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

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

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.58 no.1
• /
• pp.199-202
• /
• 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
• /
• 2003.11a
• /
• pp.1470-1475
• /
• 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.

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

• Proceedings of the KIEE Conference
• /
• 2002.07d
• /
• pp.2525-2527
• /
• 2002

The objective of this paper is to design a force feedback controller for bilateral control of a master-slave manipulator system using adaptive fuzzy sliding mode control. In a bilateral control system, the motion of the master device is followed by slave the one. While the force applied to the slave is reflected on the master. In this paper a proposed controller applied to the system. Adding a switching control term to the input robustness is improved. Also the knowledge of the system dynamics is not needed. The computer simulation results show the performance of the proposed adaptive fuzzy sliding mode controller.

• Journal of Advanced Marine Engineering and Technology
• /
• v.31 no.4
• /
• pp.425-432
• /
• 2007

This paper describes a development of ship's refer-container remote monitoring system(RRMS). This system consists of Master, repeater with a switched mode power supply(SMPS) and slave terminal. Slave terminal is composed of wireless MODEM and microprocessor part, checks its conditions like temperature. humidity & etc through the interrogate port(IP) of refer-container. and transmits their data to master. Repeater's role is that connect so that signal which is transmitted from Slave Terminal by Master may not receive electric wave interference by container boxes. We verify the effectiveness of proposed system through the experimental works in container yard and ship.

• Proceedings of the KIEE Conference
• /
• 2003.07d
• /
• pp.2483-2485
• /
• 2003

As design a network system that should command and response to do tasks by PLC, to make factory automation for being distributed facilities which are not guaranteed procedure, through polling method, commands are send orderly by PLC and responses are answered by each sub-unit. It make a guarantee of sequence and drive a master-slave operation in network. This method help to distribute procedure systems and make possible dividing tasks to each unit. To make this method, network protocol's format have Master or Slave ID and tasking data and Master's command or Slave unit's report. In network interpret algorithm, skip algorithm are included and it make guarantee of protecting data though network are in noise. Data that are made by this method are send to PC to transmit long-distance user by internet.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2015.10a
• /
• pp.1819-1821
• /
• 2015

재난구조 로봇은 각종 재난상황에 투입되는 로봇으로써 현재의 로봇에 탑재된 카메라 영상 정보만으로 로봇 주변의 환경을 인식하여 작업을 수행하는 데에는 한계가 있다. 본 논문에서는 카메라 영상에 의한 시각정보 이외에 현장의 로봇과 주변환경의 접촉에 의해 발생하는 반발력을 조작자에게 전달하여 실감형 환경인지가 가능하도록 하는 시스템을 제안하고자 한다. 이를 위해 본 연구에서는 조작자에게 다양한 형태의 반발력을 전달할 수 있도록 인체 착용형 로봇인 외골격 로봇을 master 로봇으로 사용하였고, 14 자유도를 가지는 slave 로봇을 원격제어 하여 작업물 조작시의 힘 반향이 조작자에게 전달되도록 제어되고 있음을 확인하였다.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2008.05a
• /
• pp.849-852
• /
• 2008

Distributed Network Protocol은 Master와 Slave 개념을 적용한 이벤트 감시와 하나의 Master가 다중 Slave의 제어가 필요한 환경에서 유용하게 사용되고 있는 통신 Protocol이다. DNP는 현재 개방형 Protocol로 에너지와 관련된 산업계 분야에서 사실상의 표준으로 적용되어 사용되고 있다. 현재 상용화되고 있는 ASE2000과 DNP3의 분석을 토대로 Master와 Slave Station을 Simulation 하고 DNP3 Message를 Generate하여 Serial Port를 사용해 종단 간에 통신하는 DNP3 Call Simulator를 설계 및 구현하였다.