• 로봇학회논문지
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• 제12권1호
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• pp.55-64
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• 2017

This paper proposes combination of a cognitive agent architecture named Soar (State, operator, and result) and ROS (Robot Operating System), which can be a basic framework for a robot agent to interact and cope with its environment more intelligently and appropriately. The proposed Soar-ROS human-robot interaction (HRI) agent understands a set of human's commands by voice recognition and chooses to properly react to the command according to the symbol detected by image recognition, implemented on a humanoid robot. The robotic agent is allowed to refuse to follow an inappropriate command like "go" after it has seen the symbol 'X' which represents that an abnormal or immoral situation has occurred. This simple but meaningful HRI task is successfully experimented on the proposed Soar-ROS platform with a small humanoid robot, which implies that extending the present hybrid platform to artificial moral agent is possible.

• 한국가스학회지
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• 제22권6호
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• pp.8-15
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• 2018

플랜트 내 위험지역의 안전을 위해 작업자 중심의 안전관리가 필요하다. 최근 5년간 가스 사고의 원인은 시설 노후 및 장비고장 뿐만 아니라, 사용자의 취급부주의나 고의사고, 공급자 취급부주의 등 작업자의 행동에 밀접한 관련이 있다. 이와 같은 사고를 미연에 방지하기 위해서, 플랜트 내 위험지역에 대한 실시간 모니터링이 필요로 하다. 하지만 실시간 모니터링을 위해서 작업(근로)공간에 카메라 설치 시, 인권침해와 같은 문제가 발생한다. 이를 방지하기 위해서 작업자의 신원 노출이 적은 저해상도의 Infrared 카메라를 이용한다. 또한 실시간 모니터링 시, 사람이 아닌 CNN알고리즘을 이용하여 이미지 분석을 통하여 인권침해 문제를 예방한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.772-775
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• 1989

It is difficult to obtain a swinging-up control sequence of a one-link pendulum analytically or numerically. In this paper, we obtain a proper control sequence through manual control experiments. However, no proper control sequence will be obtained if the rotational velocity of the pendulum is fast for the human operator. To overcome such a disadvantage, we propose a method for training the operator by using a pendulum simulator.

• 한국컴퓨터정보학회논문지
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• 제6권1호
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• pp.31-37
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• 2001

인간의 시각현상은 밝은 영역보다 어두운 영역의 특징점 추출에 더 민감하다. 그러므로 특징점 추출 연산자는 인간의 시각체계와 유사하게 물체를 인식하기 위해 국부적인 밝기를 고려해야 한다. 일반적으로 지금까지의 특징점 추출 연산자는 계산량이 많거나 다변수를 이용해야 하는 문제점을 가지고 있다. 본 논문에서는 이러한 단점을 극복하는 새로운연산자가 제안된다. 이 연산자는 실현이 매우 간단할 뿐만 아니라 합성영상과 실영상에 적용한 결과 우수한 성능을 나타내었다.

• 한국항해학회지
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• 제18권1호
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• pp.1-21
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• 1994

The safety of the ship manoeuver is dependent not only on the inherent characteristics of the ship itself and environmental conditions, but also on the skill and experience of the ship operator. As the ship operator's judgement is related to his experience and skill, based on outside information, piloted controllability also depends upon the effectiveness, accuracy and reliability of various information which is obtainable from navigational equipments and aids to navigation that are available to the ship ope-rator. Although these factors, human factors and informational factors, have been pointed out as major factors which affect the controllability of a ship, there was no a comprehensive examination on the effect of these two factors. In this thesis, therefore, an attempt was made to examine whether or not there is clear indication that these two factors affect the controllability of a ship in reality. Experiments were conducted using the port design simulator of the Korea Maritime University.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.594-597
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• 1995

A hand controller in teleoperation is a man-machine interface device that provides real-time interaction between a human operator at control site and a slave manipulator at remote site. In this paper, we examine the design issure related to various types of hand controllers in use. Emphasis is placed on bilateral hand controllers and their design parameters. We describe the design of a new 6 degree-of-freedom universal force-reflecting hand controller to control a remote Schilling Titan manipulator. This hand controller allows the operstor to maintain spatial corresponence in remote manipulative operation and fell a sense of contact with the environment. Finally, we demonstrate the graphic simulation of the hand controller to verify its design characteristics.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.461-465
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• 1996

Position and rate control modes arc the two common modes for controlling remote manipulators with joysticks or hand controllers. Generally, position mode is easier for teleoperation than rate modes, when the manipulation work space is small or comparable to the human operator's control space. When the telemanipulator's work space is very large, human operator's control motion range must be large to allow telemanipulator's full range of motion resulting poor control resolution. One way to solve the poor resolution problem is to use indexing. However, rate mode can provide any higher degree of resolution without use of indexing. If two modes are mixed, master controller will be more convenient. The mixed mode algorithm, changes operating mode from position mode to rate mode or vise versa using fuzzy logic. The fuzzy logic algorithm, which has been designed to recognize the teleoperator's intended motion properly, provides an intelligence to a master controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.25.4-25
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• 2001

In this paper, a five degree-of-freedom haptic device is proposed. The proposed haptic device has a pen which is suspended by tensioned six strings. Human operator handles the pen. Six DC motors are used as actuators to generate tensions in six strings to make resultant force feedback at the pen to the human operator Six encoders are used for calculating the movement of the pen. A digital controller is used for generate control signals for the suitable tension in the six strings. A current amplifiers is used for amplifying the control signals. Cable-suspended system has advantages of structure simplicity (only with several strings driven by motors without using other tensioning mechanisms), low inertia, and high force-to-weight ratio. Pen-based system has advantages of compactness and ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.838-843
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• 1991

A telemanipulator that reflects grasping force of the slave gripper to the human operator was implemented in order for manipulation to be more delicate and safe. An industrial robot gripper was used as the slave manipulator. The master manipulator was constructed to make it easy for a human operator to direct the slave and to feel the reflected gripping force. Reflected force was generated by the servomotor of the master. The force signal and position signals of the master and the slave was used to generate driving force signal. Basically position-position type control was used. Miner force feedback is added to improve the performance of the system. Implemented system was tested by colliding two fingers of the slave manipulator, and here switching was used to archive more fast and easy manipulation.

• 제어로봇시스템학회논문지
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• 제22권3호
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• pp.204-209
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• 2016

In this paper, an unmanned delivery service using drone was proposed and verified the feasibility. The multicopter has GPS for autopilot and a camera for remote control by human operator. The gripper for manipulation of delivery object was designed and evaluated. The multicopter flies to a given position automatically based on GPS, and approaches to the prepared delivery desk by remote control of human operator using the received image from the multicopter. GPS sensor verification and experimental PID tuning were performed to ensure the flight stability. The flight tests were carried out to verify the feasibility of delivery service.