• Journal of Advanced Marine Engineering and Technology
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• v.38 no.3
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• pp.292-301
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• 2014

This paper describes development of distributed type independent electro-hydraulic ballast valve remote control system with diagnostic function based on fuzzy inference using redundant Modbus communication and ethernet Modbus TCP/IP. Diagnostic function estimate degradation of system components and diagnose system faults, which results in shortage of fault maintenance time and improvement of system safety. Slave devices which control each valve and master device which command, monitor and diagnose slave system are developed. Slave devices are connected to master device with redundant Modbus networks and master device is connected to ship's integrated control system with Modbus TCP/IP. Also this paper describes development of simulator to test and confirm whether developed system can be integrated with ship's integrated control and monitoring system.

• Journal of KIISE:Computer Systems and Theory
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• v.32 no.9
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• pp.465-474
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• 2005

For high density SoC design, on-chip communication based on bus interconnection encounters bandwidth limitation while an NoC(Network-on-Chip) approach suffers from unacceptable complexity in its Implementation. This paper introduces a new on-chip communication protocol, SNP (SoC Network Protocol) to overcome these problems. In SNP, conventional on-chip bus signals are categorized into three groups, control, address, and data and only one set of wires is used to transmit all three groups of signals, resulting in the dramatic decrease of the number of wires. SNP efficiently supports master-master communication as well as master-slave communication with symmetric channels. A sequencing rule of signal groups is defined as a part of SNP specification and a phase-restoration feature is proposed to avoid redundant signals transmitted repeatedly over back-to-back transactions. Simulation results show that SNP provides about the same bandwidth with only $54\%$ of wires when compared with AMBA AHB.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.918-925
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• 2006

Medical robotics and computer aided surgery in general, and robotic telesurgery in particular, are promising applications of robotics. In this paper, we shows a novel single-master (PHANTOM based single-master multi-slave telerobotic system) multi-slave system using two parallel mechanism micromanipulators as a slave device. After a general introduction to the systems structure and configuration of telerobotic system, a manipulation control strategy to build the system that human and both manipulators perform the cooperative manipulation, is introduced, followed by its kinematic analysis, mapping method, and experimental results.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.1
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• pp.13-21
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• 2005

This paper presents a fuzzy model-based approach for synchronization of time-delay chaotic system with input saturation. Time-delay chaotic drive and response system is respectively represented by Takagi-Sugeno (T-S) fuzzy model. Specially, the response system contains input saturation. Using the unidirectional linear error feedback and the parallel distributed compensation (PDC) scheme, we design fuzzy chaotic synchronization system and analyze local stability for synchronization error dynamics. Since time-delay in the transmission channel always exists, we also take it into consideration. The sufficient condition for the local stability of the fuzzy synchronization system with input saturation and time-delay is derived by applying Lyapunov-Krasovskii theory and solving linear matrix inequalities (LMI's) problem. A numerical example is given to demonstrate the validity of the proposed approach.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.8
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• pp.573-581
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• 2022

This paper deals with the development of CanSat system, which ejects two maple seed-type autorotating science payloads and collects weather information. The CanSat consists of two autorotating science payloads and a container. The container is equipped with devices for launching science payloads and communication with the ground station, and launches science payloads one by one at different designated altitudes. The science payload consists of a space for loading and a large wing, and rotates to generate lift for slowing down the fall speed. Specifically, after being ejected, it descends at a speed of 20 m/s or less, measures the rotation rate, atmospheric pressure, and temperature, and transmits the measured value to the container at a rate of once per second. The communication system is a master-slave structure, and the science payload transmits all data to the master container, which aggregates both the received data and its own data, and transmits it to the ground station. All telemetry can be checked in real time using the ground station software developed in-house. A simulation was performed in the simulation environment, and the performance of the CanSat system that satisfies the mission requirements was confirmed.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.11
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• pp.171-179
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• 2003

