• International Journal of Control, Automation, and Systems
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• 제5권1호
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• pp.104-109
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• 2007

This paper is about a redundancy management system design for the Smart UAV(unmanned aerial vehicle) which utilizes the tilt..rotor mechanism. In order to meet the safety requirement on the PLOC(probability of loss of control) of $1.7{\times}10^{-5}$ per flight hour for FCS (flight control system) failures, a digital FCS is mechanized with a dual redundant structure. A fault detection system which is composed of a CCM(cross channel monitor) and analytic redundancy using the Kalman filtering is designed, and its effectiveness is evaluated through experiments. A threshold level and persistence count for managing redundant sensors are designed based on the statistical analysis of the FCS sensors. To increase the survivability of the UAV after the loss of critical sensors in the SAS(stability augmentation system) and to provide reference information for a tie-breaking condition at which an ILM(in-line monitor) cannot distinguish the faulty channel between two operating ones, the Kalman filter approach is investigated.

• 산업경영시스템학회지
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• 제29권3호
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• pp.103-110
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• 2006

This paper aims to examine the main factors of the organizational climate and analyze their effects on job involvement. To accomplish these purposes, the nam factors of the organizational climate such as diversity, autonomy, redundancy, connectivity and flexibility were found from the previous studies. The questionaries of 350 were distributed to the employees working at the Gumi Industrial Complex. The questionaries of 298 were obtained and 267 were analyzed through frequencies, correlation and multiple regression. The results of this study are as followings; First, we conducted exploratory factor analysis for five constructs(diversity, autonomy, redundancy, connectivity and flexibility) using oblique rotation method that did not assume independence among the factors and main factors of knowledge management were grouped together by five factors. Second, it is shown that four main factors of organizational climate have a positive influence on the job involvement(p<0.05). This study, however, have limitations of number of sample and survey area. The future study should consider these limitations in improving model applicability in practice.

• 디지털산업정보학회논문지
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• 제10권3호
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• pp.237-247
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• 2014

This paper describes a 2D discrete-time wavelet transform for which the Q-factor is easily specified. Hence, the transform can be tuned according to the oscillatory behavior of the image signal to which it is applied. The tunable Q-factor wavelet transform (TQWT) is a fully-discrete wavelet transform for which the Q-factor, Q, of the underlying wavelet and the asymptotic redundancy (over-sampling rate), r, of the transform are easily and independently specified. In particular, the specified parameters Q and r can be real-valued. Therefore, by tuning Q, the oscillatory behavior of the wavelet can be chosen to match the oscillatory behavior of the signal of interest, so as to enhance the sparsity of a sparse signal representation. The TQWT is well suited to fast algorithms for sparsity-based inverse problems because it is a Parseval frame, easily invertible, and can be efficiently implemented. The TQWT can also be used as an easily-invertible discrete approximation of the continuous wavelet transform. The transform is based on a real valued scaling factor (dilation-factor) and is implemented using a perfect reconstruction over-sampled filter bank with real-valued sampling factors. The transform is parameterized by its Q-factor and its oversampling rate (redundancy), with modest oversampling rates (e. g. 3-4 times overcomplete) being sufficient for the analysis/synthesis functions to be well localized. Therefore, This method services good performance in image processing fields.

• Journal of Information Processing Systems
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• 제14권5호
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• pp.1167-1175
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• 2018

Microarray data plays an essential role in diagnosing and detecting cancer. Microarray analysis allows the examination of levels of gene expression in specific cell samples, where thousands of genes can be analyzed simultaneously. However, microarray data have very little sample data and high data dimensionality. Therefore, to classify microarray data, a dimensional reduction process is required. Dimensional reduction can eliminate redundancy of data; thus, features used in classification are features that only have a high correlation with their class. There are two types of dimensional reduction, namely feature selection and feature extraction. In this paper, we used k-means algorithm as the clustering approach for feature selection. The proposed approach can be used to categorize features that have the same characteristics in one cluster, so that redundancy in microarray data is removed. The result of clustering is ranked using the Relief algorithm such that the best scoring element for each cluster is obtained. All best elements of each cluster are selected and used as features in the classification process. Next, the Random Forest algorithm is used. Based on the simulation, the accuracy of the proposed approach for each dataset, namely Colon, Lung Cancer, and Prostate Tumor, achieved 85.87%, 98.9%, and 89% accuracy, respectively. The accuracy of the proposed approach is therefore higher than the approach using Random Forest without clustering.

• ETRI Journal
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• 제42권2호
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• pp.258-271
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• 2020

A correlation exists between luminance samples and chrominance samples of a color image. It is beneficial to exploit such interchannel redundancy for color image compression. We propose an algorithm that predicts chrominance components Cb and Cr from the luminance component Y. The prediction model is trained by supervised learning with Laplacian-regularized least squares to minimize the total prediction error. Kernel principal component analysis mapping, which reduces computational complexity, is implemented on the same point set at both the encoder and decoder to ensure that predictions are identical at both the ends without signaling extra location information. In addition, chrominance subsampling and entropy coding for model parameters are adopted to further reduce the bit rate. Finally, luminance information and model parameters are stored for image reconstruction. Experimental results show the performance superiority of the proposed algorithm over its predecessor and JPEG, and even over JPEG-XR. The compensation version with the chrominance difference of the proposed algorithm performs close to and even better than JPEG2000 in some cases.

