• 수산해양기술연구
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• 제51권3호
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• pp.387-395
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• 2015

Starfish, a species of Echinoderm, is widely known as a predator on benthic invertebrate. A series of fishing experiments was carried out in the western coastal waters of Korea from September, 2011 to November, 2012, using the drum-shaped pots of different mesh sizes (17.1, 24.8, 35.3, 39.8, and 48.3 mm) to describe the composition of the catch species and the mesh selectivity of the pot for starfish. Some species including fish, crab, and starfish were caught in the experimental pots. The SELECT (Share Each Length's Catch Total) method was applied to describe the selectivity of the pot for starfish Asterina pectinifera. The master selection curve was estimated to be s(R) = exp(10.358R-4.086) / [1+exp(10.358R-4.086)], where R is the ratio of arm length to mesh size. The relative arm length of 50% retention was 0.395, and the selection range was 0.212. The results should be helpful to understand the relationship between the catch size of starfish and the mesh size of pot.

• 대한전자공학회논문지TC
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• 제48권4호
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• pp.1-5
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• 2011

본 논문은 MBOA UWB SoC의 MAC 시스템 설계에 관한 것이다. 구현된 MBOA MAC 알고리즘은 일반적으로 널리 사용되고 있는 중앙의 마스터가 네트워크를 관리하는 방식이 아니라, 모든 디바이스가 네트워크를 구성하고 관리할 수 있는 분산 방식을 사용하고 있다. 따라서 MAC이 분산 네트워크를 구성하고 관리를 하기 때문에 메쉬 네트워크 구성이 용이하다. 시스템은 데이터 처리 속도를 최대화하기 위해서 캐쉬가 내장된 ARM926EJ를 내장하였고, 재사용 및 시스템 설계가 용이한 AMBA 버스를 사용하였다. 또한, 칩의 소모 전력을 최소화하기 위해 시스템 클럭 제어 알고리즘을 구현하였다. 그리고, 시스템 메모리 버퍼와 MAC 하드웨어간의 데이터 이동을 위하여 MAC 전용 DMA를 설계하였으며, Host와 시스템 메모리 버퍼간의 고속의 데이터 이동을 위하여 USB 2.0 블록의 전용 DMA를 사용하였다.

• 한국광학회지
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• 제11권2호
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• pp.80-84
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• 2000

Diamond turning machine으로 알루미늄을 가공하여 f/1.5, 구경 50mm인 포물명경을 제작하였다. 이진위상(binary phase) 홀로그램으로 포물면경 현상측정을 위한 computer generated hologram(CGH)을 encoding하였으며 staircase encodling 방법으로 간섭무늬 곡선의 직선근사를 하였다. 간섭무늬 데이터를 포스트스크립트(PostScript) 파일로 변환한 후 CGH 원도를 레이저 프린터로 확대 출력하고 축소 촬영하여 CGH를 제작하였다. 측정부(viewing arm)에 CGH가 위치하는 Twyman-Green 간섭계를 구성하여 포물면경의 표면형상을 측정하였다. 측정결과를 직접표면형상측정법 및 간섭계를 이용한 자동시준법의 측정 결과와 비교하고 오치를 분석하였다.

• 드라이브 ㆍ 컨트롤
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• 제17권3호
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• pp.33-46
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• 2020

We introduce a piece of special-purpose equipment for responding to disasters that has a dual-arm manipulator consisting of six-axis multi joints, and a master-slave operating system controlled by a wearable joystick for intuitive and convenient operation. However, due to the complexity and diversity of a disaster environment, training and suitable training means are needed to improve the interaction between the driver and equipment. Therefore, in this paper, a system that can improve the operator's immersion in the training simulation is proposes, this system is implemented in a virtual environment. The implemented system consists of a cabin installed with the master-slave operation system, a motion platform, visual and sound systems, as well as a real-time simulation device. This whole system was completed by applying various techniques such as a statistical mapping method, inverse kinematics, and a real-time physical model. Then, the implemented system was evaluated from a point of view of the appropriateness of the mapping method, inverse kinematics, the feasibility for real-time simulations of the physical environment through some task mode.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1621-1623
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• 1997

