• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.401-401
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• 2000

A mobile manipulator-a serial connection of a mobile robot and a task robot is redundant by itself. Using its redundant freedom, a mobile manipulator can move in various modes, and perform dexterous tasks. An interesting question,

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.5
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• pp.642-648
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• 2008

A lot of researches on the redundant manipulators have been focused mainly on the minimization of joint torques. However, it is well-known that the most dynamic control algorithms using local joint torque minimization cause huge torques which can not be implemented by practical motor drivers. A new control algorithm which reduces considerably such a huge-required-torque problem is proposed in this paper. It adapts fuzzy logic and genetic algorithm to the conventional local joint torque minimization algorithm. The proposed algorithm is applied to a 3-DOF redundant planar robot. Simulation results show that the proposed algorithm works well.

• ETRI Journal
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• v.25 no.5
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• pp.356-368
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• 2003

This paper analyzes the characteristics of packet losses in mobile computing environments based on the Gilbert model and then describes a mechanism that can recover the lost audio packets using redundant data. Using information periodically reported by a receiver, the sender dynamically adjusts the amount and offset values of redundant data with the constraint of minimizing the bandwidth consumption of wireless links. Since mobile computing environments can be often characterized by frequent and consecutive packet losses, loss recovery mechanism need to deal efficiently with both random and consecutive packet losses. To achieve this, the suggested mechanism uses relatively large, discontinuous exponential offset values. That gives the same effect as using both the sequential and interleaving redundant information. To verify the effectiveness of the mechanism, we extended and implemented RTP/RTCP and applications. The experimental results show that our mechanism, with an exponential offset, achieves a remarkably low complete packet loss rate and adapts dynamically to the fluctuation of the packet loss pattern in mobile computing environments.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.977-989
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• 1999

The purpose of this study is to analyze how the human body having more muscles than its degree-of-freedom modulates an effective stiffness using redundant actuation, and to apply this concept to the design and control of advanced machines which requires adaptable spring. To investigate the adaptable stiffness phenomenon due to redundant actuation in the human body, this paper derives a general stiffness model of the Human body. In particular, for a planar 1 DOF human arm model, a planar 2 DOF human arm model, a spherical 3 DOF shoulder model, a 4 DOF human arm model, and a 7 DOF human arm model, the required nonlinear geometry ad the number of required actuator for successful modulation of the effective stiffness are analyzed along with a load distribution method for modulation of the required stiffness of such systems. Secondly, the concept of motion frequency modulation is introduced to show the usefulness of adaptive stiffness modulation. The motion frequency modulation represents a control of stiffness and / or inertia properties of systems. To show the effectiveness of the proposed algorithm, simulations are performed for 2 DOF anthropomorphic robot.

• IEMEK Journal of Embedded Systems and Applications
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• v.14 no.6
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• pp.313-319
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• 2019

Finite field operations have played an important role in error correcting codes and cryptosystems. Recently, the necessity of efficient computation processing is increasing for security in cyber physics systems. Therefore, efficient implementation of finite field arithmetics is more urgently needed. These operations include addition, multiplication, division and inversion. Addition is very simple and can be implemented with XOR operation. The others are somewhat more complicated than addition. Among these operations, multiplication is the most important, since time-consuming operations, such as exponentiation, division, and computing multiplicative inverse, can be performed through iterative multiplications. In this paper, we propose a multiplexer based parallel computation algorithm that performs Montgomery multiplication over finite field using redundant basis. Then we propose an efficient multiplexer based semi-systolic multiplier over finite field using redundant basis. The proposed multiplier has less area-time (AT) complexity than related multipliers. In detail, the AT complexity of the proposed multiplier is improved by approximately 19% and 65% compared to the multipliers of Kim-Han and Choi-Lee, respectively. Therefore, our multiplier is suitable for VLSI implementation and can be easily applied as the basic building block for various applications.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.6
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• pp.2735-2751
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• 2020

