• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.9
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• pp.3876-3881
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• 2012

In typical master/slave teleoperation systems, a human operator generally manipulates the master to control the slave through the visual information like camera image. However, the operator may get into trouble due to the limited visual information depending on the camera positions and the delay on the visual information because of low communication bandwidth. To cope with this inherit problem in the camera-based teleoperation system, this paper presents a teleoperation system using a reconstructed graphic model instead of the camera image. The proposed teleoperation system consists of a robot control module, a master module using a force-reflective joystick, and a graphic user interface (GUI) module. The graphic user interface module provides the operator with a 3D model reconstructed using a small set of sensing data received from the remote site. The proposed teleoperation system is evaluated through a peg-in-hole assembly task.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.807-814
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• 2014

In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system can enable a mobile robot to avoid obstacles and move to the reference point, according to the direction provided by the device guides through a haptic device consisting of a vibration motor in a blind environment. There are a great deal of obstacles in real environments, and so mobile robots can avoid obstacles by recognizing the exact position of each obstacle through the superposition of an ultrasonic sensor. The navigation system determines the direction of obstacle avoidance through an avoidance algorithm that uses virtual impedance, and lets users know the position of obstacles and the direction of the avoidance through the haptic device consisting of 5 vibration motors. By letting users know intuitionally, it lets the mobile robot precisely reach the reference point in unknown blind environment. This haptic device can implement a haptic navigation system through the tactile sensor data.

• Clean Technology
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• v.23 no.3
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• pp.248-255
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• 2017

In dismantling factories for recycling, it is important to input actual working data to a personal computer (PC) in order to monitor the work results and related recycling rate of the inputs. This should be performed with a keyboard, a mouse, or other devices. But when a worker is working in the factory, it could be bothersome or time consuming to go to the PC. Especially, workers who works at dismantling factories have a generally low education level are scared to use a PC, which could be used as a pretext for not using the PC. In some cases, data input is performed by a worker after the day's job. In this case, it could take additional time, the worker can make more mistakes, and the data could be unreliable. In this study, we developed a man-machine interface (MMI) device using a safety helmet. A joystick-like device, pushbuttons, and a radio frequency (RF) device for wireless communication is equipped in a safety helmet. This MMI device has functions similar to a PC mouse, and it has a long communication distance. RF is used because it consumes less battery power than Bluetooth. With this MMI device, workers need not go to a PC to input data or to control the PC, and they can control the PC from a long distance. The efficiency of PCs in a factory could be increased by using the developed MMI system, and workers at the dismantling factories could have less reluctance in using the PC.

• Journal of Biomedical Engineering Research
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• v.10 no.2
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• pp.117-124
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• 1989

The intelligent trajectory control method that controls moving direction and average velocity for a prosthetic arm is proposed by pattern recognition and force estimations using EMG signals. Also, we propose the real time trajectory planning method which generates continuous accelleration paths using 3 stage linear filters to minimize the impact to human body induced by arm motions and to reduce the muscle fatigue. We use combination of MLP and fuzzy filter for pattern recognition to estimate the direction of a muscle and Hogan`s method for the force estimation. EMG signals are acquired by using a amputation simulator and 2 dimensional joystick motion. The simulation results of proposed prosthetic arm control system using the EMf signals show that the arm is effectively followed the desired trajectory depended on estimated force and direction of muscle movements.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.1
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• pp.47-54
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• 2011

The remote control mobile robot is the robot accomplishing a task according to the orders giving by a user through departed communication system using a joystick. Basically, to supply a lot of information, as this type of robot uses visual information, the user can check the transmitted information by eyes and give orders to the robot. But the weak point of this type of robot is that it has a possibility to come into a collision with an obstacle not be seen to the user because of the communication delay occurring in a communication system and dead zone happening in visual information. To solve the problem, in this paper, we try to suggest a system applying a fuzzy control system to the robot to avoid collision with an obstacle by an immediate order of the user. The fuzzy control system has better performance than any other existing control methods in the change of noise and parameter. And it is more efficient than any other since it solves easy the complexity of the system analysis occurring because of the nonlinear feature of the mobile robot system. In this paper, we made experiments how the mobile robot controlled by the fuzzy control system avoids an obstacle, tracks the path and avoids the obstacle in the path, to prove the performance and to check the evaluation and the application possibility of the fuzzy control system.

• 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 Aerospace System Engineering
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• v.12 no.3
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• pp.86-96
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• 2018

The High Agility and Remote Control Camera System Can-Satellite ($HA+RC^2S$ CanSat) proposed in this study is a satellite designed by the authors of this work and submitted as an entry in the 2017 CanSat competition in Goheung gun, Jeonnam, Korea. The primary mission of this work is to develop a high agility camera system (HACS) that can obtain high quality images in the air. This objective is achieved by using a tuned mass damper (TMD) to attenuate the residual vibration that occurs immediately after rotating the camera. The secondary objective is to obtain a self-image of CanSat in the air using a remote control self-camera system (RCSS) that is wirelessly controlled using a joystick from a ground station. This paper describes the development process of the $HA+RC^2S$ CanSat, including mission definition, system design, manufacturing, function and performance tests carried out on the ground, and final launch test.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2016.05a
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• pp.98-99
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• 2016

The aim of study is to develop a dual driven ship berthing/deberthing system with $360^{\circ}$ steerability. A large ship used bow thruster, side thruster and pod propulsor etc. when approaching to a pier. But as marine leisure boats become large-scaled, the number of accidents is recently increasing what caused a ship to crash into a ship and a ship to crash into mooring facilities during berthing/deberthing on a marina. To solve the problem, the control responsiveness of a joystick connected with two motors and a propeller was checked and torque was increased by the electromagnetic design of magnetic gear. A sea trial test was carried out to investigate a performance of the developed system in the real sea.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.451-456
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• 2009

In this paper, a virtual force is generated and fed back to the operator to make the teleoperation more reliable, which reflects the relationship between a slave robot and an uncertain remote environment as a form of an impedance. In general, for the teleoperation, the teleoperated mobile robot takes pictures of the remote environment and sends the visual information back to the operator over the Internet. Because of the limitations of communication bandwidth and narrow view-angles of camera, it is not possible to watch certain regions, for examples, the shadow and curved areas. To overcome this problem, a virtual force is generated according to both the distance between the obstacle and the robot and the approaching velocity of the obstacle w.r.t the collision vector based on the ultrasonic sensor data. This virtual force is transferred back to the master (two degrees of freedom joystick) over the Internet to enable a human operator to estimate the position of obstacle at the remote site. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. It is demonstrated by experiments that this collision vector based haptic reflection improves the performance of teleoperated mobile robot significantly.

• Journal of Ocean Engineering and Technology
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• v.33 no.2
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• pp.168-177
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• 2019

KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.