• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.3
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• pp.301-311
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• 1990

A multiple controller structure consisting of a typical feedback controller and an additive redundant controller is proposed for enhancing the reliability of the control system. For the case where the main controller is chosen as a pole assignment controller with input/output measurements and the redundant controller as the Model Reference Adaptive Controller (MRAC) whose reference model is the closed-loop combination of the plant and the main controller, it is proven that the tracking error between the command input and plant output converges to zero under failure in one of the controllers or parameter perturbations of the plant, and further that the reliability measured by Mean Time To Failure (MTTF) is greater than that of the system with only a single main controller. A simulation Example is provided to illustrate reliable operation of the proposed control system against the controller failure.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.355-360
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• 2002

To calibrate a non-redundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism's kinematic structure and measurement values. However, the calibration algorithm for a non-redundant case does not apply fur a redundantly actuated parallel mechanism, because the angle error of the actuating joint varies with position and the geometrical constraint fails to be consistent. Such change of joint angle error comes from constraint torque variation with each kinematic pose (meaning position and orientation). To calibrate a redundant parallel mechanism, one therefore has to consider constraint torque equilibrium and the relationship of constraint torque to torsional deflection, in addition to geometric constraint. In this paper, we develop the calibration algorithm fir a redundantly actuated parallel mechanism using these three relationships, and formulate cost functions for an optimization algorithm. As a case study, we executed the calibration of a 2-DOF parallel mechanism using the developed algorithm. Coordinate values of tool plate were measured using a laser ball bar and the actual kinematic parameters were identified with a new cost function of the optimization algorithm. Experimental results showed that the accuracy of the tool plate improved by 82% after kinematic calibration in a redundant actuation case.

• The Journal of the Korea Contents Association
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• v.16 no.6
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• pp.205-214
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• 2016

As a large amount of graph-structured data is widely used in various applications such as social networks, semantic web, and bio-informatics, keyword-based search over graph data has been getting a lot of attention. In this paper, we propose an efficient method for keyword search over graph data to find a set of top-k answers that are relevant as well as non-redundant in structure. We define a non-redundant answer structure for a keyword query and a relevance measure for the answer. We suggest a new indexing scheme on the relevant paths between nodes and keyword terms in the graph, and also propose a query processing algorithm to find top-k non-redundant answers efficiently by exploiting the pre-calculated indexes. We present effectiveness and efficiency of the proposed approach compared to the previous method by conducting an experiment using a real dataset.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1289-1292
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• 1997

Typical biomechanical system such as human body and mammals possess abundant muscles which are more than required for motion generation of such systems. We have shown that the excess number of muscles play important roles in spring-like impedance modulation. redundant kinematic structure, which is another feature of biomechanical systems, allows modulations of inertia and damping properties of such systems. In this work, we propose a frequency modulation algorithm which combines the spring-like impedance with inertia impedance. also, a load distribution method for frequency modulation is also introduced. The frequency modulation represents a simulataneous control of force and kinematic redundancies, which has not been addressed in the literature.

• JSTS:Journal of Semiconductor Technology and Science
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• v.17 no.3
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• pp.387-400
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• 2017

A new junction-splitting based SAR ADC with a redundant searching capacitor array structure in $0.13{\mu}m$ CMOS process to alleviate capacitor mismatch effects, is presented. The normalized average power has a factor of 0.35 to the conventional SAR ADC at 10-bit conversion accuracy. Statistical experiments show the number of missing codes resulting from the mismatch reduces by 95% for 3% unit-capacitor mismatch ratio, while keeping the conversion energy to that of the conventional JS capacitor array.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.4
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• pp.328-333
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• 2013

