• 한국정밀공학회지
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• 제20권11호
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• pp.171-179
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• 2003

This paper presents a rehabilitation exercise system which utilizes a 6 DOF robot as a motion generator. This system was proposed for a stroke patient or a patient who has hemiplegia. A master-slave system was designed to exercise either paralysis or abnormal limb by using normal limb motion. The study on the human body was applied to calculate the motion range of elbows and shoulders. In addition, a force-torque sensor was applied to the slave robot to estimate the rehabilitation extent of the patient. Therefore, the stability of the rehabilitation robot could be improved. By using the rehabilitation robot. the patients could exercise by themselves without assistance. In conclusion, the proposed system was verified by computer simulations and system experiment.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권10호
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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.

• 한국광학회지
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• 제1권2호
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• pp.191-197
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• 1990

최대 출력 30mW의 AlGaAs 반도체 레이저를 이용하여 주입-잠금(injection-locking)을 실험하였다. 먼저 주인 레이저에서 나오는 광파와 노예 레이저에서 나오는 광파를 Twymann-Green형 간섭계에서 상호 간섭시켜 간섭 무늬의 선명도(visibility)를 측정하였으며, 다음으로 Mach-Zehnder형 간섭계에서 주인 레이저의 파장을 고정시키고 노예 레이저의 펌핑 전류를 미소 변화시킬 때 발생하는 위상 이동을 측정하여 주입-잠금된 노예 레이저의 위상 변화율을 측정하여 2.5rad/mA의 비례계수를 얻었다.

• Journal of Power Electronics
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• 제19권6호
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• pp.1582-1590
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• 2019

A new method for reducing the common-mode current generated by the voltage variations in a two-inverter air conditioner system by applying a synchronized pulse-width modulation (PWM) strategy is proposed. The PWM signals of the master-mode inverter are generated based on the reference voltage, while those of the slave-mode inverter are output in the opposite direction when the master-mode inverter changes its switching state. However, the slave-mode control results in a mismatch between the reference voltage and the actual output voltage that is modified by synchronized control operation. The proposed method is capable of reducing and controlling this voltage error by performing signal selection in the vector space of the slave-mode inverter, which mitigates the distortion of the phase current. The efficacy of this method in reducing conducted emissions has been validated both theoretically and experimentally.

• 한국정보전자통신기술학회논문지
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• 제11권4호
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• pp.331-339
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• 2018

IEEE 1588은 측정 및 제어 시스템에서 사용되는 네트워크의 정확한 시각 동기 표준(PTP, Precision Time Protocol)이다. Best Master Clock (BMC) 알고리즘은 PTP에서 최적의 마스터-슬레이브 계층을 선택하기 위해 사용한다. 슬레이브가 마스터와의 링크 장애 또는 현재의 시각 동기 에러가 발생하였을 때, BMC는 자동으로 다른 마스터 신호를 수신할 수 있도록 한다. 이때의 슬레이브 클럭은 마스터 신호의 장애 보상 시간 값에 따라 달라진다. 그러나 BMC 알고리즘에서는 마스터 클럭의 장애 발생에 따른 빠른 고장 복구 방안은 전혀 고려하지 않았다. 이에 본 논문에서는 네트워크 본딩 (Bonding) 기술을 적용하여 마스터 클럭의 장애에 따른 빠른 복구 방안을 제시하였다. 본 연구는 리눅스 시스템의 PTP livery 데몬(Ptpd)과 IEEE 1588의 특정 프로파일을 사용하였으며, 본딩 모드를 통해서 제어하도록 하였다. 네트워크 본딩 기술은 둘 이상의 네트워크 인터페이스 신호를 하나의 네트워크 인터페이스에 전송하기 위해 신호를 결합하는 과정에 대한 것으로, 네트워크의 이중화와 성능 향상을 제공한다. 본딩 기술은 만약 하나의 링크에서 장애가 발생하면, 본딩되어 있는 다른 링크를 통해서 즉각적으로 신호 전달이 가능하기에 네트워크의 이중화 또는 부하 분산 등에 사용한다. IEEE 1588만 적용한 것과 대비하여 IEEE 1588 기술과 네트워크 본딩 기술을 결합한 네트워크 복구 기술의 뛰어난 성능을 본 논문을 통하여 증명하였다.

