• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2240-2242
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• 2002

This paper show serial communication method in order to design how to interface between fault tolerant systems with redundancy. Problem has been in the method that fault tolerant system had switched of serial data with common switching device. This problem degrade reliability in itself and total system which is interfaced with that serial communication system. So Arbitration module of serial communication which is suggested in this paper can improve the reliability using voter algorithm which fault is detected passively.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 D
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• pp.1003-1005
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• 1997

To evaluate the quality of a system or its ability to perform a required function, it is necessary to quantify the reliability of that system. The reliability techniques are based on the concept of expected failure rate and average-outage-duration method. For each load point, the expected failure rate, average outage duration and average annual outage time are evaluated. This paper deals with the reliability evaluation for distribution system including the protection relay system. In evaluating the reliability, it suggests a method for the analysis of protective system reliability, that provides a probabilistic measure of the success of the protective apparatus to perform its intended function. The analysis shows the dependency of success on the reliability of many components, and the way this reliability may be enhanced by redundancy.

• Journal of Mechanical Science and Technology
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• 제19권8호
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• pp.1554-1567
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• 2005

When multiple robotics systems with several sub-chains grasp a common object, the inherent force redundancy provides a chance of utilizing internal loading. Analysis of grasping space based internal loading is proposed in this work since this method facilitates understanding the physical meaning of internal loadings in some applications, as compared to usual operational space based approach. Investigation of the internal loading for a triple manipulator has been few as ,compared to a dual manipulator. In this paper, types of the internal loading for dual and triple manipulator systems are investigated by using the reduced row echelon method to analyze the null space of those systems. No internal loading condition is derived and several load distribution schemes are compared through simulation. Furthermore, it is shown that the proposed scheme based on grasping space is applicable to analysis of special cases such as three-fingered and three-legged robots having a point contact with the grasped object or ground.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2004년도 가을 학술발표논문집 Vol.31 No.2 (3)
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• pp.223-225
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• 2004

Ad-Hoc 네트워크에서 기존의 On-Demand 방식의 라우팅 프로토콜은 네트워크에서 현재 사용 중인 경로가 혼잡하어라도 네트워크 토폴로지가 변하기 이전에는 새로운 경로를 찾지 못하므로 노드의 이동성이 낮은 환경에서는 트래픽이 특정노드로 집중되는 문제가 발생한다 또한 노드들의 이동성이 낮아 네트워크가 안정된 상태인 경우 특정 노드의 트래픽이 고려되지 않은 상태에서 최단 경로만을 선택하여 데이터를 전송하기 때문에 특정노드에 트래픽이 집중되어 전송지연 및 과도한 에너지 소비를 발생시킨다는 문제점을 갖는다. 이런 특정 노드의 과도한 에너지 소비를 차단하여 전체 네트워크의 수명을 연장시키기 위한 효과적인 방법을 찾기 위한 노력이 진행되고 있다. 본 논문에서는 이러한 문제를 해결하기 위해 기존의 DSR에 에너지 소비율을 기반으로 경로설정 및 대체경로 설정기능을 추가한 ECLB(Energy Consumption based Load Balancing Method)를 제안한다. ECLB는 현재의 단위시간당 처리되는 패킷수와 과거의 평균 패킷처리율을 바탕으로 에너지 임계치(energy threshold)를 설정하고 이를 바탕으로 최적의 경로를 설정한다. 또한 계속적으로 동일 전송 경로를 사용함으로 인한 특정노드에 대한 에너지 소모의 심화와 전송지연을 최소화하기 위해 과중한 트래픽 상태를 분산시킬 수 있는 대체경로를 이용하여 데이터 집중에 따른 손실을 최소화시킨다.

• 전기학회논문지P
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• 제63권4호
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• pp.339-344
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• 2014

An offshore wind power plant (WPP) is very expensive and different from an onshore wind power system in many ways. There has been a continuous increase in the capacity of the offshore WPPs. Therefore it is essential to analyze the feasibility and reliability of the offshore wind power to optimize their redundancy. Besides, it is very important to study a planning for grid interconnection of adjacent offshore WPPs. This paper proposes a economic evaluation method to interconnect with adjacent offshore substations in offshore wind power grid. Also, we suggest the probabilistic reliability method to calculate a probabilistic power output of the wind turbine and a cost of the expected energy not supplied that is used as the reliability index of the power system.

