• Journal of Astronomy and Space Sciences
• /
• v.15 no.2
• /
• pp.485-497
• /
• 1998

To estimate the availability of the MCE for KOMPSAT I, mathematical models of H/W and S/W availability, the availability estimating methods for parallel and redundant system were presented. Furthermore, to improve and estimate the MCE system availability, we analyzed the computational procedure of redundant methods, and we also included effective switch choosing methods in this paper. The analytical results of the MCE system availability were estimated as follows: - 0.995216 not considering system redundancy, - 0.9955165 considering system redundancy, and -0.9963991 for the time of system real time operation.

• Journal of the Korean Society for Railway
• /
• v.20 no.3
• /
• pp.349-355
• /
• 2017

Failures of railway systems can result in train delays or accidents, and therefore high reliability is required to ensure safety of railway systems. To improve reliability, railway systems are designed with redundant systems so that the standby system will continue to function normally even if the primary system fails. Generally, overall system reliability can be evaluated by the reliabilities of the parts of the whole system and the reliability of the redundant system considering common failures in case of each system is not conform physical, functional and process independent. In this study, the reliability of the hot-standby sparing system is analyzed the independent systems and dependent systems with common failures. The reliability for the standby system can be effectively analysed using Markov models, which can model the redundant configuration and the state transition.

• The Journal of the Korea Contents Association
• /
• v.6 no.2
• /
• pp.162-168
• /
• 2006

This paper presents a high performance CORDIC circuit based on redundant numbers yielding a minimal number of iteration stages. The minimal number of iteration stages reflects the iteration number yielding a smaller computation error than the truncation error. The minimal number of iterations is found n-4 for $n\geq16$, where n is the number of input angle bits. The CORDIC circuit is based on a redundant number system with a constant scale factor The circuit performs sine and cosine calculations with a delay of {5 (n-4)+ 2[$log_{2}n$]}$\DeltaT$.

• Journal of the Korean Society for Precision Engineering
• /
• v.10 no.4
• /
• pp.227-235
• /
• 1993

In this paper, the development of a high performance flexible controller is described. The hardware of the controller, based on VME-bus, consists of four M68020 single-board computers (32-bit) with M68881 numerical coprocessors, two M68040 single board donputers, I/O devices (such as A/D and D/A converters, paraller I/O, encoder counters), and bus-to-bus adaptor. This software, written in C and based on X-window environment with Unix operating system, includes : text editor, compiler, downloader, and plotter running in a host computer for developing control program ; device drivers, scheduler, and mathemetical routines for the real time control purpose ; message passing, file server, source level debugger virtural terminal, etc. The hardware and software are structured so that the controller might have both flexibility and extensibility. In papallel to the controller, a three degrees of freedom kinematically redundant robot has been developed at the same time. The development of the same time. The development of the robot was undertaken in order to provide, on the one hand, a computationally intensive plant to which to apply the controller, and on the other hand a research tool in the field of kinematically redundant manipulator, which is, as such, an important area. By using the controller, dynamic control of the redundant manipulator was successfully experimented, showing the effectiveness and flexibility of the controller.

• Management Science and Financial Engineering
• /
• v.7 no.2
• /
• pp.73-90
• /
• 2001

This paper presents the reliability models for redundant systems composed of repairable components whose failure time and repair time distributions are phase-type. It is shown that the distribution of time to system failure is also phase-type. The dependency between components are considered and integrated into the model by the used of the rate adjustment factor. The phase-type representation is constructed for the system through algebraic operations on the parameters of components\` failure time and repair time distributions and the corresponding rate adjustment factors. Types of system structures considered are parallel, k-out-of-N system with load sharing scheme and standby system with operation priority.

• Journal of Ocean Engineering and Technology
• /
• v.29 no.5
• /
• pp.380-385
• /
• 2015

In the development of an underwater construction robot, the reliability of the operating system is the most important issue because of its huge maintenance cost, especially in a deep sea application. In this paper, we propose a new redundant architectural design for the hydraulic control system of an underwater construction robot. The proposed architecture consists of dual independent modular redundancy management systems linked with a commercial profibus network. A cold standby redundancy management system consisting of a preprocessing switch circuit is applied to the signal network, and a hot standby redundancy management system is adapted to utilize two main controllers.

• Proceedings of the KIEE Conference
• /
• 2003.07d
• /
• pp.2337-2339
• /
• 2003

Digital technologies are required to reduce to events due to human fails clarified existing nuclear power plant. When we are trying to retrofit control rod control system from analog system to digital one, new communication network and controller is required to be constructed. In this paper, we are going to introduce experience in developing economic and reliable control rod control system construction. this proposed system consists of redundant POS, communication network, and controller to provide enhance reliability and safety.

• The Journal of Korea Robotics Society
• /
• v.6 no.4
• /
• pp.308-316
• /
• 2011

This work deals with development of effective redundancy resolution algorithms for the motion control of manipulator. Differently from the typical kinematically redundant robots that are attached to the fixed ground, the ZMP condition should be taken into account in the manipulator motion in order to guarantee the system stability. In this paper, a new motion planning algorithm for redundant manipulator not fixed to the ground is introduced. A sequential redundancy resolution algorithm is proposed, which ensures the ZMP (Zero Moment Point) stability, the planned operational motion, and additional sub-criteria such as joint limit index. A geometric constraint equation derived by reshaping the existing ZMP equation enables one to employ the sequential redundancy algorithm. The feasibility of the proposed algorithm is verified by simulating a redundant manipulator model.

• Transactions on Control, Automation and Systems Engineering
• /
• v.2 no.1
• /
• pp.56-61
• /
• 2000

Majority of industrial robots are controlled by a simple independent joint control of joint actuators rather than complex controllers based on the nonlinear dynamic model of the robot manipulator. In this independent joint control scheme, the performance of actuator control is influenced significantly by the joint disturbance torques including gravity, Coriolis and centrifugal torques, which result in the trajectory tracking error in the joint control system. The control performance of a redundant manipulator under independent joint control can be improved by minimizing this joint disturbance torque in resolving the kinematic redundancy. A 3 DOF planar robot is studied as an example, and the dynamic programming method is used to find the globally optimal joint trajectory that minimize the joint disturbance torque over the entire motion. The resulting solution is compared with the solution obtained by the conventional joint torque minimization, and it is shown that joint disturbance can be reduced using the kinematic redundancy.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1650-1654
• /
• 2004

This paper presents how it is effective to use many features for improving the speed and the accuracy of the visual servo systems. Some rank conditions which relate the image Jacobian and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordinate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-Arm Robot manipulator made in Samsung Electronic Co. Ltd.