• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.5
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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.

• The Journal of Korea Robotics Society
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• v.9 no.1
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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.

• The Journal of the Korea Contents Association
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• v.13 no.5
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• pp.19-27
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• 2013

This paper implements the standby power control system composed of a master device and slave devices. The standby power is managed by cutting power supply after controlling the relay of a slave device based on the authentication of master device's RFID card. RFID interface and wireless communication module are embedded in a master device, and one master device is linked with many slave devices in wireless. Each slave device executes the operation needed in power control independently. We implements the function of manual power on/off system in a slave device, and the function of user ID enrollment by switch manipulation in a master device. Also this system can communicate bidirectionally in wireless and runs on TinyOS. The result of experiment shows that the user authentication is executed in a master device and this authenticated information is transmitted to a slave device in wireless, and standby power is cutted by controlling the relay of a slave device. Installing this system in a building or an office, we can expect energy saving.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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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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• v.34 no.4
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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.

• Journal of the Korea Society of Computer and Information
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• v.12 no.6
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• pp.251-259
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• 2007

A Bluetooth ad hoc network can be formed by interconnecting piconets into scatternet. Many algorithms of scatternet formation have been proposed so far. However, these have a problem that takes a long time to reform scatternet, especially for the case of master moving out. In this paper we propose a Fast-Recovery algorithm. which aims at reducing the time of scatternet reformation owing to master moving out. In the algorithm, we select a slave with the weigh similar to its master as Sub-Master from a piconet device table created by the master When a master leaves its piconet is detected by its slaves, the Sub-Master becomes the new master of the piconet instead of the old and directly connect to other slaves and bridge(s) through piconet device table in page state.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.12
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• pp.1521-1527
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• 2013

This study proposes a wearable master device that can measure the joint stiffness and the angular displacement of a human operator to enhance the adapting capability of a slave system. A lightweight inertial sensor and the exoskeleton mechanism of the master device can make an operator feel comfortable, and artificial pneumatic muscles having a working principle similar to that of human muscles improve the performance of the slave device on emulating what a human operator does. Experimental results revealed that the proposed master/slave system based on the muscle stiffness sensor yielded uniform tracking performance compared with a conventional position-feedback controller when the payload applied to the slave system changed.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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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.

• Journal of Ocean Engineering and Technology
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• v.26 no.6
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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.