• Clinical Endoscopy
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• v.51 no.6
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• pp.552-557
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• 2018

Although colonoscopy was originally a diagnostic imaging procedure, it has now expanded to include an increasing range of therapeutic interventions. These procedures require precise maneuvers of instruments, execution of force, efficient transmission of force from the operator to the point of application, and sufficient dexterity in the mobilization of endoscopic surgical instruments. The conventional endoscope is not designed to support technically demanding endoscopic procedures. In case of colonoscopy, the tortuous anatomy of the colon makes inserting, moving, and orientating the endoscope difficult. Exerting excessive pressure can cause looping of the endoscope, pain to the patient, and even perforation of the colon. To mitigate the technical constraints, numerous technically enhanced systems have been developed to enable better control of instruments and precise delivery of force in the execution of surgical tasks such as apposing, grasping, traction, counter-traction, and cutting of tissues. Among the recent developments are highly dexterous robotic master and slave systems, computer-assisted or robotically enhanced conventional endoscopes, and autonomously driven locomotion devices that can effortlessly traverse the colon. Developments in endoscopic instrumentations have overcome technical barriers and opened new horizons for further advancements in therapeutic interventions. This review describes examples of some of these systems in the context of their applications to advanced therapeutic colonoscopy.

• Journal of Advanced Navigation Technology
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• v.22 no.6
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• pp.500-506
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• 2018

In this paper, we considered the one-shot alignment using master inertial navigation system (MINS) and slave inertial navigation system (SINS) in the missile to find the exact posture of a missile. In order to perform one-shot alignment, the tilt angle between MINS and SINS must be obtained, which can be compensated by obtaining the tilt angle between missile round and SINS. The tilt angle was calculated by using the roll rotation of missile round, jig for rotating the missile round and interface structure to measure the horizontal state by using a horizontal angle meter were constructed. As a result of the tilt angle save (TAS) inspection, the tilt angle ${\alpha}$, ${\beta}$, ${\gamma}$ is normal range and it is possible to perform one-shot alignment by compensating this value.

• Journal of Drive and Control
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• v.17 no.4
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• pp.152-159
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• 2020

This study reviews the rear or tag axle steering system's concepts and technology applied to commercial vehicles. Most commercial vehicles are large in size with more than two axles. Maneuvering them around tight corners, narrow roads, and spaces is a difficult job if only the front axle is steerable. Furthermore, wear and tear in tires will increase as turn angle and number of axles are increased. This problem can be solved using rear axle steering technology that is being used in commercial vehicles nowadays. Rear axle steering system technology uses a cylinder mounted on one of rear axles called a steering cylinder. Cylinder control is the primary objective of the real axle steering system. There are two types of such steering mechanisms. One uses master and slave cylinder concept while the other concept is relatively new. It goes by the name of smart axle, self-steered axle, or smart steering axle driven independently from the front wheel steering. All these different types of steering mechanisms are discussed in this study with detailed description, advantages, disadvantages, and safety considerations.

• Journal of the Korea Institute of Military Science and Technology
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• v.26 no.3
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• pp.214-226
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• 2023

A transfer alignment is used to initialize, align, and calibrate a SINS(Slave INS) using a MINS(Master INS) in motion. This paper presents an airborne transfer alignment with velocity and azimuth matching to estimate inertial sensor biases under the wing flexure influence. This study also considers the lever arm, time delay and relative orientation between MINS and SINS. The traditional transfer alignment only uses velocity matching. In contrast, this paper utilizes the azimuth matching to prevent divergence of the azimuth when the aircraft is stationary or quasi-stationary since the azimuth is less affected by the wing flexibility. The performance of the proposed Kalman filter is analyzed using two factors; one is the estimation performance of gyroscope and accelerometer bias and the other is comparing aircraft dynamics and attitude covariance. The performance of the proposed filter is verified using a long term flight test. The test results show that the proposed scheme can be effectively applied to various platforms that require airborne transfer alignment.

• Journal of KIISE:Computer Systems and Theory
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• v.32 no.11_12
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• pp.629-638
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• 2005

In the System on a Chip design, the on chip bus is one of the critical factors that decides the overall system performance. Especially, in the case or reusing the IPs such as processors, DSPs and multimedia IPs that requires higher bandwidth, the bandwidth problems of on chip bus are getting more serious. Recently ARM proposes the Multi-Layer AHB BusMatrix that is a highly efficient on chip bus to solve the bandwidth problems. The Multi-Layer AHB BusMatrix allows parallel access paths between multiple masters and slaves in a system. This is achieved by using a more complex interconnection matrix and gives the benefit of increased overall bus bandwidth, and a more flexible system architecture. However, there is one clock cycle delay for each master in existing Multi-Layer AHB BusMatrix whenever the master starts new transactions or changes the slave layers because of the Input Stage and arbitration logic realized with Moore type. In this paper, we improved the existing Multi-Layer AHB BusMatrix architecture to solve the one clock cycle delay problems and to reduce the area overhead of the Input Stage. With the elimination of the Input Stage and some restrictions on the arbitration scheme, we tan take away the one clock cycle delay and reduce the area overhead. Experimental results show that the end time of total bus transaction and the average latency time of improved Multi-Layer AHB BusMatrix are improved by $20\%\;and\;24\%$ respectively. in ease of executing a number of transactions by 4-beat incrementing burst type. Besides the total area and the clock period are reduced by $22\%\;and\;29\%$ respectively, compared with existing Multi-layer AHB BusMatrix.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.11
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• pp.2433-2438
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• 2011

