• 대한기계학회논문집A
• /
• 제27권11호
• /
• pp.1967-1978
• /
• 2003

Transparency has been considered as a performance measure in bilateral teleoperation system. Therefore, many issues of transparency have been studied. This paper investigates the transparency in two-channel control architectures. At first, we show the feasibility using analytic transparency-conditions and present the two classes of two-channel control architecture, which are perfectly transparent under ideal situation. In addition, remedies to problems due to impedance model estimation errors under real situation are introduced. They are as fellows; design guideline of control parameters to reduce the effect of model estimation error effect and introduction of time delay estimation for unknown dynamics. From these analyses, the systematic control scheme, which is stable and well transparent under real implementation, is proposed in two-channel control architecture. Finally, the proposed scheme is applied to a 2 D.O.F master-slave system and the experimental results show the validity of the theoretical work.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.51.1-51
• /
• 2001

Teleoperation is a rapidly progressing field promising to have significant application in space, mining, medical, and other areas. Unfortunately, significant communication delays are expected in teleoperation. With this problem, the two major issues in teleoperation are stability robustness and transparency performance. Recent work in bilateral teleoperation in the two-channel showed that for any two-channel control architecture, stability robustness is enhanced if the feedforward control parameters are lowered. In this paper, we analyze the stability and performance robustness of the three channels control architectures using the passivity-based Llewellyn´s absolute stability criterion as wall as the minimum values and Z-width´s of the operator and environment transmitted impedances. And the stability and the performance robustness of two and three channels control architectures are quantitatively compared.

• 전자공학회논문지A
• /
• 제31A권5호
• /
• pp.10-17
• /
• 1994

Two protocols inclouding the receiver collision avoidance function are proposed for high-speed optical fiber LANs with finite users. The basic idea to avoid receiver collision is the grouping of destination nodes by the number of channels and it is accomplished in the architecture with or without one separate control channel. While the protocol with a control channel requires a tunable optical transmitter, a fixed optical transmitter and two fixed optical receiver, the other protocol requires a tunable optical transmitter and one fixed optical receiver. The performance of two receiver collision avoidance protocols is computed and analyzed under various system parameters. The numerical results show that the receiver collision avoidance protocol has better performance for a small load than the protocol without receiver collision avoidance.

• 한국정보통신학회논문지
• /
• 제9권5호
• /
• pp.1002-1011
• /
• 2005

본 논문에서는 방송 프로그램에 시청자가 대화 채널을 이용하여 참여할 수 있도록 하기 위한 양방향 방송 시스템 즉, 리턴채널서버를 설계, 구현한다. 방송 프로그램에 시청자의 의견이나 응답을 실시간 반영하는 서비스를 제공하기 위한 리턴채널서버는 제어 모듈, 네트웍 인터페이스 모듈, 데이터베이스 관리 모듈, 그리고 실시간 콘텐츠 저작 모듈 등으로 구성된다. 이때 방송 서비스에 무관한 형태로 리턴채널서버를 구성하기 위하여, 본 논문에서는 리턴채널서버의 각 모듈들을 리턴채널서버 응용과 리턴채널서버 응용 실행 환경 등으로 계층적으로 구성한다. 리턴채널서버 응용은 실행코드와 실행코드의 실행에 필요한 파라메터로 구성되어 있으며, 리턴채널서버가 특정 방송 프로그램을 제공하기 위해 처리해야 하는 절차들을 정의한다. 한편 리턴채널서버응용 실행환경은 리턴채널서버 응용이 실행되기 위한 환경을 제공한다. 리턴채널서버를 리턴채널서버 응용 실행환경과 리턴채널서버 응용으로 계층적으로 구성하면, 방송 서비스 제공자가 제공하고자 하는 방송 서비스에 무관하게 리턴채널서버가 동작하도록 리턴채널서버를 구성할 수 있으며 이는 실험을 통해 확인되었다.

• ETRI Journal
• /
• 제21권4호
• /
• pp.23-28
• /
• 1999

In this paper, we analyze the performance benefits of broadband ATM networks when the call control and management flows are separated from user data flows. The virtual path tunneling concept for control and management flows are applied to the same physical ATM networks. The behaviors of channel throughput and transfer delay are analyzed. It results that the proposed virtual short-cut paths can maintain the network being stable with acceptable bandwidth. They are very useful to provide the stable control and management capabilities for Internet and mobile applications in the broadband ATM networks. In our numerical results, the effective throughputs of the proposed virtual shout-ut channel are about three times than those of end-to-end user data channels with hop distances of 10, and about two times than those with hop distance of 5 when the link blocking probability increases to 0.1. It concludes that the effective channel bandwidth are greatly reduced down while physical links are not stable and user traffic flows are occasionally overflowed.

