• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1520-1524
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• 2004

This paper describes the development of a robotic maintenance system for use in a maintenance operation of the nozzle dam in a water chamber of a steam generator at the Kori nuclear power plant in Korea. The robotic maintenance system was designed to minimize the personnel exposure to a hazardous radioactive environment. This robotic maintenance system is operated by a teleoperated control which was designed to perform the nozzle dam maintenance tasks in a remote manner without endangering the human workers. Specific maintenance tasks involve the transportation, insertion, and removal of nozzle dams in a water chamber inside a steam generator via a narrow man-way entrance port. The developed robotic maintenance system has two major subsystems: a two degrees of freedom guiding device acting as the main guiding arm and a master-slave manipulator with a kinematic dissimilarity. The mechanical design considerations, control system, and capabilities of the robotic maintenance system are presented. Finally, a graphical representation of the nozzle dam maintenance processes in a simulated work environment are also demonstrated.

• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.1
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• pp.166-174
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• 2008

Recently, the automotive industry has been developing rapidly. With the progress parts of the automobile components need high quality and the reliability. Among them, braking unit is essential device, and acquire the reliability through the performance test of brake. This study was aimed to design the performance-test-bench to measure the drag torque which has effect on caliper in braking unit. In this progressive technology, it is vital importance to use hydraulic and pneumatic, and to combine test bench with instrumentation engineering technology. This system to construct the design of hydraulic and pneumatic circuit, interface technique between sensors and personal computer, data acquisition and display design, and integrated control are very important technology. Moreover, reliable data are obtained through vacuum system and hydraulic and pneumatic system by using of booster and brake master cylinder which are actually applied to automobile. Then, data signal detector sensors for speed, pressure and torque is attached on this system. Therefore, in this study, we designed a performance-test-bench by and we also made an total control system using personal computer which is more progressive and flexible method than existing PLC control.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2448-2450
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• 2002

In recent years, it has been a worldwide trend that many power utilities gave their attention to develop and operate their power plants, substation and distribution systems. Following this trend, KEPCO(Korea Electric Power Corporation) has developed many electric automation systems with various communication networks. It has been natural that the automation systems are just focused on to remote devices when they come to be designed. But, we have to shirt the focus to the automation system itself. There are many problems in maintenance and integration of the automation systems. When an automation system can't control some remote devices, there is no way to get why and which part(Master, Network, Master-side Modem or Remote-side modem, Remote Device, etc.) of the system has problems. Moreover the system just directly links to another automation system. If the system has to link many systems, it needs the linker per each systems. So, we need a new concept to resolve that problems, and develop the Intelligent and Integrated Gateway(IIG) for the automation systems for easy maintenance and integration.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.42 no.9 s.339
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• pp.57-64
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• 2005

A Piconet consists of Master device and several Slave devices. Master and Slave devices are transmitted using TDD (Time Duplex Oivision) in a Piconet. A Scattemet constructed by several Piconets communicates by a Piconet. Bluetooth Specification defines the meaning of a Scatternet. But the formation and scheduling method is not defined. For the efficient formation of a Scatternet, the preceding research proposes a tree-shape topology Scatternet. But this research passes over the characteristic of Bluetooth transmission carried out by a Piconet in the Scattemet. So this Paper proposes a efficient throughput tree formation Scatternet algorithm To improve the throughput of a Scatternet, this paper proposes a tree tolopology that guarantees the efficient throughput of a Piconet

• Journal of IKEEE
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• v.21 no.3
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• pp.227-233
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• 2017

Python language is widely used because of its ease of learning and its wide application range. Arduino, on the other hand, is also widely utilized hardware for physical computing and internet of things(IoT). However, Arduino is controlled by $C{^+^+}$ language, which makes it difficult for non-experts to enter swiftly. This paper proposes an errorless protocol that can simultaneously control multiple Arduino devices in a master device using python language with I2C communication. Using the protocol proposed in this paper, we can take advantage of the python language to control multiple Arduinos.

