• 로봇학회논문지
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• 제11권4호
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• pp.277-284
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• 2016

A new prediction scheme has been proposed for the robust teleoperation in a non-visible environment. The positioning error caused by the time delay in the non-visible environment has been compensated for by the Smith predictor and the sensory data have been estimated by the Grey model. The Smith predictor is effective for the compensation of the positioning error caused by the time delay with a precise system model. Therefore the dynamic model of a mobile robot has been used in this research. To minimize the unstable and erroneous states caused by the time delay, the estimated sensor data have been sent to the operator. Through simulations, the possibility of compensating the errors caused by the time delay has been verified using the Smith predictor. Also the estimation reliability of the measurement data has been demonstrated. Robust teleoperations in a non-visible environment have been performed with a mobile robot to avoid the obstacles effective to go to the target position by the proposed prediction scheme which combines the Smith predictor and the Grey model. Even though the human operator is involved in the teleoperation loop, the compensation effects have been clearly demonstrated.

• KSBB Journal
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• 제5권1호
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• pp.49-58
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• 1990

대장균으로부터 alpha interferon의 생산과 분비를 유도하기 위해 대장균의 lipoprotein promoter, lactose promoter 및 operator와 lipoprotein의 signal seqquence를 가지는 vector에 alpha-IFN유전자를 cloning하여 발현 vector pIF-III-B와 vector pIF-III-C를 제작하였다.

• Safety and Health at Work
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• 제13권1호
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• pp.73-77
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• 2022

Background: Whole-body vibration (WBV) exposure of coal mine dumper operators poses numerous health hazards. The case-control study was aimed at assessing the relative musculoskeletal health risk of dumper operators' exposure to WBV with reference to the nonexposed group. Methods: Measurements of WBV exposure were taken at the operator-seat interface using a human vibration analyzer for 110 dumper operators in three coal mines. This vibration measurement was supplemented by a questionnaire survey of 110 dumper operators exposed to WBV and an equal number of workers not exposed to WBV. The relative risk of musculoskeletal disorders (MSDs) has been assessed through the case-control study design. Results: ISO guidelines were used to compare the health risk. It was observed that the prevalence of pain in the lower back was 2.52 times more in the case group compared to the control group. The case group of Mine-2 was 2.0 times more prone to vibration hazards as compared to Mine-3. Conclusion: The case group is more vulnerable to MSDs than the control group. The on-site measurement as well as the response of the dumper operators during the questionnaire survey corroborates this finding.

• 한국항해항만학회지
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• 제46권5호
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• pp.458-470
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• 2022

As the 4th industrial revolution progresses, the application of several cutting-edge technologies such as the Internet of Things, big data, and mixed reality (MR) in relation to autonomous ships is being considered in the maritime logistics field. The aim of this study was to apply the concept of a digital twin model based on Human Machine Interaction (HMI) including a digital twin model and the role of an operator to a ship. The role of the digital twin is divided into information provision, support, decision, and implementation. The role of the operator is divided into operation, decision-making, supervision, and standby. The system constituting the ship was investigated. The digital twin system that could be applied to the ship was also investigated. The cloud-based digital twin system architecture that could apply investigated applications was divided into ship data collection (part 1), cloud system (part 2), analysis system/ application (part 3), and MR/mobile system (part 4). A Mixed Reality device HoloLens was used as an HMI equipment to perform a simulation test of a digital twin system of an 8 m battery-based electric propulsion ship.

• Nuclear Engineering and Technology
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• 제45권2호
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• pp.125-140
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• 2013

This paper aims to give an overview of the methods to inherently prevent human errors and to effectively mitigate the consequences of such errors by securing defense-in-depth during plant management through the advanced man-machine interface system (MMIS). It is needless to stress the significance of human error reduction during an accident in nuclear power plants (NPPs). Unexpected shutdowns caused by human errors not only threaten nuclear safety but also make public acceptance of nuclear power extremely lower. We have to recognize there must be the possibility of human errors occurring since humans are not essentially perfect particularly under stressful conditions. However, we have the opportunity to improve such a situation through advanced information and communication technologies on the basis of lessons learned from our experiences. As important lessons, authors explained key issues associated with automation, man-machine interface, operator support systems, and procedures. Upon this investigation, we outlined the concept and technical factors to develop advanced automation, operation and maintenance support systems, and computer-based procedures using wired/wireless technology. It should be noted that the ultimate responsibility of nuclear safety obviously belongs to humans not to machines. Therefore, safety culture including education and training, which is a kind of organizational factor, should be emphasized as well. In regard to safety culture for human error reduction, several issues that we are facing these days were described. We expect the ideas of the advanced MMIS proposed in this paper to lead in the future direction of related researches and finally supplement the safety of NPPs.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.849-854
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• 2003

