• Journal of KIISE:Information Networking
• /
• v.32 no.6
• /
• pp.668-675
• /
• 2005

With the proliferation of wireless network and the advances of the embedded systems, the traditional distributed systems begin to include the wireless embedded systems. Clock synchronization in the distributed systems is one of the major issues that should be considered for diverse Purposes including synchronization, ordering, and consistency. Many clock synchronization algorithms have been proposed over the years. Since clock synchronization in wireless embedded systems should consider the low bandwidth of a network and the poor resources of a system, most traditional algorithms cannot be applied directly. We propose a clock synchronization algorithm in wireless embedded systems, extending IEEE 802.11 standard. The proposed algorithm can not only achieve high precision by loosening constraints and utilizing the characteristics of wireless broadcast but also provide continuous time synchronization by tolerating the message losses. In master/slave structure the master broadcasts the time information and the stave computes the clock skew and the drift to estimate the synchronized time of the master. The experiment results show that the achieved standard deviation by the Proposed scheme is within the bound of about 200 microseconds.

• Journal of Internet Computing and Services
• /
• v.7 no.6
• /
• pp.87-103
• /
• 2006

Advances in computer and network technology provide new computing environment that were only possible with supercomputers before. In order to provide the environment, a distributed runtime system has to be provided, but most of the conventional distributed runtime systems lack in providing dynamic and flexible system reconfiguration depending on workload variance, due to a static architecture of fixed master node and slave working nodes. This paper proposes and implements a new model for distributed job allocation and management which is a distributed runtime system is P2P environment for flexible and dynamic system reconfiguration. The implemented systems enables job program transfer and management, remote compile and execution among cooperative developers based on P2P standard protocol Jxta platform. Since it makes dynamic and flexible system reconfiguration possible, the proposed method has some advantages in that it can collect and utilize idle computing resources immediately at a needed time for distributed job processing. Moreover, the implemented system's effectiveness and performance increase are shown by applying and processing the crawler jobs, in a distributed way, for collecting a large amount of data needed for internet search.

• Journal of Internet Computing and Services
• /
• v.9 no.1
• /
• pp.159-170
• /
• 2008

The ubiquitous network revolution is beginning with the onset of digital convergence, whereby computers, horne appliances, and communications and broadcast media are being unified into digital media with the founding of the information super high speed. This technical advancement is creating a new culture and a new space and accelerating society's transition to the new and unique social paradigm of a 'ubiquitous society'. In particular, studies on ubiquitous communications are well underway. Lately, the focus has been on the Bluetooth technology due to its applicability in various environments. Applying Bluetooth connectivity to new environments such as ubiquitous or sensor networks requires finding new ways of using it. Thus, the scalable Bluetooth piconet scheme with independent slave device is proposed. It follows from work by Sea et al. But extended scatternet is not considered is Kiisc05 paper. Therefore, we propose secure bridge connection scheme for scalable Bluetooth scatternet.

• Proceedings of the KIEE Conference
• /
• 2002.07d
• /
• pp.2344-2346
• /
• 2002

A vacuum control system has been developed for using Ethernet Multi Serial Device Severs (EMSDS) for the Pohang Accelerator Laboratory (PAL) storage ring. There are 124 vacuum ion pumps at the storage ring. It was a very important problem to solve the problem how to control such a big number of vacuum pumps distributed around the ring. After discussions, we decided to develop a serial to ethernet interrace device sever that will be mounted in the control system rack. It has a 32-bits microprocessor embedded Linux, 12 ports RS485 (or RS232) slave interface. one channel 10/100BaseTx ethernet host port, one channel UART host port, and 16 Mbytes large memory buffer. These vacuum pumps are connected to Ion-Pump serial controllers, which chop the AC current so as to control the current in the pumps. The EMSDS connect either 100BaseTx or 10BaseT ethernet networks to asynchronous serial ports for communication with serial device. It can simultaneously control up to 12 ion-pump serial controllers. 12 EMSDS are connected to a personal computer (PC) through the network. The PC can automatically control the EMSDS by sending a set of commands through the TCP/IP network. Upon receiving a command from a PC running under Windows2000 through the network, the EMSDS communicate through the stave serial interrace ports to ion-pump controller. We added some software components on the top of EPICS (Experimental Physics and Industrial Control System) toolkit.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.8
• /
• pp.590-596
• /
• 2016

Biopsy is a typical needle type intervention procedure performed under radiographic image equipment such as computed tomography (CT) and cone-beam CT. This minimal invasive procedure is a simple and effective way for identifying cancerous condition of a suspicious tissue but radiation exposure for the patients and interventional radiologists is a critical problem. In order to overcome such trouble and improve accuracy in targeting of the needle, there have been various attempts using robot technology. Those devices and systems, however, are not for full procedure automation in biopsy without consideration for tissue sampling task. A robotic end-effector of a master-slave tele-operated needle type intervention robot system has been proposed to perform entire biopsy procedure by the authors. However, motorized sampling adopted in the device has different cutting speed from that of biopsy guns used in the conventional way. This paper presents the design of a novel robotic mechanism and protocol for the automation of biopsy procedure using spring-triggered biopsy gun mechanism. An experimental prototype has been successfully fabricated and shown its feasibility of the automated biopsy sequence.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2013.10a
• /
• pp.809-812
• /
• 2013

