• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.10
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• pp.720-726
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• 2004

The data transmission over MVB(Multifunction Vehicle Bus) of TCN(Train Communication Network) is divided into the periodic transmission phase and the sporadic transmission phase. TCN standard recommends the event-polling method as the message transfer in the sporadic phase. However, since the event-polling method does not use pre-scheduling to the priority of the messages, it is inefficient for the real-time systems. To schedule message transmission, a master node should know the priority of message to be transmitted by a slave node prior to the sporadic phase, but the existing TCN standard does not support any protocol for this. This paper proposes the slave frame bit-stuffing algorithm, with which a master node gets the necessary information for scheduling and includes the simulation results of the event-polling method and the proposed algorithm.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.1171-1172
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• 2008

In this paper, we investigate the issues on the design and implementation of tele-operation system based on the haptic interface. Here, the 3-DOF haptic device and the X-Y-Z stage are employed as master controller and slave system respectively. For this master-slave system, the force feedback algorithm, the modeling of virtual environments and the control method of X-Y-Z stage are presented. In this paper, internet network is used for data communication between master and slave.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.10
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• pp.894-902
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• 2000

This paper proposes a force reflection control method with a speed saturation compensation scheme for the slave manipulators having a speed saturation due to the high reduction ratio joints. When speed saturation is generated, the proposed force reflection control method not only shows an anti-windup feature in controlling the slave manipulator but also makes the master manipulator move slowly using the force reflection caused by saturation. In this way, the position of the slave manipulator tracks the reference position regardless of speed saturation. The experimental results show that the proposed control method provides excellent performance.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1101-1104
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• 2003

In this paper, we performed the study on the operation characteristics of tele-grasping using the developed experimental system. The experimental system consists of master and slave gripper. and signal processing system. For the stable grasping of an object, this system feedback the normal force obtained from the straingage of the slave gripper to magnetic particle brake of the master gripper through the signal processing system. This experimental system can control the grasping force in remote using the force feedback device. Some experimental results of the-tele-grasping are presented and discussed

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.33-38
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• 2007

In this paper, hardware implementation of interface and control between two robots, the master and the slave robot, are designed. The master robot is the motion capturing device that captures motions of the human operator who wears it. The slave robot is the corresponding humanoid robot arms. Captured motions from the master robot are transferred to the slave robot to follow after the master. All hardware designs such as PID controllers, communications between the master robot, encoder counters, and PWM generators are embedded on a single FPGA chip. Experimental studies are conducted to demonstrate the performance of the FPGA controller design.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.1
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• pp.199-202
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• 2009

Scan design is currently the most widely used structured Design For Testability approach. In scan design, all storage elements are replaced with scan cells, which are then configured as one or more shift registers(also called scan chains) during the shift operation. As a result, all inputs to the combinational logic, including those driven by scan cells, can be controlled and all outputs from the combinational logic, including those driving scan cells, can be observed. The scan inserted design, called scan design, is operated in three modes: normal mode, shift mode, and capture mode. Circuit operations with associated clock cycles conducted in these three modes are referred to as normal operation, shift operation, and capture operation, respectively. In spite of these, scan design methodology has defects. They are power dissipation problem and test time during test application. We propose a new methodology about scan shift clock operation and present low power scan design and short test time.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1470-1475
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• 2003

The senses that a doctor can feel is limited in MIS(Minimal Invasive Surgery) which guarantees the fast recovery of the patient and minimal incision for going in and out of instruments through the tissue of the patient. In particular, the surgical robotic teleoperation system developed recently serves with only the information of eyesight and auditory sense. Therefore force-reflection is the most demanded element of the senses in manipulating surgical instruments. In this paper, we designed the Master system and the 2 D.O.F grasper for the robotic teleoperation system(Slave) that has two force sensors on the grasper. Particularly, we focused on serve to master's handle with the contact force between tissue and the grasper of Slave.

• Proceedings of the KIPE Conference
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• 1998.07a
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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 $2.43^{\circ}$.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.3 no.2
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• pp.161-165
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• 2003

In this paper, we investigate the issues on the design and implementation of tele-operation system based on the haptic interface. Here, the 3-DOF haptic device and the X-Y-Z stage are employed as master controller and slave system respectively. For this master-slave system, the force feedback algorithm, the modeling of virtual environments and the control method of X-Y-Z stage are presented. In this paper, internet network is used for data communication between master and slave. We construct virtual environment of the real convex surface from the force-feedback in controlling the X-Y-Z stage and measuring the force applied by the 3-DOF haptic device.

• Journal of Communications and Networks
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• v.6 no.3
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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.