• Proceedings of the KSME Conference
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• 2003.04a
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• pp.1078-1082
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• 2003

A feasibility study for the fabrication of master replication with nanostructures by Nanoimprint Lithography (NIL) was investigated for application of polymer Photonic Bandgap (PBG) devices used in photonic IC. Large area gratings of $9{\times}15(mm^2)$ with p = 400 nm was successfully embossed on PMMA on silicon wafer and the embossing parameters (temperature, pressure, time) were established. A precise control of $O_2$ plasma Reactive Ion Etching (RIE) process time allowed window opening over the whole area despite the presence of wafer bending. Master replication with aspect ratio 1 was successfully fabricated, but master replication with aspect ratio 3 needs to optimize parameters. All replications were done in a NIL process.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.9 no.3
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• pp.244-248
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• 2009

This paper describes a real-time EtherCAT Master library. The library is developed using Xenomai. Xenomai is a real-time development framework. It cooperates with the Linux kernel, in order to provide a pervasive, interface-agnostic, hard real-time support to user-space applications, seamlessly integrated into the GNU/Linux environment. The proposed master library implements EtherCAT protocol for master side, and supports Application Programming Interfaces(APIs) for programming of real-time application which controls EtherCAT slave.

• Journal of Ocean Engineering and Technology
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• v.26 no.6
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• pp.59-65
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• 2012

In this research, a novel mater arm was studied as a teaching device for an underwater revolute robot arm used as a slave arm. The master arm was designed to be a seven-degree-of-freedom (DOF) structure, with a structure similar to that of the slave arm, and to be desktop size to allow it to be worn on a human arm. The master arm with encoders on the joints was used as an input device for teaching a slave robot arm. In addition, small electric magnets were installed at the joints of the master arm to generate the haptic force. A control system was designed to sense excessive force and torque in the joints of the master arm and protect it by controlling the position and velocity of the slave arm through the encoder signal of the master arm.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.10
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• pp.1481-1487
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• 2017

This paper proposes a sensorless speed control algorithm for parallel-connected dual Surface-mounted Permanent Magnet Synchronous Motors fed by a single inverter. For stable parallel operation of synchronous motors with a single inverter, each motor has to be constantly kept in the synchronization state regardless of load torque. If the master motor with the larger load is controlled, the synchronous state will be maintained. Therefore, detection of the master motor is essential. Conventionally, the master motor is determined by comparing the rotor position error from the relation between the back-EMF for torque angle and the flux position. consequently, the position sensor is deemed essential for finding the rotor position. In this paper, we proposed a method that decides the magnitude of the load from the power angle of two motors due to the load variation and selects the motor to control through the sign function for the sensorless speed control without the position sensor. The results of simulation and experiment conducted verify the efficacy of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.729-734
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• 2015

Improvement in the control strategy for continuous casting is a crucial requirement to enhance the slab's quality and to increase productivity. The mold oscillator adopts the dual cylinders due to its heavy weight, so the synchronized motion of two cylinders is an important aspect when precise control is needed. The conventional method uses the master-slave control applied to the valve input reference, but the synchronization performance should still be improved. This paper proposes a novel synchronization algorithm for dual cylinders used in a mold oscillator. The master-slave concept is applied to the target reference position, that is, the slave target reference position is controlled to match the slave cylinder's position with the master cylinder's position. In the simulation based on a Simulink model, the proposed algorithm shows a better synchronization performance in aspect of the mean of the absolute error and the peak synchronization error.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.754-758
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• 1996

In this paper, a new method of position synchronizing control is proposed for multi-axes driving system. The proposed synchronizing control system is constituted with speed and synchronizing controller. The structure of synchronizing control system is varied by sign of synchronizing error. When a disturbance input becomes added to one axis, this axis becomes slave axis. The other axis is master axis. Therefore, master axis is not influenced by the disturbance. The speed controller of the first axis is designed by $H_{\infty}$ control theory. The speed controller of the second axis is designed by inverse dynamics of speed control system of the first axis. The speed control system designed with $H_{\infty}$ controller guarantees low sensitivity for the disturbance as well as robustness against model uncertainties. Especially, the synchronizing controller is designed to keep position error to minimize by controlling speed of slave axis. The effectiveness of the proposed method is successfully confirmed through several experiments.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2358-2361
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• 2003

In this paper, parallel control method that enables coordinating operations of multiple mini ice storage air conditioner is proposed based on LonWorks system. The proposed parallel control method is a kind of master/slave control method based on LonTalk network communication. In the control method, master controller leading whole system operations is determined by date to avoid the disproportion of outdoor unit operations. In addition to the above, duty shift control method is proposed to avoid redundant operations of outdoor units and to equalize the operation frequencies of them. Through some simulation tests, the proposed parallel control method and the duty shift control method are evaluated and the efficiencies of them are validated by comparing with existing methods.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.108.5-108
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• 2002

Recently, the more advanced control technologies are required to deal with the fast and accurate motion in manipulators. For these requirements, many manipulator control methods have been developed such as a computed torque method. This paper proposes a design method, a two-degrees-of-freedom internal model control (TDOF IMC), of the manipulator position control based on combination of the one-degree-of-freedom internal model control (ODOF IMC) system and the disturbance observer. The proposed control scheme is implemented for the position control, which leads the slave manipulator to the desired location by the master arm. The experimental results are presented and discussed through the imp...

• Science of Emotion and Sensibility
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• v.7 no.1
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• pp.1-7
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• 2004

This study aims to validate the effectiveness of CAVE system with an Arm-Master in the evaluation of virtual prototypes. A virtual kitchen with a refrigerator was presented in the CAVE system. Subjects put in and pull out virtual objects by using the Arm-Master. Twelve subjects, six males and six females, participated in the six experimental conditions : three types of refrigerator door grips and two reaction forces. After each trial, subjects evaluated a door grip of the virtual refrigerator in terms of easiness of operation, similarity in force, presence etc. The results show the mean values of vortical-type door grips are greater than the horizontal pocket-type door grip. Also the subjects preferred 5N in the reaction force of the Arm-Master rather than 15 N when they open and close virtual door. Unexpectedly, female subjects significantly marked low scores in the evaluation terms compared ruth mali subjects. It explains the Arm-Master should be modified much more if it works effectively in design evaluation.

• Journal of Biomedical Engineering Research
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• v.29 no.1
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• pp.32-39
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• 2008

This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.