• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.788-794
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• 2002

To improve surgical result of total hip arthroplasty (THA), there has been some approaches using a robotic milling system, which can make a precise cavity in the femur. Usually, to carve a femur, the surgical robot is controlled by a pre-programmed tool-path regardless of a surgeon's experience and Judgment. This paper presents a control method of a surgical robot for THA, which can be used as an advanced surgical tool. With a master/slave combined surgical robot, surgeon can directly control the motion and velocity of a surgical robot. The master/slave-combined robot is controlled to display a specific admittance for a surgeon's force to the surgical robot velocity. To prevent the over-carving of a femur, virtual hard wall is displayed on the surgical boundary. To evaluate the proposed control method of the master/slave-combined surgical robot, 2-DOF master/slave-combined manipulator is used in experiment.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2002.05a
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• pp.418-425
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• 2002

Bluetooth is an emerging technology expected to provide users with short range, low cost, pico-cellular wireless connectivity. The access to the medium for Bluetooth is based on a Master driven Time Division Duplexing (TDD) scheme. A slave transmits packets in the reverse slot only after the master polls the slave (or transmits a packet to the slave) in a forward slot. The master transmits packets to a slave in even slots while the slave transmits packets to the master in an odd slot. The way in which the master schedules packets transmission to slaves or polls them determines system performance. In this paper. we propose a traffic adaptive MAC scheduling scheme for Bluetooth. The proposed scheme adopts the ISAR (Intelligent Segmentation and Reassembly) policy, which adjusts the packet size to the traffic patterns, to adapt the polling frequency to the traffic conditions. Also for achieving fairness among master-slave connections our scheme includes a priority policy assinging prioritised service tlimes to each connection. By considering a scenario where a Bluetooth master is used as wireless access point to the Internet, we show that our scheme improve the system throughput and average queue delay with regard to a naive Round Robin (RR) scheme.

• KIPS Transactions on Software and Data Engineering
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• v.3 no.11
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• pp.471-478
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• 2014

Database replication is utilized to increase credibility, availability and prevent overload of distributed databases. Two models currently exist for replication - Master/Slave and Multi-Master. Since the Multi-Master model has problems of increasing complexity and costs to interface among multiple databases for updates and inserts, the Master/Slave model is more appropriate when frequent data inserts and updates are required. However, Master/Slave model also has a problem of not having exact criteria when systems choose to connect between Master and Slave for transactions. Therefore, this research suggests a routing algorithm based on AOP (Aspect Oriented Programming) in the Master/Slave database model. The algorithm classifies applications as cross-cutting concerns based on AOP, modularizes each concern, and routes transactions among Master and Slave databases. This paper evaluates stability and performance of the suggested algorithm through integration tests based on scenarios.

• 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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• 2003.10a
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• pp.2514-2518
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• 2003

The KAERI Spent Fuel Remote Technology Development (SFRTD) Department is developing the remote maintenance and repair equipment, which is used in a hot cell in an intense radiation field, as part of a project to develop the Advanced spent fuel Conditioning Process (ACP). Although several mechanical master-slave manipulators (MSMs) is mounted on the hot cell wall, their reach will be limited and cannot access areas for all the ACP equipment maintenance. A Bridge Transported ServoManipulator (BTSM) has been designed to overcome the limitation of access areas that is a drawback of MSMs for the ACP equipment maintenance. The BTSM system consists of four components: a transporter with telescoping tubeset, a slave manipulator, a master manipulator, and a remote control system. The BTSM system has been designed by Solid Edge that is a 3D computer-aided design (CAD) software, except for the remote control system. The master manipulator and the slave manipulator are kinematically similar in design, except for the handle and the tong, respectively. The manipulators have 6 degrees of freedom (DOF) plus the jaws motion. The transporter has traveling, traverse, and hoisting motion to position the slave manipulator.

• Journal of the Korea Institute of Military Science and Technology
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• v.17 no.6
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• pp.821-827
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• 2014

This paper considers a distributed telemetry system using retransmission algorithm with one master telemetry and two slave telemetries. The master telemetry merges data from each slave telemetry and own measured data. If there exist some errors in data from the slave telemetry, the master telemetry requests retransmission to corresponding slave telemetry. In this paper, we propose a retransmission algorithm applied to implementing the distributed telemetry system. Simulation results demonstrate that the retransmission improves the performance of the communication between the master and slave telemetries.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.1
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• pp.75-82
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• 2016

In this study, a cross-damped low vibration controller was developed to reduce vibration in ultra-precision dual stage driven by master/slave principle. In master-slave structure, the master stage leads the driving motion and the slave stage follows it so as to maintain a constant gap between two stages. In this structure, a small perturbation of master stage makes big oscillations in slave servoing stage, so a low damped master stage composed of voice coil motor makes a long vibration in settling area after driving motion profile. In this research, an effective feedback damping algorithm for increase the damping characteristics of the dual stage was developed. The designed velocity damping algorithm improves the system stability and reduces the settling time of the whole system. Simulation and experimental results show that the developed algorithm reduces settling time and improves the regulating performance.

• Journal of Navigation and Port Research
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• v.44 no.2
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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.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.395-401
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• 2017

In this paper, we introduce a robot-assisted medical diagnostic system that enables remote ultrasound (US) imaging to be applied to the conventional telemedicine, which has been possible only with interviewing or a visual exam. In particular, a master-slave robot system is developed that ultrasonic diagnosis specialist can control the position and orientation of US probe in the remote place. The slave robot is designed to be compact, lightweight, and hand-held so that it can easily transfer to the remote healthcare center. Moreover, 6-degree-of-freedom (DOF) probe motion is possible by the robot design based on Stewart platform. The master device is also based on a similar structure of the slave robot. To connect master and slave system in the wide area network (WAN) environment, a hardware CODEC was developed. In this paper, we introduce the detail of each component and the results of the recent experiments conducted in the remote sites by the developed robotic ultrasound imaging system.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.457-463
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• 2006

Recently proposed control scheme for a stable teleoperation, which was based on two-port time-domain passivity approach[21], has been successful for a contact with high stiffness environments. However, we found several conservatisms during the contact with deformable environments and unconstrained motion. The two-port time-domain passivity controller was excessively dissipating energy even though it was not necessary for some cases of an unconstrained motion and soft contact. The main reason of those conservatisms was on the fact that the two-port time-domain passivity controller was activated without considering the amount of energy dissipation at the master and slave manipulators. Especially, the exclusion of the slave manipulator from the two-port was the dominant reason of the conservatisms. In this paper, we consider the amount of energy dissipation at slave manipulator for designing the time-domain passivity observer and controller. The measured interaction force between slave manipulator and environment allow the time-domain passivity observer to include the amount of energy dissipation at the slave manipulator. Based on the modified passivity observer, reference energy following method[24] is applied to satisfy the passivity condition in real-time. The feasibility of the developed methods is proved with experiments. Improved performance is obtained for an interaction with deformable environments and an unconstrained motion.