• KIPS Transactions on Software and Data Engineering
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• v.3 no.11
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• pp.471-478
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• 2014

Database replication is utilized to increase credibility, availability and prevent overload of distributed databases. Two models currently exist for replication - Master/Slave and Multi-Master. Since the Multi-Master model has problems of increasing complexity and costs to interface among multiple databases for updates and inserts, the Master/Slave model is more appropriate when frequent data inserts and updates are required. However, Master/Slave model also has a problem of not having exact criteria when systems choose to connect between Master and Slave for transactions. Therefore, this research suggests a routing algorithm based on AOP (Aspect Oriented Programming) in the Master/Slave database model. The algorithm classifies applications as cross-cutting concerns based on AOP, modularizes each concern, and routes transactions among Master and Slave databases. This paper evaluates stability and performance of the suggested algorithm through integration tests based on scenarios.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2010.05a
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• pp.836-838
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• 2010

차량의 전자제어장치 및 마이크로컨트롤러의 향상으로 전자제어장비가 증가하였고, 그 장비들 간의 통신 방식이 필요하게 되었다. 통신 및 제어를 위해 중앙 제어 방식에서 분산 제어 방식으로 기술발전을 하고 있었다. 이런 제어 방식으로 CAN(Controller Area Network)통신이 개발되었다. CAN의 통신 모델 중 마스터-슬레이브 모델은 하나의 마스터 노드가 전체 시스템을 동기화하고 스케줄링하는 형태로 본 연구에 사용하였다. 본 논문에서는 CAN통신 기반으로 기울기 측정 시스템을 구현하여 하나의 마스터와 여러개의 슬레이브로 구성하였다. 슬레이브 모듈에서 측정한 데이터가 버스라인을 통해 마스터모듈로 전송 될 때 충돌로 손실이 발생할 수 있다. 본 연구에서는 데이터 손실을 최소화와 여러개의 슬레이브 모듈에서 전송되어진 데이터가 에러가 나지 않도록 하기 위한 전송 프로토콜을 제안한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.2
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• pp.270-275
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• 2005

This paper presents a fuzzy model-based adaptive approach for synchronization of chaotic systems which consist of the drive and response systems. Takagi-Sugeno (T-S) fuzzy model is employed to represent the chaotic drive and response systems. Since the parameters of the drive system are assumed unknown, we design the response system that estimates the parameters of the drive system by adaptive strategy. The adaptive law is derived to estimate the unknown parameters and its stability is guaranteed by Lyapunov stability theory. In addition, the controller in the response system contains two parts: one part that can stabilize the synchronization error dynamics and the other part that estimates the unknown parameters. Numerical examples, including Doffing oscillator and Lorenz attractor, are given to demonstrate the validity of the proposed adaptive synchronization approach.

• The Journal of the Korea Contents Association
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• v.18 no.7
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• pp.322-329
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• 2018

Teleoperation is defined with a master device that gives control command and a slave robot in a remote site. In this field, it is common that a human operator executes and experiences teleoperation with a virtual slave, and preliminary learns dynamic characteristic and network environment from both agents. Generally, a virtual slave has neglected forward dynamics and its kinematic model has been implemented in computer graphics. This makes a operator to experience actual feelings. This paper proposes a dynamic teleoperation model in which a robotic forward model is applied. Also, a novel compensation method is proposed to reduce the numerical error problems in forward dynamics caused by low control sampling rate. Finally, its results will be compared to the teleoperation in an actual environment.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.12B
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• pp.1435-1443
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• 2009

In this paper, an energy harvesting sensor network system is modeled and simulated by using the DEVS (Discrete Event System Specification) formalism. The system is composed of a sink (master) node, which is battery or mains powered, and a set of sensor (slave) nodes, each of which harvests ambient energy and converts it into electrical energy. For simulation, (i) the behavior of energy harvesting and storing circuits of the slave node is partitioned into a set of piecewise continuous segments and then each segment is represented as a discrete state; (ii) the interaction among the master node and components of the slave node is investigated preciously; and (iii) the investigated result is modeled and simulated by using the DEVS formalism.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.9
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• pp.3876-3881
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• 2012

