• 반도체디스플레이기술학회지
• /
• 제21권3호
• /
• pp.26-32
• /
• 2022

EtherCAT is an Ethernet-based fieldbus system standardized in IEC 61158 and SEMI, and widely used in the fields of factory automation, semiconductor equipment and robotics. In this paper, an EtherCAT master is implemented on an embedded board with Arm based 64-bit quad-core processor and its jitter performance is evaluated at the output of the network interface to include all the effects of the entire system in the results. For the EtherCAT master system, an open source EtherCAT master stack, Simple Open EtherCAT Master (SOEM), is installed on PREEMPT_RT patched Linux operating system for real-time operation. The results show that the jitter performance is comparable to that of Xenomai-based master and the EtherCAT master with two master instances has similar jitter performance to the EtherCAT master with one master instance.

• 반도체디스플레이기술학회지
• /
• 제22권2호
• /
• pp.11-16
• /
• 2023

EtherCAT is an Ethernet-based fieldbus system standardized in IEC 61158 and SEMI, and widely used in the fields of factory automation, semiconductor equipment and robotics. In this paper, without operating system, we have implemented an EtherCAT master with an open source EtherCAT master stack SOEM on STM32 Nucleo-144 board with an STM32F767 microcontroller. And its jitter performance has been evaluated at the output of the network port to include all the effects of the entire system in the results. The results show that the implemented EtherCAT master has precise control performance for control frequencies from 1KHz to 8KHz and relatively superior jitter performance compared to the EtherCAT masters with real-time patched Linux operating system.

• 반도체디스플레이기술학회지
• /
• 제20권2호
• /
• pp.131-136
• /
• 2021

EtherCAT is an Ethernet-based fieldbus system standardized in IEC 61158 and SEMI, and widely used in the fields of factory automation, semiconductor equipment and robotics. In this paper, a real-time EtherCAT master is implemented on Linux operating systems and its performances are evaluated. To enhance the real-time capability of mainline Linux kernel, Xenomai is applied as a real-time framework and an open source EtherCAT master stack, Simple Open EtherCAT Master (SOEM), is installed on it. Unlike other studies, the real-time performance of the EtherCAT master is evaluated at the output of the network interface card, so that the evaluation results include all possible effects from the EtherCAT master system. The implemented EtherCAT master can send and receive packets up to 20KHz control frequency with low jitter, even in stressed condition.

• 대한수학회지
• /
• 제38권3호
• /
• pp.683-695
• /
• 2001

In this paper we are concerned with theoretical properties of gap functions for the extended variational inequality problem (EVI) in a general Banach space. We will present a correction of a recent result of Chen et. al. without assuming the convexity of the given function Ω. Using this correction, we will discuss the continuity and the differentiability of a gap function, and compute its gradient formula under tow particular situations in a general Banach space. Our results can be regarded as infinite dimensional generalizations of the well-known results of Fukushima, and Zhu and Marcotte with soem modifications.

• 로봇학회논문지
• /
• 제18권3호
• /
• pp.281-284
• /
• 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.

• 정보처리학회논문지D
• /
• 제9D권2호
• /
• pp.195-202
• /
• 2002

B2B 전자상거래와 같이 XML.을 이용한 정보교환이 확산되고 있으며 이에 따라 상호 교환되는 정보에 대하여 체계적이며 안정적인 저장관리가 요구되고 있다. 이를 위해 XML 응용과 데이터베이스 연계를 위한 다양한 연구가 관계형 데이터베이스를 중심으로 수행되었다. 그러나 계층구조를 갖는 XML 데이터를 2차원 테이블의 집합인 관계형 정보로 표현하는 관계형 데이터베이스로의 저장에는 본질적인 한계가 있어, 계층구조를 지원하는 객체지향 데이터베이스로의 저장이 요망된다. 이에 따라 계층구조를 갖는 XML 데이터를 객체지향 데이터 베이스로 지장하기 위한 모델링 방안이 요구된다. 본 논문에서는 객체모델을 토대로 DTD를 객체 지향 데이터베이스 스키마로 변환하기 위한 방법을 제안한다. 이를 위하여 먼저 DTD를 객체모델로 변환시키기 위한 객체변환 방안을 제시하고, 변환된 객체모델을 객체지향 데이터베이스 스키마로 변경시키기 위한 스키마 변환 방법을 제안했다.