This paper realize power control embedded system with one master of Core-A 32-bit RISC processor and several slaves controling power with synchronized digital signals. Core-A platform provided by Dynalith Systems consists of Core-A processor, AMBA bus, SSRAM, AC97, DMA, UART, GPIO etc. Slave is made by both digital part and analog part. The former generates various power control patterns synchronized with master signal. The latter converts 220V power proportional to 4 bit digital signals. Design of Embedded system is executed in Flowrian2 of System Centroid Inc., in which software is cross-compiled and hardware is verified by simulation. Embedded system is implemented in FPGA board and CPLD chips as well as PCB board for analog power control.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.38C no.7
• /
• pp.623-629
• /
• 2013

This paper presents the implementation result of the EEG(electroencephalogram) signal transmission protocol and its test platform. EEG measured by a dry-type electrode is directly converted into digital signal by ADC(analog-to-digital converter). Thereafter it is transferred DSP(digital signal processor) platform by $I^2C$(inter-integrated circuit) protocol. DSP conducts the pre-processing of EEG and extracts feature vectors of EEG. In this work, we implement the $I^2C$ protocol with 16 channels by using 10 or 12-bit ADC. In the implementation results, the overhead ratio for the 4 bytes data burst transmission measures 2.16 and the total data rates are 345.6 kbps and 414.72 kbps with 10-bit and 12-bit 1 ksps ADC, respectively. Therefore, in order to support a high speed mode of $I^2C$ for 400 kbps, it is required to use 16:1 and $(8:1){\times}2$ ratios for slave:master in 10-bit ADC and 12-bit ADC, respectively.

• Journal of Biomedical Engineering Research
• /
• v.37 no.3
• /
• pp.105-111
• /
• 2016

Introduction: Surgical robot is the alternative instrument that substitutes the difficult and precise surgical operation; should have intuitiveness operationally to transfer natural motions. There are limitations of hand motion derived from contacting mechanical handle in the surgical robot master interface such as mechanical singularity, isotropy, coupling problems. In this paper, we will confirm and verify the feasibility of intuitive Non-restraint master interface which tracking the hand motion using infra-red camera and only 3 reflective markers without the hardware handle for the surgical robot master interface. Materials & methods: We configured S/W and H/W system; arranged 6 infra-red cameras and attached 3 reflective markers on hands for measuring 3 dimensional coordinate then we find the 7 motions of grasp, yaw, pitch, roll, px, py, pz. And we connected Virtual-Master to the slave surgical robot(Laparobot) and observed the feasibility. To verify the result of motion, we compare the result of Non-restraint master and that of clinometer (and protractor) through measuring 0~180 degree, 10degree interval, 1000 samples and recorded standard deviation stands for error rate of the value. Results: We confirmed that the average angle values of Non-restraint master interface is accurately corresponds to the result of clinometer (and protractor) and have low error rates during motion. Investigation & Conclusion: In this paper, we confirmed the feasibility and accuracy of 3D Non-restraint master interface that can offer the intuitive motion of non-contact hardware handle. As a result, we can expect the high intuitiveness, dexterousness of surgical robot.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.21 no.5
• /
• pp.602-608
• /
• 2011

In this study, a method of designing a neurointerface using neural network (NN) is proposed for controlling nonholonomic mobile robots. According to the concept of virtual master-slave robots, in particular, a partially stable inverse dynamic model of the master robot is acquired online through the NN by applying a feedback-error learning method, in which the feedback controller is assumed to be based on a PD compensator for such a nonholonomic robot. The NN for the online feedback-error learning can composed that the input layer consists of six units for the inputs $x_i$, i=1~6, the hidden layer consists of two hidden units for hidden outputs $o_j$, j=1~2, and the output layer consists of two units for the outputs ${\tau}_k$, k=1~2. A tracking control problem is demonstrated by some simulations for a nonholonomic mobile robot with two-independent driving wheels. The initial q value was set to [0, 5, ${\pi}$].

• Journal of the Institute of Electronics Engineers of Korea CI
• /
• v.47 no.3
• /
• pp.59-66
• /
• 2010

This paper is proposed an adaptive fuzzy bilinear synchronization design for uncertain $L\ddot{u}$ chaos system. It is assumed that the $L\ddot{u}$ chaos system has unknown parameters. First, The $L\ddot{u}$ chaos system can be reconstructed via TS fuzzy bilinear modeling. We design an adaptive fuzzy bilinear synchronization control scheme based on TS fuzzy bilinear $L\ddot{u}$ chaos system with uncertain parameters. Lyapunov theory is employed to guarantee the stability of error dynamic system between TS fuzzy bilinear $L\ddot{u}$ chaos system and the proposed slave system and to derive the adaptive laws for estimating unknown parameters. Simulation results is given to demonstrate the validity of our proposed synchronization scheme.