• 한국전산구조공학회논문집
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• 제12권3호
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• pp.363-370
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• 1999

본 연구에서는 철근콘크리트기둥과 철골보로 이루어진 혼합구조 접합부의 해석에 대한 유한 유소법을 이용한 해석 모델 방법을 제시하였다. 혼합구조 접합부에서 콘크리트와 강판이 접하는 접촉면은 두 접촉면 사이를 부착과 마찰의 개념으로 표현할 수 있는 주-종속 접촉 알고리즘(master-slave contact algorithm)을 이용하여 모델링하였다. 그리고, 휨응력의 지배를 받는 강관에는 비적합 모드 요소를 사용하였다. 본 연구에서의 혼합구조 특징은 보에서 기둥으로 힘의 전달을 원활히 하기 위하여 다이아프램이 사용되었고, 이러한 혼합구조 접합부 모델링 방법에 대한 타당성을 알아보기 위하여 3차원 비선형 해석을 행하여 실험결과와 비교한 결과 잘 일치하는 결과를 얻었다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.357-360
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• 1997

Abstract: In teleoperation field robotic system such as hydraulically actuated robotic excavator, the maneuverability and convenience is the most important part in the operation of robotic excavator. Particularly the force information is important in dealing with digging and leveling operation in the teleoperated excavator. Excavators are also subject to a wide variation of soil-tool interaction forces. This paper presents a new force reflecting joystick in a velocity-force type bilateral teleoperation system. The master system is electrical joystick and the slave system IS hydraulically actuated cylinder with linear position sensor. Particularly Pneumatic motor is used newly in the master joystick for force reflection and the information of the pressure of salve cylinder is measured and utilized as the force feedback signal. Also force-reflection gain greatly affects the excavation performance of a hydraulically actuated robotic system and it is very difficult to determine it appropriately since slave excavator contacts with various environments such as from soft soil to rock. To overcome this, this paper proposes a force-reflection gain selecting algorithm based on artificial neural network and fuzzy logic.

• Journal of Mechanical Science and Technology
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• 제15권1호
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• pp.1-9
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• 2001

The recent spread of scaled telemanipulation into microsurgery and the nano-world increasingly requires the identification of the possible operation region as a main system specification. A teleoperation system is a complex cascaded system since the human operator, master, slave, and communication are involved bilaterally. Hence, a small time delay inside a master and slave system can be critical to the overall system stability even without communication time delay. In this paper we derive an upper bound of the scaling product of position and force by using Llewellyns unconditional stability. This bound can be used for checking the validity of the designed bilateral controller. Time delay from the sample and hold of computer control and its effects on stability of scaled teleoperation are modeled and simulated based on the transfer function of the teleoperation system. The feasible operation region in terms of position and force scaling decreases sharply as the sampling rate decreases and time delays inside the master and slave increase.

• Journal of Power Electronics
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• 제12권6호
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• pp.886-894
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• 2012

This paper presents a secondary-side, dual-mode feedback LLC resonant controller IC with dynamic PWM dimming for LED backlight units. In order to reduce the cost, master and slave outputs can be generated simultaneously with a single LLC resonant core based on dual-mode feedback topologies. Pulse Frequency Modulation (PFM) and Pulse Width Modulation (PWM) schemes are used for the master stage and slave stage, respectively. In order to guarantee the correct dual feedback operation, Phased-Locked Loop (PLL)-based automatic duty control circuit is proposed in this paper. The chip is fabricated using $0.35{\mu}m$ Bipolar-CMOS-DMOS (BCD) technology, and the die size is $2.5mm{\times}2.5mm$. The frequency of the gate driver (GDA/GDB) in the clock generator ranges from 50 to 425 kHz. The current consumption of the LLC resonant controller IC is 40 mA for a 100 kHz operation frequency using a 15 V supply. The duty ratio of the slave stage can be controlled from 40% to 60% independent of the frequency of the master stage.

• Journal of Power Electronics
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• 제18권1호
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• pp.251-265
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• 2018

To enable a master-slave control independent microgrid system (MSCIMGS) to supply electricity continuously, the microgrid inverter should perform mode transfer between grid-connected and islanding operations. Transient oscillations should be reduced during transfer to effectively conduct a seamless mode transfer. This study uses a typical MSCIMGS as an example and improves the mode transfer strategy in three aspects: (1) adopts a status-tracking algorithm to improve the switching strategy of the outer loop, (2) uses the voltage magnitude and phase pre-synchronization algorithm to reduce transient shock at the time of grid connection, and (3) applies the hybrid-sensitivity $H_{\infty}$ robust controller instead of the current inner loop to improve the robustness of the controller. Simulations and experiments show that the proposed strategy is more practical than the traditional proportional-derivative control mode transfer and effective in reducing voltage and current oscillations during the transfer period.