Bus system consists of several masters, slaves, arbiter and decoder in a bus. Master means the processor that performs data command like CPU, DMA, DSP and slave means the memory that responds the data command like SRAM, SDRAM and register. Furthermore, as multiple masters can't use a bus concurrently, arbiter plays an role in bus arbitration. In compliance with the selection of arbitration method, bus system performance can be changed definitely. Fixed priority and round-robin are used in general arbitration method and TDMA and Lottery bus methods are proposed currently as the improved arbitration schemes. In this study, we proposed the score arbitration method and synthesized it using Hynix 0.18um technology, after design of RTL. Also we analyze the performance compared with general arbitration methods through simulation.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1480-1484
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• 2003

This paper presents the design and development of network for housing estate security system. The system can cover up to 961 houses which can be up to 1,200 meters long transfer rate of 9,600 bps. This system uses checking and warning the abnormal situation. More over this system has ability to control switch on/off the electrical equipment in the house via AC line control system. The system consists of 4 parts. The first part is a security system of each house using MCS-51 microcontroller as a central processing unit scan 32 sensors and control 8 appliances and send alarm. The MCS-51 microcontroller received control signal via telephone used DTMF circuit. The second part is distributed two levels master/slave network implementing after RS-485 serial communication standard. The protocol its base on the OSI (Open Systems Interconnection) 7 layers protocol model design focus on speed, reliability and security of data that is transferred. The network security using encrypt by DES algorithm, message sequence, time stamp checking and authentication system when user to access and when connect new device to this system. Flow control in system is Poll/Select and Stop-and-Wait method. The third part is central server that using microcomputer which its main function are storing event data into database and can check history event. The final part is internet system which users can access their own homes via the Internet. This web service is based on a combination of SOAP, HTTP and TCP/IP protocols. Messages are exchanged using XML format [6]. In order to save the number of IP address, the system uses 1 IP address for the whole village in which all homes and appliance in this village are addressed using internal identification numbers. This proposed system gives the data transfer accuracy over 99.8% and maximum polling time is 1,120 ms.

• Computational Structural Engineering
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• v.6 no.2
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• pp.95-102
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• 1993

A modeling method is described to provide a smaller structural dynamic model which can be used to compare finite element model of a structure with its experimental counterpart. A structural dynamic model is assumed to be represented by dynamic stiffness matrix. To validate a finite element model, it is often necessary to condense a large degrees of freedom (dofs) to a relatively small number of dofs. For these purpose, static reduction techniques are widely used. However, errors in these techniques are caused by neglecting frequency dependent terms in the functions relating slave dofs and master dofs. An alternative method is proposed in this paper in which the frequency dependent terms are considered by expressing the reduced dynamic stiffness matrix with orthogonal polynomials. The reduced model has finally a minimum set of dofs, such as sensors and excitation points and it is under the same condition as the physical system. It is proposed that the reduced model can be derived from finite element model. The procedure is applied to example structure and the results are discussed.

• Journal of Korea Multimedia Society
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• v.7 no.2
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• pp.264-271
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• 2004

A load-sharing algorithm must deal with load imbalance caused by characteristics of a network and heterogeneity of nodes in Internet-based clustering systems. This paper has proposed the Efficient Load-Sharing algorithm. Efficient-Load-Sharing algorithm creates a scheduler based on the WF(Weighted Factoring) algorithm and then allocates tasks by an adaptive granularity strategy and the refined fixed granularity algorithm for better performance. In this paper, adaptive granularity strategy is that master node allocates tasks of relatively slower node to faster node and refined fixed granularity algorithm is to overlap between the time spent by slave nodes on computation and the time spent for network communication. For the simulation, the matrix multiplication using PVM is performed on the heterogeneous clustering environment which consists of two different networks. Compared to other algorithms such as Send, GSS and Weighted Factoring, the proposed algorithm results in an improvement of performance by 75%, 79% and 17%, respectively.

• Journal of Korea Multimedia Society
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• v.20 no.3
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• pp.511-519
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• 2017

This Paper introduces the design and communication method between PLC (Programmable Logic Controller) and Arduino based on MODBUS Protocol. MODBUS connection can be established in a new or existing system very easily, therefore we used this protocol in our proposed system. In the field of automatic devices, multi-function serial port such as RS232, RS422, RS485, and so on creates a great convenience to the developer. This proposed system used RS485 as a key mediator for data exchanging on a connected network. We also believe that it will reduce the development cost in various automated industry because this system can be reused or can be implemented any such PLC installed machines. RS485 is used as a communication interface between PLC (as a slave) and Arduino (as a master), through which a reliable network is created for safe and fast communication. Furthermore, RS485 allows multiple devices(up to 32) to communicate at half duplex on a single pair of wires and provides a long connectivity area (up to 1200 meters) as compare to other device, which makes it a user-friendly for various devices in the automated industry. Moreover, Arduino can play as a mediator by connecting third party device and setup a communication network with PLC.