This paper presents a rehabilitation exercise system which utilizes a 6 DOF robot as a motion generator. This system was proposed for a stroke patient or a patient who has hemiplegia. A master-slave system was designed to exercise either paralysis or abnormal limb by using normal limb motion. The study on the human body was applied to calculate the motion range of elbows and shoulders. In addition, a force-torque sensor was applied to the slave robot to estimate the rehabilitation extent of the patient. Therefore, the stability of the rehabilitation robot could be improved. By using the rehabilitation robot. the patients could exercise by themselves without assistance. In conclusion, the proposed system was verified by computer simulations and system experiment.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.132-135
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• 2000

The development of a robot system being able to work instead of human in the hazardous environment have been conducted for many year. In this study, the new design of controllers for the Master-Slave system is discussed. The Master-Slave system, force, velocity and torque signals are communicated between a master and a slave system. the conventional requires the enhancement of characteristics of tactility for minute force, precision signals and mechanical abrasion of loader. It is possible b controlling the viscosity of ERF(Electro-rheological fluid) since it varies with the electric field. Design of controller as well comparison between numerical simulation and experiments as will be presented. Futhermore, current methodology is also applicable to design of tele-surgery

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2011.05a
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• pp.566-569
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• 2011

동기 및 비동기 데이터를 동시에 전송할 수 있는 MOST(Media Oriented Systems Transport) 네트워크는 최근 자동차 멀티미디어 시스템에 가장 광범위하게 사용되고 있는 통신 시스템이다. MOST는 주로 링 형태로 연결되어지며 마스터 역할을 하는 장치가 반드시 하나 존재하고 여러 개의 슬레이브 장치들이 존재한다. 또한 MOST 네트워크에 연결된 여러 장치를 제어할 수 있는 HMI가 필요하다. HMI는 독립적인 장치로 만들 수도 있지만 일반적으로 Master 기능을 통합하여 구현한다. 본 논문에서는 MOST 네트워크에서 동영상 재생 플레이어인 DVD를 제어하기 위해서 HMI 역할을 하는 응용프로그램을 설계 및 구현하였다. DVD 제어를 위한 HMI 프로그램은 MOST NetServices API를 이용하여서 컨트롤 메시지를 전송해서 DVD 장치를 제어하며, 사용자가 쉽게 사용할 수 있는 GUI 형태로 구현하였다. MOST25 PCI 카드와 MOST DVD 플레이어 장치를 네트워크로 연결하고, PC에 DVD 장치 제어 HMI를 구현한 후 테스트하여 정상적으로 동작함을 확인하였다.

• Proceedings of the KIPE Conference
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• 2013.07a
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• pp.378-379
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• 2013

마이크로그리드 내의 ESS는 독립운전 및 계통연계 두 가지 운전모드가 가능해야 하며 인버터는 용량의 확장성, 시스템의 보수 편리, 신뢰성 향상 등의 장점 때문에 주로 모듈화 한다. 이때 모듈간의 오차, 비동기 된 PWM의 문제로 순환전류가 발생하기 때문에 병렬운전 제어기법이 필요하다. 본 논문에서는 3-레벨 NPC인버터 병렬연결 시 순환전류 제거에 적합하고 독립운전에서 계통연계로 모드전환이 가능하며 PWM동기화 기능을 갖는 마스터-슬레이브 방식의 병렬운전 시스템을 제안하였고 실험을 통해 타당성을 검증하였다.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.12
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• pp.1055-1063
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• 2015

In this paper, a new master arm was developed as an input device of the remote control system for easy control of the industrial robot arm; it has a structure similar to the robot arm and is easy to wear. For control of the slave arm, related equations were derived about the joints between the master and slave arm; and thereby using them, the master arm control system was developed. Furthermore, a control simulator was developed for the convenient and accurate control of the slave arm. Experiments, about controlling the slave arm in applying the master arm, were performed to validate the developed simulator and the derived related equations.