• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.3
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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.

• Korean Journal of Child Studies
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• v.37 no.2
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• pp.13-25
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• 2016

Objective: The purposes of this study were to examine the effects of school-age children's ego strength, failure tolerance, and performance anxiety on their school class adjustment, and to model the relation structure of the variables. Method: For these purposes, a questionnaire survey was conducted with 562 6th graders. Results and Conclusion: The results of this study are summarized as follows. First, ego strength, failure tolerance, and performance anxiety were significantly different according to gender. Second, in male students, ego strength, failure tolerance, and performance anxiety had a significant direct effect on school class adjustment. In addition, ego strength and failure tolerance had a significant indirect effect on school class adjustment. Third, female students' paths to school class adjustment were similar to male students' but the effect of failure tolerance on performance anxiety and the effect of performance anxiety on school class adjustment were not significant. Fourth, in the results of multi-group analysis, the effect path from ego strength to school class adjustment was different between male and female students, and the effect was higher in female students than in male students.

• Earthquakes and Structures
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• v.13 no.5
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• pp.485-496
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• 2017

The behavior of 8 steel reinforced high-strength concrete (SRHSC) columns, which comprised of four identical columns with cross-shaped steel and other four identical columns with square steel tube, was investigated experimentally under cyclic uniaxial and biaxial loading independently. The influence of steel configuration and loading path on the global behavior of SRHSC columns in terms of failure process, hysteretic characteristics, stiffness degradation and ductility were investigated and discussed, as well as stress level of the longitudinal and transverse reinforcing bars and steel. The research results indicate that with a same steel ratio deformation capacity of steel reinforced concrete columns with a square steel tube is better than the one with a cross-shaped steel. Loading path affects hysteretic characteristics of the specimens significantly. Under asymmetrical loading path, hysteretic characteristics of the specimens are also asymmetry. Compared with specimens under unidirectional loading, specimens subjected to bidirectional loading have poor carrying capacity, fast stiffness degradation, small yielding displacement, poor ductility and small ultimate failure drift. It also demonstrates that loading paths affect the deformation capacity or deformation performance significantly. Longitudinal reinforcement yielding occurs before the peak load is attained, while steel yielding occurs at the peak load. During later displacement loading, strain of longitudinal and transverse reinforcing bars and steel of specimens under biaxial loading increased faster than those of specimens subjected to unidirectional loading. Therefore, the bidirectional loading path has great influence on the seismic performance such as carrying capacity and deformation performance, which should be paid more attentions in structure design.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.8B
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• pp.482-491
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• 2007

This paper proposes a k-disjoint-path routing algorithm that provides energy efficient and reliable message transmission in wireless sensor networks. The proposed algorithm sends messages through a single path without the occurrence of critical events. However, it sends through k disjoint paths(k>1) under the occurrence of critical events. The proposed algorithm detects the occurrence of critical events by monitoring changing data patterns, and calculates k from a well-defined fault model and the target-delivery ratio. Our simulations reveal that the proposed algorithm is more resilient to node failure than other routing algorithms, and it also decreases energy consumption and reduces the average delay much more than multi-path and path-repair algorithms.

• The KIPS Transactions:PartC
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• v.9C no.5
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• pp.655-664
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• 2002

The focus of quality-of-service routing has been on the routing of a single path satisfying specified QoS constraints. However upon failure of a node or link on the path, a new path (backup path) satisfying the constraints has to be established. This paper proposed the fault recovery QoS Rerouting algorithms to recovery the service of applications under fault environment of network. For this, we describes the generation method of PFC (Protection Fundamental Cycle) protecting all of network nodes and suggests path selection algorithms using minimization rerouting cost problem and analyzes the performances of these.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.3
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• pp.654-662
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• 2016

As the number of gates and basic events in fault trees increases, it becomes difficult to calculate the exact probability of the top event. In order to overcome this difficulty the BDD methodology can be used to calculate the exact top event probability for small and medium size fault trees in short time. Fault trees are converted to BDD by using CUDD library functions and a failure path search algorithm is proposed to calculate the exact top event probability. The backward search algorithm is more efficient than the forward one in finding failure paths and in the calculation of the top event probability. This backward search algorithm can reduce searching time in the identification of disjoint failure paths from BDD and can be considered as an effective tool to find the cut sets and the minimal cut sets for the given fault trees.

