• 제어로봇시스템학회논문지
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• 제15권4호
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• pp.426-432
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• 2009

In this paper, redundancy resolution of UVMS (underwater vehicle-manipulate. system) is addressed. In general, UVMS has redundant DOFs (degrees of freedom) as many as DOFs of manipulator and these redundant DOFs can be used to optimize the configuration of UVMS while satisfying given tasks. We propose a performance index for redundancy resolution which minimizes the restoring moments of UVMS. The restoring moment can cause unintentional change of poses of UVMS. If the restoring moments remain small, control effort for keeping the poses of UVMS decreases. This means that energy consumption can be reduced by minimizing the restoring moments during conducting tasks. Proposed performance measure is optimized by gradient projection method. Generated trajectories by this redundancy resolution are tracked by robust PID controller. Numerical simulations are presented to demonstrate performance of the proposed algorithm.

• 전기전자학회논문지
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• 제21권2호
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• pp.130-135
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• 2017

Normally, in data transmission, extra parity bits are added to the input message which were derived from its input and a pre-defined algorithm. The same algorithm is used by the receiver to check the consistency of the delivered information, to determine if it is corrupted or not. It recovers and compares the received information, to provide matching and correcting the corrupted transmitted bits if there is any. This paper aims the following objectives: to use an alternative error detection-correction method, to lessens both the fixed number of the required redundancy bits 'r' in cyclic redundancy checking (CRC) because of the required polynomial generator and the overhead of interspersing the r in Hamming code. The experimental results were synthesized using Xilinx Virtex-5 FPGA and showed a significant increase in both the transmission rate and detection of random errors. Moreover, this proposal can be a better option for detecting and correcting errors.

• Journal of Communications and Networks
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• 제11권6호
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• pp.564-573
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• 2009

In this paper, we consider a wireless multiple path network in which a transmitting node would like to send a message to the receiving node with a certain probability of success. These two nodes are separated by N erasure paths, and we devise two algorithms to determine minimum redundancy and optimal symbol allocation for this setup. We discuss the case with N = 3 and then extend the case to an arbitrary number of paths. One of the algorithms minimum redundancy algorithm in exponential time is shown to be optimal in several cases, but has exponential running time. The other algorithm, minimum redundancy algorithm in polynomial time, is sub-optimal but has polynomial worstcase running time. These algorithms are based off the theory of maximum-distance separable codes. We apply the MRAET algorithm on maximum-distance separable, Luby transform, and Raptor codes and compare their performance.

• 대한전기학회논문지
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• 제41권4호
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• pp.422-432
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• 1992

Previous investigations of redundant manipulators have often focussed on local optimization for redundancy resolution by using the Jacobian pseudoinverse to solve the instantaneous relationship between the joint and end-effector velocities. This paper establishes some new goals for redundancy resolution at position level by using configuration control approach which has been recently developed. Minimum gravity loading, joint limit avoidance, minimum sensitivity, maximum stiffness and minimum impulse are introduced as redundancy resolution goals. These new goals for redundancy resolution allow more efficient utilizations of the redundant joints based on the desired task requirements. Simple computer simulation examples are given for illustration.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.717-720
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• 2000

Event-driven communication protocols such as CAN(Controller Area Network) have inherent packet delays due to the contention process for the use of network medium. These delays are stochastic in nature because most packets arrive at random time instants. The stochastic property of the delay adversely influences the control system's performance in terms of stability, responsiveness and steady-state error. Another problem for safety-critical application such as brake-by-wire systems is the reliability of the communication modules that can fail abruptly. This paper deals with two methods to overcome the above problems : (i) scheduling method that can maintain packet delays under some acceptable level, and (ii) redundancy management of communication modules that prescribes dual-redundancy modules' behavior when one of them fails.

• 한국신뢰성학회:학술대회논문집
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• 한국신뢰성학회 2000년도 추계학술대회
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• pp.399-404
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• 2000

Redundancy allocation problems have been considered at single-level systems and it may be the best policy in some specific situations, but not in general. With regards to reliability, it is most effective to allocate the lowest objects, because parallel-series systems are more reliable than series-parallel systems. However, the smaller and tower in the system an object is, the more time and accuracy are needed for duplicating it, and so, the cost can be decreased by using modular redundancy. Therefore, providing redundancy at high levels like as modules or subsystems, can be more economical than providing redundancy at low levels or duplicating components. In this paper, the problem in which redundancy is allocated at all level in a series system is addressed, a mixed integer nonlinear programming model is presented and genetic algorithm is proposed. An example illustrates the procedure.

• 한국해양공학회지
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• 제29권5호
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• pp.380-385
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• 2015

In the development of an underwater construction robot, the reliability of the operating system is the most important issue because of its huge maintenance cost, especially in a deep sea application. In this paper, we propose a new redundant architectural design for the hydraulic control system of an underwater construction robot. The proposed architecture consists of dual independent modular redundancy management systems linked with a commercial profibus network. A cold standby redundancy management system consisting of a preprocessing switch circuit is applied to the signal network, and a hot standby redundancy management system is adapted to utilize two main controllers.

• Journal of applied mathematics & informatics
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• 제5권1호
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• pp.41-50
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• 1998

There are various notions of partial ordering between life-times of systems; stochastic ordering failure rate ordering and likeli-hood ration ordering. In this paper we show that for series systems with non i.i.d. exponential lifetimes of components standby redundancy at component level is better than that at system level in failure rate or-dering and likelihood ratio ordering. We also demonstrate that for 2-component parallel systems with i.i.d. exponential lifetimes of com-ponents standby system redundancy is better than standby component redundancy in failure rate ordering and likelihood ratio ordering.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.111-111
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• 2000

The research of network system, being used to reduce automotive wiring harness, is reaching to the development of by-wire system. It is by-wire system that apply IVN(In-Vehicle-Network) to steering, braking system, and it has the advantage of mass-decreasing, easy to diagnose fault and so on. But until now, many developed device can't satisfied with reliability that system have ever had. So redundancy of each network module, i.e., It is only way to make backup module. This paper researches development of network module and redundancy management of backup module when error occurred for implementation of brake-by-wire system.

• 한국국방경영분석학회지
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• 제26권2호
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• pp.143-158
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• 2000

This paper deals with the problem of redundancy allocation for the mixed reliability system in an optimal way. Two kinds of the reliability system are considered for optimal allocation of parallel redundancy. The problem is approached as the optimization problems using th standard method of dynamic programming(DP). The algorithm for solving the optimal redundancy allocation is proposed and then the DP algorithm is applied to two numerical examples such as maximization of reliability subject to an allowable cost-constraint and minimization of the total cost subject to the specified minimum reliability-constraint. A consequence of this study is that the developed computer program package can be applied to the optimal redundancy allocation for the mixed reliability system.