• ETRI Journal
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• v.29 no.1
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• pp.18-26
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• 2007

This paper presents an improved redundant picture coding method that efficiently enhances the error resiliency of H.264. The proposed method applies polyphase downsampling to residual blocks obtained from inter prediction and selectively encodes the rearranged residual blocks in the redundant picture coding process. Moreover, a spatial-temporal sample construction method is developed for the redundant coded picture, which further improves the reconstructed picture quality in error prone environments. Simulations based on JM11.0 were run to verify the proposed method on different test sequences in various error prone environments with average packet loss rates of 3%, 5%, 10%, and 20%. Results of the simulations show that the presented method significantly improves the robustness of H.264 to packet loss by 1.6 dB PSNR on average over the conventional redundant picture coding method.

• ETRI Journal
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• v.27 no.4
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• pp.418-426
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• 2005

A calibration technique for a redundant inertial measurement unit (IMU) containing low-grade inertial sensors is proposed. In order to calibrate a redundant IMU that can detect and isolate faulty sensors, the fundamental coordinate frames in the IMU are defined and the IMU error is modeled based on the frames. Equations to estimate the error coefficients of the redundant IMU are formulated, and a test sequence using a 2-axis turntable is also presented. Finally, a redundant IMU with cone configuration is implemented using low-grade inertial sensors, and the performance of the proposed technique is verified experimentally.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.44 no.2
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• pp.121-126
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• 2007

This paper describes a 9.09 Gb/s CMOS demultiplexer using redundant multi-valued logic (RMVL). The proposed circuit receives serial binary data and is converted to parallel redundant multi-valued data using RMVL. The converted data are reconverted to parallel binary data. By the redundant multi-valued data conversion, the RMVL makes it possible to achieve higher operating speeds than that of a conventional binary logic. The implemented demultiplexer consists of eight integrators. Each integrator is composed of an accumulator, a window comparator, a decoder and a D flip flop. The demultiplexer is designed with Samsung $0.35{\mu}m$ standard CMOS process. The validity and effectiveness are verified through the post layout simulation. The demultiplexer is achieved the maximum data rate of 9.09 Gb/s and the average power consumption of 69.93 mW. This circuit is expected to operate at higher speed than 9.09 Gb/s in the deep-submicron process of the high operating frequency.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.10
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• pp.60-66
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• 2004

Redundant thrusters are generally adopted to satellite designs for a highly reliable attitude control system. So efficient redundancy management is required to take advantage of these redundant thrusters. In this paper, control allocation method is proposed as a method for controlling redundant thrusters. Control allocation is a method to calculate optimal distribution on redundant controls for realizing desired forces/torques. It is shown that a control allocation problem for redundant thrusters is formulated as a linear programming problem which minimizes fuel consumptions with thrusters, constraints. We also show that the proposed method is more efficient than an existing method by numerical examples.

• Journal of Electrical Engineering and Technology
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• v.11 no.1
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• pp.215-226
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• 2016

Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperbolic function, we get a new algorithm which enables reducing the chattering effect of the real actuators, which together with the learning and adaptive controllers, is applied to the model and to the real robot. A simulation environment including the actuator dynamics is elaborated. A 5 DOF robot, a communication interface and a signal conditioning circuit are designed and implemented for feedback. Three control laws are executed in: a simulation structure (together with the dynamic model of the SCARA type redundant manipulator and the actuator dynamics) and a real redundant manipulator of the SCARA type carried out using MatLab/Simulink programming tools. The results, obtained through simulation and implementation, were represented by comparative curves and RMS indices of the joint errors, and they showed that the redundant manipulator, both in the simulation and the implementation, followed the test trajectory with less pronounced maximum errors using the adaptive controller than the other controllers, with more homogeneous motions of the manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1613-1616
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• 1997

In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is designed and implemented. an optimal set of acutator locations and link lengths for the case of one redundant actuator is obtained by employing a composite design index which simulataneously consider several performance indices such as workspace, isotropic index, and force transmission ratio. Each joing is driven by an compact actuator mechanism having ultrasonic motor and a gear set with poeneiometer an controlled by VME Bus-based control system.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.3
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• pp.83-89
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• 2001

In this paper, we discuss the vibration suppression control of spatial redundant flexible manipulators through pseudo-inversed of Jacobian. In order to verify our method, the experiments are performed for PTP(Point To Point) motion of spa-tial flexible manipulators(1) with no redundancy(2) with one redundant DOF(degree of freedom). Finally, a comparison between these results is presented to show the performance of out approach.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.48-51
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• 1996

A 5-bar structure with redundant actuators is proposed as a finger mechanism. It is shown that one additional redundant actuator greatly enhances the load handling capacity of the system. The actuator location should be carefully decided to maximize the performance enhancement. Furthermore, we develop stiffness and frequency control algorithms based on the internal loading created by redundant actuation. The effectiveness of these algorithms have been demonstrated by simulations.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.13-17
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• 1990

In this paper we propose the force controller using a neural network for a redundant manipulator. Jacobian transpose matrix of a redundant manipulator constructed by a neural network is trained by using a feedback torque as an error signal. If the neural network is sufficiently trained well, the kinematic inaccuracy of a manipulator is automatically compensated. The effectiveness of the proposed controller is demonstrated by computer simulation using a three-link planar robot.

• Journal of Korean Society for Quality Management
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• v.19 no.2
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• pp.78-85
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• 1991

In this paper, an inspection and replacement policy in a redundant system is considered. It is assumed that the state of the redundant system is known by inspection. When the system is inspected, it is preventively replaced only if the number of failed units exceeds the predetermined limit. Otherwise, the system is inspected after a inspection interval which depends on the number of failed units. We obtain the optimal number of redundant units, inspection intervals and replacement limit minimizing the expected cost rate.