• 지질공학
• /
• 제25권1호
• /
• pp.115-129
• /
• 2015

대단면 터널 입구부의 대절토 사면은 불안정한 응력분포 및 소성변형 가능성으로 인해 잠재적 취약부로 인식되고 있다. 본 사례연구에는 대단면 터널 갱구부 대절토 사면의 강우 후 유실사고 및 원인규명, 복구공법을 분석하여 제시하였다. 대상 현장은 46 mm의 강우 후 암반의 불연속면을 따라 대규모 평면파괴가 발생하였으며, 상부 절토사면의 불안정을 야기하였다. 지질조사 및 매핑 자료 분석 결과, 붕괴 원인은 풍화된 암반의 불연속면에 협재된 충전물과 지반 포화로 인한 절리면 연화(softening)로 판단되었다. 알칼리 장석이 풍부한 화강편마암은 풍화에 취약한 것으로 나타났다. 침하량 계측자료 분석 결과, 붕괴 직전에 급격한 변위량 증가를 관찰하였으며, 향후 사면 계측관리에 활용할 수 있을 것으로 판단된다. 응급복구 대책으로 콘크리트 공동충전 및 외부로부터 압성토 채움을 성공적으로 시행하였다. 항구복구 대책으로 사면부에는 격자블럭 및 지중 앵커 시스템을, 터널 측벽부에는 추가 락볼트 보강 및 그라우팅 공법을 성공적으로 적용하였다. 한계평형해석과 평사투영해석을 통해 원 사면의 불안정성과 보강방법의 유효성을 확인하였다. 본 사례연구는 향후 유사한 대절토 사면에 귀중한 참고자료로 활용될 것으로 기대된다.

• 한국수정란이식학회지
• /
• 제10권2호
• /
• pp.131-138
• /
• 1995

Essential and non-essential amino acids supplemented to culture medium stimulate mammalian embryo development in vitro. Amino acids such as glycine, taurine and alanine are concentrated in the lumen of oviduct and uterus and it can he thought that these amino acids may have physiological role on fertilization and embryo development. Our aim of this experiment was to investigate the effects of essential and non-essential amino acids, taurine or glycine supplemented to fertilization medium on the cleavage and subsequent in vitro development of bovine oocytes matured and fertilized in vitro. Immature oocytes were obtained from slaughtered Holstein cows and heifers and matured in TCM199 containing 10% fetal calf serum, 2.5 $\mu$g /mL of FSH and LH and 1 $\mu$g / mL of estradiol with granulosa cells in vitro. After maturation, oocytes were coincubated with sperm in fertilization medium supplemented with Minimum Essential Medium (MEM) essential and non-essential amino acids, taurine (3.75 mM) or glycine (10 mM) for 30 hours in vitro. Inseminated oocytes were cultured in synthetic oviduct fluid medium (SOEM) containing MEM essential, non-essential amino acids and 1 mM glutarnine up to 8 days after fertilization.Supplementation of fertilization medium with MEM essential and non-essential amino acids lowered significantly (p<0.05 and p<0.001) the cleavage rate after 30 hours of IVF (53.3%) and at Day 3 (62.7%: Day 0: the day of I VF) compared to control (64.3% and 77.3%, respectively). Subsequent developmental rates to morulae (Mo) and expanding blastocysts (ExBL) also significantly decreased (p<0.001 and p<0.05 for Mo and ExBL) when oocytes were coincubated with sperm in the medium containing MEM amino acids. Taurine added to fertilization medium have not increased the cleavage rate over the control, whereas glycine showed significantly lower (p<0.01) cleavage rate at Day 3 than that of taurine, but there was no significant difference in the developmental rates to Mo and ExBL of bovine embryos irrespective of the supplementation of taurine or glycine to fertilization medium. In conclusion, supplementation of fertilization medium with essential and non-essential amino acids, taurine or glycine has no beneficial effect on in vitro cleavage and development of bovine oocytes matured and fertilization in vitro.