• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.778-782
• /
• 2003

This paper presents how it is effective to use many features for improving the speed and the accuracy of the visual servo systems. Some rank conditions which relate the image Jacobian and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordinate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-Arm Robot manipulator made in Samsung Electronic Co. Ltd.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2007.11a
• /
• pp.1375-1381
• /
• 2007

In this paper, we propose a linear modeling and identical PD controller design scheme for the three-pole hybrid-type AMB recently developed in the laboratory, which consists of three permanent magnets, providing bias flux, three Hall diodes, measuring rotor displacements, and ring type permanent magnet bearing, stabilizing in axial and tilting directions. Along the three physical coordinates formed by three poles, we introduce the redundant coordinate system and three identical decoupled controllers to construct linear model. The experiments are also carried out in order to verify the effectiveness of proposed controller in stabilizing the transient and steady state response of rotor.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.1136-1139
• /
• 1996

For on-line trajectory planning such as teleoperation it is desirable to keep good manipulability of the robot manipulators since the motion command is not given in advance. To keep good manipulability means the capability of moving any arbitrary directions of task space. An optimization process with different manipulability measures are performed and compared for a redundant robot system moving in 2-dimensional task space, and gives results that the conventional manipulability ellipsoid based on the Jacobian matrix is not good choice as far as the optimal direction of motion is concerned.

• Journal of Institute of Control, Robotics and Systems
• /
• v.8 no.8
• /
• pp.698-705
• /
• 2002

The redundant sensor configuration problem of inertial navigation system(INS) is considered and analyzed the navigation and fault detection performance according to various sensor configurations. We considered various kinds of redundant sensor configurations for symmetric, cone, and orthogonal configurations and compare the navigation and fault detection performance for the configurations. We show that the navigation and fault detection performance is not affected by the coordinate change for a fixed configuration.

• Journal of the Korean Institute of Telematics and Electronics C
• /
• v.34C no.5
• /
• pp.19-32
• /
• 1997

So far, the multiple path MINs to provide redundant paths in the traditional UPP MINs have been realized by adding additional hardware such as extra stages, duplicated data links, or multiple copies of sthe MIN. And the traditional MINs do not exploit locality: communication with all processor-memory paris takes the same amount of time. Also so far there has been little progress for exploiting locality of reference in MINs. In this paper, we present a new topology MIN, hybrid MIN that is constructed with 2N-3 SEs which is far fewer SEs than that of traditional MINs. Although the hybrid MIN is constructed with 2N-3 SEs, the hybrid MIN satisfies full access capability (FAC) and has redundant paths(but providing single path for 2 memory modules of each processor). Moreover the has redundant paths (but providing single path for 2 memory modules of each processor). Moreover the Hybrid MIN provides shortcut path between pairs which have frequent dat acommunication (locality of reference). Its performance under varing degrees of localized communication is analyzed.

• International Journal of Control, Automation, and Systems
• /
• v.5 no.3
• /
• pp.329-336
• /
• 2007

This paper considers a fault accommodation problem for inertial navigation systems (INS) that have redundant inertial sensors such as gyroscopes and accelerometers. It is wellknown that the more sensors are used, the smaller the navigation error of INS is, which means that the error covariance of the position estimate becomes less. Thus, when it is decided that double faults occur in the inertial sensors due to fault detection and isolation (FDI), it is necessary to decide whether the faulty sensors should be excluded or not. A new accommodation rule for double faults is proposed based on the error covariance of triad-solution of redundant inertial sensors, which is related to the navigation accuracy of INS. The proposed accommodation rule provides decision rules to determine which sensors should be excluded among faulty sensors. Monte Carlo simulation is performed for dodecahedron configuration, in which case the proposed accommodation rule can be drawn in the decision space of the two-dimensional Cartesian coordinate system.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.67 no.12
• /
• pp.1648-1656
• /
• 2018

The configuration of redundant inertial sensors are very important when considering navigation performance and fault detection and isolation (FDI) performance. By constructing a redundant sensor system using multiple inertial sensors, it is possible to improve the navigation performance and fault detection and isolation performance, which are highly related to the sensor configuration and allocation. In order to deploy multiple MEMS inertial measurement units effectively, a configuration and allocation methods considering navigation performance, fault detection and isolation performance, and lever arm effect in one plane are presented, and the performance is analyzed through simulation in this research. From the results, it is confirmed that the proposed configuration and allocation method can improve navigation, FDI, and lever arm effect rejection performances more effectively by more than 70%.

• Journal of Information Processing Systems
• /
• v.17 no.2
• /
• pp.318-333
• /
• 2021

Smartphones are one of the most widely used mobile devices allowing users to communicate with each other. With the development of mobile apps, many companies now provide various services for their customers by studying interactive systems in the form of mobile messengers for business marketing and commercial promotion. Such interactive systems are called "chatbots." In this paper, we propose a method of avoiding the redundant responses of chatbots, according to the utterances entered by the user. In addition, the redundant patterns of chatbot responses are classified into three categories for the first time. In order to verify the proposed method, a chatbot is implemented using Telegram, an open source messenger. By comparing the proposed method with an existent method for each pattern, it is confirmed that the proposed method significantly improves the redundancy avoidance rate. Furthermore, response performance and variation analysis of the proposed method are investigated in our experiment.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10b
• /
• pp.296-300
• /
• 1992

This paper deals with a dual mode control system design for the starching work robot. From the feature of this work, the robot has redundant degree of freedom. In this paper, we try to split the whole movement the robot into a gross motion part ai. a fine motion part so as to achieve a good tracking performance. The preview learning control is applied to the gross motion part. The validity of the dual mode control architecture is demonstrated.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.29B no.10
• /
• pp.1-9
• /
• 1992

This paper presents an effective synchronization algorithm. It is different from the existing synchronization methods by inserting appropriate synchronization instructions between statements according to different kinds of data dependencies. The overhead caused by too many synchronization instructions in a loop can be a critical problem. Synchronization optimization is a method which discriminates and eliminates the redundant synchronization instructions in a loop. In this paper, a new synchronization optimization algorithm is developed, and performance analysis using simulation on the UNIX operating system is carried out.