Relevant bibliographies by topics / Redundancy (Engineering)

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'Redundancy (Engineering)'

Author: Grafiati
Published: 4 June 2021
Last updated: 31 January 2023

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Journal articles on the topic "Redundancy (Engineering)"

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Kanno, Yoshihiro, and Yakov Ben-Haim. "Redundancy and Robustness, or When Is Redundancy Redundant?" Journal of Structural Engineering 137, no. 9 (September 2011): 935–45. http://dx.doi.org/10.1061/(asce)st.1943-541x.0000416.

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Harada, Takashi. "Mode changes of redundantly actuated asymmetric parallel mechanism." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 230, no. 3 (May 26, 2015): 454–62. http://dx.doi.org/10.1177/0954406215588479.

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A novel parallel mechanism which enlarges the workspace by singularity-free mode changes is proposed. The proposed mechanism has inherited the design of Linear DELTA, three translational degree-of-freedom and the moving plate driven by three linear actuators. In addition, the mechanism is extended by redundant actuation by four linear actuators and asymmetric design. New criterions about redundancy and singularity of redundantly actuated parallel mechanism using summation and product of determinants of minor matrices of the transposed Jacobian matrix are proposed. Redundant actuation and asymmetric design enables singularity-free mode changes with loss redundancy but maintains non-singularity, which is evaluated by the proposed criterions. Numerical simulations demonstrate the singularity-free mode changes of the proposed mechanism.
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POURDARVISH, AHMAD, and ZAHRA RAMEZANI. "COLD STANDBY REDUNDANCY ALLOCATION IN A MULTI-LEVEL SERIES SYSTEM BY MEMETIC ALGORITHM." International Journal of Reliability, Quality and Safety Engineering 20, no. 03 (June 2013): 1340007. http://dx.doi.org/10.1142/s021853931340007x.

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Reliability improvement problems have much importance in various engineering systems. Real-world engineering systems contain multiple levels. So, a redundancy allocation problem (RAP) is an efficient method to improve the reliability. Different from existing approaches that consider either hot or cold standby redundancy for a component, our approach considers a multi-level cold standby redundancy allocation problem (MLCSRAP). In other words, MLCSRAP is considered for the module and component levels, simultaneously. The units are duplicated by cold standby redundant units. An optimization solution methodology based on a customized memetic algorithm (MA) is presented for obtaining the optimal reliability of configuration multi-level series. The optimal multi-level redundancy allocation provides the improved reliability and lower life cycle cost. The proposed multi-level cold standby redundancy is compared with a multi-level active redundancy. Also, we allocate the cold standby redundancy at all levels using hierarchical genetic algorithm and compare two algorithms together. Finally, the numerical example illustrates how the theoretical results obtained in this paper can be applied.
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Wu, J., J.-S. Wang, L.-P. Wang, and T.-M. Li. "Dexterity and stiffness analysis of a three-degree-of-freedom planar parallel manipulator with actuation redundancy." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 221, no. 8 (August 1, 2007): 961–69. http://dx.doi.org/10.1243/09544062jmes456.

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The current paper deals with the dexterity and stiffness of a three-degree of freedom (DOF) planar parallel manipulator with actuation redundancy, which is a subpart of a four-DOF-hybrid machine tool. Based on the kinematics, the dexterity is analysed. The stiffness indices, which are the maximum deflection of the moving platform under the action of a unit force and the minimum eigenvalue of the stiffness matrix of the manipulator, are presented for investigating the stiffness. According to the minimum eigenvalue index, it is proved that actuation redundancy can improve the stiffness of the parallel manipulator. Moreover, the relationship between the singular configuration and the stiffness of the parallel manipulator is discussed. Compared with the corresponding non-redundant parallel manipulator without the redundant link, the redundantly actuated parallel manipulator has better dexterity and higher stiffness.
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Osterberg, Jorj O. "Necessary Redundancy in Geotechnical Engineering." Journal of Geotechnical Engineering 115, no. 11 (November 1989): 1513–31. http://dx.doi.org/10.1061/(asce)0733-9410(1989)115:11(1513).

