• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.540-540
• /
• 2000

This paper explores design and control methods of a surgical robot for total hip replacement surgery which can be easily maneuvered by a surgeon Like an advanced surgical tool. The 3-DOF in-parallel surgical robot is fixed directly onto patient's femur by the bone clamp during surgery. With the master/slave combined surgical robot, the surgeon can directly control the motion of the surgical robot with surgeon's experience and judgment during operation. For the easiness of operation, the master/slave combined robot is controlled using admittance control paradigm. And for the precise operation, the robot motion is restricted at the surgical boundary using virtual hard wall display.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.867-870
• /
• 1996

Often an INS has to be aligned in navigation. In these cases it is necessary to obtain some reference information on the state of the aligned INS(Slave) such as its position, its velocity of its angular rate. Usually the reference information is velocity which is supplied by another reference INS. In the alignment state the velocity computed by the reference INS(Master) is compared with that computed by the slave INS and the difference which is indicative of the slave misalignment with respect to the master, is processed by a Kalman filter which estimates misalignment as well as the slave gyro and accelerometer error states. The operation of aligning a slave INS with a master INS comparing quantities computed by both INS is known as transfer alignment. The delivery vehicle performs error these maneuvers enable the TA Kalman filter to separate between the tilt errors and the accelerometer biases which otherwise are unobservable. The basic objective this paper is to study the observability enhancement by ship's maneuvering and matching methods during transfer alignment at sea.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.838-843
• /
• 1991

A telemanipulator that reflects grasping force of the slave gripper to the human operator was implemented in order for manipulation to be more delicate and safe. An industrial robot gripper was used as the slave manipulator. The master manipulator was constructed to make it easy for a human operator to direct the slave and to feel the reflected gripping force. Reflected force was generated by the servomotor of the master. The force signal and position signals of the master and the slave was used to generate driving force signal. Basically position-position type control was used. Miner force feedback is added to improve the performance of the system. Implemented system was tested by colliding two fingers of the slave manipulator, and here switching was used to archive more fast and easy manipulation.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.519-519
• /
• 2000

Since the dynamics of the slave manipulator with high reduction ratio joints is likely to be much slower than that of the master manipulator, the control input the slave manipulator is so frequently saturated. This paper proposes a bilateral teleoperation control scheme for 2-DOF manipulators with high reduction ratio joints, which can effectively compensate the control input saturation. In the proposed scheme, the controllers of the slave manipulator are designed with an anti-windup feature and forces caused by the saturation are reflected to the operator holding the operating handle of the master manipulator. When the control input of the slave manipulator is saturated, the master manipulator moves slowly file to tile reflected forces. In this way, the position tracking performance of the slave manipulator with high reduction ratio joints can be enhanced regardless of saturation. The proposed scheme is shown to give excellent position tracking performance through a series of experiments.

• Proceedings of the Korean Nuclear Society Conference
• /
• 2002.05a
• /
• pp.269.2-269
• /
• 2002

• 제어로봇시스템학회:학술대회논문집
• /
• 1998.10a
• /
• pp.386-390
• /
• 1998

A master-slave system is proposed as a teaching device for a dual arm robot. The slave robots are remotely controlled by two delta-type master arms. In order to help the operator to observe the target object from the desired position and desired direction, cameras are mounted on a specialized manipulator, Movements of two slave arms are coordinated with that of the cameras. Due to this coordinated movements, the operator needs not to care the geometrical relation between the cameras and the slave robots.

• Journal of the Korean Society for Precision Engineering
• /
• v.32 no.12
• /
• pp.1055-1063
• /
• 2015

In this paper, a new master arm was developed as an input device of the remote control system for easy control of the industrial robot arm; it has a structure similar to the robot arm and is easy to wear. For control of the slave arm, related equations were derived about the joints between the master and slave arm; and thereby using them, the master arm control system was developed. Furthermore, a control simulator was developed for the convenient and accurate control of the slave arm. Experiments, about controlling the slave arm in applying the master arm, were performed to validate the developed simulator and the derived related equations.