In typical master/slave teleoperation systems, a human operator generally manipulates the master to control the slave through the visual information like camera image. However, the operator may get into trouble due to the limited visual information depending on the camera positions and the delay on the visual information because of low communication bandwidth. To cope with this inherit problem in the camera-based teleoperation system, this paper presents a teleoperation system using a reconstructed graphic model instead of the camera image. The proposed teleoperation system consists of a robot control module, a master module using a force-reflective joystick, and a graphic user interface (GUI) module. The graphic user interface module provides the operator with a 3D model reconstructed using a small set of sensing data received from the remote site. The proposed teleoperation system is evaluated through a peg-in-hole assembly task.

• Journal of the Korea Computer Industry Society
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• v.3 no.2
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• pp.185-190
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• 2002

As the TSP(Traveling Salesman Problem) belongs to the class of NP-complete problems, various techniques are required for finding optimum or near optimum solution to the TSP. This paper designs a distributed genetic algorithm in order to reduce the execution time and obtain more near optimal using multi-slave model for the TSP. Especially, distributed genetic algorithms with multiple populations are difficult to configure because they are controlled by many parameters that affect their efficiency and accuracy. Among other things, one must decide the number and the size of the populations (demes), the rate of migration, the frequency of migrations, and the destination of the migrants. In this paper, I develop random dynamic migration rate that controls the size and the frequency of migrations. In addition to this, I design new migration policy that selects the destination of the migrants among the slaves

• 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.

• Proceedings of the Korea Information Processing Society Conference
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• 2005.05a
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• pp.1667-1670
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• 2005

본 논문에서는 차세대 통신 플랫폼을 위한 PCI Express의 전송계층과 데이터 연결계층의 모든 기능을 지원하는 PCI Express 컨트롤러를 설계하였다. 설계되어진 컨트롤러는 재전송 매커니즘을 효과적으로 지원하기 위해 제안되어진 송신버퍼 구조를 가지고 있다. 이 버퍼 구조는 전송 버퍼와 재전송 버퍼를 한 개의 버퍼로 통합하여 재전송 버퍼의 공간을 유동적으로 할당할 수 있는 방법이다. 또한 설계되어진 컨트롤러의 송신단 전송계층은 제안되어진 버퍼 구조 효과적으로 지원하도록 설계되어 졌다. 설계 되어진 컨트롤러의 각 블록을 효과적으로 관리하기 위해 80C51 마이크로프로세서를 내장하여 PCI Express 프로토콜을 제공하는 프로그램을 코딩하여 포팅하였다. 또한 설계되어진 컨트롤러의 검증을 위해, Host Bridge, 로컬 마스터 디바이스, 로컬 슬레이브 디바이스를 버스 동작 모델로 구성된 테스트 벤치도 제안하였다. 또한 실제 PCI Express 프로토콜 상에서 발생할 수 있는 모든 경우를 발생 하도록 하기 위해, 각 버스 동작 모델을 위한 어셈블러 명령어들을 정의 하였다.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.5
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• pp.602-608
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• 2011

In this study, a method of designing a neurointerface using neural network (NN) is proposed for controlling nonholonomic mobile robots. According to the concept of virtual master-slave robots, in particular, a partially stable inverse dynamic model of the master robot is acquired online through the NN by applying a feedback-error learning method, in which the feedback controller is assumed to be based on a PD compensator for such a nonholonomic robot. The NN for the online feedback-error learning can composed that the input layer consists of six units for the inputs $x_i$, i=1~6, the hidden layer consists of two hidden units for hidden outputs $o_j$, j=1~2, and the output layer consists of two units for the outputs ${\tau}_k$, k=1~2. A tracking control problem is demonstrated by some simulations for a nonholonomic mobile robot with two-independent driving wheels. The initial q value was set to [0, 5, ${\pi}$].