is applied to a ridged waveguide design problem.

• Proceedings of the Korean Information Science Society Conference
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• 2000.10c
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• pp.502-504
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• 2000

최근 높은 컴퓨팅 파워를 요구하는 응용문제 처리를 위해 고 비용의 슈퍼컴퓨터 대신 인터넷상에 분산된 다수의 일반 컴퓨터들을 이용하는 병렬처리에 관한 연구가 진행되고 있다. 본 연구에서는 다중 에이전트 시스템을 기반으로 하여 이질적인 성능을 갖는 컴퓨터들을 병렬 컴퓨팅 환경으로 구성하고 각 호스트의 성능측정 결과에 따라 효율적으로 작업을 분산하는 기법을 제안한다. 또한 본 연구에서 제안한 방법을 다중 에이전트 시스템인 IBM의 AgletsTM을 사용하여 실험적으로 성능을 평가하고, 기존 연구와 비교한다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2001.05a
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• pp.4-7
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• 2001

A stable TSK-type FLC can be designed by the method of Parallel Distributed Compensation (PDC), but in this case, solving the LMI problem is not a trivial task. To overcome such a difficulty, a Time-Delay based FLC (TDFLC) is proposed. TSK-type TDFLC consists of Time-Delay Control (TDC) and Sliding Mode Control (SMC) schemes, which result in a robust controller basaed upon an integral sliding surface.

• The Journal of the Korea Contents Association
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• v.12 no.10
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• pp.1-10
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• 2012

Many statistical methods have been adapted for terminology recognition to improve its accuracy. However, since previous studies have been carried out in a single core or a single machine, they have difficulties in real-time analysing explosively increasing documents. In this study, the task where bottlenecks occur in the process of terminology recognition is classified into linguistic processing in the process of 'candidate terminology extraction' and collection of statistical information in the process of 'terminology weight assignment'. A terminology recognition system is implemented and experimented to address each task by means of the distributed parallel processing-based MapReduce. The experiments were performed in two ways; the first experiment result revealed that distributed parallel processing by means of 12 nodes improves processing speed by 11.27 times as compared to the case of using a single machine and the second experiment was carried out on 1) default environment, 2) multiple reducers, 3) combiner, and 4) the combination of 2)and 3), and the use of 3) showed the best performance. Our terminology recognition system contributes to speed up knowledge extraction of large scale science and technology documents.

• Journal of Korea Multimedia Society
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• v.2 no.4
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• pp.378-389
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• 1999

Parallel tasks in distributed real-time systems can be divided into several subtasks and be executed in parallel according to their real-time attributes. But, it is difficult to gain the optimal solution which is to allocate a tasks deadline into the subtasks deadline while minimizing the subtasks deadline miss. Tn this Paper, we propose the algorithm that allocates deadlines into each subtask, according to the attributes of each subtask(i.e. using communication time and execution time to periodic tasks). Also, we suggest a processor mapping algorithm that considers the communication time among the processors and the effective duplication algorithm which is allocated to the identical processor for the purpose of improving the communication time between the subtasks. We can obtain a result that reduces IPC(Inter-Processor Communication) time and uses the idle processor through applying effective real-time attributes to FUTD(Fully connected, Unbounded Task Duplication) algorithms. As a result, we can improve the average processor utilization.