• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.180-185
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• 2003

In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like robot arms and multi-fingered robot hands. Associated with such redundancy in the number of DOFs relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index is introduced for controlling such a redundant robot in order to avoid arising of an ill-posed problem of inverse kinematics from the task space to the joint space. This paper shows that such an ill-posedness of DOF redundancy can be resolved in a natural way by using a novel concept named “stability on a manifold”. To show this, two illustrative robot tasks 1) robotic handwriting and 2) control of an object posture via rolling contact by a multi-DOF finger are analyzed in details.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제7권4호
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• pp.800-818
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• 2013

Supporting video streaming over multi-hop wireless networks is particularly challenging due to the time-varying and error-prone characteristics of the wireless channel. In this paper, we propose a joint optimization scheme for video streaming over multi-hop wireless networks. Our coding scheme, called Joint Source/Network Coding (JSNC), combines source coding and network coding to maximize the video quality under the limited wireless resources and coding constraints. JSNC segments the streaming data into generations at the source node and exploits the intra-session coding on both the source and the intermediate nodes. The size of the generation and the level of redundancy influence the streaming performance significantly and need to be determined carefully. We formulate the problem as an optimization problem with the objective of minimizing the end-to-end distortion by jointly considering the generation size and the coding redundancy. The simulation results demonstrate that, with the appropriate generation size and coding redundancy, the JSNC scheme can achieve an optimal performance for video streaming over multi-hop wireless networks.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2004년도 추계 종합학술대회 논문집
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• pp.395-401
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• 2004

In the current high network-centralized computing and enterprising environment, it is getting essential to transmit data reliably at very high rates. Until now previous client/server model based NFS(Network File System) or AFS(Andrew's Files System) have met the various demands but from now couldn't satisfy those of the today's scalable high-performance computing environment. Not only performance but data sharing service redundancy have risen as a serious problem. In case of NFS, the locking issue and cache cause file system to reboot and make problem when it is used simply as ip-take over for H/A service. In case of AFS, it provides file sharing redundancy but it is not possible until the storage supporting redundancy and equipments are prepared. Lustre is an open source based cluster file system developed to meet both demands. Lustre consists of three types of subsystems : MDS(Meta-Data Server) which offers the meta-data services, OST(Objec Storage Targets) which provide file I/O, and Lustre Clients which interact with OST and MDS. These subsystems with message exchanging and pursuing scalable high-performance file system service. In this paper, we compare the transmission speed of gigabytes file between Lustre and NFS on the basis of concurrent users and also present the high availability of the file system by removing more than one OST in operation.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권9호
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• pp.504-511
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• 2000

The reliability of system is to become a important concern in developed industry. The controller based on the reliability is so important position. PPC(Plant Protection Controller) is for plant protection and human life by fault detection and control action against the transient condition of plant. The protection system of the nuclear reactor and chemical reactor are representative of PPC. This paper presents analysis of PPC relaibility formal problem statement of optimal redundancy based on the reliability for PPC. And the problem is optimized by genetic algorithm, The genetic algorithms is useful algorithm in case of large searching complex gradient existence local minimum. The genetic algorithms is useful algorithm is case of large searching complex gradient existence local minimum. The ability and effectiveness of the proposed optimization is demonstrated by the target reliability of one channel. PPC. using the failure rate based on the MIL-HDBK-217

• 산업경영시스템학회지
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• 제15권25호
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• pp.11-14
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• 1992

This paper presents a method for establishing an initial value of redundancy optimization problem to maximize system reliability of multiconstraint mixed parallel-series system. The constraints not be linear. This paper proposes a new initial value which is near to optimal solution by considering the relative median rate of the unreliability and amount of consumed resources for each subsystem. To show the efficiency of this model. numerical example and comparison with Narasimhalu is illustrated in chapter 4.

• 제어로봇시스템학회논문지
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• 제17권8호
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• pp.790-798
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• 2011

An efficient sequential computation algorithm of kinematic optimal control is suggested for redundancy resolution of freefloating manipulators. Utilization of minimum principle usually requires involved and tedious procedure of differentiation of Hamiltonian. Due to the constraints of momentum conservation, it is not easy to get exact differential equations of boundary value problem for even relatively simple free-floating manipulator models. To overcome this difficulty, we developed an effective sequential algorithm for the computation of terms appeared in the differential equations. The usefulness of suggested approach is verified by simulation of a planar 3-joints free-floating manipulator.

• 제어로봇시스템학회논문지
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• 제3권5호
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• pp.469-475
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• 1997

A method for solving the inverse kinematic problem of reclaimer is presented in this paper. The reclaimers in the raw yard are being used to dig raws and transfer them to the blast furnaces. The kinematic configuration of the reclaimer is different from that of commercially available robots, because it has a rotating disk with several buckets at the end of the boom to dig raws. The reclaimer has a redundancy due to the rotating disk : the degrees of freedom are greater than the number of forward kinematic equations. A plane equation in the 3-dimensional space is determined by using several points adjacent to the reclaiming point of the raw ores pile. A constraint is obtained from the relation ship of the plane equation and trajectories of the bucket of the reclaimer. Finally, a solution of the inverse kinematics of the reclaimer is determined by a numerical method.

• 한국자동차공학회논문집
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• 제11권2호
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• pp.89-95
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• 2003

We consider a problem of application of analytical redundancy to engine synchronization process of spark ignition engines, which is critical to timing for every ECU process including ignition and injection. The engine synchronization process we consider here is performed using the pulse signal obtained by the revolution of crankshaft trigger wheel (CTW) coupled to crank shaft. We propose a discrete-time linear model for the signal, for which we construct FDI (Fault Detection & Isolation) system consisting residual generator and threshold based on linear observer.

• 품질경영학회지
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• 제47권4호
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• pp.701-711
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• 2019

Purpose: The problem of optimizing redundancy allocation in multi-level systems is considered when each item in a multi-level system has alternative items with the same function. The number of redundancy of multi-level system is allocated to maximize the reliability of the system under path set and cost limitation constraints. Methods: Based on cost limitation and path set constraints, a mathematical model is established to maximize system reliability. Particle swarm optimization is employed for redundant allocation and verified by numerical experiments. Results: Comparing the particle swarm optimization method and the memetic algorithm for the 3 and 4 level systems, the particle swarm optimization method showed better performance for solution quality and search time. Particularly, the particle swarm optimization showed much less than the memetic algorithm for variation of results. Conclusion: The proposed particle swarm optimization considerably shortens the time to search for a feasible solution in MRAP with path set constraints. PS optimization is expected to reduce search time and propose the better solution for various problems related to MRAP.

• 로봇학회논문지
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• 제10권4호
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• pp.179-185
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• 2015

The versatility of a human hand is what the researchers eager to mimic. As one of the attempt, the redundant degree of freedom in the human hand is considered. However, in the force domain the redundant joint causes a control issue. To solve this problem, the force control method for a redundant robotic hand which is similar to the human is proposed. First, the redundancy of the human hand is analyzed. Then, to resolve the redundancy in force domain, the artificial minimum energy point is specified and the restoring force is used to control the configuration of the finger other than the force in a null space. Finally, the method is verified experimentally with a commercial robot hand, called Allegro Hand with a force/torque sensor.