• 대한전기학회논문지:시스템및제어부문D
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• 제55권5호
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• pp.229-235
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• 2006

High speed PC-based DIO(Digital I/O) system that consists of a master device and slave I/O devices is developed. The PCI interfaced master device controls all of serial communications, reducing the load on the CPU to a minimum. The slave device is connected from the master device and another slave device is connected to the slave device, it can repeated to maximum 64 slave devices. The slave device has 3 types I/O mode, such as 16 bits input-only, 16 bits output-only, and 8bits input-output. The master device has 2 rings which can take 64 slaves each. Therefore, total I/O points covered by the master is 2048 points. The slave features 3 types of input/output function interchangeability by DIP switch settings. Library, application, and device driver software for the DIO system that have a secure and a convenient functionality are developed.

• 로봇학회논문지
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• 제9권1호
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• pp.48-56
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• 2014

In robotic surgery, a surgeon checks only a surgical site of patient in the progress of surgery by vision and sound information. In order to solve this limited information, the haptic function is necessary. And haptic surgical robot is also necessary to design a haptic master device. The master device for laparoscope operation with cable-conduit was developed in previous research to give haptic function. It suggested a possibility of developing a master device by using the cable-conduit. However, it is very inconvenient to use. Therefore, this paper suggests a new mechanism design structure to solve the problems of the previous work by new forming a new master device. And it has proved that it's usability is better than previous one. Furthermore it has also experimented and analyzed that a backlash of new master device is compensated by smooth backlash inverse algorithm.

• 한국콘텐츠학회논문지
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• 제13권5호
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• pp.19-27
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• 2013

본 논문에서는 마스터 장치와 슬레이브 장치로 구성된 대기 전력 제어 시스템을 구현한다. 마스터 장치의 RFID 카드의 인증여부에 따라 슬레이브 장치의 릴레이를 제어한 후에 전원 공급을 차단함으로써 대기전력이 관리된다. 마스터 장치는 RFID 인터페이스 및 무선 통신 모듈을 내장하고 있고, 마스터 장치 1개에 대해 n개의 슬레이브 장치가 무선으로 연계되며 각각의 슬레이브 장치는 전력제어에 필요한 동작을 독립적으로 수행한다. 슬레이브 장치에 수동으로 전력을 on/off 할 수 있는 기능과 스위치 조작을 통해 마스터 장치에 사용자 ID를 등록하는 기능을 구현했다. 또한, 본 시스템은 무선으로 양방향 통신이 가능하고 TinyOS 상에서 실행된다. 실험 결과, 본 시스템은 마스터 장치에서 사용자 여부를 인식하고, 이에 대한 인식 정보를 무선 통신으로 슬레이브 장치에 전송함으로써, 릴레이를 제어하여 대기 전력이 차단된 것을 보여 주었다. 본 시스템을 건물이나 사무실에 설치할 경우 전력 절감을 기할 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.85.5-85
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• 2002

The Master-Slave manipulator is generally used as a remote handling device in the hot cell, in which the high level radio-active materials such as spent fuels are handled. This study describes a workspace mapping algorithm for a kinematically dissimilar master-slave system The algorithm provides the operator to guide the slave's end effector into unreachable regions which can appear due to the mismatch of workspace between the master and slave manipulator. A spaceball was used for the universal master device, and it can detect the slight fingertip force applied on the ball and also resolve the applied force. The spaceball device was also used to move 3D images instantaneously and simultaneou...

• ETRI Journal
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• 제34권4호
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• pp.553-563
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• 2012

Serial peripheral interface (SPI) has been identified as a bottleneck in many wireless sensing systems today. SPI is used almost universally as the physical connection between the microcontroller unit (MCU) and radios, storage devices, and many types of sensors. Virtually all wireless sensor nodes today perform up to twice as many bus transactions as necessary to transfer a given piece of data, as an MCU must serve as the bus master in all transactions. To eliminate this bottleneck, we propose the master-handoff protocol. After the MCU initiates reading from the source slave device and writing to the sink slave device, the MCU as a master becomes a slave, and either the source or the sink slave becomes the temporary master. Experiment results show that this master-handoff technique not only cuts the data transfer time in half, but, more importantly, also enables a superlinear energy reduction.

