• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.26-30
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• 1986

This survey paper presents a review of control methods for redundant robot manipulators. Use of redundant degree of freedoms by local and global optimization techniques are described in terms of the Jacobian matrix equation for the redundant robot manipulators. Relevant problems for further use of redundant robot manipulators are then discussed.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.386-390
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• 1992

Algorithmic or kinematic singularities are inevitably a introduced if optimality criteria or augmented kinematic equations are used to resolve the redundancy of almost any manipulator with rotary joints. In this paper, a sufficient condition for a singularity-free optimal solution of the kinematic control of a redundant manipulator is derived and, specifically, algorithmic singularities are analyzed for optimality-based methods. A singularity-free space (SFS) to characterize the performance of a secondary task for a redundant manipulator using the sufficient condition for a redundant manipulator is defined. The SFS is a set of regions classified by the loci of configurations satisfying the inflection condition for manipulability measure in the Configuration space. Using SFS, the topological property of the Configuration space and the invertible workspace without singularities are analyzed.

• Journal of Electrical Engineering and Technology
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• v.11 no.1
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• pp.215-226
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• 2016

Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperbolic function, we get a new algorithm which enables reducing the chattering effect of the real actuators, which together with the learning and adaptive controllers, is applied to the model and to the real robot. A simulation environment including the actuator dynamics is elaborated. A 5 DOF robot, a communication interface and a signal conditioning circuit are designed and implemented for feedback. Three control laws are executed in: a simulation structure (together with the dynamic model of the SCARA type redundant manipulator and the actuator dynamics) and a real redundant manipulator of the SCARA type carried out using MatLab/Simulink programming tools. The results, obtained through simulation and implementation, were represented by comparative curves and RMS indices of the joint errors, and they showed that the redundant manipulator, both in the simulation and the implementation, followed the test trajectory with less pronounced maximum errors using the adaptive controller than the other controllers, with more homogeneous motions of the manipulator.

• International Journal of Aeronautical and Space Sciences
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• v.6 no.2
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• pp.76-83
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• 2005

Thrusters are important actuators where air is rare. Since the maintenance or replacement of thrusters is not easy in such an environment, a thrusting system must be highly reliable. Redundant thrusters are used to meet the reliability requirement. In this paper, a reconfiguration problem for those redundant thrusters is discussed, especially the management or distribution logic of redundant thrusters is focused on. The logic has to be changed if faults occur at thrusters. Reconfiguration is to change the distribution logic to accommodate thrusters' faults. The authors propose a reconfiguration algorithm based on the linear programming method. The authors define the reconfiguration problem as an optimization problem. The performance index is a quantity related with total fuel consumption by thrusters. This algorithm can accommodate multiple faults. Numerical examples are given to show the advantage of the proposed algorithm over existing methods.

• Proceedings of the Korean Institute of Communication Sciences Conference
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• 1983.10a
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• pp.112-117
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• 1983

In this paper, a functional m-redundant system, which is me-fault tolerant, is defined based on the graph-theory. This system is designed to be t fault-diagnosable by comparing its unit's outcomes without additive test functions, and so, the system down for diagnosis is not needed. the diagnostic model for this system is presented and this effectively uses system's redundancy. It is shown that this model can be converted into Preparata's model. Thus, the diagnostic characteristics of a functional m-redundant system is analyzed by the methods originated by Preparata et al..

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.811-814
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• 1997

In this paper, the torque optimization of a kinematically redundant manipulator for minimizing the torque demands is discussed. The minimum torque solution based on a local optimization has been known to encounter the instability problem and then the global torque optimization was suggested as one of the alternatives. Herein, by adopting the infinity-norm rather than the 2-norm for the magnitude of torques, we are to propose a new cost function more advantageous to the avoidance of torque limits. By the way, a solution to the global torque optimization formulated with the new cost function can not be obtained by the previous methods due to their difficulties such as inability to treat discontinuous cost functions and various constraints on the joint variables. Thus, to overcome those deficiencies, we are developing a new approach using the dynamic programming. The effectiveness of the proposed method is shown through simulation examples for a 3-link planar redundant manipulator.

• Proceedings of the KSRS Conference
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• 2007.10a
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• pp.203-206
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• 2007

The Space-borne electro-optical camera system has panchromatic redundant image channel as well as primary channel in order to increase reliability of satellite system. In most case redundant channel never been used during the whole mission period. Staggered array configuration using redundant image channel and new operation mode proposed which operates primary and redundant channel simultaneously. Without new hardware design, fast electronics and system complexity, we can get 1.414 times more fine GSD image of original system or we can get 1.414 times more SNR or High dynamic range imaging mode. In this paper we deal with several image quality improvement methods using dual panchromatic channel.

• Journal of Korean Institute of Industrial Engineers
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• v.21 no.2
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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.

• Journal of Information Processing Systems
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• v.16 no.4
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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.