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van den Brand, Mark, and Jan Friso Groote. "Software engineering: Redundancy is key." Science of Computer Programming 97 (January 2015): 75–81. http://dx.doi.org/10.1016/j.scico.2013.11.020.

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Gonçalves-Coelho, António, Gabriela Neştian, Miguel Cavique, and António Mourão. "Some Peculiarities of the Redundant Design Solutions." Advanced Materials Research 837 (November 2013): 49–54. http://dx.doi.org/10.4028/www.scientific.net/amr.837.49.

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In common speech, the term redundant is used to label superfluous repetitions that as a rule should be avoided. Nevertheless, redundancy is a linguistic tool that can play a remarkable role in the communication of complex thoughts in both the vernacular and the erudite talking or writing, which includes the field of engineering design. In the Axiomatic Design (AD) point of view, redundancy may increase the complexity of the design solutions (which is measured through their information content), but does not necessarily entail the breach of the ADs independence axiom. Hence, redundant solutions should not be excluded in a regular basis, since the ones that comply with the independence axiom are considered good design. According to this line of reasoning, the pertinence of redundant solutions should be assessed in the onset of the designing processes, bearing in mind the virtues of the likely higher simplicity of the non-redundant solutions. This paper deals with some basic concepts related to redundant design and it should be seen as a contribution to bring more insight on a subject that is not thoroughly reviewed in the known literature. Different forms of redundancy are considered, specifically the reliability motivated active and passive types, and the functionality-related alternative and augmentative kinds. The means to perceive intrinsic redundancy through the examination of the design equations are also provided, as well as some illustrative examples. The implicit conclusions are that redundant designs are much more usual that one can think at a first glance, and that the study of their peculiarities might deserve further attention.
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Bhattacharya, Debasis, and Soma Roychowdhury. "On constrained reliability maximization using active redundancy in coherent systems with non-overlapping subsystems." An International Journal of Optimization and Control: Theories & Applications (IJOCTA) 5, no. 1 (October 25, 2014): 33–39. http://dx.doi.org/10.11121/ijocta.01.2015.00205.

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The paper investigates a problem of constrained reliability maximization by allocating redundancy and proposes how to solve it for a broad group of complex coherent systems. Redundancy is an effective engineering tool to enhance system reliability to make a system fail-safe. Since adding redundancy increases the cost and complexity of a system design, it should be used wisely. The work considers an exact solution to the problem under resource constraints and finds optimal redundancy numbers. The proposed method can accommodate any number of constraints. Numerical examples have been included. A sensitivity analysis has been carried out to show how sensitive the optimal allocation of redundant components and the gain in system reliability are to the budget allocation.
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Sui, Tian Zhong, Zhen Tan, Lei Wang, Xiao Bin Gu, and Zhao Hui Ren. "A Method for Completeness Testing of Dimensioning in 2D Drawing." Applied Mechanics and Materials 319 (May 2013): 351–55. http://dx.doi.org/10.4028/www.scientific.net/amm.319.351.

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Dimensioning work is a considerably important link in the whole Engineering Drawing. For existing completeness testing of dimensioning, correct conclusion can not be drawn in case of multi-closed dimension. This paper mainly discusses the ways how to automatically check up the deficiency and redundancy of the dimensions. This paper presents a new and effective algorithm to test whether the dimensions are redundant or insufficient by means of the graph theory and intelligent search. The dimensions are transformed to non-directed graph, then detects whether they are redundant or insufficient by traversing adjacent matrix of the non-directed graph. The deficiency and redundancy of dimension for multi-views of engineering drawing can be corrected by this algorithm.
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Potkonjak, Veljko. "Application of redundant robots to constrained-motion tasks." Robotica 10, no. 5 (September 1992): 397–407. http://dx.doi.org/10.1017/s0263574700010602.

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SUMMARYThe problem of the constrained motion of robot end-effector is discussed. The redundant robot is considered, redundancy being added in order to improve robot working characteristics. In the phase of free motion towards the constraint the errors of basic non-redundant configuration are corrected by means of redundancy. During the constrained motion redundancy plays the role either of active or passive compliance. Between these two phases, the collision with the constraint occurs, and the impact can be absorbed by using redundancy.
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Dissertations / Theses on the topic "Redundancy (Engineering)"

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Tai, Cheng-Tao. "Time dependant redundancy optimization." Thesis, This resource online, 1993. http://scholar.lib.vt.edu/theses/available/etd-01312009-063418/.