• 한국컴퓨터정보학회논문지
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• 제12권6호
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• pp.251-259
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• 2007

스캐터넷(Scatternet)에서 피코넷(Piconet)간의 연결을 통하여 블루투스 애드 혹 네트워크를 형성한다. 이러한 스캐터넷을 형성하기 위한 많은 알고리즘이 제안되었다. 하지만 이들은 스캐터넷 재구성 시간이 많이 걸리는 문제가 있다. 본 논문에서는 마스터가 피코넷을 벗어났을 경우 스캐터넷 재구성시 지연시간을 줄이기 위한 Fast-Recovery 알고리즘을 제안한다. 제안한 알고리즘에서는 마스터에 의해 생성된 피코넷 장치 테이블에서 마스터와 비슷한 가중치를 가지는 슬레이브를 Sub-Master로 선택한다. 마스터가 피코넷을 벗어났을 때 Sub-Master 가이전의 마스터 대신에 새로운 피코넷의 마스터가 되고, 페이지 상태에서 피코넷 장치 테이블을 통하여 모든 슬레이브와 브릿지에 직접 연결하도록 한다.

• 대한기계학회논문집A
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• 제37권12호
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• pp.1521-1527
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• 2013

본 논문에서는 마스터 조정자인 인간의 근육강도과 관절변위를 측정하여 슬레이브장치가 외부환경에 맞는 작업능력을 발휘할 수 있는 마스터/슬레이브 원격조정시스템을 제안한다. 외골격형 기구부와 경량의 관성센서를 사용하여 마스터 착용자의 편리성을 높였으며 인간의 근육과 동일한 운동특성을 가진 공압인공근육으로 슬레이브 기구장치를 구성하여 운동의 모사능력을 향상시켰다. 실험을 통해서 단순히 마스터의 위치정보만 전달하는 원격조정에 비해서 제안된 마스터는 인간 조정자가 근력의 세기를 조절함으로써 슬레이브에 작용하는 가반하중의 변화에 관계없이 균일한 제어성능을 가질 수 있었다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.213-216
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• 2005

This paper presents force feedback control performance of a 3DOF haptic device that can be used for minimally invasive surgery (MIS). As a first step, a 3DOF electrorheological (ER) joint is designed using a spherical mechanism. And it is optimized based on the mathematical torque modeling. Subsequently, the master haptic device is manufactured by the spherical joint. In order to achieve desired force trajectories, model based compensation strategy is adopted for the ER master. Therefore, Preisach model fur the PMA-based ER fluid is identified using experimental first order descending (FOD) curves. A compensation strategy is then formulated through the model inversion to achieve desired force at the ER master. Tracking control performances for sinusoidal force trajectory are presented, and their tracking errors are evaluated.

• 제어로봇시스템학회논문지
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• 제22권8호
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• pp.603-609
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• 2016

This paper presents an optimally designed master device mechanism for teleoperated interventional robotic system. The interventional procedures using the teleoperated robotic system and the physicians' requirements are summarized. The master device should implement 5-DOF motion including 2-DOF translational motion for the entry position control, 2-DOF rotational motion for the orientation control, and 1- DOF translational motion for needle insertion. The handle assembly includes a 1-DOF translational mechanism for needle insertion and buttons for operation mode selection. The mechanisms for the 2-DOF translational motion and the 2-DOF rotational motion are designed using motors and brakes based on the various mechanisms to satisfy all the above requirements, respectively. Absolute position sensors are adopted to implement automatic initial positioning and orientation matching at the first step of needle insertion.

• 한국해양공학회지
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• 제26권6호
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• pp.59-65
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• 2012

In this research, a novel mater arm was studied as a teaching device for an underwater revolute robot arm used as a slave arm. The master arm was designed to be a seven-degree-of-freedom (DOF) structure, with a structure similar to that of the slave arm, and to be desktop size to allow it to be worn on a human arm. The master arm with encoders on the joints was used as an input device for teaching a slave robot arm. In addition, small electric magnets were installed at the joints of the master arm to generate the haptic force. A control system was designed to sense excessive force and torque in the joints of the master arm and protect it by controlling the position and velocity of the slave arm through the encoder signal of the master arm.