The Korea Atomic Energy Research Institute has developed a teleoperated cleaning robot for use in the radioactive zone of the isolation room of the Irradiated Material Examination Facility where direct human access to the interior is strictly limited. The teleoperated cleaning robot that was designed to completely eliminate human interaction with the hazardous radioactive contaminants has five remotely replaceable submodules - a mobile module for navigation, a cleaning module for dislodging and sucking contaminated waste, a sensing module for obstacle avoidance, a collection module for storing the acquired waste, and a cover module for protecting the collection module. This cleaning robot is capable of cleaning the contaminated floor surface of the isolation room and collecting loose dry spent nuclear fuel debris and other radioactive waste fixed or scattered on the floor surface. The developed cleaning robot is operated either by a manual control or by autonomous control in conjunction with a graphical simulator, by which the human operator can monitor and intervene the robot performing cleanup tasks in the isolation room. In this paper, we present the mechanical and environmental design considerations and development of the teleoperated cleaning robot for radioactive isolation room use. We also demonstrate its mock-up performance test results from the viewpoint of a remote cleanup operation and remote maintenance.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.687-690
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• 2000

Lately, many studies have been progressed for the protection human's lives and property as holding in check accidents happened by human's carelessness or mistakes. One part of these is the development of an autonomouse vehicle. General control method of vision-based autonomous vehicle system is to determine the navigation direction by analyzing lane images from a camera, and to navigate using proper control algorithm. In this paper, characteristic points are abstracted from lane images using lane recognition algorithm with sobel operator. And then the vehicle is controlled using two proposed auto-steering algorithms. Two steering control algorithms are introduced in this paper. First method is to use the geometric relation of a camera. After transforming from an image coordinate to a vehicle coordinate, a steering angle is calculated using Ackermann angle. Second one is using a neural network algorithm. It doesn't need to use the geometric relation of a camera and is easy to apply a steering algorithm. In addition, It is a nearest algorithm for the driving style of human driver. Proposed controller is a multilayer neural network using Levenberg-Marquardt backpropagation learning algorithm which was estimated much better than other methods, i.e. Conjugate Gradient or Gradient Decent ones.

• 한국BIM학회 논문집
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• 제1권1호
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• pp.1-5
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• 2011

토공사는 타공종에 비하여 건설공사에서 차지하는 비용 및 공사기간의 비중이 높다. 이에 따라 토공사는 건설공사의 생산성에 높은 영향을 미치게 되는데, 종래의 토공사 시스템에서는 숙련된 굴삭조종자의 휴리스틱스에 의한 토공사 계획 및 토공작업을 수행하는 노동집약적 프로세스를 고수하고 있어 생산성을 높이기 힘든 상황이다. 이러한 당면과제를 극복하고자 본 논문에서는 BIM 기반의 지능형 굴삭시스템을 소개하며 굴삭 작업 계획 생성 시스템, 원격조종 및 자율 굴삭 작업에 필수적인 Human-Machine Interface(HMI), 웹기반 Project Management Information System(PMIS)이 개발되는 과정에서 적용된 BIM 요소기술에 대하여 검토하고, 적용된 결과를 제시하고자 한다.

• 대한인간공학회지
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• 제32권4호
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• pp.371-380
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• 2013

Objective: The aim of this study is to investigate the effects of design parameters of vibrotactile signals on semantic association with transmitted information conveying different meanings. Background: As information communication relying on human visual channel becomes excessive, the utility of vibrotactile signals is being interested as a substitute measure of delivering information. Properly designed hapticons may relieve burden of visual communication by rendering distinct and meaningfully compatible haptic sensations. Method: A typical Kansei engineering approach was adopted in this study. Ten most distinctive hapticons were selected among those having different frequencies and amplitudes. Associations between the hapticons and twenty four pairs of adjectives used to describe the state of automobile in control were gathered from thirty subjects using semantic differential scales. Results: The selected pairs of adjectives were summarized by factor analysis into two semantic dimensions named 'Awareness' and 'Directionality'. The experimental hapticons matched with the semantic dimensions were presented as a haptic emotion map. Conclusion: The results from this study support that frequencies and amplitudes of haptic signals play important roles in arousing different human perceptions regarding the two haptic emotional dimensions. Application: Properly designed hapticons with respect to the contents of transmitted information will increase human operator's situation awareness as well as system performance. The result from this study can be used to develop standardized hapticons for active haptic communication.

• 한국항해항만학회지
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• 제43권6호
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• pp.395-402
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• 2019

최근 보다 안전하고 효율적인 해상운송시스템을 위한 해결책으로 자율운항선박의 개발 및 운용에 대한 논의가 활발히 진행되고 있다. 자율운항기술은 해양사고 방지, 선박의 연비 증진, 비용 절감 등 긍정적인 측면과 함께 선원의 일자리 감소, 업무의 변화, 보안문제 등 부정적인 측면도 상존하고 있다. 향후 자율운항선박의 시대가 도래 하더라도 육상 센터에서의 제어가 이루어지게 되므로, 육상 운항사의 상황인식과 같이 새로운 인적요인 이슈가 존재할 것으로 예측된다. 본 논문에서는 자율운항선박의 개발 및 운용과정에 고려해야 할 주요 인적요인 이슈를 고찰하고, 육상 센터의 제어에 따라 예상되는 육상 운항사의 의사결정 및 업무수행에 영향을 미치는 요소에 대한 식별과 영향 요소의 평가를 위한 인적 신뢰성 분석 방안을 제시하였다.