• 대한기계학회논문집A
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• 제28권12호
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• pp.1845-1855
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• 2004

This paper presents the forward kinematics of the Casing Oscillator that is a construction machine. The Structure of the Casing Oscillator is similar to those of 4 degree-of-freedom mechanisms with a redundancy. With analytical (geometrical) methods, the solutions of the forward position kinematics problem are significantly found by both solving an 8$^{th}$ -order polynomial equation in one unknown variable and using one over-constraint geometrical equation which can be derived under the condition of a redundancy. The proposed forward kinematics has closed-form solutions and allows Auto-Balancing control of the moving platform in real time. Numerical examples are presented and the results are verified by an inverse kinematics analysis.

• 한국자동차공학회논문집
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• 제16권4호
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• pp.173-178
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• 2008

Electro-hydraulic brake system has many advantages. It provides improved braking performance and stability functions. It also removes complex mechanical parts for freedom of design, improves maintenance requirements and reduces unit weight. However, the EHB system should be dependable and have back-up redundancy in case of a failure. In this paper, the model-based fault diagnosis system is developed to monitor the brake status using the analytical redundancy method. The performance of the model-based fault diagnosis system is verified in real-time simulation. It demonstrates the effectiveness of the proposed system in various faulty cases.

• 로봇학회논문지
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• 제6권1호
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• pp.27-33
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• 2011

Control and trajectory generation of a 7 DOF anthropomorphic robot arm suffer from computational complexity and singularity problem because of numerical inverse kinematics. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of inverse kinematics. In this research, we propose an analytical inverse kinematics algorithm for a 7 DOF anthropomorphic robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regard to the end-effector pose. Performance of the proposed algorithm was verified by various simulations. It is shown that the trajectory planning using this algorithm provides correct results near the singular points and can utilize redundancy intuitively.

• 설비공학논문집
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• 제13권12호
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• pp.1288-1296
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• 2001

A scheme for on-line fault detection and diagnosis of an air-handling unit is presented. The fault detection scheme uses residuals which are generated by comparing each measurement with analytical redundancies computed from the reference models. In this paper, artificial neural networks (ANNs) are used to estimate analytical redundancy and to classify faults. The Lebenburg-Marquardt algorithm is used to train feed forward ANNs that provide estimates of continuous states and diagnosis results. The simulation result demonstrated that the ANNs can effectively detect and diagnose faults in the highly non-linear and complex HVAC systems.

• International Journal of Internet, Broadcasting and Communication
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• 제13권4호
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• pp.39-47
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• 2021

Lempel-Ziv coding is one of the most famous source coding schemes. The output of this source coding is usually a non-uniform code, which requires additional source coding, such as arithmetic coding, to reduce a redundancy. However, this additional source code increases complexity and decoding latency. Thus, this paper proposes the optimal maximum a-posteriori (MAP) receiver for non-uniform source non-orthogonal multiple access (NOMA) with symmetric superposition coding (SSC). First, we derive an analytical expression of the bit-error rate (BER) for non-uniform source NOMA with SSC. Then, Monte Carlo simulations demonstrate that the BER of the optimal MAP receiver for the non-uniform source improves slightly, compared to that of the conventional receiver for the uniform source. Moreover, we also show that the BER of an approximate analytical expression is in a good agreement with the BER of Monte Carlo simulation. As a result, the proposed optimal MAP receiver for non-uniform source could be a promising scheme for NOMA with SSC, to reduce complexity and decoding latency due to additional source coding.

• 한국위성정보통신학회논문지
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• 제9권1호
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• pp.51-56
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• 2014

