• Journal of Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.902-907
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• 2011

In this paper, we deal with performance evaluation of visual path following using 2D and 3D information. Visual path follow first teaches driving path by selecting milestone images then follows the same route by comparing the milestone image and current image. We follow the visual path following algorithm of [8] and [10]. In [8], a robot navigated with 2D image information only. But in [10], local 3D geometries are reconstructed between the milestone images in order to achieve fast feature prediction which allows the recovery from tracking failures. Experimental results including diverse indoor cases show performance of each algorithm.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.11
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• pp.5290-5304
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• 2016

With the growth of the massive amount of data, the failure probability of the cloud storage node is becoming more and more big. A single fault tolerance strategy, such as replication and erasure codes, has some unavoidable disadvantages, which can not meet the needs of the today's fault tolerance. Therefore, according to the file access frequency and size, an adaptive hybrid redundant fault tolerance strategy is proposed, which can dynamically change between the replication scheme and erasure codes scheme throughout the lifecycle. The experimental results show that the proposed scheme can not only save the storage space(reduced by 32% compared with replication), but also ensure the fast recovery of the node failures(increased by 42% compared with erasure codes).

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.21-29
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• 1994

This paper presents a method to accommodate failures that affect aircraft dynamical characteristics, especially control surface jams on a large transport aircraft. The approach is to use the slow effectors, such as the stabilators or engines, in the feedforward manner. The simulation results indicate the performance of the RFCS. In some cases of control surface jam, the aircraft cannot recover without using the stabilators. Although the inputs to the slow effectors are determined using the nominal parameters, the effects of parameter change can be compensated by adjusting the control parameters for the fast surfaces. In the case of rudder jam, if the remaining control surfaces and the differential thrust cancel the moments produced by the stuck rudder, using the engine control improves time responses and reduces deflection angles of the control surfaces. If not, however, the aircraft starts a large rolling motion following a yawing motion. In that case, the stabilators should be used to damp the induced rolliig motion, instead of trying to directly cancel the moments caused by the stuck rudder. Unfortunately, the proposed control law for the stabilators does not give such inputs, because it does not take into account the dynamical effects which stuck surfaces have on the aircraft motions. However, we have shown through simulation that the aircraft can be recovered by giving the stabilators the control inputs that counteract the induced rolling moment. Besides, the method has also been shown through simulation to be effective in maintaining control during a situation similar to an actual accident. Finally let us mention a problem with the RFCS. As stated above, we have not established a method to select a trim point which call be reached as easily as possible using the remaining control effectors. In fact, recovery performance considerably depends on the trim states. As pointed out in Ref. 11, finding the best trim point for impaired aircraft will be one of the most difficult questions in RFCS design.

• Progress in Superconductivity
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• v.7 no.2
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• pp.114-119
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• 2006

High critical current density, high n value, multiple faults endurances, and fast recovery characteristics of YBCO thin films are very attractive characteristics for developing resistive type superconducting fault current limiters. But due to the limited current and voltage ratings of one YBCO module, it is needed to construct series and parallel module connections for high capacity electric networks. Especially for distribution network, more than 30 units should be connected in series to meet voltage level. So in order to construct distribution-level superconducting fault current limiter, simultaneous quench in one YBCO thin films should be realized, and furthermore, quench should be occurred in all fault current limiting units equally to avoid local heating and failures. In this paper, we proposed optimum design of YBCO thin films for fault current limiting module and technical method using shunt resistor to achieve simultaneous quench between multi current limiting units. From the analytical and the experimental results, optimal current path and thickness of shunt material was determined for YBCO thin films and shunt resistor between modules was developed. Finally, 14 kV one phase resistive fault current limiter using multi YBCO thin films was constructed and it was possible to get satisfactory test results.