• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1180-1188
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• 2008

As many systems depend on electronics, concern for fault tolerance is growing rapidly in the safety critical system such as intelligent vehicle. In order to make system fault tolerant, there has been a body of research mainly from aerospace field including predictive hybrid redundancy by Lee. Although the predictive hybrid redundancy has the fault tolerant mechanism to satisfy the fault tolerant requirement of safety crucial system such as x-by-wire system, it suffers form the variability of prediction performance according to the input feature of system. As an alternative to the prediction method of predictive hybrid redundancy for robust fault tolerant, Kalman prediction has attracted some attention because of its well-known and often-used with its structure called Kalman hybrid redundancy. In addition, several numerical simulation results are given where the Kalman hybrid redundancy outperforms with predictive smoothing voter.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.12
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• pp.534-543
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• 2006

BACnet(Building Automation and Control networks) is a standard data communication network protocol designed specifically for building automation and control systems. BACnet provides BACnet/IP Protocol for data communication through the Internet. BACnet device uses BBMD(BACnet Broadcasting Management Device) to deliver BACnet broadcast messages. In this study, we propose a fault tolerant BBMD in the BACnet/IP protocol. The fault tolerant BBMD improves the connectivity of BACnet/IP networks by inheriting the operation of original BBMD in the networks. The fault tolerant BBMD is implemented with added functions to the original BACnet/IP protocol so that it can provide backward compatibility with the original BACnet/IP devices. We examined the validity of the fault tolerant BBMD using an experimental model.

• The Korean Journal of Ecology
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• v.22 no.6
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• pp.363-369
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• 1999

Reconstruction of the past vegetational changes of Korea in connection with climate changes enables to understand the impacts of past and future global warming on alpine vegetation. Despite the early appearance of the cold-tolerant vegetation since the Mesozoic Era. the occurrence of warmth-tolerant vegetation during the Oligocene and Miocene implies that most of alpine and subalpine vegetations have been confined to the alpine and subalpine belts of northern Korean Peninsula. The presence of cold-episodes during the Pleistocene. however. might have caused a general southward and downslope expansions of cold-tolerant alpine and subalpine vegetation. But the climatic warming trend during the Holocene or post-glacial period eventually has isolated cold-tolerant alpine and subalpine vegetation mainly in the northern Korea. but also on scattered high mountains in the southern Korea. The presence of numerous arctic-alpine and alpine plants on the alpine and subalpine belts is mainly due to their relative degree of sensitivity to high summer temperatures. Global warming would cause important changes in species composition and altitudinal distributional pattern. The altitudinal migration of temperate vegetation upward caused by climatic warming would eventually devastate alpine plants.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.2
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• pp.141-148
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• 2012

This paper proposes fault tolerant gaits of a quadruped robot with feet of flat shape. Fault tolerant gaits make it possible for a legged robot to continue static walking against a leg failure. In the previous researches, it was assumed that a legged robot had feet that have point contact with the surface. When the robot is endowed with feet having flat shape, fault tolerant gaits can show better performance compared with the former gaits, especially in terms of the stride length and gait stability. In this paper, fault tolerant gaits of a quadruped robot against a locked joint failure are addressed in straight-line motion and crab walking, respectively.

• Journal of Auto-vehicle Safety Association
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• v.15 no.2
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• pp.13-20
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• 2023

This paper presents a fault tolerant control strategy for Steer-by-Wire (SbW) systems. Among many problems to be solved before commercialization of SbW systems, maintaining reliability and fault tolerance in such systems are the most pressing issues. In most previous studies, dual steering motors are used to achieve actuation redundancy. However, relatively few studies have been conducted to introduce fault tolerant control strategies using rear wheel steering system. In this work, an actuator fault in front wheel steering is compensated by active rear wheel steering. The proposed fault tolerant control algorithm consists of disturbance observer and sliding mode control. The fault tolerant control performance of the proposed approach is validated via computer simulation studies with Carsim vehicle dynamics software and MATLAB/Simulink.

• Microbiology and Biotechnology Letters
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• v.47 no.1
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• pp.105-115
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• 2019

Saline or alkaline condition in soil inhibits growth of most crop plants and limits crop yields in many parts of the world. Augmenting an alkaline soil with alkali-tolerant bacteria capable of promoting plant growth can be a promising approach in expanding fertile agricultural land. Near-shore environments of Dokdo Island, a remote island located in the middle of the East Sea, appear to have patches of seawater-influenced haloalkaline soil that is unsupportive for growth of conventional plants. To exploit metabolic capacities of alkali-tolerant bacteria for promoting plant growth in saline or alkaline soils, we isolated of alkali-tolerant bacteria from near-shore soil samples in Dokdo and investigated properties of the isolates. Alkali-tolerant bacteria were selectively cultivated by inoculating suspended and diluted soil samples on a plate medium adjusted to pH 10. Fifty colonies were identified based on their $GTG_5$-PCR genomic fingerprints and 16S rRNA gene sequences. Most isolates were affiliated to alkali-tolerant and/or halotolerant genera or species of the phyla Firmicutes (68%), Proteobacteria (30%) and Actinobacteria (2%). Unlike the typical soil bacterial flora in the island, alkali-tolerant isolates belonged to only certain taxa of terrestrial origin under the three phyla, which have traits of plant growth promoting activities including detoxification, phytohormone production, disease/pest control, nitrogen-fixation, phosphate solubilization or siderophore production. However, Firmicutes of marine origin generally dominated the alkali-tolerant community. Results of this study suggest that haloalkaline environments like Dokdo shore soils are important sources for plant growth promoting bacteria that can be employed in bio-augmentation of vegetation-poor alkaline soils.