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Pagonakis, Dimitrios. "Volumetric topology optimization under redundancy constraints." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/104242.

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Thesis: M. Eng., Massachusetts Institute of Technology, Department of Civil and Environmental Engineering, 2016.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 117-120).
With ever-increasing pollution and scarcity of resources, structural optimization, the science of finding the optimal structural arrangements under equilibrium constraints, is becoming an increasing necessity in engineering practice. However, designers are hesitant to adopt a method that is by nature a limit state and thus potentially unreliable. This thesis embeds a level of safety, namely redundancy, within the structural optimization process. Redundancy is the ability to remove a certain number of elements from the structure without losing stability. The thesis translates this constraint into a linear mathematical optimization problem. Then, a topology optimization algorithm is developed that identifies the least volume structure with the ability to remove any element(s) while maintaining stability under the initial loading. Besides the developed algorithm, this thesis shows the relation between the internal forces of redundant structures and their substructures, and in fact shows that it can be expressed linearly when only 1 level of redundancy is provided, and polynomial for higher levels. The algorithm is eventually implemented and extensively analyzed for a series of configurations, showing that redundant optimal shapes have considerably less volume than twice that of the pure volumetric optimal, and hence effectively combine safety with material efficiency. Overall, this thesis constitutes the early stage of a novel structural optimization algorithm that is unique to its volumetric optimization objectives.
by Dimitrios Pagonakis.
M. Eng.
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Arenson, Noga. "Real-time redundancy-resolution schemes for robotic manipulators." Thesis, McGill University, 1998. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=20197.

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This thesis reports work not only on the numerics behind, but also the implementation of real-time redundancy-resolution schemes on a real robot. Furthermore, the robot that was chosen as the experimental platform is, isotropic. Redundant robots have more degrees of freedom than needed to perform a class of tasks. A new performance index is proposed in the thesis, that is quadratic in the joint variables and its weighting function has units of frequency. It is shown how this performance index can produce cyclic trajectories in a simple manner, thereby eliminating the undesired drift of the joint angles upon tracking a closed Cartesian trajectory.
Isotropic robots can be postured in such a way that the condition number of their Jacobian matrices can attain a minimum value of unity. It is shown in the thesis that this feature is closely related to the performance of the robot. It appears that trajectories that are close to the set of isotropic postures are performed with smaller errors than trajectories lying far from that set.
The experiments reported here were conducted on the McGill-IRIS C3 Arm, an isotropic, four-revolute redundant manipulator, used to position the operation point of its end link. (Abstract shortened by UMI.)
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Shiao, Cheng-Mu. "Resolution of kinematic redundancy through local and global optimization /." The Ohio State University, 1988. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487597424137831.

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Khoury, Nancy. "Path enumeration & redundancy removal for timing optimization." Related electronic resource: Current Research at SU : database of SU dissertations, recent titles available full text, 2009. http://wwwlib.umi.com/cr/syr/main.

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Nowicki, David R. "Reliability allocation and apportionment : addressing redundancy and life-cycle cost /." Thesis, This resource online, 1993. http://scholar.lib.vt.edu/theses/available/etd-08042009-040416/.

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Lloyd, Jason B. "Internal Redundancy of Mechanically-Fastened Steel Built-Up Axially-Loaded Members." Thesis, Purdue University, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10844999.

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The objectives of this research were to determine if mechanically-fastened steel built-up axially-loaded tension members are resistant to complete cross-sectional fracture when a single component suddenly fractures and if so, to develop simplified methods of analysis for post-fracture load redistribution behavior for calculation of remaining fatigue life. The ability to resist complete member failure and perform at a predetermined level of reliability with a failed component is referred to as internal member redundancy (IMR). The experimental program included seven full-scale tests; five were extremely demanding fracture tests, including one specimen with a tack weld placed in the path of a running fracture, and the other two were full-scale specimens removed from a 1940’s era built-up riveted deck truss, which were partially failed and tested to calibrate finite element models. Comprehensive finite element model-based parametric studies were carried out investigating the post-fracture load redistribution behavior and resulting stress amplification for multi-component, angle-only, and two-channel type axial members. Simplified closed-form solutions were developed for members of any geometry that fall within these broad categories of built-up axially-loaded tension members.

