• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.194-205
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• 2017

A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric and kinematic characteristics via singularity analysis, the kinematic isotropy index, and the input-output force transmission ratio are investigated both for the redundantly actuated cases and for the non-redundantly actuated case. In addition, comparative joint torque simulations of the mechanism with different number of redundant actuations as well as without redundant actuation are conducted to confirm the improved joint torque distribution characteristics. Through these analyses it is shown that the geometric and kinematic characteristics of the redundantly actuated mechanism are superior to the ones of the mechanism without redundant actuation. Thus, it can be concluded that the suggested planar mechanism with redundant actuation has a very high potential for haptic device applications.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.5 no.3
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• pp.517-524
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• 2001

This paper describes a design of radix-2 SRT divider unit, which supports IEEE-754 floating-point standard, using redundant binary number system (RBNS). With the RBNS, the partial quotient decision logic can operate about 20-% faster, as well as can be implemented with a simple hardware when compared to the conventional methods based on two's complement arithmetic. By using a new redundant binary adder proposed in this paper, the mantissa divider is efficiently implemented, thus resulting in about 20% smaller area than other works. The divider unit supports double precision format, five exceptions and four rounding modes. It was verified with Verilog HDL and Verilog-XL.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.869-877
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• 2004

This paper deals with motion planning algorithm for kinematically redundant manipulators that are not fixed to the ground. Differently from usual redundant manipulators fixed to the ground, the stability issue should be taken into account to prevent the robot from falling down. The typical ZMP equation, which is employed in human walking, will be employed to evaluate the stability. This work proposes a feed forward ZMP planning algorithm. The algorithm embeds the 'ZMP equations' indirectly into the kinematics of the kinematic model of a manipulator via a ZMP stability index The kinematic self motion of the redundant manipulator drives the system in such a way to keep or plan the ZHP at the desired position of the footprint. A sequential redundancy resolution algorithm exploiting the remaining kinematic redundancy is also proposed to enhance the performances of joint limit index and manipulability. In addition, the case exerted by external forces is taken into account. Through simulation for a 5 DOF redundant robot model, feasibility of the proposed algorithms is verified. Lastly, usual applications of the proposed kinematic model are discussed.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2001.01a
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• pp.65-70
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• 2001

We consider a hyper-redundant system that consists of many uniform units. The hyper-redundant system has many degrees of freedom and it can accomplish various tasks. Applysing the reinforcement learning to the hyper-redundant system is very attractive because it is possible to acquire various behaviors for various tasks automatically. In this paper we present a new reinforcement learning algorithm "Q-learning with propagation of motion". The algorithm is designed for the multi-agent systems that have strong connections. The proposed algorithm needs only one small Q-table even for a large scale system. So using the proposed algorithm, it is possible for the hyper-redundant system to learn the effective behavior. In this algorithm, only one leader agent learns the own behavior using its local information and the motion of the leader is propagated to another agents with time delay. The reward of the leader agent is given by using the whole system information. And the effective behavior of the leader is learned and the effective behavior of the system is acquired. We apply the proposed algorithm to a snake-like hyper-redundant robot. The necessary condition of the system to be Markov decision process is discussed. And the computer simulation of learning the locomotion is demonstrated. From the simulation results we find that the task of the locomotion of the robot to the desired point is learned and the winding motion is acquired. We can conclude that our proposed system and our analysis of the condition, that the system is Markov decision process, is valid.

• Journal of IKEEE
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• v.10 no.2 s.19
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• pp.128-133
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• 2006

This paper describes a high speed interface circuit using redundant multi-valued logic for high speed communication ICs. This circuit is composed of encoding circuit that serial binary data are received and converted into parallel redundant multi-valued data, and decoding circuit that converts redundant multi-valued data to parallel binary data. Because of the multi-valued data conversion, this circuit makes it possible to achieve higher operating speeds than that of a conventional binary logic. Using this logic, the proposed 1:4 DEMUX (demultiplexer, serial-parallel converter), was designed using a 0.35um standard CMOS technology. Proposed DEMUX is achieved an operating speed of 4.5Gb/s with a supply voltage of 3.3V and with power consumption of 53mW. The operating speed of this circuit is limited by the maximum frequency which the 0.35um process has. Therefore, this circuit is to achieve CMOS communication ICs with an operating speed greater than 10Gb/s in submicron process of high operating frequency.