• Geomechanics and Engineering
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• v.17 no.1
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• pp.47-56
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• 2019

Crossing (X-type) flaws are commonly encountered in rock mass. However, the crack coalescence and failure mechanisms of rock mass with X-type flaws remain unclear. In this study, we investigate the compressive failure process of rock-like specimens containing two X-type flaws aligned in the loading direction. For comparison purposes, compressive failure behavior of specimens containing two aligned single flaws is also studied. By examining the crack coalescence behavior, two characteristics for the aligned X-type flaws under uniaxial compression are revealed. The flaws tend to coalesce by cracks emanating from flaw tips along a potential path that is parallel to the maximum compressive stress direction. The flaws are more likely to coalesce along the coalescence path linked by flaw tips with greater maximum circumferential stress if there are several potential coalescence paths almost parallel to the maximum compressive stress direction. In addition, we find that some of the specimens containing two aligned X-type flaws exhibit higher strengths than that of the specimens containing two single parallel flaws. The two underlying reasons that may influence the strengths of specimens containing two aligned X-type flaws are the values of flaw tips maximum circumferential stresses and maximum shear stresses, as well as the shear crack propagation tendencies of some secondary flaws. The research reported here provides increased understanding of the fundamental nature of rock/rock-like material failure in uniaxial compression.

• Journal of Internet Computing and Services
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• v.4 no.2
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• pp.1-9
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• 2003

Path restoration, which is needed to increase network survivability in MPLS networks, is a technology of supplying reliable service by delivering the traffics through restoring the paths when links or nodes of a working path are failed. In this paper, we propose a path restoration method using duplication of working paths for link failure as a method of restoring paths for the high priority traffics. The existing path restoration method transmits the traffics to the path restoration uniformly in regardless of the priority while link obstacle. It has a problem to take a long time to restore the connection of the high priority traffics. On the other hand, the suggested restoration method establishes the duplication path for the working path, which transmits the high priority traffics and transmit the traffics through the duplication path. It has a strong point to restore the connection quickly. Also, through simulation we analyze the performance of the restoration system using the duplication path and prove that the proposed restoration method is superior in performance to the existing restoration methods regarding to the high priority traffics.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.7
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• pp.1313-1329
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• 2015

In MANET, frequent route breaks lead to repeated route discovery process and this increases control packet overhead and packet drop. AODV-I improves performance of AODV by using the event driven approach which removes periodic Hello message. Unlike the Hello message, Interrupt message which is sent for each event can detect and predict the link failure because it allows node to know the status of the neighbor node. From this characteristics of Interrupt message, performance of AODV-I can be further improved by adding a processing procedures for each type of Interrupt message and it is also possible to improve AODV-I by adding the Backup path scheme because it originally has problems due to a single path of AODV. In this paper, we propose AODV-IB that combines improved Backup path scheme and Interrupt message approach of AODV-I in order to reduce transmission delay and the number of route discoveries. AODV-IB improves AODV-I by adding proper processing procedures for the link failure prediction and detection for each Interrupt message. We also implement improved Backup path strategy in AODV-IB by minimizing delay without additional Control packet. Simulation results, using the simulator QualNet 5.0, indicate that proposed AODV-IB performs better than AODV-I.

• Journal of information and communication convergence engineering
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• v.14 no.1
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• pp.14-20
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• 2016

The AODV protocol uses many RREQ messages and one RREP message in the path-discovery process. This protocol has only one metric, the number of hops. Although it is simple, this protocol is not efficient. To avoid this problem, we propose a new AODV with two auxiliary metrics (AuM-2-AODV). The AuM-2-AODV protocol tries multiple route replies, which reduces the chance of path failure and helps the network obtain a better data rate. It has two auxiliary metrics, the remaining energy of its nodes and the number of HELLO messages received at the nodes. With these two metrics, the reliable path from the source node to the destination node will be chosen. In this paper, the performance of the AuM-2-AODV is evaluated using the NS-3 simulator. The performance results show that AuM-2-AODV provides greater throughput and packet delivery ratio by 20% and up to 50% and about 100% in some cases, respectively, than previous protocols.