• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.234-238
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• 2001

A lot of researches have been done in teleoperation field. For accurate and reliable teleoperation, force reflection is required so that the master can feel the same force, which is measured at reflection have been applied to most of the master device. Therefore the master can not control the force exerted by the slave robot to the environment. But some tasks such as an insertion with very small tolerance, skewing bolt and so forth, require the force command from the master.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1367-1370
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• 2003

PROFIBUS is an open industrial communication network for a wide range of application in manufacturing automation and process control systems. PROFIBUS-DP(Decentralized Peripherals) are mainly used to connect smart automation devices via a fast serial link. PROFIBUS-DP adopts master/slave mechanism for communication service. In this paper, we present an implementation method of the protocol stacks for the master station of PROFIBUS-DP.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.343-347
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• 1992

In this paper, an unilateral teleoperation system using an universal master arm is developed. This system is composed of an universal master arm, a slave arm and a telerobot controller. The universal master arm has a vertically articulated type link structure, while an industrial robot is used as a slave arm. As the shapes of master arm and slave arm are different, the workspace mapping is needed, which maps the workspace of master arm to that of slave arm. Experimental results show that the slave arm of the developed system effectively follows the operator's motion.

• Journal of Ocean Engineering and Technology
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• v.30 no.5
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• pp.415-425
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• 2016

This paper presents the results of a study on the control system for an underwater manipulator controlled by a master arm through LED communication. The underwater manipulator was designed to be actuated by electric motors with six degrees of freedom for operation in various underwater environments. The master arm, which can remotely control the manipulator, was designed with a structure similar to the manipulator for convenient control. An underwater LED communication system was developed to communicate between the master arm and underwater manipulator. An integrated control program was developed that included data conversion, monitoring, datalogging, and filtering. Some experiments were performed to verify the performance of the developed control system of the master arm, manipulator, and LED communication system, and the results are presented.

• Journal of the Korean Society of Industry Convergence
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• v.9 no.1
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• pp.67-72
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• 2006

This study is on the development of algorithm of surge test for quality control on electrical parts of throttle body in automobiles with internal combustion engine, not only to know its condition to be good or not, but also jugding its condition to be classified into six types. To know whether its condition to be good or not, comparing and analyzing between two waveforms generated from master and test coil of throttle body. If test net area is below 20% of master area, the condition of test coil is good. By analyzing test coil waveform to master coil waveform, the condition of test coil into winding badness, insulation badness, layer and corona discharge, short badness should known. Therefore quality control system on electrical parts of throttle body should be developed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.04a
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• pp.390-394
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• 1994

In many cases, tasks are unpredictable and therefore not doable by special-purpose or pro-programble robots. So master/slave type robot hands which combine human perceptions with conventional robot hands are required as robot end effector. These also can be applied to hazardous worksites such as outer space, deep sea and nuclear power plant. In this study, master/slave type robot fingers with 3 joints each are designed and constructed. To control force accurately, TDT(tension difference type) torque sensors are constructed and attached toeachjoints of slave finger and new force reflecting control algorithm is suggested. Finally, experimental results show that the new control algorithm can be successfully applied.

• Proceedings of the IEEK Conference
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• 2002.07b
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• pp.1070-1073
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• 2002

This study presents a parallel branch-and-bound (PBAB) method for traveling salesman problem (TSP). The PBAB method adopts intermediate form of central control and distributed control in terms of the lightness of the master process's role. Compared with fully distributed control, the control scheme involves less concentration of communication on the master. Moreover, in order to reduce the influence of communication, the worker is composed of a computation thread and a communication thread. The multithreadness realizes the almost blocking free communications on the master. We implement the proposed PBAB method on a network of PCs, which consists of one master and up to 16 workers. We experiment five TSP instances. The results shows that the efficiency increases with the problem size.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.585-589
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• 2016

Recently, the robotic assist system for cardiovascular intervention gets continuously growing interest. The robotic cardiovascular intervention systems are largely two folds, systems for cardiac ablation procedure assist and systems for vascular intervention assist. For the systems, the clinician controls the catheter inserted through blood vessel to the heart via a master console or master manipulator. Most of the current master manipulators have structure of joystick-like pivoting 2 degree of freedom (DOF) handle in the core, which is used in parallel with other sliding switches and input devices. It however is desirable to have customized and optimized design manipulator that can provide clinician with intuitive control of the catheter motion fully utilizing the advantage of the use of robotic structure. A 6 DOF kinematic mechanism that can capture the motion control intention of the clinician in translational 3 DOF and rotational 3 DOF is proposed in this paper. Also, a master-slave motion relationship specially designed for the cardiac catheter manipulation motion is proposed and implemented in an experimental prototype. Design revision for implementation of more efficient motion and experiment in combination with an experimental slave robot system for catheter manipulation are underway.

• The Journal of Korea Robotics Society
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• v.10 no.3
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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 the Korean Society for Aviation and Aeronautics
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• v.23 no.3
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• pp.81-87
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• 2015

Load master is authorized to be controlled all of loading stuffs for safety of flight such as passenger, baggage, cargo and e.t.c. There are many things are missed even though the weight and balance is the most important process. This study analyzes how the differences of C.G. by among ten load masters of each careers. This study is tested how load-master takes load-control by the respective result based on differences of each practical experiences, gender and a number of certification. In result, all of load masters set C.G. on the stability region. But the practical experience of load master is relative to set better C.G. for economical effectiveness of weight and balance control work.