• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.69-72
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• 1996

This paper considers a global resolution of kinematic redundancy under inequality constraints as a constrained optimal control. In this formulation, joint limits and obstacles are regarded as state variable inequality constraints, and joint velocity limits as control variable inequality constraints. Necessary and sufficient conditions are derived by using Pontryagin's minimum principle and penalty function method. These conditions leads to a two-point boundary-value problem (TPBVP) with natural, periodic and inequality boundary conditions. In order to solve the TPBVP and to find a global minimum, a numerical algorithm, named two-stage algorithm, is presented. Given initial joint pose, the first stage finds the optimal joint trajectory and its corresponding minimum performance cost. The second stage searches for the optimal initial joint pose with globally minimum cost in the self-motion manifold. The effectiveness of the proposed algorithm is demonstrated through a simulation with a 3-dof planar redundant manipulator.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2000년도 전력전자학술대회 논문집
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• pp.313-316
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• 2000

This paper proposes a new solution by carrier-based SVPWM method to solve the most serious problem of Flying Capacitor Multi-level Inverter that is unbalance of capacitor voltages The voltage unbalance is occurred by the difference of each capacitor's charging and discharging time applied to Flying Capacitor Multi-level Inverter. It controls the variation of capacitor voltages into the mean'0' during some period by means of new carriers using the leg voltage redundancy in the Inverter. The solution can be easily expanded to the multi-level. Also this method can make the switching loss and conduction loss of device equal by the use of leg voltage redundancy. First the unbalance of capacitor voltage is analyzed and the conventional theory of self-balance using phase-shifted carrier is reviewed. And then the new method that is suitable to the Flying Capacitor Inverter is explained. The simulation results would be shown to verify the proposed method

• Journal of information and communication convergence engineering
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• 제12권1호
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• pp.8-13
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• 2014

We consider the sensor selection problem in large sensor networks where the goal is to find the best set of sensors that maximizes application objectives. Since sensor selection typically involves a large number of sensors, a low complexity should be maintained for practical applications. We propose a geometry-based sensor selection algorithm that utilizes only the information of sensor locations. In particular, by observing that sensors clustered together tend to have redundant information, we theorize that the redundancy is inversely proportional to the distance between sensors and seek to minimize this redundancy by searching for a set of sensors with the maximum average distance. To further reduce the computational complexity, we perform an iterative sequential search without losing optimality. We apply the proposed algorithm to an acoustic sensor network for source localization, and demonstrate using simulations that the proposed algorithm yields significant improvements in the localization performance with respect to the randomly generated sets of sensors.

• Journal of Information Processing Systems
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• 제7권2호
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• pp.321-340
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• 2011

In this article, the current technological state of OPC (Openness, Productivity, and Collaboration; formerly "OLE for Process Control") standards and the problem statement of these OPC standards are discussed. The development of an OPC clientserver framework for monitoring and control systems is introduced by using the new OPC Unified Architecture (UA) specifications, Service Oriented Architecture (SOA), web services, XML, etc. The developed framework in turn minimizes the efforts of developers in learning new techniques and allows system architects and designers to perform dependency analysis on the development of monitoring and control applications. The potential areas of the proposed framework and the redundancy strategies to increase the efficiency and reliability of the system are also represented according to the initial results from the system that was developed by the Visual Studio 2008 and OPC UA SDK.

• ETRI Journal
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• 제42권3호
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• pp.388-398
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• 2020

We herein propose a heuristic redundancy selection algorithm that combines resubmission, replication, and checkpointing redundancies to reduce the resiliency overhead in fault-tolerant workflow scheduling. The appropriate combination of these redundancies for workflow tasks is obtained in two consecutive phases. First, to compute the replication vector (number of task replicas), we apportion the set of provisioned resources among concurrently executing tasks according to their needs. Subsequently, we obtain the optimal checkpointing interval for each task as a function of the number of replicas and characteristics of tasks and computational environment. We formulate the problem of obtaining the optimal checkpointing interval for replicated tasks in situations where checkpoint files can be exchanged among computational resources. The results of our simulation experiments, on both randomly generated workflow graphs and real-world applications, demonstrated that both the proposed replication vector computation algorithm and the proposed checkpointing scheme reduced the resiliency overhead.

