• 제어로봇시스템학회논문지
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• 제15권2호
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• pp.218-224
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• 2009

This paper proposes an effective SLAM based on redundant extended Kalman filter for robot navigation in an irregular surface to enhance the accuracy of robot's pose. To establish an accurate model of a caterpillar type robot is very difficult due to the mechanical complexity of the system which results in highly nonlinear behavior. In addition, for robot navigation on an irregular surface, its control suffers from the uncertain pose of the robot heading closely related to the condition of the floor. We show how this problem can be overcome by the proposed approach based on redundant extended Kalman filter through some computer simulation results.

• 전자공학회논문지S
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• 제35S권7호
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• pp.1-5
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• 1998

In this paper, recovery method with high-bitrate and low-bitrate coder was implemented in order to recover consecutive packet loss over the Internet. LPC was used as redundant audio data for recover of lost packets and RTP parcket format was modified for accommodation of redundant data. In measuring results using random packet loss rate with three redundant datra in every packet, it has shown that recovery rate was 80% in los rate of 50%. Since the processing delay for recovery of the lost packet was 200ms, this recovery method can be applied to real-time Internet sevice such as Internet phone.

• 대한전기학회논문지
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• 제41권5호
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• pp.551-561
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• 1992

A neural optimization network and fuzzy rules are proposed to control the redundant robot manipulators in an environment with obstacle. A neural optimization network is employed to solve the optimization problem for resolved motion control of redundant robot manipulators in an environment with obstacle. The fuzzy rules are proposed to determine the weights of neural optimization networks to avoid the collision between robot manipulators and obstacle. The inputs of fuzzy rules are the resultant distance and change of the distance and sum of the changes by differential motion of each joint. And the output of fuzzy rules is defined as the capability of collision avoidance of joint differential motion. The weightings of neural optimization networks are adjusted according to the capability of collision aboidance of each joint. To show the validities of the proposed method, computer simulation results are illustrated for the redundant robot of the planar type with three degrees of freedom.

• 대한산업공학회지
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• 제21권2호
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• pp.183-194
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• 1995

This research paper describes several possible suggestions which are essential to develop for Built-In-Test(BIT) related systems, such as more precise BIT parameter analysis, sensitivity analysis of the impact of BIT on redundant systems, statistical inference of field data for BIT performance parameters, methods of reducing BIT false alarms, BIT application in industrial automation and remote control, prevent the system from the impact of BIT failure, undetections and false alarms, life cycle cost analysis for BIT. And, it is mainly focused on redundancy technique for solving BIT diagnostic problems. Algorithms for redundant systems : overlapping technique, flexible redundant BITs are presented and case study will be shown based on various experiment.

• 한국위성정보통신학회논문지
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• 제9권2호
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• pp.58-62
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• 2014

본 논문에서는 링크의 지속적인 안정성을 위해 중심국 모듈을 이중화로 구성하고 이중화로 구성된 모듈을 제어하는 위성 통신 시스템에 대해 소개하고자 한다. 위성 통신 시스템의 중심국 구성 모듈을 이중화함으로써 불안정한 링크나 중심국의 구성 모듈의 오류 등으로 인한 서비스 중단을 최소화할 수 있다. 이를 통해 차세대 VSAT 서비스 및 방송 서비스에의 효율적인 활용 기술을 확보할 수 있을 것으로 예상해 본다.

• 한국정밀공학회지
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• 제18권12호
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• pp.66-72
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• 2001

In this paper, by using pseudo-inverse matrix of the spatial redundant flexible manipulators, a position control method and its effect in vibration suppression was presented. Vibration suppression control was developed using lumped mass spring model of the flexible manipulators. With 2 elastic links and 7 rotory joint manipulator ADAM, (1)position control for no redundancy, and (2)position control for one redundant DOF(degree of freedom) were tested. The objective of this experiment is to show the effect of position control, using pseudo-inverse matrix. toward the improvement of operation, and at the same time, to reduce the vibration of the link and the magnitude of the joint torque.

• Journal of Information Processing Systems
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• 제16권4호
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• pp.820-831
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• 2020

Extractive document summarization aims to select a few sentences while preserving its main information on a given document, but the current extractive methods do not consider the sentence-information repeat problem especially for news document summarization. In view of the importance and redundancy of news text information, in this paper, we propose a neural extractive summarization approach with joint sentence semantic clipping and selection, which can effectively solve the problem of news text summary sentence repetition. Specifically, a hierarchical selective encoding network is constructed for both sentence-level and document-level document representations, and data containing important information is extracted on news text; a sentence extractor strategy is then adopted for joint scoring and redundant information clipping. This way, our model strikes a balance between important information extraction and redundant information filtering. Experimental results on both CNN/Daily Mail dataset and Court Public Opinion News dataset we built are presented to show the effectiveness of our proposed approach in terms of ROUGE metrics, especially for redundant information filtering.

• International Journal of Reliability and Applications
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• 제2권2호
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• pp.107-115
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• 2001

This paper considers some reliability indices, such as availability, average availability, reliability and steady state availability, of a redundant system with the function of switchover processing. We also derive the confidence limits for steady state availability of such system. The system, which is considered in this paper, consists of an active unit, a standby unit and a switchover device. In addition, the switchover processing is controlled by a control module. The effect of failure of the control module is taken into account to develop our reliability model for the redundant structure. Numerical examples are presented to illustrate our results.

• 로봇학회논문지
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• 제17권1호
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• pp.58-67
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• 2022

In this paper, we propose an approach resolving inaccuracy of the low-cost redundant manipulator workspace with low encoder and low stiffness. When the manipulators are manufactured with low-cost encoders and low-cost links, the robots can run into workspace inaccuracy issues. Furthermore, trajectory generation based on conventional forward/inverse kinematics without taking into account inaccuracy issues will introduce the risk of end-effector fluctuations. Hence, we propose an optimization for the trajectory generation method based on the DDPG (Deep Deterministic Policy Gradient) algorithm for the low-cost redundant manipulators reaching the target position in Euclidean space. We designed the DDPG algorithm minimizing the distance along with the jacobian condition number. The training environment is selected with an error rate of randomly generated joint spaces in a simulator that implemented real-world physics, the test environment is a real robotic experiment and demonstrated our approach.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.326-330
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• 1986

Some of computational algorithms for the kinematic control of redundant manipulators are investigated and analyzed by extensive computer simulations.