• Proceedings of the Korea Information Processing Society Conference
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• 2007.05a
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• pp.1421-1423
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• 2007

제안하는 arbiter 구조는 AMBA AHB Protocol에서 사용하는 표준 arbiter 를 개선하여, master device들간의 버스 사용에 따른 bus conflict 를 감소시킨 구조이다. 제안하는 arbiter 구조는 인접한 주소를 참조하는 master device 들의 전송을 버스의 대역폭 내에서 한 번에 전송함으로써 버스 전송 횟수 및 데이터 전송량을 감소시킨다. 실험결과, 제안하는 arbiter 구조는 기존의 arbiter 구조에 비해 최대 89%의 전송량이 감소하였다.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2003.11a
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• pp.388-394
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• 2003

To handle the high level radioactive materials such a spent fuel, the master-slave manipulators (MSM) are widely used as a remote handling device in nuclear facilities such as the hot cell with sealed and shielded space. In this paper, the Digital Mockup which simulates the remote operation of the Advanced Conditioning Process(ACP) is developed. Also, the workspace and the motion of the slave manipulator, as well as, the remote operation task should be analyzed. The process equipment of ACP and Maintenance/Handling Device are drawn in 3D CAD models using IGRIP. Modeling device of manipulator is assigned with various mobile attributes such as a relative position, kinematics constraints, and a range of mobility, The 3D graphic simulator using the external input device of space ball displays the movement of manipulator. To connect the external input device to the graphic simulator, the interface program of external input device with 6 DOF is deigned using the Low Level Tele-operation Interface(LLTI). The experimental result shows that the developed simulation system gives much-improved human interface characteristics and shows satisfactory response characteristics in terms of synchronization speed. This should be useful for the development of work's education system in the virtual environment.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.12
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• pp.13-20
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• 2004

Manufacturing process for the microfluidic device can include such sequential steps as master fabrication, electroforming, and injection molding. The laser ablation using masks has been applied to the fabrication of channels in microfluidic devices. In this study, manufacturing of polymer master and mold insert for micro injection molding was investigated. Ablation of PET (polyethylene terephthalate) by the excimer laser radiation could be used successfully to make three dimensional master fur nickel mold insert. The mechanism fur ablative decomposition of PET with KrF excimer laser $({\lambda}: 248 nm, pulse duration: 5 ns)$ was explained by photochemical process, while ablation mechanism of PMMA (polymethyl methacrylate) is dominated by photothermal process, the .eaction between PC (polycarbonate) and KrF excimer laser beam generate too much su.face debris. Thus, PET was adopted in polymer master for nickel mold insert. Nickel electroforming using laser ablated PET master was preferable for replication method. Finally, it was shown that excimer laser ablation can substitute for X-ray lithography of LIGA process in microstructuring.

• The Journal of Korea Robotics Society
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• v.7 no.4
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• pp.267-275
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• 2012

When using commercialized robot assisted laparoscopic, surgeon has met some problems to depend only on image of the surgical field. To solve it, there were various researches. The previous study showed that it is possible to estimate the operation force on the commercialized instrument inside patient without sensors. To apply the estimated force to a haptic master console for the laparoscopy surgical robot system, the light haptic master console should be designed. This paper suggests the design of lighter master console handle to reduce a weight of the console whose structure can match with the joint and DOF of an instrument. A cable-conduit mechanism is designed to make light structure to perform a delicate manipulation. The cable-conduit mechanism removes the weight and inertia of link caused by haptic actuator and encoder which is separated from handle link of a manipulator.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.3
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• pp.292-301
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• 2014

