• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.85.5-85
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• 2002

The Master-Slave manipulator is generally used as a remote handling device in the hot cell, in which the high level radio-active materials such as spent fuels are handled. This study describes a workspace mapping algorithm for a kinematically dissimilar master-slave system The algorithm provides the operator to guide the slave's end effector into unreachable regions which can appear due to the mismatch of workspace between the master and slave manipulator. A spaceball was used for the universal master device, and it can detect the slight fingertip force applied on the ball and also resolve the applied force. The spaceball device was also used to move 3D images instantaneously and simultaneou...

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.1078-1082
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• 2003

A feasibility study for the fabrication of master replication with nanostructures by Nanoimprint Lithography (NIL) was investigated for application of polymer Photonic Bandgap (PBG) devices used in photonic IC. Large area gratings of $9{\times}15(mm^2)$ with p = 400 nm was successfully embossed on PMMA on silicon wafer and the embossing parameters (temperature, pressure, time) were established. A precise control of $O_2$ plasma Reactive Ion Etching (RIE) process time allowed window opening over the whole area despite the presence of wafer bending. Master replication with aspect ratio 1 was successfully fabricated, but master replication with aspect ratio 3 needs to optimize parameters. All replications were done in a NIL process.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.6 no.1
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• pp.57-61
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• 2007

Special quality of automobile clutch master cylinder(CMC) and analyzed aluminum, plastic material comparison. Efficiency of plastic master cylinder can modularize higher, light weight anger of parts, several piece parts by single parts, prove NVH(Noise, Vibration, Harshness) than aluminum master cylinder as analysis result. Also, structure is easy simplicity, exchange, maintenance costs can be reduced and decrease environmental pollution because recycling is superior. According as content of glass fiber increases, mechanical properties of matter of material increase equally and glass fiber changed variously by condition on manufacturing process. Through comparison analysis with Plastic body development connection site, did verification.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.4
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• pp.295-304
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• 2000

In the teleoperation system, force and velocity signals are communicated between a master and a slave robot. The addition of force feedback to a teleoperation system benefits the operator by providing more information to perform given tasks especially for tasks requiring contact with environment. When the master and slave arms are located in different places, time delay is unavoidable and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The control scheme proposed in this paper is based on the estimator with virtual master model. Delayed signal from the master robot can be replaced by the estimated signal with the virtual master model. This control scheme makes the teleoperation system stable for the given time delay while the conventional scheme is not. This new control scheme is verified through numerical simulations and an experiments using the dual axis testbed of the teleoperation system.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.33-38
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• 2007

In this paper, hardware implementation of interface and control between two robots, the master and the slave robot, are designed. The master robot is the motion capturing device that captures motions of the human operator who wears it. The slave robot is the corresponding humanoid robot arms. Captured motions from the master robot are transferred to the slave robot to follow after the master. All hardware designs such as PID controllers, communications between the master robot, encoder counters, and PWM generators are embedded on a single FPGA chip. Experimental studies are conducted to demonstrate the performance of the FPGA controller design.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.12
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• pp.48-58
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• 2010

In this study, position tracking and force reflection control of a master-slave manipulator which will be used for handling objects contaminated by radioactivity has been addressed. Since available measurements concerning on dynamic motion of the master-slave manipulator are restricted, a simple constrained control structure was suggested. In the consideration of the uncertain dynamic behaviors of the slave manipulator which is dependent upon mass and shape of work pieces grasped and dynamic properties of the environment contacted, a simple structured sliding mode control was suggested to guarantee robustness with respect to parameter uncertainties and external disturbances. The proposed control was applied to a 1-DOF master-slave link system. The control performances were verified along with some computer simulation results.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.9 no.3
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• pp.244-248
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• 2009

This paper describes a real-time EtherCAT Master library. The library is developed using Xenomai. Xenomai is a real-time development framework. It cooperates with the Linux kernel, in order to provide a pervasive, interface-agnostic, hard real-time support to user-space applications, seamlessly integrated into the GNU/Linux environment. The proposed master library implements EtherCAT protocol for master side, and supports Application Programming Interfaces(APIs) for programming of real-time application which controls EtherCAT slave.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2760-2762
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• 2000

The objective of this paper is to design a force feedback controller for bilateral control of a master-slave manipulator system. In a bilateral control system. the motion of the master device is followed by the save one. while the force applied to the slave is reflected on the master. In this paper, a proposed controller applied to the system. Adding a switching control term to control input. robustness is improved. Also the knowledge of the system dynamics is not needed. The computer simulation results show the performance of the proposed controller.

• Physical Therapy Korea
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• v.4 no.3
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• pp.45-60
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• 1997

This study was performed to determine the inter-rater reliability of the Chedoke-McMaster Stroke Assessment translated in Korean. This measures the physical impairments and disabilities that impact on the lives of individuals with stroke. The purposes of this measure were 1) to stage motor recovery to classify individuals in terms of clinical characteristics, 2) to predict rehabilitation outcomes, and 3) to measure clinically important change in physical function. Twenty-two subjects from physical therapy unit were assessed by two physical therapists. The ratings were compared by Spearman's rank correlation The correlation between two raters ranged from 0.85 to 0.98. Inter-rater reliability coefficient for total scores ranged from 0.95 to 0.97. This study confirms that the Chedoke-McMaster Stroke Assessment yields reliable results.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2380-2382
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• 2001

The objective of this paper is to design a force feedback controller for bilateral control of a master-slave manipulator system using fuzzy sliding mode control. In a bilateral control system the motion of the master device is followed by slave the one. While the force applied to the slave is reflected on the master. In this paper, a proposed controller applied to the system. Adding a switching control term to the input, robustness is improved. Also the knowledge of the system dynamics is not needed. The computer simulation results show the performance of the proposed fuzzy sliding mode controller.