• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.1171-1172
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• 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
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• 2003.06a
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• pp.1101-1104
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• 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

• Journal of the Korean Society for Precision Engineering
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• v.15 no.8
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• pp.156-164
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• 1998

IMS is a more advanced manufacturing system than FMS. However, IMS do not have sufficient performance for the work in the various and uncertain environment, because of the difficulty of the work and occurrence of the unexpected condition. If IMS is hard to work properly, teleoperation system can support it by using the human's consideration and judgment. The master mechanism is a basic component of the teleoperation system and the development of the useful one is important for efficiency of the work. A master mechanism of exoskeleton type can increase the work efficiency, mobility and harmony between a working robot and an operator. This paper describes an arm-harness of exoskeleton type, which is able to drive a robot according to judgment. This device is applied to a robot system for evaluating the system performance through the experiment.

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

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.8
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• pp.1308-1316
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• 2001

A hybrid type master system is proposed to take the advantage of the link mechanism and magnetic levitation mechanism without using a force sensor. Two different types of electromagnetic actuators, moving coil type and moving magnet types are used to drive the master system which is capable of 4-DOF actuation. It is designed that the rotation motions about x-y axis are decoupled and the whole system is represented by simple dynamic equations. The force reflection is achieved by using the simple relation between the force and applied current and position. The simulation and experimental results are presented to show its performance.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.918-925
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• 2006

Medical robotics and computer aided surgery in general, and robotic telesurgery in particular, are promising applications of robotics. In this paper, we shows a novel single-master (PHANTOM based single-master multi-slave telerobotic system) multi-slave system using two parallel mechanism micromanipulators as a slave device. After a general introduction to the systems structure and configuration of telerobotic system, a manipulation control strategy to build the system that human and both manipulators perform the cooperative manipulation, is introduced, followed by its kinematic analysis, mapping method, and experimental results.

• Proceedings of the Korea Society for Simulation Conference
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• 2005.05a
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• pp.129-133
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• 2005

This paper describes the methodology of connecting MASTER (Multi-purpose Analyzer for Static and Transient Effects of Reactors) to simulator system, system configuration, and previous test. The actual simulator environment for Youngkwang Unit1 has been developed. It is impossible for the simulator server to execute MASTER code by limitation of computer performance. So, environment of distributed system was developed, and it had a synchronization task. As MASTER and simulator module should be synchronized in different device, the connection of communication was tested and verified.

• Journal of IKEEE
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• v.14 no.1
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• pp.1-7
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• 2010

This paper presents an implementation of the DisplayPort AUX(Auxiliary) Channel. DisplayPort uses Main link, AUX Channel and Hot Plug Detect line to transfer the video & audio data. For isochronous transport service, source device converts to image and audio data which are to be transported through the Main Link and transports the restructured image and audio data to sink device. The AUX Channel provides link service and device service for discovering, initializing and maintaining the Main link. Hot Plug Detect line is used to confirm the connection between source device and sink device. The AUX Channel is implemented with 3315 LUTs(Look Up Table), 1466 Flip Flops and 168.782MHz max speed synthesized using Xilinx ISE 9.2i at SoC Master3.

• Proceedings of the Korean Society of Applied Pharmacology
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• 1995.04a
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• pp.21-27
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• 1995

This document collects Center for Drug Evaluation and Research (CDER) and Center for Devices and Radiological Health (CDRH) guidance documents, citations to the primary literature, and other published and unpublished documents relevant to development and approval of drug/device combinations collected by the CDRH Division of Cardiovascular, Respiratory and Neurological Devices (DCRND). Since the Master Bibliography number represents an accession number, an alphabetical (by author) listing appears at the end of the document, Any citation marked with a, is on file in the DCRND offices, 340B, in the Piccard Building (HFZ-450), 1390 Piccard Avenue, Rockville, MD 20850.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.422-427
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• 2006

This paper presents force-feedback control performance of a haptic device in virtual environment of minimally invasive surgery(MIS). As a first step, based on an electrorheological(ER) fluid and spherical geometry, a new type of master device is developed and integrated with a virtual environment of MIS such as a surgical tool and human organ. The virtual object is then mathematically formulated by adopting the shape retaining chain linked(S-Chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment of MIS is formulated by interactivity with the ER haptic device in real space. Tracking control performances for virtual force trajectory are presented in time domain, and theirtrackingerrorsareevaluated.