• 로봇학회논문지
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• 제12권2호
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• pp.194-205
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• 2017

A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric and kinematic characteristics via singularity analysis, the kinematic isotropy index, and the input-output force transmission ratio are investigated both for the redundantly actuated cases and for the non-redundantly actuated case. In addition, comparative joint torque simulations of the mechanism with different number of redundant actuations as well as without redundant actuation are conducted to confirm the improved joint torque distribution characteristics. Through these analyses it is shown that the geometric and kinematic characteristics of the redundantly actuated mechanism are superior to the ones of the mechanism without redundant actuation. Thus, it can be concluded that the suggested planar mechanism with redundant actuation has a very high potential for haptic device applications.

• 한국정보통신학회논문지
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• 제5권3호
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• pp.517-524
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• 2001

IEEE-754 부동소수점 표준을 지원하는 radix-2 SRT 제산기 유닛을 redundant binary (RB) 수치계를 이용하여 설계하였다. RB 수치계를 이용함으로써 기존의 2의 보수 수치계를 이용하는 경우에 비해 부분 몫 결정 회로의 동작속도를 약 20-% 향상시킴과 아울러 회로 단순화를 이루었다. 또한, 새로운 RB 가산기 회로를 제안함으로써 가수 제산기를 효율적으로 구현하여 기존의 방식에 비해 면적을 약 20-%의 감소시켰다. 설계된 부동소수점 제산기는 배정도 형식과 5가지의 예외처리 및 4가지의 반올림 모드를 지원하며, Verilog HDL로 설계되어 Verilog-XL로 검증하였다.

• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.869-877
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• 2004

This paper deals with motion planning algorithm for kinematically redundant manipulators that are not fixed to the ground. Differently from usual redundant manipulators fixed to the ground, the stability issue should be taken into account to prevent the robot from falling down. The typical ZMP equation, which is employed in human walking, will be employed to evaluate the stability. This work proposes a feed forward ZMP planning algorithm. The algorithm embeds the 'ZMP equations' indirectly into the kinematics of the kinematic model of a manipulator via a ZMP stability index The kinematic self motion of the redundant manipulator drives the system in such a way to keep or plan the ZHP at the desired position of the footprint. A sequential redundancy resolution algorithm exploiting the remaining kinematic redundancy is also proposed to enhance the performances of joint limit index and manipulability. In addition, the case exerted by external forces is taken into account. Through simulation for a 5 DOF redundant robot model, feasibility of the proposed algorithms is verified. Lastly, usual applications of the proposed kinematic model are discussed.

• 한국지능정보시스템학회:학술대회논문집
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• 한국지능정보시스템학회 2001년도 The Pacific Aisan Confrence On Intelligent Systems 2001
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• pp.65-70
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• 2001

We consider a hyper-redundant system that consists of many uniform units. The hyper-redundant system has many degrees of freedom and it can accomplish various tasks. Applysing the reinforcement learning to the hyper-redundant system is very attractive because it is possible to acquire various behaviors for various tasks automatically. In this paper we present a new reinforcement learning algorithm "Q-learning with propagation of motion". The algorithm is designed for the multi-agent systems that have strong connections. The proposed algorithm needs only one small Q-table even for a large scale system. So using the proposed algorithm, it is possible for the hyper-redundant system to learn the effective behavior. In this algorithm, only one leader agent learns the own behavior using its local information and the motion of the leader is propagated to another agents with time delay. The reward of the leader agent is given by using the whole system information. And the effective behavior of the leader is learned and the effective behavior of the system is acquired. We apply the proposed algorithm to a snake-like hyper-redundant robot. The necessary condition of the system to be Markov decision process is discussed. And the computer simulation of learning the locomotion is demonstrated. From the simulation results we find that the task of the locomotion of the robot to the desired point is learned and the winding motion is acquired. We can conclude that our proposed system and our analysis of the condition, that the system is Markov decision process, is valid.

• 전기전자학회논문지
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• 제10권2호통권19호
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• pp.128-133
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• 2006

본 논문에서는 고속 통신용 인터페이스 회로를 RMVL(redundant multi-valued logic)을 이용하여 CMOS 회로로 설계하였다 설계한 1:4 디멀티플렉서 (demuitiplexer, serial-parallel convertor)는 직렬 데이터를 병렬 redundant 다치 데이터로 변환하는 부호화 회로와 redundant 다치 데이터를 병렬 이진 데이터로 변환하는 복호화 회로로 구성된다. 이 회로는 0.35um 표준 CMOS 공정을 이용하여 구현하였으며, 기존의 이진 논리회로보다 고속 동작을 한다. 이 회로는 3.3V의 공급전원에서 4.5Gb/s 이상의 동작속도와 53mW의 전력소모를 가지며, 동작속도는 0.35um 공정이 가지는 최대 주파수에 의해 제한된다. 설계한 회로가 높은 동작 주파수를 가지는 미세공정상에서 사용될 경우 100b/s 이상의 고속 통신용 인터페이스 구현이 가능하다.

