• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.3
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• pp.83-89
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• 2001

In this paper, we discuss the vibration suppression control of spatial redundant flexible manipulators through pseudo-inversed of Jacobian. In order to verify our method, the experiments are performed for PTP(Point To Point) motion of spa-tial flexible manipulators(1) with no redundancy(2) with one redundant DOF(degree of freedom). Finally, a comparison between these results is presented to show the performance of out approach.

• Proceedings of the KIPE Conference
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• 2012.11a
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• pp.185-186
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• 2012

본 논문에서는 HVDC C&P(High Voltage Direct Current Control and Protection) 시스템의 네트워크 이중화 방법을 제안한다. 본 논문에서 제안하는 HVDC C&P 시스템 네트워크 이중화 방법은 2개의 이더넷 라인을 제어기에 직접 연결하고, 연결된 라인으로 동시에 정보를 송신하여, 제어기에서 정보를 필터링하여 사용하는 방법을 사용한다. 또한 네트워크 라인의 효과적인 결선 체크를 위해 제어기간 송수신을 통해 네트워크 라인의 결선을 체크하는 방법을 사용한다. 위와 같은 방법은 HVDC C&P 시스템의 네트워크 안정성을 향상시키는 효과를 기대할 수 있다.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.1173-1174
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• 2008

In this paper, we propose a front-mounted single camera based depth estimation and robot localization method. The advantage of front-mounted camera is reduction of redundancy when the robot move. The robot computes depth information of captured image, moving around. And the robot location is corrected by depth information.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2052-2055
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• 2003

본 논문은 MDC의 전송 중 발생한 에러를 검출하고, 그 에러를 정정하는 알고리즘을 제안한다. 이 알고리즘은 기존의 MDC 와 같이 약간의 redundancy를 가지는 두 개의 sub-bitstream 을 생성하는데, 한쪽 sub-bitstream에 에러가 발생하였을 때, 다른 한쪽의 sub-bitstream을 이용하여, 발생한 비트 에러를 정정한다. 제안된 알고리즘에 대한 BER-SNR실험은 Generalized Gaussian source를 임의적으로 발생시켜서 결과를 얻어내었다. sub-bitstream에서 에러가 발생하였을 때 우리가 제안한 알고리즘은 BER<10/sup -3/에서 기존 알고리즘보다 약 12㏈ 높은 성능을 얻을 수 있었다.

• Proceedings of the KIEE Conference
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• 1987.07a
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• pp.213-215
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• 1987

As a means of improving the reliability of the analog type controller for the thermal power plant, an efficient method is proposed, which is to place the hardware redundancy, i.e. a back-up controller with fault detecting capability. FTCS is implemented by using multi-processors and it is experimentally verified that the back-up controller takes over the role of the original controller, controlling the faulty loop.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2004.05a
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• pp.483-486
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• 2004

Although it is not easy to generate EC's (Engineering Characteristics), there have been few studies so far. In this paper, a systematic method for generating EC candidates is proposed. This method use the concept of 'attribute listing'. In the proposed method, customer attributes are divided into their objects and issues. And attributes from their objects and issues are generated by help of guidelines proposed, respectively. Then, measurable metrics are attained from those attributes. Finally, the metrics result in EC candidates by consistency and redundancy check. This paper gives an illustrative example for easy comprehension of the proposed method.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.6
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• pp.631-637
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• 1990

It is well-known that the redundancy can be exploited to avoid the singular regions of the redundant manipulators by increasing the manipulability. The method, however, requires excessive energy and gives rather large tracking errors since the manipulability is increased rapidly so that the manipulator avoids the singular region quickly. In this paper, a new method is proposed in which the increasing speed of the manipulability is confined to a certain bound. Therefore, in the proposed method, the movement energy and the tracking errors are reduced. The computer simulation studies are performed to show the validity of the method.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1145-1149
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• 1990

This paper proposes a numerical method for redundant manipulators using predetermined optimal resolution. In order to obtain optimal joint trajectories, it is desirable to formulate redundancy resolution as an optimization problem having an integral cost criterion. We predetermine the trajectories of redundant joints in terms of the Nth partial sum of the Fourier series, which lead to the solution in the desirable homotopy class. Then optimal coefficients of the Fourier series, which yield the optimal solution within the predetermined class, are searched by the Powell's method. The proposed method is applied to a 3-link planar manipulator for cyclic tasks in Cartesian space. As the results, we can obtain the optimal solution in the desirable homotopy class without topological liftings of the solution. To show the validity of the proposed method, we analyze both optimal and extremal solutions by the Fast Fourier Transform (FFT) and discuss joint trajectories on the phase plane.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.10
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• pp.1458-1466
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• 2004

Deterministic optimum designs that are obtained without consideration of uncertainties could lead to unrealiable designs. Such deterministic engineering optimization tends to promote the structural system with less reliability redundancy than obtained with conventional design procedures using the factor of safety. Consequently, deterministic optimized structures will usually have higher failure probabilities than unoptimized structures. This paper proposes the reliability based design optimization technique fur apressure tank considering temperature effect. This paper presents an efficient and stable reliability based design optimization method by using the advanced first order second moment method, which evaluates a probabilistic constraint for more accuracy. In addition, the response surface method is utilized to approximate the performance functions describing the system characteristics in the reliability based design optimization procedure.

• Journal of Advanced Marine Engineering and Technology
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• v.25 no.2
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• pp.375-382
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• 2001

In this study, an adapted Turbo Coding Algorithm for reducing communication error of a fire detection system for marine vessels, especially image transmission via power lone. Because it is necessary that this system communicate larger and faster than previous method, this study carried out enhancement a decoding speed by adaptation CRC with Turbo Code Algorithm, improvement of metric method, and reduction of decoding delay by using of Center-to-Top method. And the results are as follows: (1) Confirmed that a Turbo Code is so useful methods for reducing communication error in lots of noise environments. (2)Proposed technology in this study speed increasing method of Turbo Coding Algorithm proves 2 times faster than normal Turbo Code and communication error reducing as well in the board made by VHDL software & chips ALTERA company.