• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.875-881
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• 2014

The redundancy resolution of the seven DOF (Degree of Freedom) upper limb exoskeleton is key to the synchronous motion between a robot and a human user. According to the seven DOF human arm model, positioning and orientating the wrist can be completed by multiple arm configurations that results in the non-unique solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and its effect on the redundancy resolution of the seven DOF human arm model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing two cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid of the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each of two consecutive points along the task space trajectory. The contribution of each criterion on the redundancy was verified by the post processing of experimental data collected with a motion capture system. Results indicate that the bimodal redundancy resolution approach improved the accuracy of the predicted swivel angle. Statistical testing of the dynamic constraint contribution shows that under moderate speeds and no load, the dynamic component of the human arm is not dominant, and it is enough to resolve the redundancy without dynamic constraint for the realtime application.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.3
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• pp.263-271
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• 2017

A captive trajectory simulation (CTS) system is used to investigate the separation behavior of the store model by moving the model to an arbitrary pose and position based on aerodynamic data. A CTS system operated inside a wind tunnel is designed to match the structure of the wind tunnel facility. As a result, each CTS system has different kinematic structure, and inverse kinematic analysis of the system is necessary. In this study, kinematic/inverse kinematic analysis for the CTS system with functional redundancy is performed. Inverse kinematic analysis with combined numerical and analytical approach is especially proposed. The suggested approach utilizes the redundancy to improve the safety of the system, and has advantages in real time analysis.

• ETRI Journal
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• v.34 no.3
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• pp.478-481
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• 2012

Testing memory and repairing faults have become increasingly important for improving yield. Redundancy analysis (RA) algorithms have been developed to repair memory faults. However, many RA algorithms have low analysis speeds and occupy memory space within automatic test equipment. A fast RA algorithm using simple calculations is proposed in this letter to minimize both the test and repair time. This analysis uses the grouped addresses in the faulty bitmap. Since the fault groups are independent of each other, the time needed to find solutions can be greatly reduced using these fault groups. Also, the proposed algorithm does not need to store searching trees, thereby minimizing the required memory space. Our experiments show that the proposed RA algorithm is very efficient in terms of speed and memory requirements.

• Journal of Applied Reliability
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• v.1 no.1
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• pp.9-15
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• 2001

This paper modelled the fail-safe control logic through the frequency coding input and designed the 3-out of-6 self checker using the error detect coding method of information redundancy. In addition, this paper also peformed the reliability parallel numeric analysis regarding single module between fail-safe. control logic module and TMR(Triple Modular Redundancy), therefore, we achieved the result that the fail-safe control logic increases a functional reliability because of decreasing system waste cost and functional overhead rather than the existing hardware redundancy method.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1993.10a
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• pp.240-247
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• 1993

The precise prediction of reserved carrying capacity of bridge as a system is extremely difficult especially when the bridges are highly redundant and significantly deteriorated or damaged. This paper is intended to propose a new approach for the evaluation of reserved system carrying capacity of bridges in terms of equivalent system-strength, which may be defined as a bridge system-strength corresponding to the system reliability of the bridge. This can be derived from an inverse process based on the concept of FOSM form of system reliability index. It may be emphasized that this approach is very useful for the evaluation of the deterministic system redundancy and reserve strength which are measured in terms of either probabilistic system redundancy factor and reserve factor or deterministic system redundancy factor and reserve factor. The system reliability of bridges is formulated as a parallel-series model obtained from the FAM(Failure Mode Approach) based on the major failure mechanisms. AFOSM and IST methods are used for the reliability analysis of the proposed models. The proposed approach and method for the system redundancy and reserve safety/strength are applied to the safety assessment of actual RC and steel box-girder bridges. The results of the evaluation of reserved system safety or bridge system-strength in terms of the system redundancy and the system safety/strength are significantly different from those of element reliability-based or conventional methods.