• Journal of Power Electronics
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• v.16 no.4
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• pp.1426-1437
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• 2016

In different industrial and mission oriented applications, redundant or standby semiconductor systems can be implemented to improve the reliability of power electronics equipment. The proper structure for implementation can be one of the redundant or standby structures for series or parallel switches. This selection is determined according to the type and failure rate of the fault. In this paper, the reliability and the mean time to failure (MTTF) for each of the series and parallel configurations in two redundant and standby structures of semiconductor switches have been studied based on different failure rates. The Markov model is used for reliability and MTTF equation acquisitions. According to the different values for the reliability of the series and parallel structures during SC and OC faults, a comprehensive comparison between each of the series and parallel structures for different failure rates will be made. According to the type of fault and the structure of the switches, the reliability of the switches in the redundant structure is higher than that in the other structures. Furthermore, the performance of the proposed series and parallel structures of switches during SC and OC faults, results in an improvement in the reliability of the boost dc/dc converter. These studies aid in choosing a configuration to improve the reliability of power electronics equipment depending on the specifications of the implemented devices.

• Journal of the Korean Operations Research and Management Science Society
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• v.23 no.1
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• pp.97-107
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• 1998

This paper is concerned with a parallel system that sustains a time-independent load and consists of n components with exponential lifetimes. It is assumed that the total load is shared by the working components and the failures of components increase higher failure rates in the surviving components according to the relationship between the load and the fialure rates. The power rule model among several load-failure rate relationships is considered. We consider the system efficiency meausre as the expected profit earned by the system per unit time. The high load causes high gain but it also occurs frequent system failures. The expected profit per unit time is used as criterion to evaluate the system efficiency. The goal of system engineer is to determine the optimal load and redundant units maximizing the expected profit per unit time. First, the system reliability function is obtained and the optimization problem of the load-sharing parallel system is considered. Given the redundant units, the existence of the optimal load can be proved analytically and given the load, the optimal redundant units can be solved also analytically. The optimal load and redundant units are obtained simultaneously by numerical computation. Some numerical examples are studied.

• Journal of Power Electronics
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• v.11 no.4
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• pp.533-541
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• 2011

The redundant operation of a parallel AC to DC converter via a serial communication bus is presented. The proposed system consists of three isolated CUK power factor correction modules. The controller for each converter is a dsPIC30F6010 microcontroller while a RS485 communication bus and the clock signal are used for synchronizing the data communication. The control strategy of the redundant operation relies on the communication of information among each of the modules, which communicate via a RS485 serial bus. This information is received from the communication checks of the converter module connected to the system to share the load current. Performance evaluations were conducted through experimentation on a three-module parallel-connected prototype, with a 578W load and a -48V dc output voltage. The proposed system has achieved the following: the current sharing is quite good, both the transient response and the steady state. The converter modules can perform the current sharing immediately, when a fault is found in another converter module. In addition, the transient response occurs in the system, and the output voltages are at their minimum overshoot and undershoot. Finally, the proposed system has a relatively simple implementation for the redundant operation.

• Journal of Korean Neurosurgical Society
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• v.65 no.4
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• pp.591-597
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• 2022

Objective : Pituitary adenomas frequently extend into the suprasellar space. After a suprasellar tumor is removed, the superiorly extended arachnoid becomes redundant and sinks down into the intrasellar space which often hiders visualization and accessibility to the hidden space behind the evaginated arachnoid. We introduced arachnoid remodeling by clipping technique, and evaluated its usefulness and safety during TSS. Methods : Total 223 patients who underwent arachnoid remodeling with our new clipping technique were included. Redundant arachnoid was clipped along the dural edge with multiple 2.6-mm titanium clips until the redundant arachnoid membrane no longer blocked the surgical route. To check for possible deterioration of hormonal function by this technique, we assessed anterior pituitary function of 166 patients who underwent arachnoid remodeling by clipping and compared this with those of other 429 control patients. Results : Our technique greatly enhanced the accessibility and visualization of intrasellar and parasellar spaces, both of which are generally hindered by redundant arachnoid during transsphenoidal surgery (TSS). We found no difference in anterior pituitary function between a clip-assisted arachnoid remodeling group and the control group, implying that this technique does not result in hypopituitarism. Conclusion : During TSS for pituitary adenomas with suprasellar extension, arachnoid remodeling by clipping technique is very useful and convenient for the management of the redundant arachnoid membrane to enhance visualization and surgical accessibility.

• The Journal of the Acoustical Society of Korea
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• v.40 no.6
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• pp.546-554
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• 2021

In the signal processing of synthetic aperture sonar, it is subject that the platform in which the sensor array is installed moves along the straight line path. In practical operation in underwater, however, the sensor platform will have trajectory disturbances, diverting from the line path. It causes phase errors in measured signals and then produces deteriorated SAS images. In this study, in order to develop towed SAS, as tools to remove the phase errors associated with the trajectory disturbances of the towfish, motion compensation technique using Redundant Phase Center (RPC) and also Phase Gradient Autofocus (PGA) method is investigated. The performances of these two approaches are examined by means of a simulation for SAS system having a sway disturbance.