• 제어로봇시스템학회논문지
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• 제10권1호
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• pp.1-9
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• 2004

Inertial navigation system with hardware redundancy must use FDI(Fault Detection and Isolation) method to remove the influence of faulty sensors. Until now, several FDI methods such as PSA(Parity Space Approach), GLT(Generalized Likelihood ratio Test) and OPT(Optimal Parity vector Test) method are generally used. However, because these FDI methods only consider the situation that the system has one faulty sensor, these methods cannot be directly adapted for the system with two faulty sensors. To solve this problem, in this paper, PSA method is analyzed and based on this result, new FDI method called EPSA is proposed to consider a detection and an isolation of two faulty sensors in inertial navigation system.

• 한국안전학회지
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• 제18권1호
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• pp.94-100
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• 2003

Generally, cable-stayed bridges are both statically indeterminate structure with a high degree of redundancy and flexible structure. So it is very important to ensure precision control during both fabrication and construction. In precision control of cable-stayed bridges, precision control under multi-objective programming method is needed, because precision control problem of cable-stayed bridges is a multi-objective programming problem in which many objective functions are regard as variables. In previous studies, it was regarded as a single-objective problem, so it had many problems in respect of usefulness and rationalness. In this study, precision control under multi-objective programming method is proposed considering economy, efficiency, and safety at best in precision control of cable-stayed bridges. Precision control problem of cable-stayed bridges is formulated with satisfying trade-off method which is a kind of multi-objective programming method, then it is optimized with min-max method. A computer program is presented including above process.

• 해양환경안전학회지
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• 제5권2호
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• pp.87-97
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• 1999

This study is concerned with developing a hybrid heuristic algorithm for solving the redundancy optimization problem which is very important in system safety, This study develops a HH(Hybrid Heuristic) method combined with two strategies to alleviate the risks of being trapped at a local optimum. One of them is to construct the populations of the initial solutions randomly. The other is the additional search with SA(Simulated Annealing) method in final step. Computational results indicate that HH performs consistently better than the KY method proposed in Kim[8]. Therefore, the proposed HH is believed to an attractive to other heuristic methods.

• 한국멀티미디어학회논문지
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• 제22권2호
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• pp.225-230
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• 2019

There are several methods which efficiencies of database are uprise. One of the well-known methods is that segments of database satisfying a query was rapidly accessed and processed. So if it is possible to search completely parallel multiple database segment types which satisfy a query, the response time of the query will be reduced. The matter of obtaining CPS(Completely Parallel Searchable) distribution without redundancy can be viewed as graph theoretic problem, and the operation of ring sum on the graph is used for CPS. In this paper, the parallel algorithm is proposed.

• 대한전자공학회논문지SP
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• 제37권4호
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• pp.35-45
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• 2000

본 논문에서는 동영상에 효과적으로 적용 가능한 정점 기반 모양 정보 부호화 알고리즘을 제안한다. 제안한 방법은 영상 사이에 존재하는 시간적 중복성을 해결하기 위해 현재 영상의 외곽선으로부터 정점을 선택 할 뿐 아니라 이미 근사화 되어 부호화된 이전 영상으로부터도 정점을 선택하여 상대적으로 부호화하였으며 고정된 오차 한계 이내에서 비트 발생량이 최소가 되도록 정점을 선택한다. 이는 코드표현 방법이 정해져 있을 때 비율-왜곡 측면에서 최적이다. 쟁점 선택은 가중치를 갖는 방향그래프에서의 최단 경로 탐색으로 모델링되어 최적의 정점을 선택하도록 하였으며 실험 결과 기존의 모양 정보 부호화 방법보다 적은 비트율을 요구하였다. 제안한 방법은 실시간 부호화를 필요로 하지 않는 저장 매체를 위한 객체 기반 부호화 시스템 및 웹을 통한 동영상 전송에 이용될 수 있다.