• The Transactions of the Korean Institute of Electrical Engineers B
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• v.55 no.12
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• pp.667-673
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• 2006

Programmable electronic interlocking system plays key role in railway operation and is closely related to railway accidents, in which the programmable electronic controller of interlocking system may become sources. Redundant digital controllers are adopted as the interlocking controllers to prevent the accidents from the controllers being out of order. The redundant digital controllers being fault tolerant are realized through dual or triplex controllers. In this paper, we calculated safety and availability of the redundant digital controllers using Markov models, demonstrated key part to determine the availability ana the safety.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.41 no.7
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• pp.41-46
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• 2004

Two multicast delivery schemes are proposed to minimize the packet loss that occurs in the mobile multicast (MoM) protocol due to the handoff and relocation. The proposed schemes use a primary designated multicast service provider (DMSP) and a redundant or non-redundant backup DMSP. The simulation results verify that the proposed schemes greatly reduce the packet loss rate at the expense of the increased network traffic or the extra protocol overhead related to the operation of the non-redundant backup DMSP.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.3
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• pp.301-311
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• 1990

A multiple controller structure consisting of a typical feedback controller and an additive redundant controller is proposed for enhancing the reliability of the control system. For the case where the main controller is chosen as a pole assignment controller with input/output measurements and the redundant controller as the Model Reference Adaptive Controller (MRAC) whose reference model is the closed-loop combination of the plant and the main controller, it is proven that the tracking error between the command input and plant output converges to zero under failure in one of the controllers or parameter perturbations of the plant, and further that the reliability measured by Mean Time To Failure (MTTF) is greater than that of the system with only a single main controller. A simulation Example is provided to illustrate reliable operation of the proposed control system against the controller failure.

• Journal of information and communication convergence engineering
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• v.3 no.1
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• pp.33-37
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• 2005

One of the most important feature of the Mobile Manipulator is redundant freedom. Using the redundant freedom, Mobile Manipulator can move various mode, perform dexterous motion. In this paper, to improve robot job ability, as two robots perform a job in co-operation control, we studied optimal position and posture of Mobile Manipulator with minimum movement of each robot joint. Kinematics of mobile robot and task robot is solved. Using mobility of Mobile robot, weight vector of robots is determined. Using Gradient methode, global motion trajectory is minimized. so the job which Mobile Manipulator perform is optimized. The proposed algorithm is verified with PURL-II which is Mobile Manipulator combined Mobile robot and task robot. and discussed the result.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.2
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• pp.170-177
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• 1993

In robotic arc welding, the roll (rotation) of the torch about its direction vector does not have any effect on the welding operation. Thus we could use this redundant degree of greedom for the motion control of the robot manipulator. This paper presents an algorithm for the pseudo- inverse kinematic motion control of the 6-axis robot, which utilizes the above mentioned redunancy. The prototype welding operation and the tool path are also graphically simulated. Since the proposed algorithm requires only the position and normal vector of the weldine as an input data, it is useful for the CAD-based off-line programming of the arc welding robot. In addition, it also has the advantages of the redundant manipulator motion control, like singularity avoidance and collision free motion planning, when compared with the other motion control method based on the direct inverse kinematics.

• 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.

• 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.

• Journal of Advanced Navigation Technology
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• v.25 no.4
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• pp.273-279
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• 2021

A flight control computer(FLCC) applied to an unmanned aerial vehicle(UAV) is a safety-critical item, and which is designed in a multiple structure to increase the reliability of operation by securing fault tolerance. These FLCC of multiple structure should be designed so that each independent processing/control components can perform the same operation at the same time. And for this reason, a synchronization algorithm for synchronizing the operation between FLCCs should be included in an operational flight program. In this paper, we propose a software design method for synchronization between dual FLCCs applied to UAVs. The proposed synchronization method is designed to synchronize using only the minimum hardware resources to reduce a failure rate. In addition, the proposed synchronization method is designed to minimized synchronization errors due to a timer operation by designing in consideration of operation characteristics of the hardware timer used for the synchronization.

• Structural Engineering and Mechanics
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• v.63 no.6
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• pp.799-808
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• 2017

Failure of a redundant long-span bridge is often described by innumerable failure modes, which make the structural system reliability analysis become a computationally intractable work. In this paper, an innovative procedure is proposed to efficiently identify the dominant failure modes and quantify the structural reliability for a long-span bridge system. The procedure is programmed by ANSYS and MATLAB. Considering the correlation between failure paths, a new branch and bound operation criteria is applied to the traditional stage critical strength branch and bound algorithm. Computational effort can be saved by ignoring the redundant failure paths as early as possible. The reliability of dominant failure mode is computed by FORM, since the limit state function of failure mode can be expressed by the final stage critical strength. PNET method and FORM for system are suggested to be the suitable calculation method for the bridge system reliability. By applying the procedure to a CFST arch bridge, the proposed method is demonstrated suitable to the system reliability analysis for long-span bridge structure.

• Journal of Korea Society of Digital Industry and Information Management
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• v.5 no.3
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• pp.39-45
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• 2009

In this paper we present a cleaning robot system for an autonomous mobile robot. Our robot performs goal reaching tasks into unknown indoor environments by using sensor fusion. The robot's operation objective is to clean floor or any other applicable surface and to build a map of the surrounding environment for some further purpose such as finding the shortest path available. Using its cleaning robot system for an autonomous mobile robot can move in various modes and perform dexterous tasks. Performance of the cleaning robot system is better than a fixed base redundant robot in avoiding singularity and obstacle. Sensor fusion using the clean robot improves the performance of the robot with redundant freedom in workspace and Map-Building. In this paper, Map-building of the cleaning robot has been studied using sensor fusion. A sequence of this alternating task execution scheme enables the clean robot to execute various tasks efficiently. The proposed algorithm is experimentally verified and discussed with a cleaning robot, KCCR.