• 전기학회논문지
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• 제57권7호
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• pp.1285-1289
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• 2008

In this paper, we design COMS system bus that the 1553 Data Bus is able to link all the units of the satellite managed by the SCU using one Prime Data Bus and on Redundant Data Bus. Also we analyze MIL-STD-1553B bus load and relevant exchange memory budgets in system bus of the COMS satellite. This data is used in the satellite mission and software design by system engineer.

• Journal of applied mathematics & informatics
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• 제5권2호
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• pp.277-284
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• 1998

The reliability and an estimate for it are derived for series-parallel and parallel-deries stress-strength model under assumption that all components are subjected to a common stress. We also obtain the asymptotic normal distribution of the estimate.

• Structural Engineering and Mechanics
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• 제50권3호
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• pp.365-382
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• 2014

In this article, the force method and Charged System Search (CSS) algorithm are used for the analysis and optimal design of truss structures. The CSS algorithm is employed as the optimization tool and the force method is utilized for analysis. In this paper in addition to member's cross sections, redundant forces, geometry and topology variables are considered as the optimization variables. Minimum complementary energy principle is used directly to analyze the structure. In the presented method, redundant forces are calculated by the CSS in order to minimize the energy function. Combination of the CSS and force method leads to an efficient algorithm in comparison to some of the optimization algorithms.

• Advances in robotics research
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• 제1권2호
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• pp.141-154
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• 2014

Redundant parallel manipulators have some advantages over the nonredundant parallel manipulators. It is important to determine how many additional branches should be introduced. This paper studies whether one or two additional branches should be added to a 3-DOF parallel manipulator by comparing the flexible deformation of a 3-DOF parallel manipulator with one additional branch and that with two additional branches. The kinematic and dynamic models of the redundant parallel manipulator are derived and the flexible deformation is investigated. The flexible deformation of the manipulators with one additional branch and two branches is simulated and compared. This paper is helpful for designers to design a redundantly actuated parallel manipulator.

• 제어로봇시스템학회논문지
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• 제10권9호
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• pp.755-762
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• 2004

In this research, EOG(Electrooculogram) signal was analyzed to predict the subject's intention using a fuzzy classifier. The fuzzy classifier is built automatically using the EOG data and evolutionary algorithms. An assistant robot manipulator in redundant configuration has been developed, which operates according to the EOG signal classification results. For automatic fuzzy model construction without any experts' knowledge, an evolutionary algorithm with the new representation scheme, design of adequate fitness function and evolutionary operators, is proposed. The proposed evolutionary algorithm can optimize the number of fuzzy rules, the number of fuzzy membership functions, parameter values for the each membership functions, and parameter values for the consequent parts. It is shown that the fuzzy classifier built by the proposed algorithm can classify the EOG data efficiently. Intelligent motion planner that consists of several neural networks are used for control of robot manipulator based upon EOG classification results.

• 한국정밀공학회지
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• 제24권2호
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• pp.64-72
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• 2007

Many human-body motions such as walking, running, jumping, etc. require a significant amount of power. To achieve a high power-to-weight ratio of the humanoid robot system, this paper proposes a new design of the bio-mimetic leg mechanism resembling musculoskeletal system of the human body. The hip joints of the system considered here are powered by 5 human-like bi-and mono-articular muscles, and the joints of knee and ankle are redundantly actuated by both bi-articular muscles and joint actuators. The kinematics for the leg mechanism is derived and a kinematic index to measure force transmission ratio is introduced. It is demonstrated through simulation that incorporation of redundant muscles into the leg mechanism enhances the power of the mechanism approximately 2 times of the minimum actuation.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2001년도 춘계학술대회논문집
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• pp.979-983
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• 2001

We develop a new method of simultaneous optimization of trajectory and shape of redundant flexible manipulators for collision-free utilizing the B-spline function and a mathematical programming method We adopt an approximate flexible manipulator model which consists of rigid bar elements and spring elements. We use B-spline function for determining the approximate trajectory and the expressions of the outline of obstacles. The used total performance index consists of 2 performance indices. The first is the driving energy, and the second is the trajectory deviation which is caused by the approximate modeling for the flexible manipulator. We design optimal collision-free trajectory of flexible manipulators by searching optimum positions of the control points for B-spline approximation which minimize the performance index subject to constraint condition for collision-free. Some examinations through numerical examples show the effectiveness of the method

• 전자공학회논문지B
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• 제31B권9호
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• pp.47-56
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• 1994

In this paper, we demonstrate how to design a redundant robot which is suitable for the multiple task execution without any constraints on the work space. The implementation is possible by the rigid connection of a cacro-robot and a micro-robot. A 5 d.o.f. articulated robor designed for commercial purpose is utilized as a micro-robot which can perform a general task with the appropriate adjustment of its base location. The base of a micro-robot is located at a suitable position by the macro-robot designed and implemented through this research. A task assigned to this redundant robot is performed mainly by the micro-robot. However, when the micro-robot cannot perform the task by itself or when the micro-robot has difficulties in performing the task, the coordination of the macro-robot is requited. To monitor the task execution efficiency of the micro-robot, we used the 'Manipulability Measure' as a cost function. The coordination between the two robots are verified both by the simulation and the experiment.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2337-2339
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• 2003

Digital technologies are required to reduce to events due to human fails clarified existing nuclear power plant. When we are trying to retrofit control rod control system from analog system to digital one, new communication network and controller is required to be constructed. In this paper, we are going to introduce experience in developing economic and reliable control rod control system construction. this proposed system consists of redundant POS, communication network, and controller to provide enhance reliability and safety.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 추계학술대회 논문집 학회본부 D
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• pp.663-665
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• 2000

For the control system of thermal turbine in fuel and nuclear power plant, as high reliability and availability are required, redundant control system is generally applied. This paper presents the configuration and design of such a redundant control system that can be suitable for control and monitoring of the turbine. System components such as I/O system, communication networks, voting system are designed, and especially the new intelligent voter using serial communication are proposed. The characteristics of the implemented control system is independence of the control, protection and monitoring functions, and discrimination of the redundancies, and high availability. The control functions such as speed control, load control, valve control and protective functions such as overspeed and PLU are designed in detail.