• 한국광학회지
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• 제14권2호
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• pp.161-165
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• 2003

Master laser(ML)의 직접 변조로 생성된 여러 개의 side-bands 중 두 개의 target band게 두 개의 Slave laser(SL)가 각각 lock이 되도록 하는 side-band injection-locking 방법을 이용하여 광학적 60㎓의 밀리미터파 신호를 구현하였다 ML에 lock이 된 두 SL의 output들은 photo detection시 서로 beating하여 안정적이고 매우 깨끗한 60㎓ 신호를 생성하였다.

• 한국정밀공학회지
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• 제28권9호
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• pp.1048-1053
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• 2011

Recently, robots have been used in surgical area. Robotic surgery in Minimally Invasive Surgery gives many advantages to surgeons and patients both. This study introduce a robotic assistant to improve the safety of telerobotic Minimally Invasive Surgical procedures. The master-slave system is applied to the telerobotic surgical system with the master arm, which control the system, and slave robot which operates the surgery on the patient body. By using a 3-DOF master arm, the surgeon can control the 6-DOF surgical robot under the constraint of fulcrum point. This paper explains the telerobotic surgical system and confirms the system with the precision of the robot control related to the fulcrum point to enhance the safety.

• 로봇학회논문지
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• 제10권3호
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• pp.139-145
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• 2015

This paper proposed a method of cooperative control of three mobile robots for carrying an object placed on a floor together. Each robot moves to the object independently from its location to a pre-designated location for grasping the object stably. After grasping the common object, the coordination among the robots has been achieved by a master-slave mode. That is, a trajectory planning has been done for the master robot and the distances form the master robot to the two slave robots have been kept constant during the carrying operation. The localization for mobile robots has been implemented using the encoder data and inverse kinematics since the whole system does not have the slippage as much as a single mobile robot. Before the carrying operation, the lifting operations are implemented using the manipulators attached on the top of the mobile robots cooperatively. The real cooperative lifting and carrying operations are implanted to show the feasibility of the master-slave mode control based on the kinematics using the mobile manipulators developed for this research.

• 한국산업융합학회 논문집
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• 제25권2_2호
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• pp.193-198
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• 2022

In this paper, we introduce the improved control method are communicated between a master and a slave robot in the teleoperation systems. When the master and slave robots are located in different places, time delay is unavoidable under the network environment and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The time delay may cause instability in teleoperation systems especially if those systems include haptic feedback. This paper presents a control scheme based on the estimator with virtual master model in teleoperation systems over the network. As the behavior of virtual model is tracking the one of master model, the operator can control real master robot by manipulating the virtual robot. And LQG/LTR scheme was adopted for the compensation of un-modeled dynamics. The approach is based on virtual master model, which has been implemented on a robot over the network. Its performance is verified by the computer simulation and the experiment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.672-675
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• 1996

This paper presents algorithm including Kalman filter for transfer alignment of velocity and quaternion matching method, when master inertial navigation system is a gimbled type and slave inertial navigation system is a strapdown type on a cruising ship which is naturally in motion of horizontal axis attitude. And relative attitudes are considered on a measurement equation for quaternion matching between master INS and slave INS.

• 대한기계학회논문집A
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• 제25권5호
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• pp.891-898
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• 2001

This paper develops a master manipulator which can reflect a force from a slave manipulator effectively. It many have a big workspace, can represent a human operators manipulation perfectly, and is composed of a position control part, an orientation control part and an end effector control part. This paper also develops a graphic simulator using the Visual C++ and OpenGL in the Window operating system. It can be used to make a virtual slave manipulator and set a virtual working environment, and provide a visual information from a desired view point. A virtual teleoperation system is developed by connecting the developed master manipulator to the graphic simulator using an interfacing hardware bilaterally. It is used for performing a virtual object exploration experiment. In the experiment, two virtual objects are used. They are virtual wall and virtual hexahedron which have 0.7N/mm and 2.2 N/mm stiffness respectively. The experiments are performed under six different working conditions. The experiment results will show the effectiveness of the reflected force from the slave manipulator for improving the efficiency and stability of the teleoperation task.