This paper describes development of distributed type independent electro-hydraulic ballast valve remote control system with diagnostic function based on fuzzy inference using redundant Modbus communication and ethernet Modbus TCP/IP. Diagnostic function estimate degradation of system components and diagnose system faults, which results in shortage of fault maintenance time and improvement of system safety. Slave devices which control each valve and master device which command, monitor and diagnose slave system are developed. Slave devices are connected to master device with redundant Modbus networks and master device is connected to ship's integrated control system with Modbus TCP/IP. Also this paper describes development of simulator to test and confirm whether developed system can be integrated with ship's integrated control and monitoring system.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.89-91
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• 2004

In SCADA systems, an RTU is a device installed at a remote location that collects data, codes the data into a format that is transmittable and transmits the data back to a central station, or MTU. An RTU also collects information from the master device and implements processes that are directed by master device. RTUs are equipped with input channels for sensing or metering, output channels for control, indication or alarms and a communications port. In general, the data are transmitted via a wired communication infrastructure such as RS422 or RS485 between RTU and MTU. But, limited range of wired communication doesn't allow the system to cover remote areas over the limitation, and building a wired communication network is not easy in the circumstances. In this Paper, we design and implement a smart cost-effective Web-RTU that can communicate with MTU via Web. Web is of benefit to the Web-RTU, because it is not only free from the distance limitations, but also is built easily and cost-effectively wherever Internet resources are available. Additionally, Web can be easily applied to the SCADA system with the development of hardware and software for communications. The Web-RTU has a program memory, a data memory and a RAM inside, and uses Atmega128, low-cost 8 bit micro-processor with eight AI(Analog Input). It performs well enough to implement all existing roles of RTU.

• Journal of Biomedical Engineering Research
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• v.27 no.4
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• pp.197-202
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• 2006

Devices in current market to perform electrical stimulation therapy of the urinary incontinence frequent in aging women are very much impractical to us ε due to the wired configuration. The present study implemented new wireless device to enhance self as well as in-hospital therapy with the easiest and the most convenient application. The therapy system consisted of two modules, called 'master' and 'slave', communicating with each other by the wireless Bluetooth protocol. The patient controls therapy processes on the master module in hand, transmitting the required informations to operate the slave module placed within her pants with the viginal electrode connected, delivering appropriate electrical stimulation. Wireless communication enabled self therapy with clothes on, leading to a great convenience for the patient. The stimulation output signal was comparable to commercialized products in both waveform and stimulation capacity.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1714-1717
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• 1997

A human operator is able to perform some tasks smoothly with force feedvack for the teleoperation or a virtual device in a the virtual environments. This paper describes a virtual force generation method with which operator can feel the interactive force between virtula robot and artificial environments. A virtual force generation algortihm is applied to generate the contact force at the arbitrary point of virtual robot, and the virtual force is displayed to the human operator via a tendon master arm consisted with 3 motors. Some experiments has beencarried out to verify the effectiveness of the force generation algorithm and usefulness of the developed backdrivable master arm.

• Proceedings of the IEEK Conference
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• 1998.10a
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• pp.833-836
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• 1998

The propose of this paper is to implement the master slave control with non-actuated Master Arm scheme by using spaceball. The spaceball is a device which can receive all 6-DOF at once and was selected because it isn't dependent to robot type or it's DOF but can be used to produce information about 3D coordiante system The proposed method's main benefit is that one who has no idea about robot structure can control the manipulator with easy. The simulation is supported with 3 modes of control to accomodate unexpected situation. The proposed implementation has probed that a non-trained user can manipulate the slave with intuition without much difficults.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.8
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• pp.713-718
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• 2002

Motion controllers are essential components for operating industrial equipments. Compared with general industrial controllers, motion controllers allow motion control requiring greater speed and precision. This paper presents a method for controlling multi-axes motors via industrial networks. To achieve a line or arc interpolation, the master system delivers instructions to slave systems connected to the network. The network instruction transmitted from the master controller is re-interpolated by the individual slaves through sub-interpolators. The re-interpolated feedrate information is transmitted to the motion control loop in which the current position and the reference position are then calculated. In this way, the interpolation driving between control units is achieved via industrial networks.