Use of teaching pendant is the most widespread and economical way to teach desired motion to robots. It is also very primitive,time consuming and ineffective way of teaching which has not changed since the early days of robot. In order to reduce the teaching effor, a new efficient form of teaching is needed. Also, the recent robotics research trend into service robots such as home robot, nurse robot and medical robot calls for a new teaching method which is both easy and inexpensive. In this paper, the design and operation principle of a low cost force/moment sensor is presented. The proposed sensor architecture is so simple and inexpensive that it opens the prospect for a new paradigm of robot teaching which is easy and efficinet. Other prospective areas of application are tele-manipulation of robots wher it can be used in master arm, and virtual environment where it can be used as an user input device.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.403-405
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• 2004

This paper describes an implementation of Home network Control Protocol(HnCP) and it's application to an Intelligent lighting system. The HnCP was announced by korea PLC forum in June 2003 to provide a network protocol for PLC based home appliances. The HnCP master and HnCP slaves were implemented using XPLC30 which is an SOC with ARM9 core. The efficacy of the developed HnCP network modules were shown by applying them to a intelligent lighting system composed of dimmable fluorescent lamps. An extended message set was proposed for the intelligent lighting system and we proposed some directions for the future development of HnCP.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.142-146
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• 1991

In order to develope transfer alignment algorithm which achieves accurate initial alignment of slave strapdown inertial navigation system(SDINS) of a missle using master SDINS of mobile launchers third-order suboptimal filter is constructed to estimate the transformation matrix between two SDINS coordinates. In Kalman Filter formulation, the measurement equation uses that of accelerometer when stationary, and is replaced by that of gyroscope when elevating the missle. This switching method is applied to increase the degree of observability and to remove the error generated by lever arm effect. Simulation results show that the azimuth transfer error is about 0.3 mrad, and confirm that this scheme has a potential for real application.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.138-141
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• 2002

In this paper, we developed a Master Hand which has 20 potentiometer for getting grasping data of human hands, a Slave Hand which has 20 DOF and five fingers with servo-motors, and a controller for the 7 DOF Arm with Multi-fingered hands. And, we programmed a 3D simulation S/W which controls a Robot System with Multi-fingered hands. A developed Robot System showed good performance in the grasping of an object with known position and shape.

• 한국감성과학회:학술대회논문집
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• 한국감성과학회 2002년도 추계학술대회 논문집
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• pp.59-65
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• 2002

보다 현실감 있는 가상환경을 제공하기 위하여 시각정보 외에 힘의 정보를 사용자에게 제공할 필요가 있으며, 이러한 힘 반영은 햅틱장치에 의해서 수행된다. 일반적으로 영상 제시기에 의한 영상정보는 낮은 갱신율을 갖는 반면에, 햅틱장치는 상대적으로 높은 갱신율로 인간에게 힘정보를 제공하게 되므로, 이들 정보 간의 동기화가 중요하다. 본 논문에서는 가시모델의 원형을 일반화시켜서 햅틱장치에 전달하고, 영상 제시기의 갱신율과는 상관 없이 햅틱장치 내에서 임의의 구속공간을 만들어서 힘피드백을 수행하는 방법에 대해서 논의하고자 한다.

• 대한임베디드공학회논문지
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• 제16권6호
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• pp.247-251
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• 2021

We propose a protocol for Ethernet-based industrial real-time communication networks. In the protocol, the master periodically transmits control frames to all slaves, and the ring-type network topology is selected to achieve high-speed transmission speed. The proposed protocol is implemented in the form of both firmware and Linux kernel modules. To improve the transmission speed, the MAC address table is disabled in the firmware implementation, and the NAPI function of the Ethernet driver is removed in the Linux kernel module implementation. A network experiment environment is built with four ARM processor-based embedded systems and network operation experiments are performed for various frame sizes. From the experimental results, it is verified that the proposed protocol normally operates, and the firmware implementation shows better transmission speed than the Linux kernel module implementation.