• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.865-870
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• 2003

A motion controller has been used variously in industry such as semiconductor manufacture equipment, industrial robot, assembly/conveyor line applications and CNC equipment. There are several types of controller in motion control. One of these is a PC-based motion controller such as PCI or ISA, and another is stand-alone motion controller. The PC bus-based motion controller is popular because of improving bus architectures and GUI (Graphic User Interface) that offer convenience of use to user. There are some problems in this. The PC bus-based solution allows for only one of the form factors, so it has a poor flexibility. The overall system package size is bigger than other motion control system. And also, additional axes of control require additional slot, however the number of slots is limited. Furthermore, unwieldy and many wirings come to connect plants or I/O. The stand-alone motion controller has also this limit of axes of control and wiring problems. To resolve these problems, controller must have capability of operating as stand-alone devices that resides outside the computer and it needs network capability to communicate to each motion device. In this paper, a network-based stand-alone motion system is proposed. This system integrates PC and motion controller into one stand-alone motion system, and uses CAN (Controller Area Network) as network protocol. Single board computer that is type of 3.5" FDD form factor is used to reduce the system size and cost. It works with Windows XP Embedded as operating system. This motion system operates by itself or serves as master motion controller that communicates to slave motion controller. The Slave motion controllers can easily connect to master motion system through CAN-network.

• 대한전자공학회논문지SD
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• 제45권8호
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• pp.54-60
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• 2008

버스 아키텍처는 통신 전송을 만드는 마스터, 전송을 응답받는 슬레이브, 마스터를 선택하는 아비터, 그리고 버스를 연결해 주는 브리지 등으로 구성되어 있다. 이것은 최근에 좀 더 복잡해지고 있으며, 다중버스 아키텍처로 발전하고 있다. 본 논문에서는 여러 다중 shared bus 구조에 대해 논의해 보고 브리지의 레이턴시를 줄이기 위해서 메모리 셀렉터를 도입한 구조를 제안하였다. 마지막으로 이 버스구조에 DMA 마스터를 사용하는 LCD 컨트롤러를 집적하였으며, RTL 시뮬레이션과 FPGA 보드 테스트를 통하여 검증하였다. ModelSim 툴을 이용한 타이밍 시뮬레이션에서 DMA, LCD 라인버퍼, SDRAM 컨트롤러 등이 정상적으로 동작되었으며, LCD 패널이 장착된 실제 FPGA 보드에서 LCD 이미지를 확인하였다.

• 한국정보통신학회논문지
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• 제15권1호
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• pp.175-182
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• 2011

본 논문은 비디오 처리를 위한 SoC 내에서 다수 개의 프로세싱 블록(마스터)들을 처리할 수 있는 고성능의 메모리 제어기를 설계하였다. 메모리 제어기는 마스터 중재기에 의해 중재되며 이것은 메모리 접근을 요구하는 마스터들의 요구 신호를 받아 데이터를 전송하는 역할을 해주게 된다. 구현된 메모리 제어기는 마스터 선택기, 마스터 중 재기, 메모리 신호 생성기, 명령어 디코더, 데이터 버스, 그리고 메모리 신호 생성기로 구성된다. 제안한 메모리 제어기는 VHDL을 이용하여 설계하였고, 삼성의 메모리 모델을 이용하여 동작을 검증하였다. FPGA 합성 및 검증을 위해서는 ATERA사의 Quartus II를 이용하였고, 구현된 하드웨어는 Cyclone II 칩을 사용하였다. 시뮬레이션을 위해서는 Cadence사의 ModelSim을 이용하였고, FPGA 환경에서 174.28MHz의 주파수로 동작하여, SDRAM의 규격을 모두 만족할 수 있었다.

• 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.

• 전기학회논문지
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• 제59권9호
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• pp.1540-1548
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• 2010

KEPCO proposes enhanced voltage management system that is a coordinate voltage control system between the hierarchical voltage control system and the slow voltage control system. It has been installing in Jeju island. VMS consists of a master controller, CVC (Continuous Voltage Controller) and DVC (Discrete Voltage Controller). CVC consists of main controller, FDMU (Field Data Measurement Unit) and several RPDs (Reactive Power Dispatcher). CVC has a control scheme with AVRs of generator to maintain the voltage of a pilot bus in a power system, DVC has a control scheme with static reactive power sources, like a shunt capacitor, a shunt reactor, ULTC and so on, to maintain the reactive power reserve of a power system and a master controller is executed to recover reactive power margin of a power system through coordinated control between CVC and DVC.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.173-173
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• 2000

This paper discusses a observer based discrete-time controller design and presents a modified control structure for dual-stage hard disk drive systems using piezoelectric microactuator(MA). In plant modeling, dynamic coupling between VCM and MA is not considered. Each controller is organized independently and designed using pole placement. Simulation result shows that 4th-order controller achieves about 3kHz servo bandwidth and 0.22msec of 2% settling time.

• 전기학회논문지P
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• 제53권2호
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• pp.94-99
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• 2004

In this paper, We design a RF control system capable of handling multiple POS thermal printers. The system has three parts including embedded master controller, RF controller and high-speed thermal printer. Specially the designed linux embedded controller has simple structure and high performance to connect the TCP/IP network. The effectiveness of the developed RF control system is shown by proposed food ordering system.

• 제어로봇시스템학회논문지
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• 제13권1호
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• pp.33-38
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• 2007

In this paper, hardware implementation of interface and control between two robots, the master and the slave robot, are designed. The master robot is the motion capturing device that captures motions of the human operator who wears it. The slave robot is the corresponding humanoid robot arms. Captured motions from the master robot are transferred to the slave robot to follow after the master. All hardware designs such as PID controllers, communications between the master robot, encoder counters, and PWM generators are embedded on a single FPGA chip. Experimental studies are conducted to demonstrate the performance of the FPGA controller design.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2001년도 추계학술발표논문집 (하)
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• pp.1529-1532
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• 2001

ACE 2000 ATM 교환기를 이용하여 MPLS 교환기를 구현 시, ATM 가입자 및 중계선을 수용하여 스위치와 정합 기능을 수행하는 AIM(ATM interface module)에 IP 패킷에 대한 룩업을 수행하여 ATM 스위치로 패킷을 포워딩하는 HFEA(High performance Forwarding Engine board Assembly)를 연동하기 위해서는 UTOPIA Level2 연결이 요구된다. 그러나 HFEA 에서 622Mbps 급 성능의 MXT4400(SAR) 칩은 TSAR(Transmit SAR)로 운용 시 Master모드로 동작하게 되고, AIM 모듈 또한 Rx에서 Master모드로 동작하기 때문에 이들을 연결하기 위해서는 양 모듈간에서 Slave 모드로 동작할 수 있는 UTOPIA Controller가 필요하게 된다. 이에 따라 ALMA(AW Layer Module Assembly)칩과 HFEA TSAR 사이에서 데이터를 전달하는 UTOPIA Controller를 Xilinx를 이용해 FPGA로 구현하였다.

• 대한의용생체공학회:의공학회지
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• 제29권1호
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• pp.32-39
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• 2008

This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.