• ETRI Journal
• /
• 제10권2호
• /
• pp.3-12
• /
• 1988

Several ISDN (Integrated Services Digital Network) protocols have implemented at ETRI (Electronics and Telecommunications Research Institute) in an experimental network so that functional characteristics of the protocols under test could be certified against their protocol specifications with the help of the ETRI protocol test facilities. This paper describes ETRI protocol test architecture and its application to testing the NSP (Network Service Part) protocols : MTP (Message Transfer Part) level 3 and SCCP (Signalling Connection Control Part) of the CCITT CCS (Common Channel Signalling ) system No. 7 The test architecture presented here allows tests for two different protocol classes : peer-to-peer and multipeer protocolos. Some extensions are made to the conventional test architectures, namely the test coordination, test result transfer and network state observation method.

• 대한조선학회논문집
• /
• 제49권5호
• /
• pp.410-415
• /
• 2012

An experimental study is carried out to investigate the near-wake characteristics of a NACA 0018 foil with a flat plate. Two-frame grey-level cross correlation PIV method is used to measure the local flow characteristic around a pitch damping foil to control the vertical motion of high speed crafts in a circulating water channel. The analysis also includes angles of attack 10 and 20 degrees respectively. Reynolds number $Re{\fallingdotseq}3.5{\times}10^4$ based on the chord length(C=100mm) of NACA0018 has been applied during the whole experiments. The distance between the foil and the flat plate is D/C=0.5, 1.0 and 1.5 respectively. The channel effect according as the distance between the foil and the flat plate has a close relation with the velocity distributions around the foil. In the wake of 20-degree of attack, the complex turbulent flow and a thick boundary layer are formed due to the processes of vortex generation and dissipation.

• 대한조선학회논문집
• /
• 제54권6호
• /
• pp.485-491
• /
• 2017

An experimental study on the reduction of vertical motion of floating body using floating-submerged body interaction was performed in a two-dimensional wave channel. The system consisting of a floating and submerged body that only move vertically was modeled. This experiment was designed based on the results of theoretical analysis of two-body interaction. The results showed a tendency to significant reduction of heave RAO of floating body due to submerged body. Various connection line stiffness and dimension of the submerged body were applied to investigate the effect of two-body interaction on the vertical motion of the bodies, Heave RAOs of the floating-submerged body were compared with those of single body. From the comparison study, we obtained an optimum condition of connection line and dimension of submerged body for maximum heave reduction at the resonant period of single body.

• 한국정보통신학회논문지
• /
• 제11권7호
• /
• pp.1289-1295
• /
• 2007

본 논문에서는 유 무선 네트워 킹을 지원하는 TRS 중계기의 전체적인 RF 시스템들을 디지털 방식으로 제어 할 수 있는 고성능 병렬 제어 시스템을 구현하였다. 구현된 시스템은 순 역방향 LPA(Linear Power Amplifier), 순 역방향 LNA(Low Noise Amplifier), 채널카드, 직렬통신(RS-232), 유 무선 TCP/IP 통신의 제어를 담당하는 FPGA(Field Programmable Gate Array) 칩과 전체 시스템의 제어를 관장하는 마스터(Master) 마이크로프로세서, 순 역방향 스펙트럼 분석기(Spectrum Analyzer, SA)를 내장하여 현재 통신되고 있는 채널의 주파수 스펙트럼을 5KHz 단위의 해상도로 관찰할 수 있도록 하는 슬레이브 마이크로프로세서, 각각의 채널카드들을 개별적으로 감시하고 채널카드내의 주파수 합성기(Frequency Synthesizer)를 프로그래밍하기 위한 10개의 채널카드용 마이크로프로세서, 그리고 그 밖의 몇 가지 주변기기들과 회로들로 구성된다. 전체 시스템은 동작의 효율성과 병렬성을 비롯하여 구현의 적합성과 비용을 고려하여 H/W(Hardware) 및 S/W(Software) 부분으로 나누었고, H/W도 FPGA과 마이크로프로세서로 나누어서 최적화를 이루고자 노력하였다.

• 한국통신학회논문지
• /
• 제12권1호
• /
• pp.60-70
• /
• 1987

근래 통신망의 발전 추세는 모든 서어비스를 종합적으로 처리해 줄 수 있는 ISDN으로 급속한 발전을 계속하고 있다. ISDN관련 연구는 다양한 분야가 있으나 그 중에서도 통신망의 중추가 될 교환기 및 가입자 전송 방식 즉 ISDN가입자/망 간 접속에 관한 연구가 커다란 비중을 차지하고 있다. 본 논문을 ISDN교환기 관련 권고안에 따른 ISDN교환기 구조에 대해 연구를 진행하였으며, 이에 기초한 ISDN용 교환 emulator를 설계 제작하여 봄으로서 가입자/망 간 신호 방식인 LAPD(Link Access Procedure on D-Channel), CCP(Call Control Procedure)등 ISDN에 필요한 교환기 관련 사항을 연구분석하였다.