Since a slight malfunction of control systems in a nuclear power plant may cause huge catastrophes, such control systems usually have multiple redundancy and reliable features, and their reliability and availability should be analyzed and verified thoroughly. This paper performed the reliability analysis of the SPLC (Safety Programmable Logic Controller) that is under developed as the control systems for the next generation nuclear power plant. One of the key features of SPLC is that it has multiple redundancy modes as faults happen, which means the reliability analysis for one fixed redundant model is not enough to analyze the reliability of SPLC. With considering this reconfigurable concept, FTA (Fault Tree Analysis) was used to capture fault-relationship among sub-modules. The analysis results show that MTTF (Mean Time to Fault) of SPLC is 45,080 hours, which is a about 4.5 times longer than the regulation, 10,000 hours.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.11C
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• pp.1030-1036
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• 2006

In this paper, we present two methods of correcting bit errors in constant amplitude multi-code (CAMC) CDMA, which uses the redundant bits only. The first method is a parity-based bit correction with hard-decision, where the received signals despread into n two-dimensional structure with both horizontal parity and vertical parity. Then, an erroneous bit is corrected for each $4{\times}4$ pattern. The second method is a turbo decoding, which is modified from the decoding of a single parity check product code (SPCPC). Experimental results show that, in the second method, the redundant bits in CAMC can be fully used for the error correction and so they are not really a loss of channel bandwidth. Hence, CAMC provides both a low peak-to-average power ratio and robustness to bit errors.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.6
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• pp.770-778
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• 2012

In this paper, we propose a multi-path construction scheme to improve the survivability of a multicast session in military hybrid networks. A military hybrid network consists of a static backbone network and multiple mobile stub networks where some nodes are frequently susceptible to be disconnected due to link failure and node mobility. To improve the survivability of multicast sessions, we propose a construction scheme of ${\kappa}$ redundant multi-paths to each receiver. In order to take account of different characteristics of static and mobile networks, we propose quite different multi-path setup approaches for the backbone and stub networks, respectively, and combine them at the boundary point called gateway. We prove that our proposed scheme ensures that each receiver of a multicast session has ${\kappa}$ redundant paths to the common source. Through simulations, we evaluate the performance of the proposed schemes from three aspects : network survivability, recovery cost, and end-to-end delay.

• Smart Structures and Systems
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• v.26 no.3
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• pp.373-390
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• 2020

Hybrid simulation (HS) is a versatile tool for structural performance evaluation under dynamic loads. Although real structural responses are often multiple-directional owing to an eccentric mass/stiffness of the structure and/or excitations not along structural major axes, few HS in this field takes into account structural responses in multiple directions. Multi-directional loading is more challenging than uni-directional loading as there is a nonlinear transformation between actuator and specimen coordinate systems, increasing the difficulty of suppressing loading error. Moreover, redundant actuators may exist in multi-directional hybrid simulations of large-scale structures, which requires the loading strategy to contain ineffective loading of multiple actuators. To address these issues, lately a new strategy was conceived for accurate reproduction of desired displacements in bi-directional hybrid simulations (BHS), which is characterized in two features, i.e., iterative displacement command updating based on the Jacobian matrix considering nonlinear geometric relationships, and force-based control for compensating ineffective forces of redundant actuators. This paper performs performance validation and application of this new mixed loading strategy. In particular, virtual BHS considering linear and nonlinear specimen models, and the diversity of actuator properties were carried out. A validation test was implemented with a steel frame specimen. A real application of this strategy to BHS on a full-scale 2-story frame specimen was performed. Studies showed that this strategy exhibited excellent tracking performance for the measured displacements of the control point and remarkable compensation for ineffective forces of the redundant actuator. This strategy was demonstrated to be capable of accurately and effectively reproducing the desired displacements in large-scale BHS.

• Journal of the Korean Institute of Telematics and Electronics C
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• v.35C no.4
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• pp.1-10
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• 1998

Partitioning problem of large combinational logic has been studied in real world. Most of logic include undectable faults from the structure of it's redundant, fan-out-reconvergent, and symetrical feature. BPT algorithm is proposed to enhance the fault voverage for combinational logic partitioning. This algorithm partitions the logic by cut the lines related to undetectable structure when seperating. Controllability and observability are considered in the process of partitioning. This algorithm is evaluated effective by testing ISCAS85 circuits.