• 전력전자학회:학술대회논문집
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• 전력전자학회 1998년도 전력전자학술대회 논문집
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• pp.116-122
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• 1998

This Paper presents some of challenges of creating feedback force, through manipulation of master manipulator, allowing the user to feel objects within a virtual environment. A sense of touch for the virtual environment. A sense of touch for the virtual environments was generated by a virtual compliance control method. In theis system data communication between the master and slave, we used TCP protocol. In the experiments. A position error between the master and slave arm was about $13.56^{\circ}$ in case that the master and slave arm had not compliance properties of the virtual object, while they have the its properties the position error reduced by $2.43^{\circ}$.

• Journal of Communications and Networks
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• 제6권3호
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• pp.197-202
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• 2004

This work presents a stability analysis of the synchronous state for one-way master-slave time distribution networks with single star topology. Using bifurcation theory, the dynamical behavior of second-order phase-locked loops employed to extract the synchronous state in each node is analyzed in function of the constitutive parameters. Two usual inputs, the step and the ramp phase perturbations, are supposed to appear in the master node and, in each case, the existence and the stability of the synchronous state are studied. For parameter combinations resulting in non-hyperbolic synchronous states the linear approximation does not provide any information, even about the local behavior of the system. In this case, the center manifold theorem permits the construction of an equivalent vector field representing the asymptotic behavior of the original system in a local neighborhood of these points. Thus, the local stability can be determined.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2430-2432
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• 2002

We made a master hand which can be used as tool for getting grasping data. By using the data from the master hand, we analyzed grasping patterns of human hands. Based on this analyzed results, we developed an grasping algorithm for some particular hand actions. To develop the above algorithm, we programmed a 3D simulation S/W using Visual C++. And we made a slave hand to prove the validity of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.48-48
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• 2000

We developed a wireless communication system for multiple instrumentation system. The developed system has a function of remote instrumentation and PLC(Programmable Logic Controller) control. The system consists of CC(Control and Communication) protocol, wireless media access and physical media system. For multiple wireless communication, we propose a hub polling protocol based on master-slave control concept. To show the validity of the developed system, several experiments are illustrated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.446-449
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• 1997

We propose a control law in discrete time domain of the bilateral feedback teleoperation system using neural network and the reference model type of adaptive control. Different from traditional teleoperation systems, the transmission time delay irregularly changes. The proposed control method controls master and slave systems through identification of master and slave models using neural networks.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.543-544
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• 2009

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 추계학술대회 논문집
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• pp.147-148
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• 2009

• 제어로봇시스템학회논문지
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• 제15권10호
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• pp.1039-1046
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• 2009

In this work, a bilateral control for a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. The measurable variables are the positions and rates of master/slave motors. In the consideration of the flexibility of the tendon and available measurements for control, we proposed an optimal static output feedback control for possible bilateral control architecture. By using modal analysis, the system model is reduced to guarantee the detectability which is a necessity for the static output feedback control design. Based on the reduced model, the control gains are determined to attenuate vibration in the sense of optimality. The feasibility of the proposed control design was verified along with some simulation results.

• 전기학회논문지
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• 제65권12호
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• pp.2008-2013
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• 2016

This paper proposes analysis and suppression method for reactive power vibration of the slave motor caused by back-EMF mismatch between the master and the slave motor and stator resistance during middle-low speed operation. The master and slave motors are parallel connected dual SPMSMs(Surface mounted Permanent Magnet Synchronous Motors) fed by a single inverter. To suppress vibration of reactive power, RPC(Reactive Power Compensator) proposed in this paper analyzes flux-axis current vibration of the slave motor that occurs in middle-low speed operation using a mathematical model of the fan motor. And RPC adds vibration components detected from flux-axis current of the slave motor to flux-axis current of the master motor. The results of experiment conducted verify the efficacy of the proposed method.

• 중소기업융합학회논문지
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• 제6권4호
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• pp.25-30
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• 2016

본 논문에서는 최근 증가하고 있는 소지품의 분실 방지를 위한 소형 장치의 개발 결과를 제시하고 있다. 제안된 분실 방지 장치 개발을 위해 블루투스4.1 기반의 Slave와 Master로 구성되는 송수신회로로 구성된다. 그리고 저 전력 특성을 구현하기 위해 알고리즘 개발이 병행 되었다. 송수신회로는 블루투스4.1 기능을 지원하는 BoT CLE110 모듈을 사용하였으며, 장치의 제어를 위해 ATmega 328P-AU가 사용되었고 선형 레귤레이터로 LP3874EMP가 사용되었다. 설계된 제품의 소모 전력은 동작 상태에서 35mAh, MCU만 동작 할 경우 10mAh이다. 알람동작거리는 $10m{\pm}30%$, 실효복사전력은 10mW이하, 주파수대역은 블루투스 대역에서 26MHz 이하를 유지하도록 설계되었다. 그리고 Slave와 Master부의 배터리 수명을 연장하기 위한 알고리즘이 개발되었으며, 제품의 크기는 Master($45{\times}45{\times}15mm$), Slave($35{\times}35{\times}10mm$)로 사용자의 편의성을 확보하였다. 본 제품을 최적화 과정을 거쳐 손목시계형 분실 방지 장치로 상용화가 가능할 것으로 기대 된다.