• Journal of Communications and Networks
• /
• v.1 no.2
• /
• pp.89-98
• /
• 1999

In a synchronization (sync) $network^1$containing N nodes, it is shown (Theorem 1c) that an arbitrarily connected sync network & is the union of a countable set of isolated connecting sync networks${&_i,i= 1,2,.., L}, I.E., & = \bigcup_{I=1}^L&_i$ It is shown(Theorem 2e) that aconnecting sync network is the union of a set of disjoint irreducible subnetworks having one or more nodes. It is further shown(Theorem 3a) that there exists at least one closed irreducible subnetwork in $&_i$. It is further demonstrated that a con-necting sync network is the union of both a master group and a slave group of nodes. The master group is the union of closed irreducible subnetworks in $&_i$. The slave group is the union of non-colsed irre-ducible subnetworks in $&_i$. The relationships between master-slave(MS), mutual synchronous (MUS) and hierarchical MS/MUS ent-works are clearly manifested [1]. Additionally, Theorem 5 shows that each node in the slave group is accessible by at least on node in the master group. This allows one to conclude that the synchro-nization information avilable in the master group can be reliably transported to each node in the slave group. Counting and combinatorial arguments are used to develop a recursive algorithm which counts the number $A_N$ of arbitrarily connected sync network architectures in an N-nodal sync network and the number $C_N$ of isolated connecting sync network in &. EXamples for N=2,3,4,5 and 6 are provided. Finally, network examples are presented which illustrate the results offered by the theorems. The notation used and symbol definitions are listed in Appendix A.

• Proceedings of the Korean Society of Near Infrared Spectroscopy Conference
• /
• 2001.06a
• /
• pp.1210-1210
• /
• 2001

On farm analysis of protein, moisture and oil in cereals and oil seeds is quickly being adopted by Australian farmers. The benefits of being able to measure protein and oil in grains and oil seeds are several : $\square$ Optimize crop payments $\square$ Monitor effects of fertilization $\square$ Blend on farm to meet market requirements $\square$ Off farm marketing - sell crop with load by load analysis However farmers are not NIR spectroscopists and the process of calibrating instruments has to the duty of the supplier. With the potential number of On Farm analyser being in the thousands, then the task of calibrating each instrument would be impossible, let alone the problems encountered with updating calibrations from season to season. As such, NIR technology Australia has developed a mechanism for \ulcorner\ulcorner\ulcorner their range of Cropscan 2000G NIR analysers so that a single calibration can be transferred from the master instrument to every slave instrument. Whole grain analysis has been developed over the last 10 years using Near Infrared Transmission through a sample of grain with a pathlength varying from 5-30mm. A continuous spectrum from 800-1100nm is the optimal wavelength coverage fro these applications and a grating based spectrophotometer has proven to provide the best means of producing this spectrum. The most important aspect of standardizing NIB instruments is to duplicate the spectral information. The task is to align spectrum from the slave instruments to the master instrument in terms of wavelength positioning and then to adjust the spectral response at each wavelength in order that the slave instruments mimic the master instrument. The Cropscan 2000G and 2000B Whole Grain Analyser use flat field spectrographs to produce a spectrum from 720-1100nm and a silicon photodiode array detector to collect the spectrum at approximately 10nm intervals. The concave holographic gratings used in the flat field spectrographs are produced by a process of photo lithography. As such each grating is an exact replica of the original. To align wavelengths in these instruments, NIR wheat sample scanned on the master and the slave instruments provides three check points in the spectrum to make a more exact alignment. Once the wavelengths are matched then many samples of wheat, approximately 10, exhibiting absorbances from 2 to 4.5 Abu, are scanned on the master and then on each slave. Using a simple linear regression technique, a slope and bias adjustment is made for each pixel of the detector. This process corrects the spectral response at each wavelength so that the slave instruments produce the same spectra as the master instrument. It is important to use as broad a range of absorbances in the samples so that a good slope and bias estimate can be calculated. These Slope and Bias (S'||'&'||'B) factors are then downloaded into the slave instruments. Calibrations developed on the master instrument can then be downloaded onto the slave instruments and perform similarly to the master instrument. The data shown in this paper illustrates the process of calculating these S'||'&'||'B factors and the transfer of calibrations for wheat, barley and sorghum between several instruments.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2514-2518
• /
• 2003

The KAERI Spent Fuel Remote Technology Development (SFRTD) Department is developing the remote maintenance and repair equipment, which is used in a hot cell in an intense radiation field, as part of a project to develop the Advanced spent fuel Conditioning Process (ACP). Although several mechanical master-slave manipulators (MSMs) is mounted on the hot cell wall, their reach will be limited and cannot access areas for all the ACP equipment maintenance. A Bridge Transported ServoManipulator (BTSM) has been designed to overcome the limitation of access areas that is a drawback of MSMs for the ACP equipment maintenance. The BTSM system consists of four components: a transporter with telescoping tubeset, a slave manipulator, a master manipulator, and a remote control system. The BTSM system has been designed by Solid Edge that is a 3D computer-aided design (CAD) software, except for the remote control system. The master manipulator and the slave manipulator are kinematically similar in design, except for the handle and the tong, respectively. The manipulators have 6 degrees of freedom (DOF) plus the jaws motion. The transporter has traveling, traverse, and hoisting motion to position the slave manipulator.