• Journal of Computing Science and Engineering
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• v.2 no.4
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• pp.321-338
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• 2008

This paper presents a Modified Multiple Depth First Search algorithm for the exploration of the indoor environments occupied with obstacles in random distribution. The proposed algorithm was designed and implemented to employ one or a team of Khepera II mini robots for the exploration process. In case of multi-robots, the BlueCore2 External Bluetooth module was used to establish wireless networks with one master robot and one up to three slaves. Messages are sent and received via the module's Universal Asynchronous Receiver/Transmitter (UART) interface. Real exploration experiments were performed using locally developed teleworkbench with various autonomy features. In addition, computer simulation tool was also developed to simulate the exploration experiments with one master robot and one up to ten slaves. Computer simulations were in good agreement with the real experiments for the considered cases of one to one up to three networks. Results of the MMDFS for single robot exhibited 46% reduction in the needed number of steps for exploring environments with obstacles in comparison with other algorithms, namely the Ants algorithm and the original MDFS algorithm. This reduction reaches 71% whenever exploring open areas. Finally, results performed using multi-robots exhibited more reduction in the needed number of exploration steps.

• Proceedings of the KIPE Conference
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• 2005.07a
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• pp.313-316
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• 2005

본 논문은 대용량 진력변환장치인 멀티-레벨 인버터 시스템에서 출력 전압가변이 손쉬운 HBML(H-Bridge Multi-Level) 인버터의 Master와 Cell 제어기 구성에 관한 것이다. HBML 인버터는 각각의 단위 Cell을 저압에서 사용하는 인버터로 구성하면, 구조적으로 풀-브릿지(Full-Bridge) 인버터를 캐스케이드 방식으로 연결하여 고압출력을 얻을 수 있는 토폴로지이다. 시스템에서 Master와 Cell의 제어 처리를 한곳에 집중하지 않는 분산 제어 방식을 적용하여 통신 Data를 최적화하도록 구성하고, 이를 바탕으로 두 제어기를 고성능 원-칩(One-Chip) DSP로만 설계하였다. 모든 외부 모듈을 내장한 CPU로 제어기가 구성될 경우, 외부 노이즈에 강하며, 추가되는 하드웨어 결선을 최소화할 수 있다. 본 논문에서는 HBML 인버터 출력 생성 시 반드시 요구되는 출력 PWM 동기 및 위상전이(Phase Shift)를 각 제어기 자체에 내장된 모듈만을 이용해서 구현하였다.

• Journal of the Korean Institute of Telematics and Electronics
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• v.17 no.5
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• pp.36-42
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• 1980

In this study, multi-microprocessors system in which slave microprocessor is conrlected with master microprocessor bus through the DMA controller is designed by the use of four 8085 CPU. A high degree of processing efficiency could be obtained by making this system work parallel processing. The result of measuring relat ions bet ween working microproressor and system throughput was 70-80 percents lower than ideal value Master microprocessor takes charge of resource allocation and scheduling, common memory assigns communication between microprocessors and a store of common data. The met hod of detecting Pa rallelism from source Program composed by series is also suggested.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.9
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• pp.414-419
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• 2006

This paper presents a design of a multi-sensor data fusion filter for a Flight Test System. The multi-sensor data consist of positional information of the target from radars and a telemetry system. The data fusion filter has a structure of a federated Kalman filter and is based on the Singer dynamic target model. It consists of dedicated local filter for each sensor, generally operating in parallel, plus a master fusion filter. A fault detection and correction algorithms are included in the local filter for treating bad measurements and sensor faults. The data fusion is carried out in the fusion filter by using maximum likelihood estimation algorithm. The performance of the designed fusion filter is verified by using both simulation data and real data.

