• Journal of the Semiconductor & Display Technology
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• v.21 no.3
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• pp.26-32
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• 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.

• Journal of the Semiconductor & Display Technology
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• v.22 no.2
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• pp.11-16
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• 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.

• Journal of the Semiconductor & Display Technology
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• v.20 no.2
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• pp.131-136
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• 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.

• Journal of the Korean Mathematical Society
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• v.38 no.3
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• pp.683-695
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• 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.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.281-284
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• 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.

• The KIPS Transactions:PartD
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• v.9D no.2
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• pp.195-202
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• 2002

Information exchange on XML such as B2B electronic commerce is spreading. Therefore the systematic and stable management mechanism for storing the exchanged information is needed. For this goal there are many research activities for connection between XML application and relational database. But because XML data have hierarchical structures and relational database can store only flat-structured data, we need to store XML data in object-oriented database that support hierarchical structure. Accordingly the modeling methodology for storing XML data in object-oriented database is needed. In this parer, the transforming methods based on object model from XML DTD to object-oriented database schema is proposed. For this, we first introduce mapping methods that map XML DTD to object model and then we propose soem methods that transform from the object model to object-oriented database schema.

• The Journal of Engineering Geology
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• v.25 no.1
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• pp.115-129
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• 2015

The cut-slope of a large-sectional tunnel portal is recognized as a potential area of weakness due to unstable stress distribution and possible permanent displacement. This paper presents a case study of a slope failure and remediation for a large-scale cut-slope at a tunnel portal. Extensive rock-slope brittle failure occurred along discontinuities in the rock mass after 46 mm of rainfall, which caused instability of the upper part of the cut-slope. Based on a geological survey and face mapping, the reason for failure is believed to be the presence of thin clay fill in discontinuities in the weathered rock mass and consequent saturationinduced joint weakening. The granite-gneiss rock mass has a high content of alkali-feldspar, indicating a vulnerability to weathering. Immediately before the slope failure, a sharp increase in displacement rate was indicated by settlement-time histories, and this observation can contribute to the safety management criteria for slope stability. In this case study, emergency remediation was performed to prevent further hazard and to facilitate reconstruction, and counterweight fill and concrete filling of voids were successfully applied. For ultimate remediation, the grid anchor-blocks were used for slope stabilization, and additional rock bolts and grouting were applied inside the tunnel. Limit-equilibrium slope stability analysis and analyses of strereographic projections confirmed the instability of the original slope and the effectiveness of reinforcing methods. After the application of reinforcing measures, instrumental monitoring indicated that the slope and the tunnel remained stable. This case study is expected to serve as a valuable reference for similar engineering cases of large-sectional slope stability.

• Journal of Embryo Transfer
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• v.10 no.2
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• pp.131-138
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• 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.