• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1520-1524
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• 2004

This paper describes the development of a robotic maintenance system for use in a maintenance operation of the nozzle dam in a water chamber of a steam generator at the Kori nuclear power plant in Korea. The robotic maintenance system was designed to minimize the personnel exposure to a hazardous radioactive environment. This robotic maintenance system is operated by a teleoperated control which was designed to perform the nozzle dam maintenance tasks in a remote manner without endangering the human workers. Specific maintenance tasks involve the transportation, insertion, and removal of nozzle dams in a water chamber inside a steam generator via a narrow man-way entrance port. The developed robotic maintenance system has two major subsystems: a two degrees of freedom guiding device acting as the main guiding arm and a master-slave manipulator with a kinematic dissimilarity. The mechanical design considerations, control system, and capabilities of the robotic maintenance system are presented. Finally, a graphical representation of the nozzle dam maintenance processes in a simulated work environment are also demonstrated.

• 제어로봇시스템학회논문지
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• 제13권10호
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• pp.940-948
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• 2007

The Advanced Spent Fuel Conditioning Process(ACP), which is the process of the reduction of uranium oxide by lithium metal in a high temperature molten salt bath for spent fuel, was developed at Korea Atomic Energy Research Institute (KAERI). Since the ACP equipment is located in an intense radiation field (hot cell) as well as in a high temperature, it must be remotely operated and maintained. The ACP hot cell is very narrow so the workspace of the wall-mounted mechanical Master-Slave Manipulators(MSMs) is restricted. A Bridge Transported Servo Manipulator(BTSM) system has been developed to overcome the limitation of an access that is a drawback of the mechanical MSMs. The BTSM system consists ot a bridge crane with telescoping tubeset, a slave manipulator, a master manipulator, and a control system. We applied a bilateral position-position control scheme with friction compensation as force-reflecting controller. In this paper, the transmission characteristics on the tendon-and-pulley train is numerically formulated and analyzed. Also, we evaluate the performance of the force-reflecting servo manipulator.

• 제어로봇시스템학회논문지
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• 제13권11호
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• pp.1099-1105
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• 2007

In this paper, modified two-port time-domain passivity approach is proposed for stable bilateral control of teleoperators under time-varying communication delay. We separate input and output energy at each port of a bilateral controller, and propose a sufficient condition for satisfying the passivity of the bilateral controller including time-delay. Output energy at the master port should be less than the transmitted input energy from the slave port with time-delay, and output energy at the slave port should be less than the transmitted input energy from the master port with time-delay. For satisfying above two conditions, two passivity controllers are attached at each port of the bilateral controller. A packet reflector with wireless internet connection is used to introduce serious time-varying communication delay of teleoperators. Average amount of time-delay was about 190(msec) for round trip, and varying between 175(msec) and 275(msec). Moreover some data packet was lost during the communication due to UDP data communication. Even under the serious time-varying delay and packet loss communication condition, the proposed approach can achieve stable teleoperation in free motion and hard contact as well.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 ITC-CSCC -1
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• pp.176-179
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• 2002

In recent years, an increasing amount of computer network research has focused on the problem of cluster system in order to achieve higher performance and lower cost. The load unbalance is the major defect that reduces performance of a cluster system that uses parallel program in a form of SPMD (Single Program Multiple Data). Also, the load unbalance is a problem of MPP (Massive Parallel Processors), and distributed system. The cluster system is a loosely-coupled distributed system, therefore, it has higher communication overhead than MPP. Dynamic load balancing can solve the load unbalance problem of cluster system and reduce its communication cost. The cluster systems considered in this paper consist of P heterogeneous nodes connected by a switch-based network. The master node can predict the average execution time of tasks for each slave node based on the information from the corresponding slave node. Then, the master node redistributes remaining tasks to each node considering the predicted execution time and the communication overhead for task migration. The proposed dynamic load balancing uses execution time prediction to optimize the task redistribution. The various performance factors such as node number, task number, and communication cost are considered to improve the performance of cluster system. From the simulation results, we verified the effectiveness of the proposed dynamic load balancing algorithm.

• Journal of Power Electronics
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• 제15권5호
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• pp.1244-1255
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• 2015

This paper presents a new multi-machine robust control based on an electric differential system for electric vehicle (EV) applications which is composed of four in-wheel permanent magnet synchronous motors. It is based on a new master-slave direct torque control (DTC) algorithm, which is used for the control of bi-machine traction systems based on a speed model reference adaptive system observer. The use of an electric differential in the design of a new EV constitutes a technological breakthrough. A classical system with a multi-inverter and a multi-machine comprises a three-phase inverter for each machine to be controlled. Another approach consists of only one three-phase inverter for several permanent magnet synchronous machines. The control of multi-machine single-inverter systems is the subject of this study. Several methods have been proposed for the control of multi-machine single-inverter systems. In this study, a new master-slave based DTC strategy is developed to generate an electric differential system. The entire system is simulated by Matlab/Simulink. The simulation results show the effectiveness of the new multi-machine robust control based on an electric differential system for use in EV applications.

