• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.38-42
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• 2002

Conditions are discussed for operating a dissymmetric human master-small (or micro) slave system in best (large position gain-small velocity gain) conditions allowing higher operator dexterity when real effects (joint compliance, link flexion delay and transmission distortion) are taken into account. It is shown that position PD feedback law advantage for ideal case no longer holds, and that more complicated feedback law depending on real effects has to be implemented with adapted transmission line. Drawback is slowdown of master slave interaction, suggesting to use more advanced predictive methods for the master and more intelligent control law for the slave.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.168-172
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• 1996

In master-slave teleoperating system, it is important that the system has good maneuverability. In this paper, it is addressed an adaptive learning control method applicable to the master-slave system. This control scheme has the ability to estimate uncertain dynamic parameters included intrinsically in the system and to achieve the desired performance without the nasty matrix operation. The proposed method is applied to a master-slave teleoperating system composed of two SCARA robots and verified experimentally.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.486-489
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• 1996

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 slave one, while the force applied to the slave is reflected on the master. In this paper, a fuzzy logic controllers applied to the system. Using the fuzzy logic controller, the knowledge of the system dynamics is not needed. Simulations and experimental results show the performance of the proposed controller.

• 한국정밀공학회지
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• 제15권5호
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• pp.153-160
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• 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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.218-221
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• 2006

This paper reports on a Realtime OS based motor control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. The system has a conventional master-slave robot configuration and the control system consists of joint controllers, host controllers, and power units. The robot features (1) a compact slave robot with 5 DOF (Degree Of Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously, and (2) direct 1:1 correspondence in the joint of master and slave robot that simplifies control algorithm and enhances reliability. Each master, slave and GUI (Graphical User Interface) host has a dedicated RTOS (RealTime OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) Each master and slave controller set pair has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication. Total 4 pairs of the master/slave manipulators as current are monitored by one host controller for operation monitoring and higher level motion control. The system showed acceptable performance in both position control precision and master-slave motion synchronization and is now under further development for better safety and control fidelity for clinically applicable prototype.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 2002년도 춘계공동학술대회
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• pp.418-425
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• 2002

Bluetooth is an emerging technology expected to provide users with short range, low cost, pico-cellular wireless connectivity. The access to the medium for Bluetooth is based on a Master driven Time Division Duplexing (TDD) scheme. A slave transmits packets in the reverse slot only after the master polls the slave (or transmits a packet to the slave) in a forward slot. The master transmits packets to a slave in even slots while the slave transmits packets to the master in an odd slot. The way in which the master schedules packets transmission to slaves or polls them determines system performance. In this paper. we propose a traffic adaptive MAC scheduling scheme for Bluetooth. The proposed scheme adopts the ISAR (Intelligent Segmentation and Reassembly) policy, which adjusts the packet size to the traffic patterns, to adapt the polling frequency to the traffic conditions. Also for achieving fairness among master-slave connections our scheme includes a priority policy assinging prioritised service tlimes to each connection. By considering a scenario where a Bluetooth master is used as wireless access point to the Internet, we show that our scheme improve the system throughput and average queue delay with regard to a naive Round Robin (RR) scheme.

• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제3권11호
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• pp.471-478
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• 2014

데이터베이스 복제(Replication)는 분산 데이터베이스 환경에서 신뢰성, 가용성, 과부하 방지 등을 위하여 이용되며, 마스터/슬레이브(Master/Slave), 멀티마스터(Multi-Master)와 같이 두 가지 모델이 존재한다. 멀티마스터 데이터베이스는 다중 데이터베이스에 삽입 및 갱신을 위한 동기화에 따른 복잡도 증가와 비용 증가와 같은 문제를 지닌다. 이러한 이유로 데이터의 삽입과 수정이 빈번히 일어나는 환경에는 마스터/슬레이브 모델을 이용한 데이터베이스 복제가 적합하다. 하지만 마스터/슬레이브 데이터베이스 역시 시스템에서 각 트랜잭션이 마스터로 접속해야 할지, 슬레이브로 접속해야 할지를 선택하기 위한 기준이 명확히 존재하지 않는 문제를 지닌다. 따라서 이 연구에서는 마스터/슬레이브 데이터베이스 모델에서 AOP(Aspect Oriented Programming) 기반의 데이터베이스 트랜잭션 라우팅 알고리즘을 제안한다. 이를 위하여 AOP에 기반하여 애플리케이션을 횡단 관심사로 분리하고 각 관심사들을 모듈화 하여 트랜잭션을 마스터 데이터베이스 및 슬레이브 데이터베이스로 라우팅한다. 이 논문은 시나리오 기반의 기능 통합 테스트를 통하여 제안 알고리즘의 안정성(Stability) 및 성능이 우수함을 평가한다.

• 대한전자공학회논문지TC
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• 제42권1호`
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• pp.61-66
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• 2005

Location Positioning은 유비쿼터스 컴퓨팅에서 주요한 기술이다. 최근에 UWB를 사용한 Location Positioning이 연구되고 있다. 실내 망에 location network을 구성하기 위해서는 base station들의 동기 특성이 매우 중요하다. LAN부터 WAN까지 시간의 동기를 맞추는 프로토콜로 제안되어 사용되고 있는 것이 NTP이다. 또한 실내 망을 동기화시키기 위해 가장 간단한 방법으로 사용할 수 있는 것이 Master-Slave 방식이다. 본 논문에서는 UWB Location Positioning을 위한 실내 망 동기화에 대해 NTP와 Master-Slave 방식을 UWB Channel 모델 특성을 적용하여 비교 분석하였다. 하나의 primary base station을 기준으로 여러 개의 base station을 실내 망에 동기론 맞춰가며 확장시켜 나갈 때, 각 base station이 포함하게 될 오차의 범위론 여러 채널 모델에서 모의 실험하였다. 그 결과, 비교적 간단하게 적용될 수 있는 Master-Slave 방식보다 NTP 방식이 더 적은 오차로 동기를 맞출 수 있는 동기화 방식인 것으로 나타났다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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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.

• 제어로봇시스템학회논문지
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• 제8권9호
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• pp.788-794
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• 2002

To improve surgical result of total hip arthroplasty (THA), there has been some approaches using a robotic milling system, which can make a precise cavity in the femur. Usually, to carve a femur, the surgical robot is controlled by a pre-programmed tool-path regardless of a surgeon's experience and Judgment. This paper presents a control method of a surgical robot for THA, which can be used as an advanced surgical tool. With a master/slave combined surgical robot, surgeon can directly control the motion and velocity of a surgical robot. The master/slave-combined robot is controlled to display a specific admittance for a surgeon's force to the surgical robot velocity. To prevent the over-carving of a femur, virtual hard wall is displayed on the surgical boundary. To evaluate the proposed control method of the master/slave-combined surgical robot, 2-DOF master/slave-combined manipulator is used in experiment.