• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 추계학술대회논문집
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• pp.237-242
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• 2000

The areal recording density of HDD(Hard Disk Drive) has been increasing by about 60% a year. In order to achieve high areal density, less track pitch is expected and more servo bandwidth is required. Dual stage actuator and servo controller for HDD have been suggested for achieving high track density as a possible solution. Dual-loop servo system is generally classified into a two-input-two-output system, but if we use an estimator for a two-input-two-output system, it can be converted into two input one output system. Since we can't control the dual stage servo system by the classical method, it requires a special technique; for example, Parallel Loop System, Master-Slave Loop System, Decoupled Master-Slave Loop System, and Dual Feedback Loop System. In this paper, we performed experimental evaluations of several types of control algorithm. Further experiments will be made in the future.

• 제어로봇시스템학회논문지
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• 제8권8호
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• pp.713-718
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• 2002

Motion controllers are essential components for operating industrial equipments. Compared with general industrial controllers, motion controllers allow motion control requiring greater speed and precision. This paper presents a method for controlling multi-axes motors via industrial networks. To achieve a line or arc interpolation, the master system delivers instructions to slave systems connected to the network. The network instruction transmitted from the master controller is re-interpolated by the individual slaves through sub-interpolators. The re-interpolated feedrate information is transmitted to the motion control loop in which the current position and the reference position are then calculated. In this way, the interpolation driving between control units is achieved via industrial networks.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.524-527
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• 1988

Basic types of bilateral servo systems were described and practical consideration in the bilateral servo controller design was introduced. Power assistance to the operator is essential for high efficiency and accurate force reflection is necessary for dexterous manipulation. This paper shows a controller structure under development at KIMM which employs nonlinear friction compensation and memory based gravity compensation technique for efficiency and dexterity.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 추계종합학술대회 논문집
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• pp.412-415
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• 1999

In this paper, we describe an implementation of the B-Link bus interface logic for a directory controller and a remote access cash controller in the SCI-based CC-NUMA multimedia server developed by ETRI . The CC-NUMA multimedia server is composed of a number of Pentium III SHV nodes and a SCI interconnection network. To communicate with remote nodes, each node has a CC-Agent which consists of a processor bus interface(PIF). a directory controller(DC), a remote access cash controller(RC), and two SCI 1ink controllers(LCs). The B-Link bus interface logic is developed for a directory controller and a remote access cash controller in order to communicate with a SCI link controller on a B-Link bus. It consists of a sending master controller a receiving slave controller, and asynchronous data buffers. And It performs a self-arbitration, a data packet transmission, a queue allocation, an early terminal ion. and a cut-through data path.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2001년도 추계학술발표논문집 (하)
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• pp.1529-1532
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• 2001

ACE 2000 ATM 교환기를 이용하여 MPLS 교환기를 구현 시, ATM 가입자 및 중계선을 수용하여 스위치와 정합 기능을 수행하는 AIM(ATM interface module)에 IP 패킷에 대한 룩업을 수행하여 ATM 스위치로 패킷을 포워딩하는 HFEA(High performance Forwarding Engine board Assembly)를 연동하기 위해서는 UTOPIA Level2 연결이 요구된다. 그러나 HFEA 에서 622Mbps 급 성능의 MXT4400(SAR) 칩은 TSAR(Transmit SAR)로 운용 시 Master모드로 동작하게 되고, AIM 모듈 또한 Rx에서 Master모드로 동작하기 때문에 이들을 연결하기 위해서는 양 모듈간에서 Slave 모드로 동작할 수 있는 UTOPIA Controller가 필요하게 된다. 이에 따라 ALMA(AW Layer Module Assembly)칩과 HFEA TSAR 사이에서 데이터를 전달하는 UTOPIA Controller를 Xilinx를 이용해 FPGA로 구현하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2542-2544
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• 2000

In this paper, CAN(Controller Area Network)is used to solve the wire harness problem in the outside mirror of automobile which has a lot of functions in narrow space. If the number of wires is reduced, it has benefits of lower product cost and maintenance. CAN was originally developed by the German company Robert Bosch for use in the car industry to provide a cost-effective communications bus for in car electronics and as alternative to expensive and cumbersome wiring looms. CAN controller is a serial communication protocol which efficiently supports distributed real-time control with a very high level of security. The communication between master CAN controller and slave CAN controller is realized and controller's performance is tested by experiment.

