• 대한기계학회논문집A
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• 제21권3호
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• pp.470-476
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• 1997

The dynamic characteristics of industrial processes frequently cause an abnormal situation which is undesirable in terms of the productivity and the safety of workers. The goal of fault-tolerance is to continue performing certain activities even after the failure of some system cononents. A fault-tolerant intelligent monitoring and control system which is robust under disturbances is proposed in this paper. Specifically, the fault-tolerant monitoring scheme proposed consists of two process models and the inference module to preserve such a robustness. The results of turning experiments demonstrate the effectiveness of the fault-tolerant scheme in the presence of built-up edge.

• 한국신뢰성학회지:신뢰성응용연구
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• 제12권3호
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• pp.215-224
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• 2012

This paper deals with a design of fault tolerant state feedback controllers for continuous time nonlinear time delay systems with actuator failures. The goal is to find an asymptotically stabilizing controller such that the closed loop system achieves the prescribed $H_{\infty}$ performance objective in the actuator fault cases. Based on a sum of squares (SOS) approach, a design method for $H_{\infty}$ fault tolerant controller is presented. In order to demonstrate our design method, a numerical example is provided.

• Journal of Power Electronics
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• 제10권1호
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• pp.34-42
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• 2010

Reliability is an important issue in cascaded H-bridge converters (CHB converters) because they use a high number of power semiconductors. A faulty power cell in a CHB converter can potentially lead to expensive downtime and great losses on the consumer side. With a fault-tolerant control strategy, operation can continue with the undamaged cells; thus increasing the reliability of the system. In this paper, the operating principles and the control method for a CHB multilevel rectifier are introduced. The influence of various faults on the CHB converter is investigated. The method of fault diagnosis and the bypassing of failed cells are explained. A fault-tolerant protection strategy is proposed to achieve redundancy in the CHB rectifier. The redundant H-bridge concept helps to deal with device failures and to increase system reliability. Simulation results verify the performance of the proposed strategy.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권3호
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• pp.131-140
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• 2005

Fault-tolerant gait generation of a hexapod robot with crab walking is proposed. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. Due to the reduced workspace of a failed leg, fault-tolerant crab walking has a limitation in the range of heading direction. In this paper, an accessible range of the crab angle is derived for a given configuration of the failed leg and, based on the principles of fault-tolerant gait planning, periodic crab gaits are proposed in which a hexapod robot realizes crab walking after a locked joint failure, having a reasonable stride length and stability margin. The proposed crab walking is then applied to path planning on uneven terrain with positive obstacles. i.e., protruded obstacles which legged robots cannot cross over but have to take a roundabout route to avoid. The robot trajectory should be generated such that the crab angle does not exceed the restricted range caused by a locked joint failure.

• International Journal of Control, Automation, and Systems
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• 제6권3호
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• pp.339-350
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• 2008

A general active fault-tolerant control framework is proposed for nonlinear systems with sensor faults. According to their identifiability, all sensor faults are divided into two classes: identifiable faults and non-identifiable faults. In the healthy case, the control objective is such that all outputs converge to their given set-points. A fault detection and isolation module is firstly built, which can produce an alarm when there is a fault in the system and also tell us which sensor has a fault. If the fault is identifiable, the control objective remains the same as in the healthy case; while if the fault is non-identifiable, the control objective degenerates to be such that only the healthy outputs converge to the set-points. A numerical example is given to illustrate the effectiveness and feasibility of the proposed method and encouraging results have been obtained.

• 자동차안전학회지
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• 제13권4호
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• pp.129-143
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• 2021

This paper proposes actuator fault detection and adaptive fault-tolerant control algorithms using performance index and human-like learning for longitudinal autonomous vehicles. Conventional longitudinal controller for autonomous driving consists of supervisory, upper level and lower level controllers. In this paper, feedback control law and PID control algorithm have been used for upper level and lower level controllers, respectively. For actuator fault-tolerant control, adaptive rule has been designed using the gradient descent method with estimated coefficients. In order to adjust the control parameter used for determination of adaptation gain, human-like learning algorithm has been designed based on perceptron learning method using control errors and control parameter. It is designed that the learning algorithm determines current control parameter by saving it in memory and updating based on the cost function-based gradient descent method. Based on the updated control parameter, the longitudinal acceleration has been computed adaptively using feedback law for actuator fault-tolerant control. The finite window-based performance index has been designed for detection and evaluation of actuator performance degradation using control error.

• 전력전자학회논문지
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• 제5권4호
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• pp.409-416
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• 2000

시스템 특성상 fault tolerant system을 위해 두개의 컨버티를 1개의 전류센서를 사용하여 영상변류기 동적 방식으토 병렬 운전하는 경우 컨버터에 고자이 발생하면 영상변류기 출력은 두 컨버터 공급 전류 차이이므로, 어떤 컨버터에서 고장이 발생하였는지 고정 탐지 및 분리가 곤란히였다. 본 논문에사는 fault tolerant system를 위해 2 개의 컨버터를 병렬 운전하는 경우 캔버터의 고장 탐지 및 분리를 위한 방안올 제시하고 실험을 통하여 제안한 방법의 타당성을 확인하였다.

• Journal of Information Processing Systems
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• 제5권4호
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• pp.221-228
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• 2009

Due to low cost, low-power, and scalability, ZigBee is considered an efficient wireless AMR infrastructure. However, these characteristics of ZigBee can make the devices more vulnerable to unexpected error environments. In this paper, a fault-tolerant wireless AMR network (FWAMR) is proposed, which is designed to improve the robustness of the conventional ZigBee-based AMR systems by coping well with dynamic error environments. The experimental results demonstrate that the FWAMR is considerably fault-tolerant compared with the conventional ZigBee-based AMR network.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(3)
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• pp.75-78
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• 2002

In this paper, we present the design and implementation of a Fault Tolerant VOD system. The system uses the double striping policy that a original file is sequentially striped to multiple streaming server with constant data block size and the data block of one streaming server is re-striped to the other streaming server. When a fault occurs in one streaming server, automatically the other streaming server will service.

• Journal of Mechanical Science and Technology
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• 제20권5호
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• pp.643-651
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• 2006

The theory for a novel fault-tolerant 4-active-pole homopolar magnetic bearing is developed. If any one coil of the four coils in the bearing actuator fail, the remaining three coil currents change via an optimal distribution matrix such that the same opposing pole, C-core type, control fluxes as those of the un-failed bearing are produced. The hompolar magnetic bearing thus provides unaltered magnetic forces without any loss of the bearing load capacity even if any one coil suddenly fails. Numerical examples are provided to illustrate the novel fault-tolerant, 4-active pole homopolar magnetic bearings.