• Journal of the Institute of Electronics Engineers of Korea SD
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• v.45 no.9
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• pp.26-32
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• 2008

The conventional shared bus architecture is capable of processing only one data transaction in same time. In this paper, we propose the NAWM (No Arbitration Wild Master) bus architecture that is capable of processing several data transactions in same time. After designing the master and the slave wrappers of NAWM bus architecture about AMBA system, we confirm that most of IPs of AMBA system can be a lied without modification and the added timing delay can be neglected. from simulation we deduce that more than 50% parallel processing is possible when several masters initiate slaves in NAWM bus architecture.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.46 no.2
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• pp.38-44
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• 2009

Bus system consists of several masters, slaves, arbiter and decoder in a bus. Master means the processor that performs data command like CPU, DMA, DSP and slave means the memory that responds the data command like SRAM, SDRAM and register. Furthermore, as multiple masters can't use a bus concurrently, arbiter plays an role in bus arbitration. In compliance with the selection of arbitration method bus system performance can be charged definitely. Fixed priority and round-robin are used in general arbitration method and TDMA and Lottery bus methods are proposed currently as the improved arbitration schemes. In this stuff, we proposed the score arbitration method and composed TLM algorithm. Also we analyze the performance compared with general arbitration methods through simulation. In the future, bus arbitration policy will be developed with the basis of the score arbitration method and improve the performance of bus system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.3B
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• pp.112-122
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• 2008

Basing on Piconet, The Bluetooth System forms network and transmits data. There is one Master and maximum 7 Slave bluetooth devices in one piconet. A job scheduler performed by Master bluetooth device, gives the chance of data transmission to Slave bluetooth devices, which connected to Master, using polling method in piconet. The maximum data rate is 723.2 kb/s when it uses ACL link with DH5 packet type in a piconet which is constructed by two bluetooth devices. However, if there are one master and two slave devices in a piconet, then the maximum data rate is reduced to a half(361.6kb/s), because a master device has to support same data rate for all connected devices. And, there is the defect in scatternet when data transmission rate becomes low(Maximum rate: 302.2kb/s). This paper proposals the new ad-hoc network topology called "DoublePico"for overcome the low data transmission in scatternet which is constructed by piconets. The method of doublepico that represented in this paper makes high data transfer rate(Maximum rate: 457.57kb/s) in bluetooth ad-hoc networks.

• Proceedings of the Korean Information Science Society Conference
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• 2007.06b
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• pp.372-376
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• 2007

분산처리 시스템은 네트워크로 연결된 프로세서들로 구성되며, 시스템 내의 각 프로세서는 고유한 클럭을 갖는다. 글로벌 시간 기준으로 볼 때 수행중인 프로세스가 유지하는 시간은 분산시스템 각각 차이가 있을 수 있으므로 일관성 있는 시간관리가 필요하다. 본 논문에서는 TMO-eCos를 기반으로 하는 분산 처리 시스템에서 각 분산 시스템간 발생할 수 있는 클럭의 불일치 문제를 해결하기 위한 클럭 동기화 기법에 관해 논한다. 점진적인 클럭 동기화 알고리즘을 구하기 위해 마스터 노드의 클럭을 글로벌 클럭으로 가정하고 슬레이브 노드들은 마스터 노드의 클럭으로 동기화하는 방법에 대하여 정의하였다. 정의한 알고리즘을 시현하기 위한 분산 노드 간 로봇 제어 프로그램을 소개 한다.

• Proceedings of the Korean Information Science Society Conference
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• 2001.10b
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• pp.301-303
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• 2001

본 연구는 저가의 가상현실 시스템을 구현하기 위하여 LAN에 연결된 다수의 PC들로 구성된 가상현실 시스템을 제시한다. 이때, PC들은 고유 기능에 따라 3차원 그래픽을 실시간으로 랜더링 하는 VR 서버, 가상공간의 운영을 위하여 GUI 인터페이스를 지원하는 제어 서버, 상호작용을 위하여 입출력 장치가 연결된 장치 서버로 분류한다. 제안하는 시스템의 핵심 기능은 분산된 서버들을 단일 가상공간에 통합하는 것이다. 우리는 서로 다른 특징을 가지는 서버들을 통합하기 위하여 동기 마스터/슬레이브, 이벤트 관리자, 상호 작용 관리자를 설계하고 이를 구현하였다.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1993-1994
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• 2006

애자 청소 작업은 애자의 절연 저하를 사전에 예방하기 위해 고소 고압의 환경에서 이루어지는 위험한 작업으로 정비작업의 능률과 정밀도가 떨어져 로봇을 이용한 활선 애자 청소 및 진단의 자동화가 요구되어진다. 이러한 요구에 따라 활선 애자 청소 로봇이 개발되고 있다. 본 논문에서는 개발된 애자 청소 로봇 제어를 위해 마스터 슬레이브 구조를 갖는 제어 시스템 구성을 제안하고, 실험을 통해 구현한 제어 시스템의 효용성을 보인다.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.1
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• pp.41-48
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• 2013

In this work, 4-DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery(MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4-DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.10a
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• pp.421-427
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• 2012

In this work, 4 DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery (MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4 DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.11
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• pp.2433-2438
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• 2011

Bus system consists of several masters, slaves, arbiter and decoder in a bus. Master means the processor that performs data command like CPU, DMA, DSP and slave means the memory that responds the data command like SRAM, SDRAM and register. Furthermore, as multiple masters can't use a bus concurrently, arbiter plays an role in bus arbitration. In compliance with the selection of arbitration method, bus system performance can be changed definitely. Fixed priority and round-robin are used in general arbitration method and TDMA and Lottery bus methods are proposed currently as the improved arbitration schemes. In this study, we proposed the score arbitration method and synthesized it using Hynix 0.18um technology, after design of RTL. Also we analyze the performance compared with general arbitration methods through simulation.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.3049-3051
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• 2005

본 논문은 UWB(Ultra Wide Band) 펄스 기반의 단일 송수신을 통한 근거리 무선측위 시스템 및 방법에 관한 것으로서, UWB 펄스의 높은 시간 분해능을 이용하여 근거리에서 높은 정밀도를 가지고 태그의 위치를 획득할 수 있다. 특히, 마스터-슬레이브 형태로 구성된 비콘(beacon)들 간의 사전 설정을 통해 마스터 비콘과 무선측위 대상인 태그 사이의 단일 송수신만으로 ToA(Time of Arrival) 및 TDoA(Time Difference of Arrival) 기법을 적용할 수 있도록 하며, 이로써 태그의 신호 송신을 최소화하여 태그의 저전력 동작을 가능케하는 UWB기반 단일송수신을 통한 근거리 무선측위 시스템이다.