• Journal of Institute of Control, Robotics and Systems
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• v.15 no.9
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• pp.887-893
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• 2009

In this paper, a mask-panel alignment robot system is considered for IT industry applications. Two kinds of solutions are suggested which are required in constructing a control system for the alignment robot with actuation redundancy. First, the kinematic solution for the 4PPR parallel positioning mechanism is formulated for an arbitrary initial posture, which relates the mask-panel misalignment in the task space and the desired actuator displacements in the joint space. Secondly, in order to increase the stiffness of the control motion and also to avoid the mechanical lock which may happen due to the redundant actuation, a new synchronous control method is proposed which has the merit of coordinating joint control motions while not losing individual joint control performance. In addition, the engineering process to develop a visual alignment robot system is described with the results of experimental setup and GUI software. Finally, the experimental results demonstrate the effectiveness of the proposed alignment system control methodology and how much beneficial it will be in real industrial applications.

• Biomaterials and Biomechanics in Bioengineering
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• v.2 no.4
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• pp.207-223
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• 2015

In this paper a method for simultaneous swift non-linear analysis and optimal design/posture of mechanical/biomechanical systems is presented. The method is developed to get advantages of iterations in non-linear analysis and/or generations in genetic algorithm (GA) for the purpose of efficient analysis within the optimal design/posture. The method is applicable for both size and geometry optimizations wherein material and geometry non-linearity are present. In addition to established mechanical systems, the method can solve biomechanical models of human musculoskeletal system. Optimization-based procedures are popular methods for resolving the redundancy at joints wherein the number of unknown muscle forces is far more than the number of equilibrium equations. These procedures involve optimization of a cost function(s) which is assumed to be consistent with the central nervous system's strategy when activating muscles to assure equilibrium. However, because of the complexity of biomechanical problems (i.e., due to non-linear biomaterial, large deformation, redundancy of the problem and so on) efficient analysis are required within optimization procedures as suggested in this paper.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.26 no.12A
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• pp.2092-2099
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• 2001

In the three-dimensional image system using stereoscopic images, efficient coding schemes which can get rid of redundancy between the left and right images are usually used. In this paper, we propose an efficient coding method by using relationship between a reference image and residual image. In the proposed algorithm, zero-tree method which guaranty a good quality in low bit rate is used for encoding the residual image. Zero-tree algorithm gives good coding performance, but it has computational complexity so that we used ADLS method to reduce time for the disparity estimation. Using the wavelet based zero-tree method, it is shown that high quality of image in the limited band-width can be preserved through computer simulation.

• Journal of Sensor Science and Technology
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• v.6 no.2
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• pp.106-114
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• 1997

In this paper, we propose an efficient coding method of remotely sensed satellite image using region classification and interband prediction. This method classifies each pixel vector considering spectral characteristics of satellite image data. Then we perform the classified intraband VQ to remove spatial (intraband) redundancy for a reference band image. To remove interband redundancy effectively, we perform the classified interband prediction for the remaining band images. Experiments on LANDSAT TM satellite image show that coding efficiency of the proposed method is better than that of the conventional Gupta's method.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.9
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• pp.65-71
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• 2004

Redundant control surfaces arc adopted to modern aircraft designs because of high performance and fault tolerant control, so efficient redundancy management is necessary to take advantage of redundant control surfaces. This paper focuses on the control allocation scheme as one of redundancy management methods. A modified pseudo inverse redistribution method is proposed. The existing method sets all saturated controls as their limit values when a pseudo inverse is calculated. But the modified scheme sets only one saturated control as its limit value and redistributes remaining controls. It is shown that the proposed scheme is superior to the existing method by several numerical examples.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.7
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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.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.10 no.6
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• pp.529-534
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• 2017

In this paper, the implementation of proposed Automatic Load Balanced (ALB) PWM generation method is discussed. The conventional PWM generation method for cascade type H-bridge PWM converter causes the unbalance between each H-bridge converter, therefore the complex redundancy is required for the balancing of switching load of each converter, it consumes more computing power of controller. The ALB PWM method needs no additional switching redundancy for balancing, this paper discusses the implementation of ALB-PWM.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.3
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• pp.57-64
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• 2005

In two-degree of freedom(TDOF) inertial sensors, two axes are mechanically correlated with each other. Fault source of one axis sensor may affect the other axis sensor, and therefore multiple fault detection and isolation(FDI) technique is required. Conventional FDI techniques using hardware redundancy need four TDOF inertial sensors for FDI. In this study, three TDOF inertial sensor redudancy case is considered, where conventional FDI technique can detect the fault, but cannot isolate the fault sensor. Hybrid FDI technique is proposed to solve this problem. Hybrid FDI technique utilizes the analytic redundancy by utilizing the unscented kalman filter as well as hardware redundancy for FDI. To verify the effectiveness of the proposed FDI technique, numerical simulations are performed using six degree of freedom nonlinear aircrft dynamics.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.24 no.10B
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• pp.1824-1831
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• 1999

In this paper, the data recovery performance of systematic erasure codes in burst loss environments is analyzed and the estimation method of redundant data according to loss characteristics is suggested. The burstness of packet loss is modeled by Gilbert model, and the performance of proposed packet loss recovery method in the case of using systematic erasure code is analyzed based on previous study on the loss recovery in the case of using erasure code. The required redundancy data fitting method for systematic erasure code in the condition of given loss property is suggested in the consideration of packet loss characteristics such as average packet loss rate and average loss length.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.05a
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• pp.574-575
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• 2018

The generation of redundant data according to the spatial-temporal correlation in a wireless sensor network that reduces the network lifetime by consuming unnecessary energy. In this paper, data collection experiment through the particulate matter sensor is carried out to confirm the spatial-temporal data redundancy and we propose permitted limit setting method for data transmission to solve this problem. In the proposed method, the data transmission permitted limit is set by using the integrated average value in the cluster. The set permitted limit reduces the redundant data of the member node and it is shows that redundant data reduction is possible even in a variable environment of collected data by resetting the permitted limit in the cluster head.