• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.985-989
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• 1990

This paper presents a fundamental study of a millimeter-sized master-slave robot driven by conduit-guided wires, which is expected to be applied to the delicate surgical operations, the assembling precise and small parts and so on. This system consists of a millimeter-sized slave robot and a master manipulator of which the size is adapted to a human finger. Displacement and torque of the master side can be reduced and transferred to the slave robot by controlling the motor torque against the master torque by feeding back tension signals. The master can feel the tensions by the motor torque. In this paper, the design method and making process of the master-slave system and the dynamical characteristic of displacement and torque control are proposed.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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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.

• 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.

• 정보통신설비학회논문지
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• 제8권1호
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.290-294
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• 1995

In master-slave teleoperation system, time delay may be a critical problem because a task is performed over a distance. Even if the system is stable without time delay, time delay can make the system unstable. In this paper a new control scheme applicable to the system with time delay would be proposed,which is based on the conventional position-position feedback type controller. The stability of this control system is proved using scattering theory, and is compared with the conventional ones. By performing the simulation of a one-d.o.f master-slave system, the validity of the proposed algorithm is verified.

• 한국생산제조학회지
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• 제25권1호
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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.

• 한국정밀공학회지
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• 제27권12호
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• pp.48-58
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• 2010

In this study, position tracking and force reflection control of a master-slave manipulator which will be used for handling objects contaminated by radioactivity has been addressed. Since available measurements concerning on dynamic motion of the master-slave manipulator are restricted, a simple constrained control structure was suggested. In the consideration of the uncertain dynamic behaviors of the slave manipulator which is dependent upon mass and shape of work pieces grasped and dynamic properties of the environment contacted, a simple structured sliding mode control was suggested to guarantee robustness with respect to parameter uncertainties and external disturbances. The proposed control was applied to a 1-DOF master-slave link system. The control performances were verified along with some computer simulation results.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.132-135
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• 2000

The development of a robot system being able to work instead of human in the hazardous environment have been conducted for many year. In this study, the new design of controllers for the Master-Slave system is discussed. The Master-Slave system, force, velocity and torque signals are communicated between a master and a slave system. the conventional requires the enhancement of characteristics of tactility for minute force, precision signals and mechanical abrasion of loader. It is possible b controlling the viscosity of ERF(Electro-rheological fluid) since it varies with the electric field. Design of controller as well comparison between numerical simulation and experiments as will be presented. Futhermore, current methodology is also applicable to design of tele-surgery

• 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.

• 한국콘텐츠학회논문지
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• 제13권5호
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• pp.19-27
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• 2013

본 논문에서는 마스터 장치와 슬레이브 장치로 구성된 대기 전력 제어 시스템을 구현한다. 마스터 장치의 RFID 카드의 인증여부에 따라 슬레이브 장치의 릴레이를 제어한 후에 전원 공급을 차단함으로써 대기전력이 관리된다. 마스터 장치는 RFID 인터페이스 및 무선 통신 모듈을 내장하고 있고, 마스터 장치 1개에 대해 n개의 슬레이브 장치가 무선으로 연계되며 각각의 슬레이브 장치는 전력제어에 필요한 동작을 독립적으로 수행한다. 슬레이브 장치에 수동으로 전력을 on/off 할 수 있는 기능과 스위치 조작을 통해 마스터 장치에 사용자 ID를 등록하는 기능을 구현했다. 또한, 본 시스템은 무선으로 양방향 통신이 가능하고 TinyOS 상에서 실행된다. 실험 결과, 본 시스템은 마스터 장치에서 사용자 여부를 인식하고, 이에 대한 인식 정보를 무선 통신으로 슬레이브 장치에 전송함으로써, 릴레이를 제어하여 대기 전력이 차단된 것을 보여 주었다. 본 시스템을 건물이나 사무실에 설치할 경우 전력 절감을 기할 수 있다.