• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.1 s.94
• /
• pp.211-218
• /
• 1999

The traditional robot manipulators are actuated by continuous range of motion actuators such as motors or hydraulic cylinders. However, there are many applications of mechanisms and robotic manipulators where only a finite number of locations need to be reached, and the robot’s trajectory is not important as long as it is bounded. Binary manipulator uses actuators which have only two stable states. As a result, binary manipulators have a finite number of states. The number of states of a binary manipulator grows exponentially with the number of actuators. This kind of robot manipulator has some advantage compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. And this kind of robot manipulator has a fault tolerant mechanism because of kinematic redundancy. In this paper, we solve the inverse kinematic problem of a binary parallel robot manipulator using neural network and test the validity of this structure using some arbitrary points m the workspace of the robot manipulator. As a result, we can show that the neural network can find the nearest feasible points and corresponding binary states of the joints of the robot manipulator

• Proceedings of the KIEE Conference
• /
• 2006.07d
• /
• pp.1836-1837
• /
• 2006

본 논문에서는 차량용 전자제어식 주차 브레이크(Electric Parking Brake, EPB) 시스템의 고장 허용 제어(fault tolerant control)를 위한 고장 안전 기법(fail-safe logic)을 제안한다. 고장 안전 기법의 구현을 위하여 EPB 구동 모터에 흐르는 전류 리플을 측정하여 센서리스 위치 추정을 한다. 추정값과 홀 센서의 출력을 비교하여 잔차(residual)를 발생하고, 이를 이용하여 시스템 내부의 고장을 진단하고 고장 안전 기법을 통하여 전체 시스템의 오작동을 방지한다. 시스템 오작동을 방지하기 위한 고장 안전 기법에 대하여 정의하고 모의실험을 통하여 내부 시스템의 고장이 발생 시 이 기법이 고장을 진단하고 시스템을 안전하게 운영할 수 있음을 확인하였다.

• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.4 s.97
• /
• pp.205-212
• /
• 1999

A three dimensional binary parallel robot manipulator uses actuators which have only two stable states and its structure is variable geometry truss. As a result, it has a finite number of states and fault tolerant mechanism because of kinematic redundancy. This kind of robot manipulator has some advantages compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. Because the number of states of a binary robot manipulator grows exponentially with the number of actuators it is very difficult to solve and inverse kinematic problem. The goal of this paper is to develop an efficient algorithm to solve an inverse kinematic problem of three dimensional binary parallel robot manipulator using a backbone curve when the number of actuators are too much. We first derive the coordinate transformations associated with a three degree of freedom in-parallel actuated robot manipulator. The backbone curve is generated optimally by considering the maximum roll and pitch angles of the robot manipulator configuration and length of link. Then, the robot manipulator is fitted along the backbone curve with some criterion.

• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.3 s.96
• /
• pp.174-179
• /
• 1999

A binary parallel robot manipulator uses actuators which have only two stable states and is structure is variable geometry truss. As a result, it has a finite number of states and fault tolerant mechanism because of kinematic redundancy. This kind of robot manipulator has the following advantages compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. Because the number of states of a binary robot manipulator grows exponentially with the number of actuators, it is very difficult to solve an inverse kinematic problem. The goal of this paper is to develop an efficient algorithm to solve an inverse kinematic problem when the number of actuators are too much or the target position is located outside of workspace. The backbone curve is generated optimally by considering the curvature of the robot manipulator configuration and length of link. Then, the robot manipulator is fitted along the backbone curve with some criteria.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.38 no.3
• /
• pp.217-227
• /
• 1989

A process control graphic system is proposed as an efficient tool for monitoring the operation of power plant. It uses the multi-processor structure with 60 Kbyte shared memory as an implemental type of the distributed computer system, so that it is flexible, functionally extensible, and applicable to real-time process. The shared memory is used as a real-time database handling the process values and operator's commands. The database files, generated by the user-interactive graphic editor developed for the system or text editor, have the characteristics of simplicity and user-friendliness. The process control graphic system, that can monitor the operation of boiler and function as a backup controller in case of failure in boiler controller, is applied to Ulsan power plant. As a result, it displays the operating data of the boiler process without error by 14 pages of color graphic image according to the operation menu, and additionally functions well as a fault-tolerant control system.