The emergence of Software Defined Networking (SDN) overcomes the limitations of traditional networking architectures. There are some advantages in SDN which are centralized global network view, programmability, and separation of the data plane and control plane. Due to the limitation of data plane storage capacity in SDN, it is necessary to process the redundancy rules of switch. In this paper, we propose a method for active detection and processing of redundant rules. We use the result generated by the customized probe package to detect redundant rules. And by checking the forwarding behavior of probe packets in the data plane, the redundancy rules are further processed. Furthermore, in order to quickly check the dynamic networks, we propose an incremental algorithms for rapidly evolve the network strategies. We conduct simulation experiments on Matlab to verify the feasibility of the algorithm. The influence of some parameters on the result are discussed.

• Proceedings of the IEEK Conference
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• 2001.06b
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• pp.365-368
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• 2001

This paper described a design and implementation of the division/square-root for a redundant floating point binary number using high-speed quotient selector. This division/square-root used the method of a redundant binary addition with 25MHz clock speed. The addition of two numbers can be performed in a constant time independent of the word length since carry propagation can be eliminated. We have developed a 16-bit VLSI circuit for division and square-root operations used extensively in each iterative step. It peformed the division and square-root by a redundant binary addition to the shifted binary number every 16 cycles. Also the circuit uses the nonrestoring method to obtain a quotient. The quotient selection logic used a leading three digits of partial remainders in order to be implemented in a simple circuit. As a result, the performance of the proposed scheme is further enhanced in the speed of operation process by applying new quotient selection addition logic which can be parallelly process the quotient decision field. It showed the speed-up of 13% faster than previously presented schemes used the same algorithms.

• The Journal of the Korea Contents Association
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• v.6 no.2
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• pp.162-168
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• 2006

This paper presents a high performance CORDIC circuit based on redundant numbers yielding a minimal number of iteration stages. The minimal number of iteration stages reflects the iteration number yielding a smaller computation error than the truncation error. The minimal number of iterations is found n-4 for $n\geq16$, where n is the number of input angle bits. The CORDIC circuit is based on a redundant number system with a constant scale factor The circuit performs sine and cosine calculations with a delay of {5 (n-4)+ 2[$log_{2}n$]}$\DeltaT$.

• Journal of KIISE:Software and Applications
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• v.37 no.12
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• pp.942-945
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• 2010

In order to reduce the efforts to inspect the reported alarms from a static buffer overflow analyzer, we present an effective method to filter out redundant alarms. In the static analysis, a sequence of multiple alarms are frequently found due to the same cause in the code. In such a case, it is sufficient and reasonable for programmers to examine the first alarm instead of the entire alarms in the same sequence. Based on this observation, we devise a buffer overflow analysis that filters out redundant alarms with our context refinement technique. Our experiment with several open source programs shows that our method reduces the reported alarms by 23% on average.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.355-360
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• 2002

To calibrate a non-redundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism's kinematic structure and measurement values. However, the calibration algorithm for a non-redundant case does not apply fur a redundantly actuated parallel mechanism, because the angle error of the actuating joint varies with position and the geometrical constraint fails to be consistent. Such change of joint angle error comes from constraint torque variation with each kinematic pose (meaning position and orientation). To calibrate a redundant parallel mechanism, one therefore has to consider constraint torque equilibrium and the relationship of constraint torque to torsional deflection, in addition to geometric constraint. In this paper, we develop the calibration algorithm fir a redundantly actuated parallel mechanism using these three relationships, and formulate cost functions for an optimization algorithm. As a case study, we executed the calibration of a 2-DOF parallel mechanism using the developed algorithm. Coordinate values of tool plate were measured using a laser ball bar and the actual kinematic parameters were identified with a new cost function of the optimization algorithm. Experimental results showed that the accuracy of the tool plate improved by 82% after kinematic calibration in a redundant actuation case.