• Journal of Mechanical Science and Technology
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• 제18권7호
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• pp.1131-1139
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• 2004

A new impedance controller is proposed for bilateral teleoperation under a time delay. The proposed controller does not need to measure or estimate the time delay in the communication channel using the force loop-back. In designing a stable impedance controller, absolute stability is used as a stability analysis tool, which results in a less conservative controller than the passivity concept. Moreover, in order to remove the conservatism associated with the assumption of infinite port impedances, the boundaries of human and environment impedance are set to finite values. Based on this, this paper proposes a parameter design procedure for stable impedance controllers. The validity of the proposed control scheme is demonstrated by experiments with a 1-dof master/slave system.

• 한국정보통신학회논문지
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• 제25권2호
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• pp.259-266
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• 2021

USB 버스는 편리하게 사용할 수 있고 빠르게 데이터를 전송하는 장점이 있어서, FPGA 개발보드와 PC 사이의 표준적인 인터페이스이다. 본 논문에서는 Cypress FX3 USB 3 브릿지 칩에 대한 slave FIFO 인터페이스를 사용하여 FPGA 검증 시스템을 구현하였다. slave FIFO 인터페이스 모듈은 FIFO 구조의 호스트 인터페이스 모듈과 마스터 버스 제어기와 명령 해독기로 구성되며, FX3 브릿지 칩에 대한 스트리밍 데이터 통신과 사용자 설계 회로에 대한 메모리 맵 형태의 입출력 인터페이스를 지원한다. 설계 검증 시스템에는 Cypress FX3 칩과 Xilinx Artix FPGA (XC7A35T-1C5G3241) 칩으로 구성된 ZestSC3 보드가 사용되었다. C++ DLL 라이브러리와 비주얼 C# 언어를 사용하여 개발한 GUI 소프트웨어를 사용하여, 사용자 설계 회로에 대한 FPGA 검증 시스템이 다양한 클록 주파수 환경에서 올바로 동작함을 확인하였다. 설계한 FPGA 검증 시스템의 slave FIFO 인터페이스 회로는 모듈화 구조를 갖고 있어서 메모리맵 인터페이스를 갖는 다른 사용자 설계 회로에도 응용이 가능하다.

• 제어로봇시스템학회논문지
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• 제13권10호
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• pp.940-948
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• 2007

The Advanced Spent Fuel Conditioning Process(ACP), which is the process of the reduction of uranium oxide by lithium metal in a high temperature molten salt bath for spent fuel, was developed at Korea Atomic Energy Research Institute (KAERI). Since the ACP equipment is located in an intense radiation field (hot cell) as well as in a high temperature, it must be remotely operated and maintained. The ACP hot cell is very narrow so the workspace of the wall-mounted mechanical Master-Slave Manipulators(MSMs) is restricted. A Bridge Transported Servo Manipulator(BTSM) system has been developed to overcome the limitation of an access that is a drawback of the mechanical MSMs. The BTSM system consists ot a bridge crane with telescoping tubeset, a slave manipulator, a master manipulator, and a control system. We applied a bilateral position-position control scheme with friction compensation as force-reflecting controller. In this paper, the transmission characteristics on the tendon-and-pulley train is numerically formulated and analyzed. Also, we evaluate the performance of the force-reflecting servo manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.168-171
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• 1993

In this paper, we design a time optimal controller of a dual arm robot to handle the object. Differently from the master-slave type robot, same priority is imposed on the both of the arms for effective handling the specifed object. For finding a time optimal collision-free trajectory, a graphical method is applied for the robot with two degree of freedom. Some simulation results show the effectiveness of the proposed method.