• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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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.

• 제어로봇시스템학회논문지
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• 제15권10호
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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.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2004년도 가을 학술발표회 논문집
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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.

• 한국통신학회논문지
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• 제9권2호
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• pp.70-76
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• 1984

본 논문에서는 m개의 고장까지 극복할 수 있는 기능적 m-리던던트(Functional m-redundant)시스템을 그래프 이론에 바탕을 두고 정의하였다. 이 시스템은 리던던시를 효과적으로 이용하여 추가적인 테스트 기능없이 각 부시스템의 출력을 서로 비교함으로써 t(t$\geq$m)고장진단 가능하고 진단을 위한 시스템 정지가 필요없도록 설계되었다. 또한 이 시스템에 대한 진단 모델을 제시하였고 이 모델이 preparata의 진단 모델로 바뀌어질 수 있음을 보였으며 이를 이용하여 기능적 m-리던던트 시스템의 진단 특성을 Preparata에 의해 제시된 방법으로 해석하였다.

• 한국군사과학기술학회지
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• 제1권1호
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• pp.82-91
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• 1998

본 논문에서는 실제 물리적인 여유 센서를 가지지 않는 수중운동체의 센서 고장진단 및 극복에 관한 문제를 신경회로망을 사용하여 접근하였다. 이를 위하여 설계된 신경회로망은 센서 고장 진단을 위한 신경회로망과 고장 확인 및 대체정보 생성을 위한 신경회로망으로 구성하였으며, 온라인(on-line) 학습을 위하여 확장 역전(Extended Back-Propagation) 학습법을 사용하였다. 시뮬레이션은 수중운동체의 방위변화율 센서에 대하여 수행하였으며, 제안된 기법이 센서에 대한 고장진단기와 센서 추정기로 사용할 수 있음을 확인하였다.

• Transactions on Control, Automation and Systems Engineering
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• 제1권1호
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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.

• 전자공학회논문지B
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• 제31B권4호
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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.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2005년도 학술발표회 논문집
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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.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 Ⅳ
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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.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 Ⅳ
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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.