The IRM evaluation process is intended to combine the concepts related to probability of detection (POD) of fatigue cracks on steel bridges with the fatigue damage tolerance of mechanically-fastened built-up members. Preliminary results from ongoing POD research at Purdue University suggests that the steel bridge industry has unknowingly been relying on internal redundancy of mechanically-fastened built-up members. In other words, due to the difficulty of finding small cracks in components of built-up members, it is more likely that traditional arms-length inspections of fracture-critical members will find broken components instead. More candidly stated, this research provides the industry with quantitative analysis for the purpose of establishing rational inspection intervals for built-up axial members that are realistic about what can be reliably found during inspections and for what duration undiscovered damage can be safely tolerated due to internal member redundancy of the mechanically-fastened built-up member.

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Baron, Luc. "Contributions to the estimation of rigid-body motion under sensor redundancy." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp03/NQ29886.pdf.

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Joshi, Gauri. "Efficient redundancy techniques to reduce delay in Cloud systems." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/105944.

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Thesis: Ph. D., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016.
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 197-209).
Cloud services are changing the world by providing millions of people low-cost access to the computing power of data centers. Storing and processing data on shared servers in the cloud provides scalability and flexibility to these services. However the large-scale sharing of resources also causes unpredictable fluctuations in the response time of individual servers. In this thesis we use redundancy as a tool to combat this variability. We study three areas of cloud infrastructure: cloud computing, distributed storage, and streaming communication. In cloud computing, replicating a task on multiple machines and waiting for the earliest copy to finish can reduce service delay. But intuitively, it costs additional computing resources, and increases queueing load on the servers. In the first part of this thesis we analyze the eect of redundancy on queues. Surprisingly, there are regimes where replication not only reduces service delay but also reduces queueing load, thus making the system more ecient. Similarly, we can speed-up content download from cloud storage systems by requesting multiple replicas of a le and waiting for any one. In the second part of the thesis we generalize from replication to coding, and propose the (n, k) fork-join model to analyze the delay in accessing an (n, k) erasure-coded storage system. This analysis provides practical insights into how many users can access a piece of content simultaneously, and how fast they can be served. Achieving low latency is even more challenging in streaming communication because the packets need to be delivered fast and in-order. The third part of this thesis develops erasure codes to transmit redundant combinations of packets and ensure smooth playback. This thesis blends a diverse set of mathematical tools from queueing, coding theory, and renewal processes. Although we focus on cloud infrastructure, the techniques and insights are applicable to other systems with stochastically varying components.
by Gauri Joshi.
Ph. D.
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Huang, Mingzen. "Force and motion programming in multi-limb robotic systems with redundancy /." The Ohio State University, 1988. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487592050229629.

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Books on the topic "Redundancy (Engineering)"

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Bauer, Eric. Beyond redundancy: How geographic redundancy can improve service availability and reliability of computer-based systems. Hoboken, N.J: Wiley-IEEE Press, 2012.

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Liu, Wen David. Redundancy in highway bridge substructures. Washington, D.C: National Academy Press, 2001.

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Chung, Ching Luan. A global approach for using kinematic redundancy to minimize base reactions of manipulators. Pittsburgh, Pa: Dept. of Mechanical Engineering, Robotics Institute, Carnegie Mellon University, 1989.

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Milutinović, Dejan. Redundancy in Robot Manipulators and Multi-Robot Systems. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013.

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M, Frangopol Dan, and American Society of Civil Engineers. Structural Division., eds. Effects of damage and redundancy on structural performance: Proceedings of a session. New York, N.Y: The Society, 1987.

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Ott, Christian. Cartesian impedance control of redundant and flexible-joint robots. Berlin: Springer, 2008.

