• Title/Summary/Keyword: Redundant System

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HIGH QUALITY IMAGE ACQUSITION METHOD USING DUAL PANCHOMATIC CHANNEL

  • Chang, Young-Jun;Kim, Jung-Ah
    • Proceedings of the KSRS Conference
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    • 2007.10a
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    • pp.203-206
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    • 2007
  • The Space-borne electro-optical camera system has panchromatic redundant image channel as well as primary channel in order to increase reliability of satellite system. In most case redundant channel never been used during the whole mission period. Staggered array configuration using redundant image channel and new operation mode proposed which operates primary and redundant channel simultaneously. Without new hardware design, fast electronics and system complexity, we can get 1.414 times more fine GSD image of original system or we can get 1.414 times more SNR or High dynamic range imaging mode. In this paper we deal with several image quality improvement methods using dual panchromatic channel.

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Evaluation of Performance Measures for Redundant Systems

  • Shin, Sang-Wook;Lee, Chong-Hyung;Lee, Jae-Hak;Park, Dong-Ho
    • International Journal of Reliability and Applications
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    • v.2 no.2
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    • pp.107-115
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    • 2001
  • This paper considers some reliability indices, such as availability, average availability, reliability and steady state availability, of a redundant system with the function of switchover processing. We also derive the confidence limits for steady state availability of such system. The system, which is considered in this paper, consists of an active unit, a standby unit and a switchover device. In addition, the switchover processing is controlled by a control module. The effect of failure of the control module is taken into account to develop our reliability model for the redundant structure. Numerical examples are presented to illustrate our results.

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Biomimetic Trajectory Planning Via Redundant Actuation (여유구동을 활용한 생체모방 궤적계획)

  • 이재훈;이병주
    • Journal of Institute of Control, Robotics and Systems
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    • v.9 no.6
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    • pp.456-465
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    • 2003
  • It is well-known that bio-systems does not calculate inverse dynamics for trajectory planning, but they move by proper modulation of system impedances. Inspired by bio-systems, a biomimetic trajectory planning method is proposed in this work. This scheme is based on employment of redundant actuation which prevails in bio-systems. We discuss that for the generation of the biomimetic trajectory, intelligent structure of bio-systems plays an important role. Redundant actuation and kinematic redundancy fall into such a category of intelligent structure. The proposed biomimetic trajectory planning modulates the complete dynamic behavior such as natural frequencies and damping ratios by using the intelligent structure. Experimental work is illustrated to show the effectiveness of the proposed biomimetic trajectory planning for a five-bar mechanism with redundant actuators.

IEC 61508 into PES for Train Control Systems (IEC 61508에 의한 열차제어장치용 PES 구성에 관한 연구)

  • Kang, Shin-Ju;Lee, Jongwoo
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.62 no.8
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    • pp.1169-1176
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    • 2013
  • PES have been recently required to implement railway industry for its application flexibility. The PES should be commensurated with railway safety requirements. It achieved its safety through redundant PES. The redundant systems run with voting functions. The successful major voting result becomes the output of the redundant system. The redundant system have to be synchronized to vote each output results. This paper proposed an algorithm for synchronizing and a voter. The proposed algorithm and the voter are verified using simulation.

Development of a five-bar finger with redundant actuation (여유구동을 이용한 5관절 휴먼핑거의 개발)

  • 이재훈;이병주;오상록;김병호
    • 제어로봇시스템학회:학술대회논문집
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    • 1997.10a
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    • pp.1613-1616
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    • 1997
  • In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is designed and implemented. an optimal set of acutator locations and link lengths for the case of one redundant actuator is obtained by employing a composite design index which simulataneously consider several performance indices such as workspace, isotropic index, and force transmission ratio. Each joing is driven by an compact actuator mechanism having ultrasonic motor and a gear set with poeneiometer an controlled by VME Bus-based control system.

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Analysis and control algorithms for 5-bar finger mechanism with redundant actuators (여유구동을 지닌 5절 기구형 손 메카니즘의 성능해석 및 제어 알고리즘)

  • 이병주;서일홍;오상록
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.48-51
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    • 1996
  • A 5-bar structure with redundant actuators is proposed as a finger mechanism. It is shown that one additional redundant actuator greatly enhances the load handling capacity of the system. The actuator location should be carefully decided to maximize the performance enhancement. Furthermore, we develop stiffness and frequency control algorithms based on the internal loading created by redundant actuation. The effectiveness of these algorithms have been demonstrated by simulations.

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Torque Distribution Control of 3RRR Redundant Parallel Robot (여유구동 3RRR 병렬로봇의 힘분배 제어에 관한 연구)

  • Lee, Sang-Moon;Lee, Jeh-Won;Shim, Ho-Seok
    • Journal of the Korean Society for Precision Engineering
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    • v.25 no.2
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    • pp.72-79
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    • 2008
  • In the redundant actuation system which has more actuators than a system's mobility, there are various method to determine actuated torques because those are not determined uniquely. This paper presents a torque distribution method using weighted-pseudoinverse to optimize the maximum torque of various actuated inputs of the redundant system. The various weighting factor of weighted-pseudoinverse is studied to reduce maximum actuated torque. This method is experimentally applied to 3RRR parallel robot, which shows that presented method can efficiently reduce the maximum actuated torque.

Fuzzy Hint Acquisition for the Collision Avoidance Solution of Redundant Manipulators Using Neural Network

  • Assal Samy F. M.;Watanabe Keigo;Izumi Kiyotaka
    • International Journal of Control, Automation, and Systems
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    • v.4 no.1
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    • pp.17-29
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    • 2006
  • A novel inverse kinematics solution based on the back propagation neural network (NN) for redundant manipulators is developed for online obstacles avoidance. A laser transducer at the end-effctor is used for online planning the trajectory. Since the inverse kinematics in the present problem has infinite number of joint angle vectors, a fuzzy reasoning system is designed to generate an approximate value for that vector. This vector is fed into the NN as a hint input vector rather than as a training vector to guide the output of the NN. Simulations are implemented on both three- and four-link redundant planar manipulators to show the effectiveness of the proposed position control system.

A Design of Radix-2 SRT Floating-Point Divider Unit using ]Redundant Binary Number System (Redundant Binary 수치계를 이용한 radix-2 SRT부동 소수점 제산기 유닛 설계)

  • 이종남;신경욱
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.5 no.3
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    • pp.517-524
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    • 2001
  • This paper describes a design of radix-2 SRT divider unit, which supports IEEE-754 floating-point standard, using redundant binary number system (RBNS). With the RBNS, the partial quotient decision logic can operate about 20-% faster, as well as can be implemented with a simple hardware when compared to the conventional methods based on two's complement arithmetic. By using a new redundant binary adder proposed in this paper, the mantissa divider is efficiently implemented, thus resulting in about 20% smaller area than other works. The divider unit supports double precision format, five exceptions and four rounding modes. It was verified with Verilog HDL and Verilog-XL.

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Fault Detection and Isolation using Singular Value Decomposition for Redundant Sensors System (특이치 분해를 이용한 중복 센서의 EDI 기법과 성능 분석)

  • 심덕선;양철관
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.4
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    • pp.364-370
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    • 2004
  • In this paper, we propose a FDI method, which comes from singular value decomposition of measurement matrix fur redundant sensors. We analyze the performance of the proposed FDI method by comparing with the GLT method in two ways such as FDI performance and GN&C performance. Also, we propose a GN&C performance index by combining FDI and GN&C performance.