• Journal of Power Electronics
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• 제16권4호
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• pp.1426-1437
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• 2016

In different industrial and mission oriented applications, redundant or standby semiconductor systems can be implemented to improve the reliability of power electronics equipment. The proper structure for implementation can be one of the redundant or standby structures for series or parallel switches. This selection is determined according to the type and failure rate of the fault. In this paper, the reliability and the mean time to failure (MTTF) for each of the series and parallel configurations in two redundant and standby structures of semiconductor switches have been studied based on different failure rates. The Markov model is used for reliability and MTTF equation acquisitions. According to the different values for the reliability of the series and parallel structures during SC and OC faults, a comprehensive comparison between each of the series and parallel structures for different failure rates will be made. According to the type of fault and the structure of the switches, the reliability of the switches in the redundant structure is higher than that in the other structures. Furthermore, the performance of the proposed series and parallel structures of switches during SC and OC faults, results in an improvement in the reliability of the boost dc/dc converter. These studies aid in choosing a configuration to improve the reliability of power electronics equipment depending on the specifications of the implemented devices.

• 한국경영과학회지
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• 제23권1호
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• pp.97-107
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• 1998

This paper is concerned with a parallel system that sustains a time-independent load and consists of n components with exponential lifetimes. It is assumed that the total load is shared by the working components and the failures of components increase higher failure rates in the surviving components according to the relationship between the load and the fialure rates. The power rule model among several load-failure rate relationships is considered. We consider the system efficiency meausre as the expected profit earned by the system per unit time. The high load causes high gain but it also occurs frequent system failures. The expected profit per unit time is used as criterion to evaluate the system efficiency. The goal of system engineer is to determine the optimal load and redundant units maximizing the expected profit per unit time. First, the system reliability function is obtained and the optimization problem of the load-sharing parallel system is considered. Given the redundant units, the existence of the optimal load can be proved analytically and given the load, the optimal redundant units can be solved also analytically. The optimal load and redundant units are obtained simultaneously by numerical computation. Some numerical examples are studied.

• Journal of Power Electronics
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• 제11권4호
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• pp.533-541
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• 2011

The redundant operation of a parallel AC to DC converter via a serial communication bus is presented. The proposed system consists of three isolated CUK power factor correction modules. The controller for each converter is a dsPIC30F6010 microcontroller while a RS485 communication bus and the clock signal are used for synchronizing the data communication. The control strategy of the redundant operation relies on the communication of information among each of the modules, which communicate via a RS485 serial bus. This information is received from the communication checks of the converter module connected to the system to share the load current. Performance evaluations were conducted through experimentation on a three-module parallel-connected prototype, with a 578W load and a -48V dc output voltage. The proposed system has achieved the following: the current sharing is quite good, both the transient response and the steady state. The converter modules can perform the current sharing immediately, when a fault is found in another converter module. In addition, the transient response occurs in the system, and the output voltages are at their minimum overshoot and undershoot. Finally, the proposed system has a relatively simple implementation for the redundant operation.

• Journal of Korean Neurosurgical Society
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• 제65권4호
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• pp.591-597
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• 2022

Objective : Pituitary adenomas frequently extend into the suprasellar space. After a suprasellar tumor is removed, the superiorly extended arachnoid becomes redundant and sinks down into the intrasellar space which often hiders visualization and accessibility to the hidden space behind the evaginated arachnoid. We introduced arachnoid remodeling by clipping technique, and evaluated its usefulness and safety during TSS. Methods : Total 223 patients who underwent arachnoid remodeling with our new clipping technique were included. Redundant arachnoid was clipped along the dural edge with multiple 2.6-mm titanium clips until the redundant arachnoid membrane no longer blocked the surgical route. To check for possible deterioration of hormonal function by this technique, we assessed anterior pituitary function of 166 patients who underwent arachnoid remodeling by clipping and compared this with those of other 429 control patients. Results : Our technique greatly enhanced the accessibility and visualization of intrasellar and parasellar spaces, both of which are generally hindered by redundant arachnoid during transsphenoidal surgery (TSS). We found no difference in anterior pituitary function between a clip-assisted arachnoid remodeling group and the control group, implying that this technique does not result in hypopituitarism. Conclusion : During TSS for pituitary adenomas with suprasellar extension, arachnoid remodeling by clipping technique is very useful and convenient for the management of the redundant arachnoid membrane to enhance visualization and surgical accessibility.

• 한국음향학회지
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• 제40권6호
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• pp.546-554
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• 2021

수중 탐지를 위한 합성개구소나(Synthetic Aperture Sonar, SAS) 신호처리에서는 탑재플랫폼이 직선경로를 따라 주행한다고 가정한다. 그러나 실제로는 플랫폼의 복잡한 운동에 따른 궤적 교란으로 인해 SAS 영상에 번짐과 같은 왜곡이 발생한다. 본 연구에서는 예인형 SAS 개발을 위해 궤적 교란에 의한 SAS 영상 왜곡을 개선하기 위한 방법으로서, Redundant Phase Center (RPC)을 이용한 예인체 운동 추정 및 영상 보정, 그리고 자동 초점 기법인 Phase Gradient Autofocus (PGA) 기법에 대해 검토하였다. 그리고 시뮬레이션을 통해, sway로 인해 왜곡된 SAS 영상에 이 기법들을 적용하고 그 성능 및 유효성에 대해 살펴보았다.