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Myers, Albert. Complex system reliability: Multichannel systems with imperfect fault coverage. 2nd ed. [London: Springer, 2010.

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Zhang, Yunong. Repetitive Motion Planning and Control of Redundant Robot Manipulators. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013.

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Bauer, Eric, Randee Adams, and Daniel Eustace. Beyond Redundancy. Wiley & Sons, Incorporated, John, 2011.

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Ayoub, Ihab Mohamed. Redundancy and reliability of bridge structures. 1991.

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Book chapters on the topic "Redundancy (Engineering)"

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Tan, Yang Meng. "Redundancy in Specifications." In Formal Specification Techniques for Engineering Modular C Programs, 67–91. Boston, MA: Springer US, 1996. http://dx.doi.org/10.1007/978-1-4615-4125-7_5.

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Ren, Liping, Zhijun Liu, Hao Song, Zhiguo Li, and Sixian Sun. "A Redundancy Management and Reconstruction Strategy for Hybrid Redundancy Electromechanical Servo System." In Lecture Notes in Electrical Engineering, 663–76. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-6324-6_67.

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Nguyen, N. "Redundancy handling with model-based systems engineering." In Risk, Reliability and Safety: Innovating Theory and Practice, 2724–31. Taylor & Francis Group, 6000 Broken Sound Parkway NW, Suite 300, Boca Raton, FL 33487-2742: CRC Press, 2016. http://dx.doi.org/10.1201/9781315374987-414.

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Zhao, Ruiqing, and Wansheng Tang. "Redundancy Optimization Problems with Uncertain Lifetimes." In Computational Intelligence in Reliability Engineering, 329–74. Berlin, Heidelberg: Springer Berlin Heidelberg, 2007. http://dx.doi.org/10.1007/978-3-540-37368-1_11.

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Goffi, Alberto, Alessandra Gorla, Andrea Mattavelli, and Mauro Pezzè. "Intrinsic Redundancy for Reliability and Beyond." In Present and Ulterior Software Engineering, 153–71. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-67425-4_10.

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Islam, Sahidul. "Entropy-Based Fuzzy Reliability–Redundancy Allocation Model." In Reliability Management and Engineering, 175–204. First edition. | Boca Raton, FL : CRC Press, 2020. |: CRC Press, 2020. http://dx.doi.org/10.1201/9780429268922-8.

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Frangopol, D. M. "Bridge Loading, Reliaility and Redundancy: Concepts and Applications." In Lecture Notes in Engineering, 1–18. Berlin, Heidelberg: Springer Berlin Heidelberg, 1992. http://dx.doi.org/10.1007/978-3-642-84753-0_1.

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Perumal, Sivananaintha, and N. Aneesha. "Locality Based Static Single Assignment Partial Redundancy Elimination." In Mobile Communication and Power Engineering, 494–97. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-35864-7_75.

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Nuangjamnong, C., S. P. Maj, and D. Veal. "Resource Redundancy – A Staffing Factor using SFIA." In Innovations and Advances in Computer Sciences and Engineering, 31–35. Dordrecht: Springer Netherlands, 2009. http://dx.doi.org/10.1007/978-90-481-3658-2_6.

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Mostashiri, Naser, Jaspreet Dhupia, and Weiliang Xu. "Redundancy in Parallel Robots: A Case Study of Kinematics of a Redundantly Actuated Parallel Chewing Robot." In Lecture Notes in Mechanical Engineering, 65–78. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-8323-6_6.

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Conference papers on the topic "Redundancy (Engineering)"

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Mu¨ller, Andreas. "On the Terminology for Redundant Parallel Manipulators." In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-49112.

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Different types of redundancy in parallel kinematics machines (PKM) can be used to improve their kinematic and dynamic properties. The meaning of redundancy of PKM is often differently understood in the literature. In this paper a terminology for redundant PKM is proposed. The basis for this classification is a general mathematical model. With the help of this model PKM are regarded as non-linear control systems. The different types of redundancy are clearly distinguished, and their potential applications are discussed. Redundancy is considered from a geometric point of view. Redundancy is a means to deal with singularities of PKM. The different types of singular configurations are considered in the paper, and the potential of redundancy to cope with such situations is discussed. Again singularities are considered from a geometric point of view.
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Subedi, Dipendra, Ilya Tyapin, and Geir Hovland. "Control of Redundant Flexible Manipulators with Redundancy Resolution." In 2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE). IEEE, 2022. http://dx.doi.org/10.1109/icmre54455.2022.9734097.

