• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.5
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• pp.419-425
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• 2007

A rapid one-shot alignment method of the Strapdown INS (SDINS) for a vertical launch is proposed. The proposed alignment is performed using the accelerometer output of the Slave INS and the attitude of the Master INS. To improve the accuracy and the speed of the alignment, the equivalent linear transformation and the pre-filtering method are developed. Experiment results show that the proposed method is effective in improving the accuracy and the speed of the alignment.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.754-758
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• 1996

In this paper, a new method of position synchronizing control is proposed for multi-axes driving system. The proposed synchronizing control system is constituted with speed and synchronizing controller. The structure of synchronizing control system is varied by sign of synchronizing error. When a disturbance input becomes added to one axis, this axis becomes slave axis. The other axis is master axis. Therefore, master axis is not influenced by the disturbance. The speed controller of the first axis is designed by $H_{\infty}$ control theory. The speed controller of the second axis is designed by inverse dynamics of speed control system of the first axis. The speed control system designed with $H_{\infty}$ controller guarantees low sensitivity for the disturbance as well as robustness against model uncertainties. Especially, the synchronizing controller is designed to keep position error to minimize by controlling speed of slave axis. The effectiveness of the proposed method is successfully confirmed through several experiments.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.237-239
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• 2005

In this paper PLC Power Circuit with Hot-Swap Function is proposed for stable power supplies. The power modules of the proposed devices are implemented by CRM flyback converter using new synchronous rectifier circuit for high efficiency. By a variable switching frequency controller, this converter is operated with a reduced turn-on switching loss. Also, the load current in these power modules are shared by auto master / slave method using Outer loop. The proposed devices are analyzed in detail and optimized for high performance. Experimental results for a 100W power module at the variable switching frequency of 30$^{\sim}$70kHz were obtained to show the performance of the proposed device.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.23-25
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• 2005

This paper is devoted to the passivity based control in bilateral teleoperation for varying time delay. Toimprove the stability and task performance, master and slave in bilateral teleoperation must be coupled via the network through which the force and velocity are communicated. However, time delay existing in the transmission channel is a long standing impediment to bilateral control and can destabilize the system, even if the system is stable without time delay, In this paper, we investigate how the varying time delay affects the advanced teleoperation stability and results in an out-of-control status. A new approach based on passivity control has been bilaterally designed for both the master and slave sites and the simulation result will verify that our approach is better and effective for passive bilateral teleoperation.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.166.5-166
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• 2001

In the teleoperation system, force, position and velocity signals are communicated between master and slave arm. The addition of force feedback for the 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. Also it is well known that the system can become unstable when a time delay exists in the communication channel. The proposed control strategy is to use predictive control method(MBPC). The predictive controller is used to control teleoperation´s position and force control. Also it is used to overcome time delay.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.108.5-108
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• 2002

Recently, the more advanced control technologies are required to deal with the fast and accurate motion in manipulators. For these requirements, many manipulator control methods have been developed such as a computed torque method. This paper proposes a design method, a two-degrees-of-freedom internal model control (TDOF IMC), of the manipulator position control based on combination of the one-degree-of-freedom internal model control (ODOF IMC) system and the disturbance observer. The proposed control scheme is implemented for the position control, which leads the slave manipulator to the desired location by the master arm. The experimental results are presented and discussed through the imp...

• Proceedings of the KSRS Conference
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• 2008.10a
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• pp.251-254
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• 2008

The German radar satellite TerraSAR was launched in 2007. In this study, interferogram is generated using TerraSAR-X data and DEM (Digital Elevation Model). Coregistration procedures used with SAR images (i.e. master and slave) in traditional method results in serious errors for high resolution TerraSARX data because of the mutual shift of the master and slave images due to topography. This error becomes more serious in mountainous areas in which the coherence between interferometric pairs is relatively low. Here we processed a geometric coregistration with DEM exploiting height information. Through the method, interferometry processing is fulfilled to generate a qualified interferogram and coherence is improved. This approach will help high resolution X-band SAR interferometry in mountainous area.

• Proceedings of the Korea Electromagnetic Engineering Society Conference
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• 2003.11a
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• pp.269-272
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• 2003

A low phase noise frequency synthesizer at X-Band which employs the subharmonic injection locking was designed and tested. The frequency synthesizer consists of two oscillators - master and slave : A 1.75GHz master oscillator made of PLL synthesizer produces 6th harmonic at 10.5GHz, which excites the following 10.5GHz slave oscillator. The realized frequency synthesizer has a 4.5dBm of output power, and a phase noise of -108dBc/Hz at the 100kHz offset frequency.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.1319-1322
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• 2015

일반적으로 이차전지를 이용한 에너지 저장 시스템(ESS, Energy Storage System)과 전기 자동차(EV, Electric Vehicle)에 사용되는 전지(Battery)는 용량에 따라 직 병렬로 수십 개에서 수 만개의 배터리가 사용되기도 한다. 이러한 많은 배터리를 제어하고 관리하기 위해 필요한 것이 배터리 관리 시스템(BMS, Battery Management System)이다. 이러한 BMS는 ESS(Energy Storage System, 에너지저장시스템)의 핵심부품으로서, 관련업계에서는 새로운 기술 개발에 박차를 가하고 있다. 따라서 본 논문에서는 최근 개발되고 있는 AC 임피던스를 이용한 SOH 예측 기능을 검증할 수 있는 DSP(Digital Signal Processing) Platform 기반으로 Master-Slave 형태의 BMS를 개발하였으며, Master-Slave간에는 CAN 통신을 이용하여 제어성, 확장성을 용이하게 함으로써, 새로운 SOH 알고리즘 구현 및 성능 검증을 손 쉽게 구현할 수 있게 되었다.

• Proceedings of the Korean Information Science Society Conference
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• 1999.10c
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• pp.117-119
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• 1999

Disk mirroring 시스템은 안정성과 고 가용성(High Availability)을 제공하기 때문에 고성능 시스템에서 많이 사용되고 있다. 본 논문에서는 Windows NT 커널에 remote node에 대한 disk mirroring 기능을 추가하여 시스템 자체에서 이러한 기능을 제공할 수 있는 모델을 설계하고자 한다. 설계 시스템은 Windows NT TDI 계층을 사용하여 network 으로 연결된 두 대의 시스템이 master node와 slave node의 pair로 구성되며,slave node가 master node의 디스크를 mirror하게 된다. 또한 fault tolerance 기능을 제공하여 node의 장애 발생시 log를 생성하고, 이 정보를 바탕으로 장애가 발생한 node에 대하여 데이터 복구 기능을 제공하도록 한다.