• 제어로봇시스템학회논문지
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• 제21권4호
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• pp.385-390
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• 2015

Quay cranes are considered core equipment for container terminal operation. However, unmanned operation systems have not as yet been announced due to the technological difficulties of implementation. In this paper, we developed a wireless controller to control a quay crane simulator remotely and conducted its performance test, a first step toward unmanned operation of quay cranes. The communication delay of a developed wireless controller was about 9.4ms on average while that of existing wired controllers was about 5.6ms. The same functions were implemented and tested on a smart phone where the average communication delay was 7.3ms. In addition, to apply the developed system into a real environment, we proposed a network architecture based on IEEE 802.11ac and carried out its performance evaluation. When the distance between two nodes was 50m apart, the throughputs of the TCP (Transmission Control Protocol) and UDP (User Datagram Protocol) were 57Mbps and 189Mbps, respectively. The communication delay of the control data was 9.1ms through the TCP channel. These results reveal the proper working of remote quay crane operation if we adopt the IEEE 802.11ac network.

• 제어로봇시스템학회논문지
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• 제15권8호
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• pp.867-875
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• 2009

A wireless sensor network inherently comprises a plurality of sensor nodes widely deployed for sensing environmental information. To add new functions or to correct some faulty functions of an existing wireless sensor network, the firmware for each sensor node needs to be updated. Firmware update would be quite troublesome if it requires the gathering, reprogramming, and redeploy of all of already deployed sensor nodes. Over-the-air programming (OTA) facilitates the firmware update process, thereby allowing convenient maintenance of an already-deployed sensor network. This paper proposes and implements a remote firmware update mechanism for a TDMA-based wireless sensor network, in which the firmware for sensor nodes constituting the TDMA-based sensor network can be easily updated and the update process can be conveniently monitored from a remote site. We verify the validity of the proposed firmware update method via experiments and introduce three wireless sensor networks installed in outdoor sites in which the proposed firmware update mechanism has been exploited.

• 제어로봇시스템학회논문지
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• 제8권5호
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• pp.434-437
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• 2002

A small size and light-weight DSP board is newly designed for a real time multi-distributed control system that overcomes constraints on time and space. There are a variety of protocols for a real-time distributed control system. In this research, we selected CAN for the multi distributed control, which was developed by the BOSCH in the early 1980's. If CAN and Internet are connected together, the system attains the characteristics of a distributed control system and a remote control system simultaneously. To build such a system. The TCP/IP-CAN Gateway which converts a CAN protocol to TCP/IP protocol and vice verse, was designed. Moreover, the system is required to be small and light-weighted for the high mobility and cost effectiveness. The equipment in remote place has a TCP/IP-CAN Gateway on itself to be able to communicate with another systems. The received commands in the remote site are converted from TCP/IP protocol to CAN protocol by the TCP/IP-CAN Gateway in real time. A simulation system consists of a TCP/IP-CAN Gateway in remote place and a command PC to be connected to Ethernet.

• 제어로봇시스템학회논문지
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• 제3권1호
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• pp.67-76
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• 1997

In this paper we developed a tactile feedback device using repulsive force of magnets. The force of the tactile feedback device was derived from the Maxwell's stress method by using the concept of magnetic charge. Magnetic repulsive force is linear function with respect to current and nonlinear to displacement. Experimental data shows these characteristics. To compensate the fact that the presented tactile feedback device can not be controlled by close loop control, we developed a simulation model which predicts output displacement and force by using Runge-Kutta method. And, this paper evaluated the presented tactile feedback device and compared it with commercial tactile feedback devices.

• 제어로봇시스템학회논문지
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• 제21권3호
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• pp.243-249
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• 2015

In direct vehicle teleoperation, a human operator drives a vehicle at a distance through a pair of master and slave device. However, if there is time delay, it is difficult to remotely drive the vehicle due to slow response. In order to address this problem, we introduced a novel methodology of shared vehicle teleoperation using a virtual driving interface. The methodology was developed with four components: 1) virtual driving environment, 2) interface for virtual driving environment, 3) path generator based on virtual driving trajectory, 4) path following controller. Experimental results showed the effectiveness of the proposed approach in simple and cluttered driving environment as well. In the experiments, we compared two sampling methods, fixed sampling time and user defined instant, and finally merged method showed best remote driving performance in term of completion time and number of collision.

• 제어로봇시스템학회논문지
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• 제13권9호
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• pp.910-914
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• 2007

In this paper, an experimental study is performed to adjust position of compliance center of Elastomer Shear Pad Remote Center Compliance (ESP RCC) device, which is used on precise peg in hole process. In the study, variation of the lateral/axial stiffness of the ESP is proposed as a control parameter to adjust the position of compliance center of the ESP RCC. The variation of the stiffness of the ESP is achieved by controlling the shear stress of the ESP. To control the shear stress of the ESP, position of top side of the ESP is changed while remaining bottom side of the ESP is fixed on the RCC plate. To evaluate effect of the proposed idea, stiffness variations of the ESP on various shear stresses are measured, and variation of the compliance center is measured with the ESP RCC that can control the position of compliance center by using the shear stress. The measured data shows unique characteristics that have not been shown in other types of ESP VRCCs.

