• 한국군사과학기술학회지
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• 제17권6호
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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.

• 로봇학회논문지
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• 제12권4호
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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.

• 제어로봇시스템학회논문지
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• 제13권1호
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• pp.33-38
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• 2007

In this paper, hardware implementation of interface and control between two robots, the master and the slave robot, are designed. The master robot is the motion capturing device that captures motions of the human operator who wears it. The slave robot is the corresponding humanoid robot arms. Captured motions from the master robot are transferred to the slave robot to follow after the master. All hardware designs such as PID controllers, communications between the master robot, encoder counters, and PWM generators are embedded on a single FPGA chip. Experimental studies are conducted to demonstrate the performance of the FPGA controller design.

• 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.

• Journal of Information Processing Systems
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• 제13권5호
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• pp.1299-1319
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• 2017

This paper presents a scalable multiple camera collaboration strategy for active tracking applications in large areas. The proposed approach is based on distributed mechanism but emulates the master-slave mechanism. The master and slave cameras are not designated but adaptively determined depending on the object dynamic and density distribution. Moreover, the number of cameras emulating the master is not fixed. The collaboration among the cameras utilizes global and local sectors in which the visual correspondences among different cameras are determined. The proposed method combines the local information to construct the global information for emulating the master-slave operations. Based on the global information, the load balancing of active tracking operations is performed to maximize active tracking coverage of the highly dynamic objects. The dynamics of all objects visible in the local camera views are estimated for effective coverage scheduling of the cameras. The active tracking synchronization timing information is chosen to maximize the overall monitoring time for general surveillance operations while minimizing the active tracking miss. The real-time simulation result demonstrates the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.951-957
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• 1988

A collision-free trajectory planning algorithm is proposed to optimally coordinate two robots working in a common 3-D workspace. Each link of the two robots is modeled as a line segment and by their motion priority, one of the two robots is chosen as the master and the other the slave. And the one-step-ahead minimum distance between the two robots is computed by moving the master to the next location on its specified trajectory. Then the nominal trajectory of the slave is modified such that the distance between the next locations of the master and the slave must be larger than a prespecified allowable minimum distance. Here the weighted sum of the trajectory error and the joint motions of the slave is minimized by using the linear programming technique under the constraints that joint angle and velocity limits are not violated. To show the validity of the proposed algorithm, a numerical example is illustrated by employing a two dof's and a three dof's planar robots.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.84-84
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• 2000

This paper proposes a new impedance control scheme based on a variable stiffness matrix for a bilateraL teleoperation. In this scheme, stiffness matrix of the impedance model in the slave is modulated based on the distance, measured by an ultrasonic sensor, between the slave and environment. At the same time, the stiffness matrix of the master is also changed accordingly in order for the impedance parameters of the combined system to remain constant The proposed scheme is implemented on a 1-dof master/slave system to perform a simple task. In the experiments, the teleoperator with the impedance parameter modulation shows better performance than one with fixed impedance parameters, especially in reducing task execution time and in avoiding excessive external forces.

• 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.

• 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.

• International Journal of Control, Automation, and Systems
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• 제5권6호
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• pp.681-690
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• 2007

This article presents the kinematic analysis and implementation of an interface and control of two robots-an exoskeleton master robot and a human-like slave robot with two arms. Two robots are designed and built to be used for motion-following tasks. The operator wears the exoskeleton master robot to generate motions, and the slave robot is required to follow after the motion of the master robot. To synchronize the motions of two robots, kinematic analysis is performed to correct the kinematic mismatch between two robots. Hardware implementation of interface and control is done to test motion-following tasks. Experiments are performed to confirm the feasibility of the motion-following tasks by two robots.