• Korean Journal of Environmental Agriculture
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• v.33 no.2
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• pp.129-133
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• 2014

BACKGROUND: This study was performed for selecting yeast mutants with a high tolerance for targeted metals, and determining whether yeasts strains tolerant to multiple heavy metals could be induced by sequential adaptations. METHODS AND RESULTS: A mutant yeast strain tolerant to the heavy metals cadmium (Cd), copper (Cu), nickel (Ni), and zinc (Zn) was selected by sequential elevated exposures to each metal with intermittent mutant isolation steps. A Cd-tolerant mutant was isolated by growing yeast cells in media containing $CdCl_2$ concentrations that were gradually increased to 1 mM. Then the Cd-tolerant mutant was gradually exposed to increasing levels of $CuCl_2$ in growth media until a concentration of 7 mM was reached, thus generating a strain tolerant to both Cd and Cu. In the subsequent steps, this mutant was exposed to $NiCl_2$ (up to 8 mM), and a resultant isolate was further exposed to $ZnCl_2$ (up to 60 mM), allowing the derivation of a yeast mutant that was simultaneously tolerant to Cd, Cu, Ni, and Zn. CONCLUSION: This method of inducing tolerance to multiple targeted heavy metals in yeast will be useful in the bioremediation of heavy metals.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.8
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• pp.585-593
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• 2004

Fault-tolerant gait planning in legged locomotion is to design gaits with which legged robots can maintain static stability and motion continuity against a failure in a leg. For planning a robust and deadlock-free fault-tolerant gait, kinematic constraints caused by a failed leg should be closely examined with respect to remaining mobility of the leg. In this paper, based on the authors's previous results, deadlock avoidance scheme for fault-tolerant gait planning is proposed for a hexapod robot walking over even terrain. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. It is shown that for guaranteeing the existence of the previously proposed fault-tolerant tripod gait of a hexapod robot, the configuration of the failed leg must be within a range of kinematic constraints. Then, for coping with failure situations where the existence condition is not satisfied, the previous fault-tolerant tripod gait is improved by including the adjustment of the foot trajectory. The foot trajectory adjustment procedure is analytically derived to show that it can help the fault-tolerant gait avoid deadlock resulting from the kinematic constraint and does not make any harmful effect on gait mobility. The post-failure walking problem of a hexapod robot with the normal tripod gait is addressed as a case study to show the effectiveness of the proposed scheme.

• KOREAN JOURNAL OF CROP SCIENCE
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• v.49 no.2
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• pp.126-130
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• 2004

This study is to identify the physiological traits of submergence-tolerant varieties of rice plants (Oryza sativa L.) in Yeongnam area, southeastern part of Korea, where the reduction of rice yield due to submergence is remarkably severe. In the present study, two tolerant varieties of rice plants were selected from over 30 rice varieties grown in under a 10-day period. The tolerant varieties selected from a submerged paddy field. As a control, one intolerant variety of rice plant was chosen. Of the tolerant variety Samgangbyeo, rather than Haepyungbyeo, had a lower dissolved oxygen consumption and maintained a higher dry weight than the intolerant variety. The leaf photosynthetic rates (LPS) of the two tolerant varieties were significantly higher than that of the intolerant-variety after four days of submergence treatment. These results indicate that lower dissolved oxygen consumption in a limited pool is prevented by ethylene formation in the tolerant varieties, which may be a mechanism of submergence tolerance.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.5
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• pp.1-8
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• 2006

The Steer-By-Wire(SBW) system replaces complex mechanical linkages of the current steering system with electric motors, sensors, and electronic control units. However, the SBW system should guarantee its safety and reliability before commercialization, and therefore, a reliable and robust fault-tolerant technology has to be implemented. This paper proposes a fault-tolerant control algorithm for the SBW system. Based on careful analysis on propagation effects of sensor faults, a reliable fault-tolerant control strategy has been developed. The fault-tolerant controller consists of a fault detection part that monitors and detects faults in the steering wheel and road wheel sensors, and a reconfiguration part that switches to normal sensor signal based on fault detection information. It has been demonstrated by simulation that the proposed algorithm detects sensor faults accurately and enables reliable steering control under various dynamic fault situations.