• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2008년도 하계종합학술대회
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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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

• 한국정밀공학회지
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• 제15권8호
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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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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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.

• 대한기계학회논문집A
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• 제25권8호
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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.

• 제어로봇시스템학회논문지
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• 제12권9호
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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.

• 한국시뮬레이션학회:학술대회논문집
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• 한국시뮬레이션학회 2005년도 춘계학술대회 논문집
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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.

• 전기전자학회논문지
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• 제14권1호
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• pp.1-7
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• 2010

본 논문은 디스플레이포트 v1.1a 표준에 적합한 AUX(Auxiliary) 채널 구현에 대한 논문이다. 디스플레이포트는 영상 및 음성을 전달하기 하기 위해 메인 링크, AUX 채널, 핫 플러그 검출 라인을 사용한다. 등시적 전송 서비스를 제공하기 위해서 소스 디바이스는 메인 링크를 통해 전달될 영상 및 음성 신호를 특정 형태로 변환하여 재구성하고 싱크 디바이스로 전달한다. AUX 채널은 메인 링크를 구성하고 유지하기 위해 링크 서비스를 제공한다. 그리고 디스플레이 장치가 소스 디바이스에서 전송된 데이터를 정상적으로 나타낼 수 있는지 파악하기 위해 디바이스 서비스를 제공한다. 핫 플러그 검출 라인은 두 디바이스간의 연결을 확인하기 위해서 사용한다. 본 논문은 AUX 채널 구현을 목표로 설계하였으며 설계된 시스템은 SoC Master3를 이용하여 검증을 수행하였다. 합성 툴은 Xilinx ISE 9.2i를 사용하여 3315개의 LUTs와 1466개의 Flip Flops을 사용하였고 최대 168.782MHz 동작 속도의 결과를 얻었다.

• 한국응용약물학회:학술대회논문집
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• 한국응용약물학회 1995년도 춘계학술대회
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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.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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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.