• Korean Journal of Remote Sensing
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• v.29 no.1
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• pp.21-34
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• 2013

Permanent Scatterer InSAR (PSInSAR) technique extracts permanent scatterers exhibiting high phase stability over the entire observation period and calculates precise time-series deformation at Permanent Scatterer (PS) points by using single master interferograms. This technique is not a good method to apply on nature environment such as forest area where permanent scatterers cannot be identified. Another muti-temporal Interferometric Synthetic Aperture Radar (InSAR), Small BAseline Subset (SBAS) technique using multi master interferograms with short baselines, can be effective to detect deformation in forest area. However, because of the error induced from phase unwrapping, the technique sometimes fails to estimate correct deformation from a stack of interferograms. To overcome those problems, we introduced new multi-temporal InSAR technique, called Temporarily Coherence Point InSAR (TCPInSAR), in this paper. This technique utilizes multi master interferograms with short baseline and without phase unwrapping. To compare with traditional multi-temporal InSAR techniques, we retrieved spatially changing deformation because PSs have been found enough in forest area with TCPInSAR technique and time-series deformation without phase unwrapping error. For this study, we acquired ERS-1 and ERS-2 SAR dataset on Augustine volcano, Alaska and detected deformation in study area for the period 1992-2005 with SBAS and TCPInSAR techniques.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.11
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• pp.171-179
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• 2003

This paper presents a rehabilitation exercise system which utilizes a 6 DOF robot as a motion generator. This system was proposed for a stroke patient or a patient who has hemiplegia. A master-slave system was designed to exercise either paralysis or abnormal limb by using normal limb motion. The study on the human body was applied to calculate the motion range of elbows and shoulders. In addition, a force-torque sensor was applied to the slave robot to estimate the rehabilitation extent of the patient. Therefore, the stability of the rehabilitation robot could be improved. By using the rehabilitation robot. the patients could exercise by themselves without assistance. In conclusion, the proposed system was verified by computer simulations and system experiment.

• 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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• 2007.04a
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• pp.337-339
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• 2007

This paper proposes a new paradigm for cooperation of multi-robot system for home service. For localization of each robot. the master robot collects information of location of each robot based on communication of RFID tag on the floor and RFID reader attached on the bottom of the robot. The Master robot communicates with slave robots via wireless LAN to check the motion of robots and command to them based on the information from slave robots. The operator may send command to slave robots based on the HRI(Human-Robot Interaction) screened on masted robot using information from slave robots. The cooperation of multiple robots will enhance the performance comparing with single robot.

• ETRI Journal
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• v.28 no.3
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• pp.397-400
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• 2006

The multi-layer advanced high-performance bus (ML-AHB) BusMatrix proposed by ARM is an excellent architecture for applying embedded systems with low power. However, there is one clock cycle delay for each master in the ML-AHB BusMatrix of the advanced microcontroller bus architecture (AMBA) design kit (ADK) whenever a master starts new transactions or changes the slave layers. In this letter, we propose an improved design method to remove the one clock cycle delay in the ML-AHB BusMatrix of an ADK. We also remarkably reduce the total area and power consumption of the ML-AHB BusMatrix of an ADK with the elimination of the heavy input stages.

• Proceedings of the Korea Information Processing Society Conference
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• 2014.04a
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• pp.704-707
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• 2014

데이터베이스 복제(Replication)는 데이터의 저장과 백업하는 방법과 관련이 있는 데이터를 호스트 컴퓨터에서 다른 컴퓨터로 복사하는 것이다. 데이터베이스 복제의 종류로는 마스터/슬레이브(Master/Slave), 멀티마스터(Multi-Master)형태가 존재한다. 멀티마스터 데이터베이스는 상당한 비용증가와 복잡도 때문에 어떤 상황에서는 실용적이지 않다. 그러한 이유로 마스터/슬레이브 데이터베이스를 많이 사용한다. 마스터/슬레이브 데이터베이스에서 마스터 데이터베이스는 데이터베이스의 변경을 담당하고 그 결과는 슬레이브로 복제된다. 슬레이브 데이터베이스에서는 읽기 전용 질의만 처리하는 것을 목적으로 한다. 데이터베이스 트랜잭션 처리는 대표적인 횡단 관심사이다. 연구는 마스터/슬레이브 데이터베이스의 트랜잭션을 AOP 를 사용하여 횡단 관심사로 분리하고, 마스터/슬레이브 데이터베이스를 라우팅하는 알고리즘을 제안한다.