• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.6
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• pp.86-94
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• 2019

This paper describes the development of unmanned vehicle remote control system which is configured with steering and accelerating/braking hardware to improve the sense of reality and safety of control. Generally, in these case of the remote control system, a joystick-type device is used for steering and accelerating/braking control of unmanned vehicle in most cases. Other systems have been developing using simple steering wheel, but there is no function of that feedback the feeling of driving situation to users and it mostly doesn't include the accelerating/braking control hardware. The technology of feedback means that a reproducing the feeling of current driving situation through steering and accelerating/braking hardware when driving a vehicle in person. In addition to studying feedback technologies that reduce unfamiliarity in remote control of unmanned vehicles, it is necessary to develop the remote control system with hardware that can improve sense of reality. Therefore, in this study, the reliable remote control system is developed and required system specification is defined for applying force-feedback haptic control technology developed through previous research. The system consists of a steering-wheel module similar to a normal vehicle and an accelerating/braking pedal module with actuators to operate by feedback commands. In addition, the software environment configured by CAN communication to send feedback commands to each modules. To verify the reliability of the remote control system, the force-feedback haptic control algorithms developed through previous research were applied, to assess the behavior of the algorithms in each situation.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.12
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• pp.910-917
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• 2018

This paper describes the developments to improve the feeling and safety of the remote control system of unmanned vehicles. Generally, in the case of the remote control systems, a joystick-type device or a simple steering-wheel are used. There are many cases, in which there are operations without considering the feedback to users and driving feel. Recently, as the application area of the unmanned vehicles has been extended, the problems caused by not considering the feedback are emphasized. Therefore, the need for a force feedback-haptic control arises to solve these problems. In this study, the force feedback-haptic control algorithm considering the vehicle parameters is proposed. The vehicle parameters include first the state variables of dynamics, such as the body side-slip angle (${\beta}$) and yawrate (${\gamma}$), and second, the parameters representing the driving situations. Force feedback-haptic control technology consists of the algorithms for general and specific situations, and considers the situation transition process. To verify the algorithms, a simulator was constructed using the vehicle dynamics simulation tool with CAN communication environment. Using the simulator, the feasibility of the algorithms was verified in various scenarios.

• Journal of Korea Society of Industrial Information Systems
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• v.17 no.7
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• pp.25-33
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• 2012

This paper deals with the development of automatic docking system for the detachable mobile seat(DMS) of a vehicle for the handicapped people who are unable to ride in a car by oneself. Although such vehicles for the handicapped already exist, there is a need for a vehicle with improved docking method for convenience. This paper presents an automatic docking system using two ultrasonic sensors. In order to identify the precise location of the mobile seat in front of the vehicle door, the capability of ultrasonic sensor for detecting the part edge is analyzed and mathematical modeling is performed to measure the exact location of the side edge. And also, this paper presents an automatic docking method using this sensor system and the car lift which is provided in the inside of the car.

• Journal of the Society of Naval Architects of Korea
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• v.60 no.3
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• pp.165-174
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• 2023

Unmanned Surface Vehicle (USV)'s berthing and unberthing is the most difficult maneuvering tasks and have the highest risk of accidents. In this paper, we designed a berthing/unberthing control algorithm given human joystick command for an USV equipped with a waterjet and a bow thruster. The berthing and unberthing maneuvers are performed remotely by a joystick operator at the Ground Control Center (GCC) where the status of USV and environmental situation can be monitored. We interpret the human joystick commands into USV's desired speed, yaw rate, and heading angle commands. next, we developed a control algorithm for the desired target values of MIMO actuators (engine speed, bucket step, nozzle angle, and bow thruster state) to follow the interpreted commands. The validity of the control algorithm is confirmed through simulations and sea trials at Gwang Am port.

• Science of Emotion and Sensibility
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• v.15 no.4
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• pp.553-564
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• 2012

Tangible user interfaces have been developed in the area of Human-Computer Interaction for the last decades, however, the applied domains recently have been extended into the product design and interactive art. Tangible User Interfaces are the combination of digital information and physical objects or environments, thus they provide tangible and intuitive interaction as input and output devices, often combined with Augmented Reality. The research developed a design guideline for tangible user interfaces based on key properties of tangible user interfaces defined previously in five representative research: Tangible Interaction, Intuitiveness and Convenience, Expressive Representation, Context-aware and Spatial Interaction, and Social Interaction. Using the guideline emphasizing user interaction, this research evaluated installation in a science museum in terms of the applied characteristics of tangible user interfaces. The selected 15 installations which were evaluated are to educate visitors for science by emphasizing manipulation and experience of interfaces in those installations. According to the input devices, they are categorized into four Types. TUI properties in Type 3 installation, which uses body motions for interaction, shows the highest score, where items for context-aware and spatial interaction were highly rated. The context-aware and spatial interaction have been recently emphasized as extended properties of tangible user interfaces. The major type of installation in the science museum is equipped with buttons and joysticks for physical manipulation, thus multimodal interfaces utilizing visual, aural, tactile senses etc need to be developed to provide more innovative interaction. Further, more installation need to be reconfigurable for embodied interaction between users and the interactive space. The proposed design guideline can specify the characteristics of tangible user interfaces, thus this research can be a basis for the development and application of installation involving more TUI properties in future.

• Korean Journal of Cognitive Science
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• v.34 no.3
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• pp.153-180
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• 2023

Previous research on the action effect had shown how simple action towards a stimulus can enhance the processing of that stimulus in subsequent visual search task (Buttaccio & Hahn, 2011; Weidler & Abrams, 2014). In four experiments, we investigated whether semantic representation of action word can induce the same attentional boost towards that stimulus and whether the type of action performed can modulate the action effect. In experiment 1, we replicated the same experimental paradigm displayed in previous studies. Participants were first shown an action word cue - "go" or "no". When the action cue was "go", participants were to press a designated key, but not to when the action cue was "no". Next, participants performed a visual search task, in which they reported the orientation of a tilted bar. The target could appear on top of the previously shown prime object (valid), or not (invalid). Reaction times (RTs) to the search task were measure for analysis and comparison, and the action effect had been replicated. In experiment 2, participants were instructed to respond with the keyboard for the action task, and to respond with the joystick for the visual search task. In experiment 3, participants were instructed not to press any key on the onset of prime, and then perform the visual search task to isolate the effect of semantic representation. Lastly, in experiment 4, participants were instructed to press separate keys for "go" and "no" on the onset of prime, and then perform the visual search task. Results indicate that semantic representation alone did not modulate the action effect, regardless of type of action and medium of action.