• 로봇학회논문지
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• 제6권1호
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• pp.27-33
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• 2011

Control and trajectory generation of a 7 DOF anthropomorphic robot arm suffer from computational complexity and singularity problem because of numerical inverse kinematics. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of inverse kinematics. In this research, we propose an analytical inverse kinematics algorithm for a 7 DOF anthropomorphic robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regard to the end-effector pose. Performance of the proposed algorithm was verified by various simulations. It is shown that the trajectory planning using this algorithm provides correct results near the singular points and can utilize redundancy intuitively.

• 한국문헌정보학회지
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• 제3권
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• pp.1-24
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• 1973

This paper is intended as a basic study in which the purpose is to provide understanding of the workings of man in relation to his information resources. Such understanding would prove of value in formulating the policies of an inoformation center serving the fields of science and technology. The information problem of the scientific community was assessed in the lights of the characteristics of the information (cumulativeness, currency versus obsolescence, volume versus redundancy, interrelationships, and foreign literature)and the flow of information and communication patterns covering the use of the variety of media and the information gathering habits of scientists. What can be done to ease the problem was sought in the improvements and innovations which call the attentions of the scientists and the technologists as producers and users of the information, of the professional organizations of various disciplines and of government.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2240-2242
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• 2002

This paper show serial communication method in order to design how to interface between fault tolerant systems with redundancy. Problem has been in the method that fault tolerant system had switched of serial data with common switching device. This problem degrade reliability in itself and total system which is interfaced with that serial communication system. So Arbitration module of serial communication which is suggested in this paper can improve the reliability using voter algorithm which fault is detected passively.

• 한국군사과학기술학회지
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• 제7권2호
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• pp.57-64
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• 2004

A Requirement statement validation process is suggested which was established and applied to the rolling stock development project of the Korean Railway Research Institute. The validation process includes team organization, selection of validation criteria, development of validation template, education of team members, validation, construction of database and management of requirement change. Many defects in the specification of requirement were found to be associated with the problem of non-uniqueness, describing solution instead of problem, ambiguity and redundancy. This paper described detailed activities at each step of the validation process and lessons learned from these activities.

• 산업공학
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• 제9권3호
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• pp.92-100
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• 1996

The current copper-based communication network is going to be replaced with an optic fiber network. The new technology allows a larger amount of information to be transmitted than before. Due to its bandwidth and relatively high installation cost, however, the optic fiber network does not exhibit the inherent structural redundancy provided by the conventional copper-based network. We propose to supply it by adding multiple paths between important nodes. This so-called network survivability problem is computationally expensive to solve exactly. We report the application of a heuristic algorithm to this problem. Also discussed is the issue of how to make use of existing conduits.

• 한국통신학회논문지
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• 제21권9호
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• pp.2317-2327
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• 1996

Original binary image can be reconstructed without any distortion by MS(morphological skeleton) image. Though we reduce some points in a MS image, there is no problem to reconstruct original image by it. And then, there are two methods of LMS and GMS which reduce the redundant points of a MS image. The redundancy degree of a GMS image is zero and it is less than that of LMS. And then, GMS image is the best thing of the three kinds of morphological skeleton image to enhance the compression efficienty by the Elias code. But there are continous SKF=1 points in a GMS image whenever using 2 dimensional structureing element. Those points in a GMS image gives rise to a bad compression efficiency. And then, solving this problem, this paper proposes hybrid structuring elements algorithms for binary image compression.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2003년도 가을 학술발표회 논문집
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• pp.277-284
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• 2003

One of important problem, in large space structure, is to overcome the self-weight of roof structure. This problem can be solved with using tension members effectively. Thus the rapid progress of hybrid structure, that makes effective use of the means of settling, has a good effect on realizing the large space. These systems of hybrid structure have the advantages of light weight and its own internal redundancy, but are occurred unstable phenomenon such as bifurcation or snap-through buckling, when the load level is come to the critical point. Among the hybrid structure, cable dome is shown the strong nonlinearity of unstable phenomenon in accordance with the external force. Therefore, the purpose of this study is to analyze and verify comparatively the unstable phenomenon of the Geiger and Flower type cable dome structures under axismmetric load.

• Journal of Information Processing Systems
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• 제16권4호
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• pp.820-831
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• 2020

Extractive document summarization aims to select a few sentences while preserving its main information on a given document, but the current extractive methods do not consider the sentence-information repeat problem especially for news document summarization. In view of the importance and redundancy of news text information, in this paper, we propose a neural extractive summarization approach with joint sentence semantic clipping and selection, which can effectively solve the problem of news text summary sentence repetition. Specifically, a hierarchical selective encoding network is constructed for both sentence-level and document-level document representations, and data containing important information is extracted on news text; a sentence extractor strategy is then adopted for joint scoring and redundant information clipping. This way, our model strikes a balance between important information extraction and redundant information filtering. Experimental results on both CNN/Daily Mail dataset and Court Public Opinion News dataset we built are presented to show the effectiveness of our proposed approach in terms of ROUGE metrics, especially for redundant information filtering.

• 대한기계학회논문집A
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• 제28권10호
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• pp.1574-1582
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• 2004

Binary manipulators have recently received much attention due to hyper-redundancy, light weight, good controllability and high reliability. The precise positioning of the manipulator end-effecter requires the use of many modules, which results in a high-dimensional workspace. When the workspace dimension is large, existing inverse kinematics methods such as the Ebert-Uphoff algorithm may require impractically large memory size in determining the binary positions of all actuators. To overcome this limitation, we propose a new inverse kinematics algorithm: the inverse kinematics problem is formulated as an optimization problem using real-valued design variables, The key procedure in this approach is to transform the integer-variable optimization problem to a real-variable optimization problem and to push the real-valued design variables as closely as possible to the permissible binary values. Since the actual optimization is performed in real-valued design variables, the design sensitivity becomes readily available, and the optimization method becomes extremely efficient. Because the proposed formulation is quite general, other design considerations such as operation power minimization can be easily considered.

• Journal of Electrical Engineering and Technology
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• 제12권3호
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• pp.996-1006
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• 2017

Phasor Measurement Unit (PMU) placement is a crucial problem for State Estimation (SE) of the power system, which can ensure that the power network is fully observed. Further, the observation reliability problem of the system has been concerned in the operation conditions. In this paper, based on modified weighted adjacent matrix ($A_w$), an optimal placement method is proposed to solve simultaneously two problems involving the optimal PMU placement problem and the observation reliability enhancement problem of the system. The purpose of the proposed method is to achieve both the minimum total cost and the maximum observation reliability, with a focus on increasing the security of observability, strengthening the observation reliability of buses as well as enhancing the effectiveness of redundancy. Simulations on IEEE 14, 24, 30 and 57 bus test systems are presented to justify the methodology. The results of this study show that the proposed method is not only ensuring the power network having the observability effectively but also enhancing significantly the observation reliability. Therefore, it can be a useful tool for SE of the power system.