• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.908-913
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• 1993

The inverse kinematic solutions for redundant manipulators using the optimality augmented resolution schemes have been used without investigating the characteristics of the optimal solutions. The questions with this kind of resolution methods are answered in this paper, that is (i) the characteristics of solutions, (ii) of algorithmic singularities, (iii) their dimensionality, and (iv) the invariance of the characteristics during resolutions. 3-DOF planar redundant robot is analyzed when the inverse kinematic method is applied with the manipulability as an example.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.10
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• pp.1014-1020
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• 2009

This work deals with navigation of an omni-directional mobile robot with active caster wheels. Initially, the posture of the omni-directional mobile robot is calculated by using the odometry information. Next, the position accuracy of the mobile robot is measured through comparison of the odometry information and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that employs kinematic redundancy resolution method is proposed. Through experiments for multiple obstacles and multiple moving obstacles, the feasibility of the proposed navigation algorithm was verified.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2004.10a
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• pp.262-269
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• 2004

Ship structures are basically an assembly of plate elements and the load-carrying capacity or the ultimate strength is one of the most important criteria for safety assessment and economic design. Also, Structural elements making up ship plated structures do not work separately, resulting in high degree of redundancy and complexity, in contrast to those of steel framed structures. To enable the behavior of such structures to be analyzed, simplifications or idealizations must essentially be made considering the accuracy needed and the degree of complexity of the analysis to be used. On this study, to investigate effect of analysis range, the finite element method are used and their results are compared varying the analysis ranges. The model has been selected from bottom panels of large merchant ship structures. For FEA, three types of structural modeling are adopted in terms of the extent of the analysis. The purpose of the present study is to numerically calculate the characteristics of ultimate strength behavior according to the analysis ranges of stiffened panels subject to uniaxial compressive loads.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.9 no.2
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• pp.70-76
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• 1984

In this paper, a functional m-redundant system, which is m-fault tolerant, is defined based on the graph-theory. This system is designed to be t(t$\geq$m) fault-diagnosable by comparing its unit's outcomes without additive test functions, so, the system down for diagnosis is not needed. The diagnostic model for this system is presented. It is to avail the redundancy of the system effectively. It is shown that this model can be converted into Preparata's model. Thus, the diagnostic characteristics of a functional m-redundant system is analyzed by the method originated by Preparata et al.

• Journal of the Korea Institute of Military Science and Technology
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• v.1 no.1
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• pp.82-91
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• 1998

This paper presents a neural networks based approach for the problem of sensor failure detection and accommodation for ship without physical redundancy in the sensors. The designed model consists of two neural networks. The first neural network is responsible for the failure detection and the second neural network is responsible for the failure identification and accommodation. On the yaw rate sensor of ship, simulation results indicates that the proposed method can be useful as failure detector and sensor estimator.

• Transactions on Control, Automation and Systems Engineering
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• v.1 no.1
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• pp.8-15
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• 1999

One of the main reason advocating redundant manipulators' superiority in application is that they can afford to optimize a dexterity measure, for example the manipulability measure. However, to obtain the gradient of the manipulability is not an easy task in case of general manipulator with high degrees of redundancy. This article proposes a method to compute the gradient of the manipulability, based on recursive algorithm to compute the Jacobian and its derivative using Denavit-Hartenberg parameters only. To characterize the null motion of redundant manipulators, the null space matrix using square minors of the Jacobian is also proposed. With these capabilities, the inverse kinematics of a redundant manipulator system can be done automatically. The result is easily extended to dual manipulator system using the relative kinematics.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.4
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• pp.97-105
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• 1994

Transform image coding using DCT is proved to be efficient in the absence of channel error but its performance degrades rapidly over noisy channel. In this paper, in the case of appling bit selcetive error correction coding that protects some significant bits in a codeword, an efficient allocation method of imformation bits and additive redundancy bits used for quantization and error correction coding respectively under constant transmission bit rate is proposed, and its performance is analyzed. As a result, without increasing trasmission bit rate, PSNR can be improved up to 7~8 [dB] below bit error rate $10^2$ and the image without blocking effect caused by bit error resulted from channel noise can be recostructed.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2005.03a
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• pp.372-379
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• 2005

The earthquake resistant design concept allows the nonlinear behavior of structures under the design earthquake. Therefore the response spectrum method provided in most codes introduces the response modification factors to consider the nonlinear behavior in the design process. For bridges, the response modification factors are given according to the ductility as well as the redundancy of piers. In this study, among influence factors on the nonlinear seismic behavior, the randomness of artificial accelerograms simulated with different durations, the pier ductility represented by the inelastic behavior characteristic curve and the regularity represented by pier heights are selected. The influence of such factor on the seismic behavior is investigated by comparing response modification factors calculated with the nonlinear time step analysis.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2172-2175
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• 2003

본 논문에서는 DC 억압능력이 없거나 부족한 코드에 만족할 만한 DC 억압능력을 갖도록 하기 위한 멀티모드코드 방식을 제안한다. 제안한 멀티모드코드는 데이터열의 다중화를 위해 Pseudo Scrambling Technique를 사용하며, 다중화 된 데이터열의 변조를 위해 DC-free RLL(d, k) Code를 사용하는 특징을 가진다. 제안한 방법에서는 Sync 코드워드의 패리티를 다중화 정보로 사용하여 입력데이터를 2개의 데이터 열로 다중화하고, 2개로 다중화 된 데이터 열에 대해 DC-free RLL(d, k) Code를 사용하여 코드워드로 변환하며, 코드워드로 변환된 2 개의 코드워드 열에 대해 DC 성분이 적은 코드워드 열 하나를 선택하여 변조 스트림으로 출력한다. 본 논문에서는 Sync 코드워드의 패리티를 다중화 정보로 사용하여 별도의 Redundancy를 부가하지 않고 DC 억압성능을 향상시킬 수 있었다.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2232-2235
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• 2003

In speech communication systems where two different speech codecs are interoperated, transcoding algorithm is a good approach because of its low complexity and improved synthesized speech quality. This paper proposes an efficient method to further improve the performance of transcoding algorithms as well as to reduce the complexity. In the conventional transcoding algorithms. a post-filter and a perceptual weighting filter should be operated sequentially because both decoding and encoding processes are needed. This results in the redundancy of the processing in terms of complexity and perceptual quality. Using the fact that their filter structures are similar, we replaced the two filters with one. The proposed algorithm requires 72.8% lower complexity than the conventional transcoding algorithm when we compare only the complexity of the filtering processes. The results of both objective and subjective tests verify that the proposed algorithm has slightly better quality than the conventional one.