• Journal of the Society of Naval Architects of Korea
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• v.52 no.2
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• pp.161-169
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• 2015

According to SOLAS Regulation XII/6.5.3 and IMO GBS functional requirement(IMO, 2010), the structural redundancy of multi-bay stiffened panel in cargo area of bulk carrier should be provided enough in order to endure the initial design load though one bay of the stiffened panel is damaged due to plastic deformation or fatigue crack. To satisfy structural redundancy, Harmonized Common Structural Rules (hereinafter CSR-H, IACS, 2014) proposed to use 1.15 instead of 1.0 for buckling usage factor of stiffened panel in cargo area. This paper shows that buckling usage factor in CSR-H for structural redundancy is somewhat conservative considering the ultimate strength calculated by using nonlinear FEA for the damaged condition which is only one bay's plastic deformation due to colliding by weigh object like a bucket. Also, this paper presents that increasing of plate thickness only is more effective to get enough structural redundancy.

• Steel and Composite Structures
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• v.29 no.4
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• pp.437-450
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• 2018

A bridge comprising of two girders, such as a twin steel box-girder bridge, is classified as fracture critical (i.e., non-redundant). In this study, the various bridge components of the twin steel box-girder bridge are investigated to determine if these could be utilized to improve bridge redundancy. Detailed finite-element (FE) models, capable of simulating prominent failure modes observed in a full-scale bridge fracture test, are utilized to evaluate the contributions of the bridge components on the ultimate behavior and redundancy of the bridge sustaining a fracture on one of its girders. The FE models incorporate material nonlinearities of the steel and concrete members, and are capable of capturing the effects of the stud connection failure and railing contact. Analysis results show that the increased tensile strength of the stud connection and (or) concrete strength are effective in improving bridge redundancy. By modulating these factors, redundancy could be significantly enhanced to the extent that the bridge may be excluded from its fracture critical designation.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.62 no.1
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• pp.23-29
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• 2013

TCN(train communication network) standard was approved in 1999 by the IEC (IEC 61375-1) and IEEE (IEEE 1473-T) organizations to warrant a reliable train and equipment interoperability. TCN defines the set of communication vehicle buses and train buses. The MVB(multifunction vehicle bus) defines the data communication interface of equipment located in a vehicle and the WTB(wire train bus) defines the data communication interface between vehicles. The WTB and each MVB will be connected over a node acting as gateway. Also, to support applications demanding a high reliability, the standard defines a redundancy scheme in which the bus may be double-line and redundant-node implemented. In this paper we have presented protocol analysis platform for the WTB redundancy which is part of TCN system, to verify communication state of high-speed trains. As a confirmation of its validity, the technology described in this paper has been successfully applied to state monitoring and protocol verification of redundancy WTB based on TCN.

• Safety and Health at Work
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• v.7 no.4
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• pp.307-316
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• 2016

Background: Resilience engineering (RE) is a new paradigm that can control incidents and reduce their consequences. Integrated RE includes four new factors-self-organization, teamwork, redundancy, and fault-tolerance-in addition to conventional RE factors. This study aimed to evaluate the impacts of these four factors on RE and determine the most efficient factor in an uncertain environment. Methods: The required data were collected through a questionnaire in a petrochemical plant in June 2013. The questionnaire was completed by 115 respondents including 37 managers and 78 operators. Fuzzy data envelopment analysis was used in different ${\alpha}$-cuts in order to calculate the impact of each factor. Analysis of variance was employed to compare the efficiency score means of the four abovementioned factors. Results: The results showed that as ${\alpha}$ approached 0 and the system became fuzzier (${\alpha}=0.3$ and ${\alpha}=0.1$), teamwork played a significant role and had the highest impact on the resilient system. In contrast, as ${\alpha}$ approached 1 and the fuzzy system went toward a certain mode (${\alpha}=0.9$ and ${\alpha}=1$), redundancy had a vital role in the selected resilient system. Therefore, redundancy and teamwork were the most efficient factors. Conclusion: The approach developed in this study could be used for identifying the most important factors in such environments. The results of this study may help managers to have better understanding of weak and strong points in such industries.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.4
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• pp.376-380
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• 2008

This paper deals with a performance analysis of real-time control systems, which engages DMR(dual modular redundancy) to detect transient errors and checkpointing technique to tolerate transient errors. Transient errors are caused by transient faults and the most significant type of errors in reliable computer systems. Transient faults are assumed to occur according to a Poisson process and to be detected by a dual modular redundant structure. In addition, an equidistant checkpointing strategy is considered. The probability of the successful task completion in a real-time control system where periodic checkpointing operations are performed during the execution of a real-time control task is derived. Numerical examples show how checkpoiniting scheme influences the probability of task completion. In addition, the result of the analysis is compared with the simulation result.