• 제어로봇시스템학회논문지
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• 제22권8호
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• pp.603-609
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• 2016

This paper presents an optimally designed master device mechanism for teleoperated interventional robotic system. The interventional procedures using the teleoperated robotic system and the physicians' requirements are summarized. The master device should implement 5-DOF motion including 2-DOF translational motion for the entry position control, 2-DOF rotational motion for the orientation control, and 1- DOF translational motion for needle insertion. The handle assembly includes a 1-DOF translational mechanism for needle insertion and buttons for operation mode selection. The mechanisms for the 2-DOF translational motion and the 2-DOF rotational motion are designed using motors and brakes based on the various mechanisms to satisfy all the above requirements, respectively. Absolute position sensors are adopted to implement automatic initial positioning and orientation matching at the first step of needle insertion.

• 제어로봇시스템학회논문지
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• 제21권7호
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• pp.609-614
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• 2015

Implanted telemetry systems provide the ability to monitor different species of animals while they move within their cages. Species monitored include mice, rats, rabbits, dogs, pigs, primates, sheep, horses, cattle, and others. A miniature transmitter implanted in each animal measures one or more parameters. Parameters measured include arterial pressure, intra-pleural pressure, left ventricular pressure, intra-ocular pressure, bladder pressure, ECG, EMG, EEG, EOG, temperature, activity, and other parameters and transmits the data via radio frequency signals to a nearby receiver. Every conventional dedicated transmitter contains one or more sensors, cpu and battery. Due to the expected life of the battery, the measuring time is limited. To overcome these problems, electromagnetic inductive coupling based wireless power transmission technology using multiple transmit coils were proposed, with each coil having a different active area driven by the coil driver. In this research, a parallel resonance based coil driver and serial resonance based coil driver are proposed. From the experiments we see that the parallel coil driver shows better performance under a low impedance and multiple coils configuration. However, the serial coil driver is more efficient for high impedance transmit coils.

• 대한기계학회논문집A
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• 제34권11호
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• pp.1741-1747
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• 2010

본 연구에서는 원격 조정 매니퓰레이터에 적용할 수 있는 보급형 서비스 로봇 암을 개발하였다. 생체 모방학을 활용하여 새로운 형태의 로봇 손에 대한 개념을 도출하였다. 손가락과 손목은 인체 팔의 근골격에 분석을 통하여 상박에 설치된 와이어와 액추에이터에 의하여 구동된다. DC 모터에 의해 구동되는 스크류-너트 매커니즘을 통하여 구동 케이블에 높은 장력을 발생시킨다. 파지력의 쉬운 제어를 위하여 스크류-너트 메커니즘에 조합 스프링을 적용하였다. 첫 번째 설계에서 손가락 제어 문제, 손가락과 손목 운동의 간섭 문제가 발견되었다. 트리즈의 모순 분석을 통하여 이러한 문제에 대한 해결안을 도출하였다. 두 번째 설계에 대하여 다양한 형태와 무게의 물체에 관하여 파지와 동작 테스트를 시행하였다.

• 한국정보전자통신기술학회논문지
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• 제11권4호
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• pp.452-459
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• 2018

기존의 화재 관련 소방로봇들은 원격조종기로 제어되어 화재현장에서 화재 상황을 감시하거나 화재를 진압하는데 사용되고 있다. 그러나 이러한 방식은 화재 발생 후 골든타임 안에 로봇을 준비하고 투입하는데 많은 시간이 소요되어 소방로봇으로서의 역할을 충분히 다하지 못한다는 문제점을 가지고 있다. 자율 주행 화재감시로봇을 활용하면 화재수신기와 연동하여 화재 신호 발생 시 출동한 로봇이 화재 현장의 동영상을 촬영하여 방재 담당자에게 영상을 전달함으로써 실제로 화재가 발생했는지 또는 오보인지를 확인 할 수 있도록 정확하고 빠른 판단 기회를 제공하고 동시에 화재를 초기 진압함으로써 대형 사고로 확산되는 것을 방지할 수가 있다. 본 논문에서는 자율이동 화재감시로봇의 구성과 이 로봇이 화재수신기와 연동하는데 필요한 통신 프로토콜을 제안한다. 실시간으로 다수의 화재감시로봇을 제어할 수 있는 통신 프로토콜을 설계하며 화재수신기와의 통신을 무선 Wi-Fi를 이용하여 이더넷 네트워크의 인터페이스 역할을 수행하도록 계층적 네트워크로 구성한다. 설계하는 화재감시로봇과 화재수신기간의 무선통신을 구현하고 필드시험을 통하여 동작의 유효성을 확인한다.