• Transactions on Electrical and Electronic Materials
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• 제15권6호
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• pp.309-314
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• 2014

This work proposes an integrated high frequency divider with an inductive peaking technique implemented in a current mode logic (CML) frequency divider. The proposed divider is composed with a master-slave flip-flop, and the master-slave flip-flop acts as a latch and read circuits which have the differential pair and cross-coupled n-MOSFETs. The cascode bias is applied in an inductive peaking circuit as a current source and the cascode bias is used for its high current driving capability and stable frequency response. The proposed divider is designed with $0.18-{\mu}m$ CMOS process, and the simulation used to evaluate the divider is performed with phase-locked loop (PLL) circuit as a feedback circuit. A divide-by-two operation is properly performed at a high frequency of 20 GHz. In the output frequency spectrum of the PLL, a peak frequency of 2 GHz is obtained witha divide-by-eight circuit at an input frequency of 250 MHz. The reference spur is obtained at -64 dBc and the power consumption is 13 mW.

• 한국정밀공학회지
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• 제14권3호
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• pp.98-106
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• 1997

In this paper, a new method of position synchronizing control is proposed for multi-axes driving system. The proposed position synchronizing control system is constituted with speed and synchronizing controller. The speed controller is aimed at the following to speed reference. Furthermore, it is designed to guarantee low sensitivity under some disturbance as well as robustness against model uncertainties using $H_{\infty}$technique. The synchronizing controller is designed to keep minimizing the position error using PID control law which is considered to reduce the dimension of transfer function in the control system. Especially, the proposed method can be easily conducted by controlling only slave axis speed, because it, has variable structure which is decided to master and slave axis by the sign of synchronizing error. Therfore, the master axis which is smaller influenced than another axes by disturbance can be controlled without reducing or increasing its speed for precise position synchronization. The effectiveness of the proposed method is sucessfully confirmed through many experiments.s.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2226-2230
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• 2005

The Advanced Spent Fuel Conditioning Process (ACP), which is a pre-disposal treatment process for spent fuel is being developed at the Korea Atomic Energy Research Institute (KAERI). The ACP equipment is operated in an intense radiation field as well as in a high temperature. Thus, the equipment is designed in consideration of the remote handling and maintenance. This paper describes a Bridge Transported Bilateral Force-Reflecting Servo-Manipulator (BTSM) system, which is being developed to overcome the limitation of access that is a drawback of the mechanical Master-Slave Manipulators (MSMs), which are mounted on the ACP hot cell wall for the operation and the maintenance of the ACP equipment. The BTSM system was manufactured and temporally installed at the mockup to test its performance. The manufactured BTSM system will be installed at the ACP hot cell on June 2005 after the accomplishment of the performance test. The BTSM system consists of four components: a transporter with a telescoping tubeset, a slave manipulator, a master manipulator, and a remote control system. This system will highly increase the volume of coverage for the operation and maintenance of the ACP equipment.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.106-109
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• 2000

The virtual reality - haptic device is developed for the purpose used in the work that human cannot approach and that need elaborate exercises. To render haptic, the total system is constituted master, haptic device, and slave, remote manipulator. Human operates the remote manipulator. Human operates the remote manipulator relying on the hapti devices and stereo graphic. And then the force and scene of the remote manipulator is fed-back from each haptic devices and virtual devices. The feedback information gets system gain exactly. The system gain provides the most exact haptic and virtual devices. The feedback information gets system gain exactly. The system gain provides the most exact haptic and scene to human by the location, the graphic rendering and the haptic rendering algorithm on real-time. In this research, 3D haptic device is developed for common usage and make human feel the haptic when human contacts virtual object rendered by computer graphic. The haptic device is good for tracing location and producing devices because of the row structure. Also, openGL and Visual Basic is utilized to the algorithms for haptic rendering. The haptic device of this research makes the interface possible not only with virtual reality but also with the real remote manipulator.

• 대한기계학회논문집B
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• 제21권8호
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• pp.1024-1033
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• 1997

The past several years have witnessed an ever-increasing acceptance and adoption of parallel processing, both for high performance scientific computing as well as for more general purpose applications. Furthermore with increasing needs to perform the complex flow calculations in an efficient manner, the use of the message passing model on distributed networks has emerged as an important alternative to the expensive supercomputers. This work attempts to provide a generic framework to enable the parallelization of all CFD-related works using the master-slave model. This framework consists of (1) input geometry, (2) domain decomposition, (3) grid generation, (4) flow computations, (5) flow visualization, and (6) output display as the sequential components, but performs computations for (2) to (5) in parallel on the workstation clustering. The flow computations are parallized by having multiple copies of the flow-code to solve a PDE on different spatial regions on different processors, while their flow data are exchanged across the region boundaries, and the solution is time-stepped. The Parallel Virtual Machine (PVM) is used for distributed communication in this work.