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Yu, Yue-Qing, and Ji-Yun Yang. "Dynamics and Motion Control of Flexible Manipulators With Multi-Degree of Kinematic Redundancy." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-84160.

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The dynamics and motion control of flexible robot manipulators is an advanced topic in the study of robotics. The precise tracking of the end-effector trajectory of flexible robots can be improved by the self-motion of redundant manipulators. The flexible manipulator with single-degree of kinematic redundancy has been considered only at present. This study addresses on the dynamics and motion control of flexible robots with multi-degree of kinematic redundancy. Compared with the robot with one-degree of redundancy, the optimal motion programming of a flexible robot manipulator with two-degree of redundancy has been obtained successfully based on pseudo-inverse solution. The numerical results of planar three-link and four-link flexible manipulators show the advantage of multi-degree of redundancy in improving the kinematic and dynamic performances of flexible robot manipulators.
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Zheng, Yangbo, Zhengang Shi, Xingnan Liu, Ni Mo, and Guojun Yang. "Structural Redundancy Design and Reliability Analysis of Magnetic Bearing for HTGR Primary Helium Circulator." In 2018 26th International Conference on Nuclear Engineering. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/icone26-81336.

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As primary pump of High Temperature Gas-cooled Rector (HTGR), the safety and reliability of primary helium circulator has a direct relationship with heat export in the reactor core. This paper proposed two conceptual design methods, which are structural redundancy design in the axial and radial magnetic bearings (coils), and crossing redundancy design between amplifiers and the redundant bearings (coils), combined with the characteristics of magnetic bearing in the primary helium circulator. Then we built Markov model for the magnetic bearing with redundant structure, which was used to reliability analysis and calculation. Finally, we performed simulation of the redundant magnetic bearings in Matlab/Simulink. The results show that the redundant structure design can greatly improve the reliability of the magnetic bearing system. Therefore, these methods would provide a new approach for further improving the safety and reliability of primary helium circulator.
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Anwar, Sohel, and Lei Chen. "Analytical Redundancy Based Fault Tolerant Control of a Steer-by-Wire System." In ASME 2006 International Mechanical Engineering Congress and Exposition. ASMEDC, 2006. http://dx.doi.org/10.1115/imece2006-14183.

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This paper presents a novel observer-based analytical redundancy for a steer-by-wire (SBW) system. In order to achieve high level of reliability for a By-Wire system, double, triple, or even quadruple redundant sensors, actuators, communication networks, and controllers are needed. But this added hardware increases the overall cost of the vehicle. This paper utilizes a novel analytical redundancy methodology to reduce the total number of redundant road-wheel angle (RWA) sensors in a triply redundant RWA-based SBW system, while maintaining a high level of reliability. The self-aligning torque at road-tire interface due to the steering dynamics has been modeled as a function of the linear vehicle states. A full state observer was designed using the combined model of the vehicle and SBW system to estimate the vehicle body side slip angle. The steering angle was then estimated from the observed and measured states of the vehicle (body side slip angle and yaw rate) as well as the current input to the SBW electric motor(s). With at least two physical road-wheel angle sensors and the analytical estimation of the RWA value (which replaces the third physical sensor), a fault detection and isolation (FDI) algorithm was developed using a majority voting scheme. The FDI algorithm was then used to detect faulty sensor(s) in order to maintain safe drivability. The proposed analytical redundancy based fault detection & isolation algorithms and the linearized vehicle model were modeled in SIMULINK. Simulation of the proposed algorithm was performed for both single and multiple sensor faults. Simulation results show that the proposed analytical redundancy based fault detection and isolation algorithm provides the same level of fault tolerance as in an SBW system with full hardware redundancy against single point failures.
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Parsa, Soheil S., Juan A. Carretero, and Roger Boudreau. "Example of Internal Redundancy to Improve the Dynamics Performance of Parallel Manipulators." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70536.