HSR(High-availability seamless redundancy)은 이더넷 네트워크의 고장 극복을 목적으로 표준 제정된 프로토콜로서, 하나의 전송 프레임을 복제하여 두 개의 물리적인 포트로 각각의 프레임을 전송하여 고장 극복 시간을 "0"이 되도록 한다. 따라서 HSR은 실시간 고장 극복이 필요한 이더넷 어플리케이션에 사용할 수 있다. 그러나 HSR은 각 노드마다 프레임을 복제하므로 불필요한 프레임이 다수 생성되어 네트워크에 전달되어 네트워크 전송용량을 상당량 점유하는 단점을 갖고 있다. 본 논문에서는 표준 HSR의 이러한 단점을 보완하기 위해 보편적으로 사용되는 여러 개의 ring이 연결된 복합 링 네트워크에 적합한 MAC (media access control) 주소에 기반을 둔 Port Locking (PL) 이라는 새로운 방식을 제안한다. 제안 방식은 네트워크 제어 프레임과는 별도로 Source 및 Destination 노드의 위치를 점차적으로 학습하며, 학습에 따라 Destination 노드가 없는 소규모 ring 네트워크의 입구 포트를 차단함으로써 해당 ring의 프레임 순환을 방지하도록 한다. 이와 같이 PL 알고리즘은 대형 링 네트워크 구조의 트래픽을 현저히 감소시키며, 이에 따라 네트워크의 성능은 크게 향상된다. 이에 대한 이론적 분석 결과는 제안된 PL 방식의 유효성을 입증한다.

• 감성과학
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• 제5권2호
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• pp.63-72
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• 2002

In order to examine universal design, 1 have developed two analytical methodologies based on 3P(point) task analysis: structured task analysis and task matrix analysis. I also extracted nine universal design items, namely (1) adjustment, (2) redundancy, (3) specification and function transparency, (4) feedback and (5) error tolerance, (6) effective acquisition of information, (7) ease of understanding and judgment, (8) comfortable operation, and (9) continuity of information and operation. Structured task analysis is used to uncover problems in each of the tasks constituting a job for each functionally challenged condition of users, and solutions to the extracted problems are examined in terms of the above-mentioned nine universal design items. Task matrix analysis calls for the production of a table for each task in a job. In each table, nine items form the columns, and the horizontal rows list all disability types. Then, solutions are formulated for each cell formed by the intersecting columns and rows. Using these two analysis methods, 1 have conducted a verification experiment for the universal design of a public bus. The results of the research have enabled me to propose various ,solutions from a system-based perspective, instead of coming up with the superficial and isolated solutions which are normally produced when conventional analytical methods are used.

• 한국감성과학회:학술대회논문집
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• 한국감성과학회 2002년도 춘계학술대회 논문집
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• pp.144-151
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• 2002

In order to examine universal desist I have developed two analytical methodologies based on 3P(point) task analysis: structured task analysis and task matrix analysis. I also extracted me universal design items, namely (1) adjustment (2) redundancy, (3) specification and function transparency, (4) feedback and (5) error tolerance, (6) effective acquisition of information, (7) ease of understanding and judgment (8) comfortable operation, and (9) continuity of information and operation. Structured task analysis is used to uncover problems in each of the tasks constituting a job for each functionally challenged condition of users, and solutions to the extracted problems are examined in terms of the above-mentioned nine universal design items. Task matrix analysis calls for the production of a table for each task in a job. In each table, nine items from the columns, and the horizontal rows list all disability types. Then, solutions are formulated for each cell formed by the intersecting columns and rows. Using these two analysis methods, T have conducted a verification experiment for the universal design of a public bus. The results of the research have enabled me to propose various solutions from a system-based perspective, instead of coming up with the superficial and isolated solutions which are normally produced when conventional analytical methods are used.

• 한국정보통신학회논문지
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• 제9권2호
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• pp.316-321
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• 2005

새로운 전류원 모델과 이 전류원 모델에 대응하는 파라메터의 직접추출 방법을 제안하였다. 전류원 모델파라메터를 위한 정확하고 해석적인 계산방법을 유도하였다. 이러한 해석적 모델링 방법을 기반으로 스케일 가능한 H8T 모델을 만드는 방법에 적용되었다. 단조함수적 스케일링이 가능하도록 하도록 하기 위해, 모델링 과정에서, 몇몇 파라메터들의 증복성(redunduncy)을 제거하는 방법을 개발하였다. 이러한 방법에 기반을 둔 모델을 실제 소자에 적용 했을때, 소자의 온도, 바이어스 및 크기변화를 잘 예측할 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.197-201
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• 1988

A reliable Analytical Redundancy(AR) based Fault Detection Scheme(FDS) that can detect, discriminate sensor fault and process fault is presented. And a Fault Tolerant Control System ( FTCS ) with the FDS that performs original control objective without considerable loss of control performance in the face of sensor/process faults is constructed. These propositions are valuable in the sense that it resolves the well known sensitivity problem and that sensor/process faults can be detected, discriminated so that effects of any fault can be promptly accomodated by reconfiguring control system structure automatically.