• Journal of Drive and Control
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• v.17 no.4
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• pp.31-37
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• 2020

We are concerned with the dual-arm manipulation for disaster-responding special-purpose machinery. This paper presents a control strategy for performing complex work in an irregular environment, the control algorithm, the hydraulic circuit, and the master devices. The occurrence of collapse accidents at disaster sites such as natural disasters and building collapses is increasing, which is emerging as a social problem. In particular, for the initial response, various tasks must be performed in an irregular environment. The Marionette algorithm for intuitive control of 'as if the operator's arm is moving' was presented as a control strategy for dual-arm manipulators with attachments and the prototype. Next, the hydraulic circuit, control system, and wearable-type master device presented to implement the Marionette algorithm were explained and verified through an experiment in which rebar-cutting, drum-lifting, and lifting a bottle with one arm and pouring the water into the bucket with the other arm were tested.

• Transactions of Materials Processing
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• v.15 no.1 s.82
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• pp.3-8
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• 2006

The demand fer small and high-capacity optical data storage devices has rapidly increased. The areal density of optical disk is increased by using higher numerical aperture objective lens and shorter wavelength source. A wafer-scale stacked micro objective lens with a numerical aperture of 0.85 and a focal length of 0.467mm for the 405nm blue- violet laser was designed and fabricated. A diffractive optical element (DOE) was used to compensate the spherical aberration of the objective lens. Among the various fabrication methods for micro DOE, the UV-replication process is more suitable fur mass-production. In this study, an 8-stepped DOE pattern as a master was fabricated by photolithography and reactive ion etching process. A flexible mold was fabricated for improving the releasing properties and shape accuracy in UV-replication process. In the replication process, the effects of exposing time and applied pressure on the replication quality were analyzed. Finally, the surface profiles of master, mold and molded pattern were measured by optical scanning profiler. The geometrical deviation between the master and the molded DOE was less than $0.1{\mu}m$. The diffraction efficiency of the molded DOE was measured by DOE efficiency measurement system which consists of laser source, sample holder, aperture and optical power meter, and the measured value was $84.5\%$.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.3
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• pp.1-4
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• 2010

RS-485, communication bases from small network system must prepare in collision. The collision is that mean the data transfer breaks. For a stabilized communication chooses 1:N polling methods. But polling is low speed in addition to maybe overload Master device. So, usual N:N Prefers a communication. In this case, must be preparing to avoid collision or some solutions. Generally, to after collision retransmits after short time. It's called delay time for short time. When making a delay time, uses address of each systems. (Address of each node) If the many nodes collided, the each node has different delay time. When making a delay time, uses a usual random number. Making a random number is hard job. So uses a usual pseudorandom number. It is more difficult from small size MCU. The Chaos random number provides stabled value. Finally, when uses the Chaos random number, the stability and reliability of system get better.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.1
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• pp.175-182
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• 2011

In this paper, we implemented a high-performence memory controller which can accommodate processing blocks(multiple masters) in SoC for video signal processing. The memory controller is arbitrated by the internal arbiter which receives request signals from masters and sends grant and data signals to masters. The designed memory controller consists of Master Selector, Mster Arbiter, Memory Signal Generator, Command Decoder, and memory Signal Generator. It was designed using VHDL, and verified using the memory model of SAMSING Inc. For FPGA synthesis and verification, Quartus II of ATERA Inc. was used. The target device is Cyclone II. For simulation, ModelSim of Cadence Inc was used. Since the designed H/W can be stably operated in 174.28MHz, it satisfies the specification of SDRAM technology.

• Journal of Drive and Control
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• v.17 no.3
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• pp.33-46
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• 2020

We introduce a piece of special-purpose equipment for responding to disasters that has a dual-arm manipulator consisting of six-axis multi joints, and a master-slave operating system controlled by a wearable joystick for intuitive and convenient operation. However, due to the complexity and diversity of a disaster environment, training and suitable training means are needed to improve the interaction between the driver and equipment. Therefore, in this paper, a system that can improve the operator's immersion in the training simulation is proposes, this system is implemented in a virtual environment. The implemented system consists of a cabin installed with the master-slave operation system, a motion platform, visual and sound systems, as well as a real-time simulation device. This whole system was completed by applying various techniques such as a statistical mapping method, inverse kinematics, and a real-time physical model. Then, the implemented system was evaluated from a point of view of the appropriateness of the mapping method, inverse kinematics, the feasibility for real-time simulations of the physical environment through some task mode.