• 대한임베디드공학회논문지
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• 제8권6호
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• pp.295-301
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• 2013

In this paper, we propose a real-time centralized soft motion control system for high speed and precision robot control. The system engages EtherCAT as high speed industrial motion network to enable force based motion control in real-time and is composed of software-based master controller with PC and slave interface modules. Hard real-time control capacity is essential for high speed and precision robot control. To implement soft based real time control, The soft based master controller is designed using a real time kernel (RTX) and EtherCAT network, and servo processes are located in the master controller for centralized motion control. In the proposed system, slave interface modules just collect and transfer all sensor information of robot to the master controller via the EtherCAT network. It is proven by experimental results that the proposed soft motion control system has real time controllability enough to apply for various robot control systems.

• 한국항해항만학회지
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• 제44권2호
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• pp.136-143
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• 2020

Maritime autonomous surface ships (MASS) has been developed over the years. But, there are many unresolved problems. To overcome these problems, this study proposes connected ship navigation system. The system comprises a slave ship and a master ship that leads the slave ship. To implement this system, communication network, route planning algorithms, and controllers are designed. The communication network is built using the transmission control protocol/Internet protocol (TCP/IP) socket communication method to exchange data between ships. The route planning algorithms calculate the course and distance of the slave ship using the middle latitude sailing method. Nomoto model is used as the mathematical model of the slave ship maneuvering motion. Then, the autoregressive with exogenous variables (ARX) model is used to estimate the parameters of Nomoto model. Based on the above model, the automatic steering controller is designed using a proportional-derivative (PD) control. Also, the speed controller is designed for the slave ship to maintain constant distance from the master ship. Sea experiments are conducted to verify the proposed system with two remodeled boats.

• 융합신호처리학회논문지
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• 제15권2호
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• pp.70-75
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• 2014

최근 디지털 기기의 다기능화, 휴대화 및 서비스 정보의 대용량화 등으로 인하여 고집적, 저전력, 고성능 SoC(System on Chip) 설계에 대한 요구가 점차 증가하고 있다. 시스템이 빠르게 발전함에 따라 요구되는 하드웨어 성능이 다양해지고 있으며 빠른 설계 확인을 위하여 FPGA(Field Programmabel Gate Array)를 채택하는 시스템이 증가되고 있는 추세이며 FPGA를 채택한 시스템에서는 FPGA와 제어하는 CPU인 ARM코어를 사용한 SoC 시스템이 늘어났다. 이러한 시스템에서 사용되는 AXI(Advanced eXtensible Interface) Bus는 여러 방법으로 이용되지만, 기존의 연구에서는 AXI Slave 구조로 설계가 되어 있다. Slave 구조에서는 CPU가 계속 데이터 전송에 관여하게 되어 자원을 다른 곳에 사용하지 못하는 문제와 AXI Bus가 사용되지 않는 시간이 길어서 전송효율이 떨어지는 문제가 있다. 본 논문에서는 이와 같은 문제를 해결하고자 AXI Master구조를 제안하고, Slave구조와 Master구조의 소모클럭과 합성결과를 비교한 결과, Master구조가 Slave구조에 비해 소모클럭은 51.99% 감소한 것을 확인하였으며, Slice는 31% 정도 감소하였다. 또한, 최대 동작주파수는 107.84MHz로써 약 140% 증가 되는 것을 확인하였다.

• 한국정밀공학회지
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• 제20권11호
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• pp.171-179
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• 2003

This paper presents a rehabilitation exercise system which utilizes a 6 DOF robot as a motion generator. This system was proposed for a stroke patient or a patient who has hemiplegia. A master-slave system was designed to exercise either paralysis or abnormal limb by using normal limb motion. The study on the human body was applied to calculate the motion range of elbows and shoulders. In addition, a force-torque sensor was applied to the slave robot to estimate the rehabilitation extent of the patient. Therefore, the stability of the rehabilitation robot could be improved. By using the rehabilitation robot. the patients could exercise by themselves without assistance. In conclusion, the proposed system was verified by computer simulations and system experiment.