• 한국항공우주학회지
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• 제32권10호
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• pp.46-52
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• 2004

본 논문은 2중으로 다중화된 무인 비행체의 다중화 관리 설계 방법에 대하여 논의한다. CCM(Cross Channel Monitor) 기법의 두 주요 인자, 즉 두 채널간의 편차 허용한도인 문 턱값(threshold) 및 지속시간(persistence count)을 어떻게 설계하여야 하는 가에 관한 문제를 통계학적인 해석을 사용하여 그 해결법을 제시하였다. 또한, 무인 비행체의 생존확률을 증대시킬 수 있는 해석적 다중화 가법에 대한 문제를 칼만 필터링 (Kalman filtering)을 적용하여 접근하였다. 여기서 제시된 방법으로 설계된 CCM 및 칼만 필터링을 이용한 해석적 다중화의 설계 결과들은 XV-15 틸트 로터 비행체에 적용되어, 그 설계의 타당성이 시뮬레이션을 통하여 검증되었다.

• Kyungpook Mathematical Journal
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• 제21권1호
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• pp.5-8
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• 1981

• Kyungpook Mathematical Journal
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• 제20권1호
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• pp.1-9
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• 1980

• International Journal of Aeronautical and Space Sciences
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• 제7권1호
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• pp.73-83
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• 2006

In this paper, a redundancy management system for aircraft is studied, and fault detection and isolation algorithms of inertial sensor system are proposed. Contrary to the conventional aircraft systems, UAV system cannot allow triple or quadruple hardware redundancy due to the limitations on space and weight. In the UAV system with dual sensors, it is very difficult to identify the faulty sensor. Also, conventional fault detection and isolation (FDI) method cannot isolate multiple faults in a triple redundancy system. In this paper, two FDI techniques are proposed. First, hardware based FDI technique is proposed, which combines a parity equation approach with a wavelet based technique. Second, analytic FDI technique based on the Kalman filter is proposed, which is a model-based FDI method utilizing the threshold value and the confirmation time. To provide the reference value for detecting the fault, residuals are calculated using the extended Kalman filter. To verify the effectiveness of the proposed FDI methods, numerical simulations are performed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.452-455
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• 1995

Various physical limitations which intrinsically exist in the manipulator control system, for example kinematic limits and torque limit, cause some undesirable effects. Specifically, when one or more actuators are saturated the expected control performance can not be anticipated and in some cases it induces instability of the system. The effect of torque limit, especially for redundant manipulators, is studied in this article, and an analytic method to reconstruct the control input using the redundancy is proposed based on the kinematically decomposed modeling of redundant manipulators. It results to no degradation of the output motion closed-loop dynamics at the cost of the least degradation of the null motion closed-loop dynamics. Numerical simulations help to verify the advantages of the proposed scheme.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제8권9호
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• pp.3110-3125
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• 2014

Network coding improves TCP's performance in lossy wireless networks. However, the complex congestion window evolution of network coded TCP (TCP-NC) makes the analysis of end-to-end throughput challenging. This paper analyzes the evolutionary process of TCP-NC against lossy links. An analytic model is established by applying a two-dimensional Markov chain. With maximum window size, end-to-end erasure rate and redundancy parameter as input parameters, the analytic model can reflect window evolution and calculate end-to-end throughput of TCP-NC precisely. The key point of our model is that by the novel definition of the states of Markov chain, both the number of related states and the computation complexity are substantially reduced. Our work helps to understand the factors that affect TCP-NC's performance and lay the foundation of its optimization. Extensive simulations on NS2 show that the analytic model features fairly high accuracy.

• 한국신뢰성학회지:신뢰성응용연구
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• 제17권4호
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• pp.332-342
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• 2017

Purpose: In this study, the lifetime distribution of a k-out-of-n system with heterogeneous components is suggested as Markov model, and the time-to-failure (TTF) distribution of each component is considered as phase-type distribution (PHD). Furthermore, based on the model, a redundancy allocation problem with a mix of components (RAPMC) is proposed. Methods: The lifetime distribution model for the system is formulated by the structured Markov chain. From the model, the various information on the system lifetime can be ascertained by the matrix-analytic (or-geometric) method. Conclusion: By the generalization of TTF distribution (PHD) and the consideration of heterogeneous components, the lifetime distribution model can delineate many real systems and be exploited for developing system operation policies such as preventive maintenance, warranty. Moreover, the effectiveness of the proposed RAPMC is verified by numerical experiments. That is, under the equivalent design conditions, it presented a system with higher reliability than RAP without component mixing (RAPCM).

• 한국항공우주학회지
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• 제33권3호
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• pp.57-64
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• 2005

2자유도 관성센서는 두 입력축이 기계적으로 연관되어 있기 때문에 해당하는 관성센서의 두 입력축에 동시에 고장이 발생할 확률이 매우 높다. 따라서 하드웨어 여분만으로 고장검출 및 분리를 수행하기 위해서는 최소한 4개의 관성센서를 사용하여야 한다. 2자유도 관성센서를 3개 중첩해서 사용하는 경우 기존의 하드웨어 여분기법으로는 고장검출은 가능하나 고장분리가 불가능하다. 본 논문에서는 이러한 문제점을 개선하기 위해서 비선형 필터인 Unscented Kalman Filter를 이용하여 얻은 정보를 해석적 여분으로 활용하여, 하드웨어 여분과 해석적 여분을 동시에 고려한 복합 고장검출기법을 제안하였다. 제안한 복합 고장검출기법의 성능을 검증하기 위해서 비선형 항공기 수치 시뮬레이션을 수행하였다.

• International Journal of Control, Automation, and Systems
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• 제5권1호
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• pp.104-109
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• 2007

This paper is about a redundancy management system design for the Smart UAV(unmanned aerial vehicle) which utilizes the tilt..rotor mechanism. In order to meet the safety requirement on the PLOC(probability of loss of control) of $1.7{\times}10^{-5}$ per flight hour for FCS (flight control system) failures, a digital FCS is mechanized with a dual redundant structure. A fault detection system which is composed of a CCM(cross channel monitor) and analytic redundancy using the Kalman filtering is designed, and its effectiveness is evaluated through experiments. A threshold level and persistence count for managing redundant sensors are designed based on the statistical analysis of the FCS sensors. To increase the survivability of the UAV after the loss of critical sensors in the SAS(stability augmentation system) and to provide reference information for a tie-breaking condition at which an ILM(in-line monitor) cannot distinguish the faulty channel between two operating ones, the Kalman filter approach is investigated.

• 자동차안전학회지
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• 제11권2호
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• pp.11-16
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• 2019

This paper suggests an algorithm for detecting fault of longitudinal controller in autonomous vehicles. Guaranteeing safety in fault situation is essential because electronic devices in vehicle are dependent each other. Several methods like alarm to driver, ceding control to driver, and emergency stop are considered to cope with fault. This research investigates the fault monitoring process in fail-safe system, for controller which is responsible for accelerating and decelerating control in vehicle. Residual is computed using desired acceleration control command and actual acceleration, and detection of its abnormal increase leads to the decision that system has fault. Before computing residual for controller, health monitoring process of acceleration signal is performed using hardware and analytic redundancy. In fault monitoring process for controller, a process model which is fitted using driving data is considered to improve the performance. This algorithm is simulated via MATLAB tool to verify performance.