• Journal of the East Asian Society of Dietary Life
• /
• v.1 no.2
• /
• pp.151-173
• /
• 1991

A review of the royal banquet rituals which were excuted twice a day for consecutive three days for master were found to be progressed; 1st day for Queen Mother, 2nd day for King, 3rd day for Crown Prince very orderly. And performing dozens of dances and musics at each intervals of this procedure. The Sequence of rituals were summarized as follows. 1. Entering by order of low in rance. 2. Opening a ceremony. 3. Setting napkins, spoons and chopsticks and sumptuous table for master. 4. Offering flowers to master and then granting that flowers to subjects 5. Singing a open song. 6. Setting wine/side dishes for master and complimenting master's achievement/wellness. 7. Bowing politely three times and giving cheers. 8. Distributing wine/dishes to high ranked subjects. 9. Offering special dishes for master. 10. Distributing wine to low ranked subjects. 11. Singing a closing song. 12. Taking away tables. 13. Closing a banquet and leaving the hall.

• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.12
• /
• pp.148-161
• /
• 1998

We investigate a design methodology for master arm which is employed in remote-site control. Though counter-balancing has been employed for the purpose of lessening the actuator loads, it results in the increase of dynamic load at the task position. Therefore, there exists a trade-off between counter-balancing and dynamic performance. The concept of a composite index is introduced to simultaneously consider those two effects in the design of master arms. Several alternative designs of master arms are suggested.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.55 no.5
• /
• pp.229-235
• /
• 2006

High speed PC-based DIO(Digital I/O) system that consists of a master device and slave I/O devices is developed. The PCI interfaced master device controls all of serial communications, reducing the load on the CPU to a minimum. The slave device is connected from the master device and another slave device is connected to the slave device, it can repeated to maximum 64 slave devices. The slave device has 3 types I/O mode, such as 16 bits input-only, 16 bits output-only, and 8bits input-output. The master device has 2 rings which can take 64 slaves each. Therefore, total I/O points covered by the master is 2048 points. The slave features 3 types of input/output function interchangeability by DIP switch settings. Library, application, and device driver software for the DIO system that have a secure and a convenient functionality are developed.

• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.5
• /
• pp.153-160
• /
• 1998

A master-slave system for tele-operation had been developed and tested for several decades. In this paper the master robot is composed of several wires and provides position information of the handle which is driven by a operator within the master robot work space. A PC is used for the command calculation for a slave robot. This paper deals with the relation between the number of strings and D.O.F of the master robot, control method of the slave robot during the operation and the monitoring method over the working area by the computer graphics simulation. The D.O.F of the master robot can be modified by adding or subtracting some strings. The controller of the slave robot uses the advanced PD control method to keep the performance against varying working load.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
• /
• v.18 no.12
• /
• pp.1106-1110
• /
• 2005

We fabricated (110) silicon hard master by using anisotropic wet etching for embossing. The etching chemical for the silicon wafer was a TMAH $25\%$ solution. The anisotropic wet etching produces a smooth sidewall surface and the surface roughness of the fabricated master is about 3 nm. After spin coating an organic-inorganic sol-gel hybrid material on a silicon substrate, we employed hot embossing technique operated at a low pressure and temperature to form patterns on the silicon substrate by using the fabricated master. We successfully fabricated the multi-mode planar optical waveguides showing low propagation loss of 0.4 dB/cm. The surface roughness of embossed patterns was uniform for more than 10 times of the embossing processes with a single hydrophobic surface treatment of the silicon hard master.

• Proceedings of the IEEK Conference
• /
• 2008.06a
• /
• pp.143-144
• /
• 2008

By using Ez-RoboMaster which is developed in EASYTECH, we implement an intelligent robot system. The Ez-RoboMaster is developed based on AVR Atmega128, and the emdedded system contains 5 ports for several sensors and actuators. And we develop integrated development environment(IDE), Ez-CPU3.0 for easy application of Ez-RoboMaster. In this paper, we introduce the effectiveness of Ez-RoboMaster for educational platforms of intelligent robot systems at college and university.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2001.04a
• /
• pp.234-238
• /
• 2001

A lot of researches have been done in teleoperation field. For accurate and reliable teleoperation, force reflection is required so that the master can feel the same force, which is measured at reflection have been applied to most of the master device. Therefore the master can not control the force exerted by the slave robot to the environment. But some tasks such as an insertion with very small tolerance, skewing bolt and so forth, require the force command from the master.

• 한국해양학회지
• /
• v.28 no.1
• /
• pp.72-78
• /
• 1993

Sediment grain size was analysed and compared for standard solids and sediment samples using two different methods; SediGraph and MasterSizer. SediGraph results on sediment samples appeared as finer than those of MasterSizer, and the difference is great especially for biogenic siliceous ooze. The difference is maybe due to the following different points in two methods; pretreatment procedure, sample concentration, detachability on fine grains (about 1 um), and detection principle on nonspherical grains.

• Journal of the Korean Institute of Navigation
• /
• v.18 no.4
• /
• pp.1-9
• /
• 1994

Assessment of the safety of ship's transit in the narrow channel consist of the maneuvering safety determined by the chance of running aground, the maneuvering difficulty determined by ship's workload and master's subjective evaluation. To examine the relation between master's subjective evaluation and maneuvering safety, this utilizes a real-time and full-mission shiphandling simulator in the Korea Marine Training & Research Institutes(KMTRI). The vessel chosen was 60,000-ton, Panamax-type ship. The findings regarding master's subjective evaluation were as follows: -Relation between master's subjective evaluation and common logarithms of stranding probability is linear. -Stranding probability with more than 0.001 is master's subjective evaluation with more than 5.

• Journal of the Korean Society of Industry Convergence
• /
• v.25 no.2_2
• /
• pp.193-198
• /
• 2022

In this paper, we introduce the improved control method are communicated between a master and a slave robot in the teleoperation systems. When the master and slave robots are located in different places, time delay is unavoidable under the network environment and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The time delay may cause instability in teleoperation systems especially if those systems include haptic feedback. This paper presents a control scheme based on the estimator with virtual master model in teleoperation systems over the network. As the behavior of virtual model is tracking the one of master model, the operator can control real master robot by manipulating the virtual robot. And LQG/LTR scheme was adopted for the compensation of un-modeled dynamics. The approach is based on virtual master model, which has been implemented on a robot over the network. Its performance is verified by the computer simulation and the experiment.