• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.3B
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• pp.216-223
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• 2006

The KOINONIA is developed to communicate with connection of the short-range devices by the technique of the WPAN. The piconet consists of one master and slaves above one, the multi-poconet consists of parent piconet and child piconets which is formed the basis of parent piconet. The child piconet consists of the child master and slaves. The child master takes a role of the master in the child piconet and the slave in the parent piconet. In this paper, the multi-piconet is made as above, then we estimate the max capacity of assigned CTA by level, number of slaves in child piconet. A super-frame is the maximum 65.535ms of usable capacity. Because of it is a fued number, We suggested quantitatively the fixed reduction of an usable capacity by increases of number of slave and child-master in the piconet. And we analyze the reduction of an available capacity by the increase of number of child piconet.

• The Journal of the Korea Contents Association
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• v.18 no.7
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• pp.322-329
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• 2018

Teleoperation is defined with a master device that gives control command and a slave robot in a remote site. In this field, it is common that a human operator executes and experiences teleoperation with a virtual slave, and preliminary learns dynamic characteristic and network environment from both agents. Generally, a virtual slave has neglected forward dynamics and its kinematic model has been implemented in computer graphics. This makes a operator to experience actual feelings. This paper proposes a dynamic teleoperation model in which a robotic forward model is applied. Also, a novel compensation method is proposed to reduce the numerical error problems in forward dynamics caused by low control sampling rate. Finally, its results will be compared to the teleoperation in an actual environment.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.330-333
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• 2005

In this study, a method of designing a neurointerface using neural network (NN) is proposed for controlling nonholonomic mobile robots. According to the concept of virtual master-slave robots, in particular, a partially stable inverse dynamic model of the master robot is acquired online through the NN by applying a feedback-error learning method, in which the feedback controller is assumed to be based on a PD compensator for such a nonholonomic robot. A tracking control problem is demonstrated by some simulations for a nonholonomic mobile robot with two-independent driving wheels.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.281-284
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• 2023

Real-time control communication network system is important for developing defense robots because it affects environmental interaction, performance, and safety. We propose a real-time control communication network using the Xenomai real-time operating system and the open-source EtherCAT master library, SOEM. EtherCAT is an Ethernet-based industrial communication method. It has low latency and many functions such as cable redundancy and distributed clock synchronization. We use Xenomai RTOS and Intel NUC to develop the system. Experimental tests demonstrate the Real-time EtherCAT master implementation, and communication with CiA301-based slave devices. The jitter measurement was conducted to validate the real-time performance of the system. The proposed system shows possibility for real-time robotics applications in various defense robots.

• Annual Conference of KIPS
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• 2001.10b
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• pp.1529-1532
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• 2001

ACE 2000 ATM 교환기를 이용하여 MPLS 교환기를 구현 시, ATM 가입자 및 중계선을 수용하여 스위치와 정합 기능을 수행하는 AIM(ATM interface module)에 IP 패킷에 대한 룩업을 수행하여 ATM 스위치로 패킷을 포워딩하는 HFEA(High performance Forwarding Engine board Assembly)를 연동하기 위해서는 UTOPIA Level2 연결이 요구된다. 그러나 HFEA 에서 622Mbps 급 성능의 MXT4400(SAR) 칩은 TSAR(Transmit SAR)로 운용 시 Master모드로 동작하게 되고, AIM 모듈 또한 Rx에서 Master모드로 동작하기 때문에 이들을 연결하기 위해서는 양 모듈간에서 Slave 모드로 동작할 수 있는 UTOPIA Controller가 필요하게 된다. 이에 따라 ALMA(AW Layer Module Assembly)칩과 HFEA TSAR 사이에서 데이터를 전달하는 UTOPIA Controller를 Xilinx를 이용해 FPGA로 구현하였다.

• Transactions of The Korea Fluid Power Systems Society
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• v.8 no.4
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• pp.17-23
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• 2011

Proportional control solenoid is a type of modulating valve that can continuously control the valve position with magnetic force of solenoid. Recent microcontroller based digital servocontroller for proportional valve is being developed toward the smart valve with additional features such as enhanced control algorithm for finer process and intelligent on-board diagnosis for maintenance. In this paper, development of servocontroller network control with CAN bus which is free from problems of security and network traffic jam is presented. Design of network control system includes modes of communication between master and slave, assignment of 29bit message identifier and message objects, transaction of communication sequence, etc. Monitoring function and control experiments for remote valve through CAN network prove the extended function of smart valve control system.

• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.584-593
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• 2007

BACnet is a standard data communication protocol especially designed for building automation and control networks. BACnet uses the Master-Slave/Token-Passing (MS/TP) protocol as one of its field-level networks. In this study, the performance of the BACnet MS/TP protocol is evaluated using an experimental model. The network performance is investigated and evaluated in terms of token rotation time and round trip time. The experimental results show that the performance of the MS/TP network is heavily influenced by the network traffic load, the assignment of MS/TP node address and the network configuration parameter called $N_{max_info-frames}$. Based on the experimental results, simple practical designing guidelines for BACnet MS/TP network systems are also proposed.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.18 no.6
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• pp.121-127
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• 2004

The controller area network(CAN) was originally developed to support cheap and rather simple automative applications, However, because of the its performance and low cost, it is also being considered in automated manufacturing and process control environments to interconnect intelligent devices, such as modem sensors and actuators. This paper presents a new application technology of the developed CAN control modules for the automated doors in building automation system Key pad and RF methods are used to open and close the automated door by the slave CAN module with CAN Protocol. BAS application technology of CAN field bus modules is also presented firstly in our nation.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.6B
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• pp.551-560
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• 2006

Security in WPAN is one of the most fundamental issues to overcome the barrier of wireless environment. Although piconet security mechanisms have been defined in the WPAN standards, many remains open and are left for implementation. Koinonia is a high-rate Wireless Personal Area Network (WPAN) technology, and is developed for multimedia traffic transmission in personal area. In Koinonia WPAN, a piconet consists of one master and more than one slave, and piconet security mechanisms is not defined at all. Therefore, we propose a robust piconet security mechanism for secure communications between slaves in a piconet. Based on security requirements analysis, our proposed protocols are shown to meet the security needs for Koinonia high-rate WPAN.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.414-415
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• 2008

In this paper, we consider the development methodology of wireless monitoring system for a distribution transformer. The master/ slave devices are installed in the power distribution feeder and measure the current state of pole or ground transformers. After measuring, the devices send the measurement data to operating room through the wireless network such as RF and CDMA so that the power distribution supervisor can prevent a distribution transformer damaging caused by overloads and imbalance of loads.