• 제어로봇시스템학회논문지
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• 제6권7호
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• pp.568-577
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• 2000

In this paper for an object grasped by a robot hand to work in stiffness control domain we first investigate the number of fingers for successful stiffness modulation in the object operational space. Next we propose a new compliance control method for robot hands which consist of two steps. RIFDS(Resolved Inter-Finger Decoupling Solver) is to decompose the desired compliance characteristic specified in the op-erational space into the compliance characteristic in the fingertip space without inter-finger coupling and RIJDS(Resolved Inter-Joint Decoupling Solver) is to decompose the fingertip space without inter-finger coupling and RIJDS(Resolved inter-Joint Decoupling Solver) is to decompose the compliance characteristic in the finger-tip space into the compliance characteristic given in the joint space without inter-joint coupling. Based on the analysis results the finger structure should be biominetic in the sense that either kniematic redundancy or force redundancy are required to implement the proposed compliance control scheme, Five-bar fingered robot hands are used as an illustrative example to implement the proposed compliance control method. To show the effectiveness of the proposed compliance control method simulations are performed for two-fingered and three-fingered robot hands.

• 대한기계학회논문집
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• 제12권6호
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• pp.1252-1264
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• 1988

본 연구에서는 실제 산업현장에서 이용되고 있는 5자유도의 수직 다관절형 로 봇과 2자유도의 포지셔너를 하나의 기구학적 모델로 모델링하여 기구학적 해석을 하고 이때 발생하는 여유자유도제어 및 그 타당성을 검토하고자 한다. 이를 위하여 먼저 역기구학적 해를 여유자유도인 포지셔너의 틸팅(tilting) 관절각을 고정한 후 6자유도 의 로봇으로 모델링하여 해석적으로 구하는 방법을 제시하고, Jacobian행렬을 통해 특 이상태를 분석하고자 한다. 또한 여유자유도가 특이성회피를 목적으로 하는 R-P 시 스템의 작업성능에 어떠한 영향을 미치는가를 알기 위해 역기구학적 해로부터 구한 각 관절각을 Jacobian 행렬을 이용하는 조작성지수식에 대입하여 조작성지수를 얻고, 이 조작성지수의 등고선그래프로부터 높은 작업성능을 갖는 여유자유도 각을 구하고자 한 다. 아울러, 주작업 및 특이성회피를 목적으로 하는 부작업을 만족시키는 여유자유 도 제어방법의 경우에 높은 작업성능을 갖는 방향으로 관절각이 변화하는지를 역기구 학적 해만을 이용한 경우와 비교 검토하고자 한다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제6권12호
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• pp.3257-3274
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• 2012

Broadcast routing has become an important research field for vehicular ad-hoc networks (VANETs) recently. However, the packet delivery rate is generally low in existing VANET broadcast routing protocols. Therefore, the design of an appropriate broadcast protocol based on the features of VANET has become a crucial part of the development of VANET. This paper analyzes the disadvantage of existing broadcast routing protocols in VANETs, and proposes an improved algorithm (namely ODAM-C) based on the ODAM (Optimized Dissemination of Alarm Messages) protocol. The ODAM-C algorithm improves the packet delivery rate by two mechanisms based on the forwarding features of ODAM. The first distance-based mechanism reduces the possibility of packet loss by considering the angles between source nodes, forwarding nodes and receiving nodes. The second mechanism increases the redundancy of forwarding nodes to guarantee the packet success delivery ratio. We show by analysis and simulations that the proposed algorithm can improve packet delivery rate for vehicular networks compared against two widely-used existing protocols.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2009년도 춘계학술대회
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• pp.619-622
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• 2009

가쉽 기반 프로토콜을 이용한 P2P 네트워크 급속히 발전하고 있다. 특히 그룹통신에서 는 가쉽 기반 프로토콜이 높은 신뢰성을 보장하고 확장성이 있다. 본 논문에서 제시하는 자기 조정 프로토콜은 사용 그룹 크기를 모르는 경우에 이웃에서 목록을 얻는다. 그리고 이웃 목록의 노트 백업 메커니즘을 이용해서 시스템의 부가적인 부하를 감소시킨다. 제안된 시스템 모델, 기반의 알고리즘과 시뮬레이션 평가 결과들을 본 논문에서 제시한다.

• 한국안전학회지
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• 제35권6호
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• pp.1-8
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• 2020

In recent years, hydrogen has received much attention as an alternative energy source to fossil fuels. In order to ensure safety from the increasing number of hydrogen refueling stations, prevention methods have been required. In this regard, this study suggested an approach to reduce the risk of hydrogen refueling station by increasing Safety Integrity Level (SIL) for a Steam Methane Reformer (SMR) in On-Site Hydrogen Refueling Station. The worst scenario in the SMR was selected by HAZOP and the required SIL for the worst scenario was identified by LOPA. To verify the required SIL, the PFDavg.(1/RRF) of Safety Instrumented System (SIS) in SMR was calculated by using realistic failure rate data of SIS. Next, several conditions were tested by varying the sensor redundancy and proof test interval reduction and their effects on risk reduction factor were investigated. Consequently, an improved condition, which were the redundancy of two-out-of-three and the proof test interval of twelve months, achieved the tolerable risk resulting in the magnitude of risk reduction factor ten times greater than that of the baseline condition.