• 제어로봇시스템학회논문지
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• 제12권9호
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• pp.861-867
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• 2006

This paper presents the robust mobile robot localization method exploiting redundant motion information acquired from three optical mice that are installed at the bottom of a mobile robot in a regular triangular form. First, we briefly introduce a low-cost optical motion sensor, HDNS-2000, and a commercial device driver development tools, WinDriver, to be used in this research. Second, we explain the basic principle of the mobile robot localization using the motion information from three optical mice, and propose the least squares based localization algorithm which is robust to the noisy measurement and partial malfunctioning of optical mice. Third, we describe the development of the experimental optical odometer using three PC optical mice and the user-friendly graphic monitoring program. Fourth, simulations and experiments are performed to demonstrate the validity of the proposed localization method and the operation of the developed optical odometer. Finally, along with the conclusion, we suggest some future work including the installation parameter calibration, the optical mouse remodelling, and the high-performance motion sensor adoption.

• Journal of Platform Technology
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• 제6권4호
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• pp.3-10
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• 2018

A projection-based active information display system was proposed. The proposed system is based on Intelligent Space and a steerable projector mounted mobile robot which is called Ubiquitous Display (UD). In order to transfer visual information for a human in the Intelligent Space, the UD projects a certain shape of an image with a fixed size. Due to redundancy of degree of freedom (DOF), there are lots of situations to project a same shape and size of the image on a surface. In this paper, we describe a method to determine a goal posture of the UD. Here, the goal posture is the most efficient position and orientation of the UD so as to project visual information and it is determined by the Intelligent Space. To verify the proposed method, simulation and demonstration are carried out.

• 로봇학회논문지
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• 제16권2호
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• pp.164-171
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• 2021

This paper proposes a continuum mechanism for manually controlled endoscopic surgical instruments. The wire-driven mechanism is typically adapted for endoscopic surgical tools because motors cannot be embedded to the joints due to the size limitation. However, the conventional wire-driven mechanism has inherent problems caused by redundancy, such as deflection and low precision. It does not have operating force and manipulability for surgery. Therefore, a method to increase the force of the continuum mechanism using a multi-wire with simple mechanical structure is proposed. Moreover, for intuitive operation, a hand-controller mechanism that can manipulate the length of the wire without complex process is proposed. Finally, we show that the proposed mechanism and methods are applicable to endoscopic surgical tools through simple experiments.

• 한국군사과학기술학회지
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• 제25권4호
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• pp.339-346
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• 2022

The importance of stealth technology is increasing in modern warfare, and Radar Cross Section(RCS) is widely used as an indicator of stealth technology. It is useful to measure RCS using an image-based near-field to far-field transformation algorithm in short-range monostatic conditions. However, the near-field measurement system requires a longer measurement time compared to other methods. In this work, it is proposed to reduce the measured data using an interpolation method in azimuth angular domain. The calculated far-field RCS values according to the sampling rate is shown, and the performance of the algorithm applied with interpolation in the angular domain is presented. It is shown that measurement samples can be reduced several times by using the redundancy in the angular domain while producing results similar to the conventional method.

• 한국항공우주학회지
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• 제32권10호
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• pp.60-66
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• 2004

위성의 자세제어 시스템의 신뢰도를 높이기 위하여 여유 추력기를 장착하는데, 이를 활용하기 위해서 효율적인 관리 방안이 요구된다. 본 논문에서는 조종력 할당 기법을 위성의 여유 추력기 관리 방안으로 제안한다. 조종력 할당 기법은 최척화 기법을 이용해서 원하는 모멘트 입력을 구현하는 여유 조종력을 결정하는 방법이다. 여기에서는 여유 추력기에 대한 할당 문제는 선형 프로그래밍 문제로 표현할 수 있음을 보인다. 또한 수치예제를 통해서 제안한 방법이 기존의 방법에 비해 효율적임을 보인다.