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In recent years, redundancy in parallel manipulators has been discussed for the cases of kinematic, actuation and branch redundancy. Some advantages of these redundant manipulators include the reduction or elimination of some types of kinematic singularities and/or an increase of their reachable and dexterous workspaces, to name a few. Internal redundancy, first introduced for serial manipulators, refers to the concept of adding movable masses to some links so as to allow to control the center of mass and other dynamic properties of some links. In this paper, the concept of internal redundancy is investigated for the first time in the context of parallel manipulators. More specifically, the 3-RRR planar manipulator, where a movable mass has been added to the distal link, is analysed. The manipulator’s dynamic model is briefly introduced and then is used to track a simple trajectory. A numerical example is shown to support the idea.
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Ruiz, Andrés G., João V. C. Fontes, and Maíra M. da Silva. "The Influence of Kinematic Redundancies in the Energy Efficiency of Planar Parallel Manipulators." In ASME 2015 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/imece2015-50278.

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Parallel manipulators present advantages compared to serial ones, such as higher load-carrying capacity, improved accuracy and increased stiffness. However, parallel manipulators possess limitations due to the presence of singularities. It has been proved that kinematic and actuation redundancy promote a significant reduction in the singularities and homogenization on the actuation forces. This paper evaluates the effect of the addition of kinematic redundancy in the energy efficiency of parallel manipulators. In order to do so, the required mechanical energy consumed by a 3RRR non-redundant planar parallel manipulator and their kinematically redundant versions, to perform several predefined trajectories is minimized using a genetic algorithm. The result of the comparison shows that the required mechanical energy to perform a given trajectory can be reduced with the addition of kinematic redundancy.
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Ravi, V. C., Subrata Rakshit, and Ashitava Ghosal. "Redundancy Resolution Using Tractrix: Simulations and Experiments." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-86934.

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Hyper-redundant robots are characterized by the presence of a large number of actuated joints, many more than the number required to perform a given task. These robots have been proposed and used for many application involving avoiding obstacles or, in general, to provide enhanced dexterity in performing tasks. Making effective use of the extra degrees of freedom or resolution of redundancy have been an extensive topic of research and several methods have been proposed in literature. In this paper, we compare three known methods and show that an algorithm based on a classical curve called the tractrix leads to a more ‘natural’ motion of the hyper-redundant robot with the displacements diminishing from the end-effector to the fixed base. In addition, since the actuators at the base ‘see’ the inertia of all links, smaller motion of the actuators nearer to the base results in a smoother motion of the end-effector as compared to other two approaches. We present simulation and experimental results performed on a prototype eight link planar hyper-redundant manipulator.
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Limshuebchuey, Asavaron, Rakkrit Duangsoithong, and Terry Windeatt. "Redundant feature identification and redundancy analysis for causal feature selection." In 2015 8th Biomedical Engineering International Conference (BMEiCON). IEEE, 2015. http://dx.doi.org/10.1109/bmeicon.2015.7399532.

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Ke, Zhiwu, Xianling Li, Rui Yu, and Rui Xiang. "Research on Digital Instrumentation and Control System in Nuclear Power Plant Using Mixed Redundant Model." In 2013 21st International Conference on Nuclear Engineering. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/icone21-16010.

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Reliability is the most important factor in instrumentation and control (I&C) system for nuclear power plant (NPP). Now in order to reach high reliability, static redundant and dynamic redundant technique is in common use. Static redundant method can keep out the failure of one module, but could not detect the mistake. Dynamic redundant mean would examine the mistake of the working unit, but can not ward off the failure. In this study, our main purpose is to develop the advanced redundant way which includes the advantage of static redundancy and dynamic redundancy means by mixed redundant model (MRM). Utilizing logic order in the relationship between unit and system using reliable diagram, analyzing the reliability of MRM by the way of probability, the result has obvious effect upon improving the system reliability compared with above two models. MRM can be applied for safety critical I&C.
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