• Journal of the Semiconductor & Display Technology
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• v.16 no.3
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• pp.65-70
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• 2017

This paper presents the implementation for the master changing algorithm between nodes in a general electric vehicle. The packet processing method based on the unique network method of an electric vehicle is that the method of processing a communication packet has the priority from the node of a vehicle installed at both ends. An important factor in deciding master or slave in a train is that the request data, the status data, and transmits or control codes of sub-devices are controlled from the node which master becomes. If the request data or the status data is transmitted from the non- master side, it is very important that only one of the devices of both stages be master since the data of the request data may collide with each other. This paper proposes an algorithm to select master or slave depending on which vehicle is started first, which node is master or slave, and whether the vehicle key is operation. Finally experimental results show the stable performance and effectiveness of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1512-1515
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• 1997

One of the advantages of master-slave teleoperation is scaling concept such as position scaling, force scaling Meanuhile, lots of quantization effects are generated from position and force sensors in the master and slave manipulator. In this paper, to show the output error caused by the quantizaion effects from the position sensor and position scaling factor, simulation is done for free motion without contact in slave side. Transfer functiion model in which the quantization effect is assumed to be a disturbance input to the system is derived. Model shows that Jacobian, scaling factors, and controller affect the output by quantization effects form esnsors. One dof master and slave are used for simulation. In our study, the higher sensor resolution decreases the output error form quantization. Scaling factors can amplify the quantizatiion effects form the sensors in master and slave manipulators.

• Journal of The Institute of Information and Telecommunication Facilities Engineering
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• v.8 no.1
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• pp.40-46
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• 2009

This paper presents a self-sustaining system, and an effective method in enhancing overall energy efficiency. The proposed system consists of the two major nodes: a slave node, which contains the environment information (e.g., temperature, humidity, etc.); and a master node, which communicates with the slave nodes, and transmit the slave node's information to users. All slave nodes are under control of the master node. Each slave node uses two power sources: the piezoelectric power generator (PPG); and the continuous wave from the master node. The paper highlights the basic operational principle, each node's specifications, and experimental data for performance verification. The two nodes successfully communicate each other in a range of 3.3m (maximal range), where the user's computer is wired the master node.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.948-954
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• 1999

In this paper, we propose a cooperative motion planning algorithm for two tightly-coupled mobile robots. Specifically, the considered cooperative work is that two mobile robots should transfer a long rigid object along a predefined path. To resolve the problem, we introduce a master-slave concept for two obile robots having the same structure. According to the velocity of the master robot and the positions of two robots on the path, the velocity of the slave robot is determined. The slave normally tracks the master's motion, but in case that the velocity of the slave exceeds the velocity limit, the roles of the robots should be interchanged. The effectiveness of the proposed algorithm is proved by computer simulations.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.1
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• pp.75-82
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• 2016

In this study, a cross-damped low vibration controller was developed to reduce vibration in ultra-precision dual stage driven by master/slave principle. In master-slave structure, the master stage leads the driving motion and the slave stage follows it so as to maintain a constant gap between two stages. In this structure, a small perturbation of master stage makes big oscillations in slave servoing stage, so a low damped master stage composed of voice coil motor makes a long vibration in settling area after driving motion profile. In this research, an effective feedback damping algorithm for increase the damping characteristics of the dual stage was developed. The designed velocity damping algorithm improves the system stability and reduces the settling time of the whole system. Simulation and experimental results show that the developed algorithm reduces settling time and improves the regulating performance.

• 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 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.

• The Journal of the Korea Contents Association
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• v.13 no.5
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• pp.19-27
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• 2013

This paper implements the standby power control system composed of a master device and slave devices. The standby power is managed by cutting power supply after controlling the relay of a slave device based on the authentication of master device's RFID card. RFID interface and wireless communication module are embedded in a master device, and one master device is linked with many slave devices in wireless. Each slave device executes the operation needed in power control independently. We implements the function of manual power on/off system in a slave device, and the function of user ID enrollment by switch manipulation in a master device. Also this system can communicate bidirectionally in wireless and runs on TinyOS. The result of experiment shows that the user authentication is executed in a master device and this authenticated information is transmitted to a slave device in wireless, and standby power is cutted by controlling the relay of a slave device. Installing this system in a building or an office, we can expect energy saving.

• Journal of KIISE:Information Networking
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• v.30 no.1
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• pp.38-47
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• 2003

Communication between Bluetooth devices is based on TDD by a master unit. In this discipline, the transmission of slave packets can be made only when the master transmits a packet to the slave. Thus, some slots may be wasted when there is no user data in the master's or slave's queue due to the transmission of a POLL or NULL packet. Therefore a scheduling scheme which can minimize the slot waste is required in Bluetooth intra-piconet communication. However, since the master is responsible for the intra-piconet scheduling, it must be provided with an information on each slave's queue length to apply traditional scheduling schemes. which is impossible in Bluetooth. This paper presents a new Bluetooth intra-piconet scheduling scheme that is efficient and does not require the information on each slave's queue length. The scheduling is done based on the information about the existence of data in the master and slave queues which is derived by the master identifying the type of packets transmitted. The master schedules to communicate with the slaves according to the priorities determined based on this information. We Presents simulation results which indicate a significant improvement in the performance when our proposed scheme is used.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.12
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• pp.1521-1527
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• 2013

This study proposes a wearable master device that can measure the joint stiffness and the angular displacement of a human operator to enhance the adapting capability of a slave system. A lightweight inertial sensor and the exoskeleton mechanism of the master device can make an operator feel comfortable, and artificial pneumatic muscles having a working principle similar to that of human muscles improve the performance of the slave device on emulating what a human operator does. Experimental results revealed that the proposed master/slave system based on the muscle stiffness sensor yielded uniform tracking performance compared with a conventional position-feedback controller when the payload applied to the slave system changed.