• The Transactions of the Korea Information Processing Society
• /
• v.1 no.2
• /
• pp.172-183
• /
• 1994

In the multidatabase systems(MDBS), local autonomy and global consistency are important issues. Global consistency could be maintained by a global concurrency control algorithm and a global recovery algorithm. In this thesis, we propose a global concurrency control algorithm to ensure local autonomy and to guarantee global serializability, and a global recovery algorithm which is possible to recover the multudatabase from any failures. The proposed global concurrency control algorithm uses bottom-up approach, based on three-level transaction processing model. It can produce a local history that the execution order of subtransactions is identical to their serialization order by using dummy-operations in the server when an indirect conflict is caused between subtransactions due to local transactions. At the global module, it can efficiently validate global serializability of global transactions by checking global serializability only for the global transactions which conflict with each other.

• Journal of KIISE:Computer Systems and Theory
• /
• v.27 no.1
• /
• pp.34-43
• /
• 2000

Replicated data that is used for fault tolerant distributed system requires replica control protocol to maintain data consistency. The one of replica control protocols is quorum consensus method which accesses replicated data by getting majority approval. If site failure or communication link failure occurs and any one can't get quorum consensus, it degrades the availability of data managed by quorum consensus protocol. So it needs for ghost to replace the failed site. Because ghost is not full replica but process which has state information using meta data, it is important to simplify meta data. In order to maintain availability and simplify meta data, we propose a method to use cohort set as ghost's meta data. The proposed method makes it possible to organize meta data in 2N+logN bits and to have higher availability than quorum consensus only with cohort set and dynamic linear voting protocol. Using Markov model we calculate proposed method's availability to analyze availability and compare it with existing protocols.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.25 no.11
• /
• pp.1581-1587
• /
• 2021

As embedded system are used widely and variously, multi-edge system, which multiple edges gather and perform complex operations together, is actively operating. In a multi-edge system, it often occurs that an abnormal operation at one edge is transferred to another edge or the entire system goes down. It is necessary to determine and control edge anomalies in order to prevent system down, but this can be a heavy burden on the resource-limited edge. As a solution to this, we use power consumption data to check the state of the edge device and transmit it based on a QRcode to check and control errors at the server. The architecture proposed in this paper is implemented using 'chip-whisperer' to measure the power consumption of the edge and 'Raspberry Pi 3' to implement the server. As a result, the proposed architecture server showed successful data transmission and error determination without additional load appearing at the edge.

• Proceedings of the KSR Conference
• /
• 2008.11b
• /
• pp.1204-1212
• /
• 2008

This study enables to troubleshoot the problems of the existing dual system with the help of the implementation of totally dualized fault-tolerant system to L-CTC computer and HADAX, and equipments are simplified and systems are modernized with the addition of the control function, as a upgraded LCP control system, to L-CTC computer on the basis of WINDOWS based O/S switched from DOS environment. An error on Microlok, which is aninterlocking apparatus, forwarded to L-CTC computer ensures to handle the false data during the operation of the system. This paper discusses a sure way to prevent the deterioration of (SMRT) L-CYC system and to bolster its stability with formation of the dual system. Additionally, WINDOW based O/S consisting of L-CTC computer leads to simplification and modernization of facilities and enhances maintenance functions offering centralization for branch offices and machine rooms as well.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.49 no.9
• /
• pp.279-286
• /
• 2012

Recently, design of Universal Soft Controller(USC) has been applied to the advanced control room for nuclear power plant. USC is software-based manual control means to control safety components as well as non-safety components in the highly-integrated control room. Therefore, design feature of USC is essential for the implementation of a single workstation in the advanced control room. The traditional control room is replaced by computer-driven consolidated operator interfaces. Considering our design has further reduced the probability of USC spurious signals by requiring two distinct operator control actions to generate any control signal. The reality of USC does not increase the probability of reactor trip because the probability of spurious USC signal is negligible. Universal Soft Control represents a significant evolution in nuclear I&C/HSI System. USC integrates the indicators and controls from multiple divisions into a single integrated visual display unit(VDU) based HSI(Human System Interface). In order to prevent adverse influence on safety function performance from USC failure, ESFAS signals are applied to safety components or functions. In addition, safety manual switches have priority over USC's signals. Therefore, spurious USC signals can be momentarily blocked by selecting a soft control command from the safety VDU.