• Journal of Institute of Control, Robotics and Systems
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• v.10 no.9
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• pp.809-815
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• 2004

Researches on mobile robots have been mainly focused on the autonomous navigation and a lot of interesting results have been published so far. Most of applications are, however, fancy, unpractical, and very expensive to be used for 'UN-expensive' purpose. Well-known soccer robot may be an example of unpractical application. Un-autonomous mobile robot has, however, potential for a lot of practical applications. Especially, tele-operation of the un-autonomous mobile robot may the central issue of research. Major research topics for the tele-operated un-autonomous mobile robot include development of a force reflecting joystick for tele-operation and development of a sophisticated algorithm for smooth tele-operation. A new concept named fuzzy command smoothing algorithm is proposed in this paper in order to provide smooth motion to a tele-operated mobile robot. It gives smooth motion command to the mobile robot from possibly abrupt quick turn motion command of the joystick using fuzzy logic. Simulation results verify the usefulness of the proposed algorithm.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.7A
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• pp.807-813
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• 2004

This paper corresponded to Smart-UAV(Smart Unmanned Aerial Vehicle) technology development, a part of “The 21th Century New-Frontier Development Project” being propelled in accordance with enlarging the necessity of concentration development by selecting our strong technique being able to compete in the international society of knowledge based economy in the 21th century. Also, we designed Ku-band airborne video transceiver system performing to receive the TC(Tele-Command) signal needed to be applicable of Smart-UAV, and send the video and TM(Tele-Metry) signal at the same time. Moreover, we analyzed it in order to satisfy the system request of designed whole communication system, and established the validity on this paper going through by module simulation and manufacture of the whole system.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2051-2056
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• 2003

In this paper, a tele-manipulation in explosive ordnance disposal(EOD) applications is discussed. The ROBHAZ-DT2 is developed as a teleoperated mobile manipulator for EOD. In general, it has been thought that the robot must have appropriate functions and accuracy enough to handle the complicated and dangerous mission. However, the research on the ROBHAZ-DT2 revealed that the teleoperation causes more restrictions and difficulties in EOD mission. Thus to solve the problem, a novel user interface for the ROBHAZ-DT2 is developed, in which the operator can interact with various human senses (i.e. visual, auditory and haptic sense). It enables an operator to control the ROBHAZ-DT2 simply and intuitively. A tele-manipulation control scheme for the ROBHAZ-DT2 is also proposed including compliance control via force feedback. It makes the robot adapt itself to circumstances, while the robot faithfully follows a command of the operator. This paper deals with a detailed description on the user interface and the tele-manipulation control for the ROBHAZ-DT2. An EOD demonstration is conducted to verify the validity of the proposed interface and the control scheme.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2779-2782
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• 2003

A tole-robot system for remote home-management has been developed. The tele-robot system is composed of a mobile robot system, server-computers and client-computers. The robot system is equipped with wireless camera and wireless controller so that the robot system captures the image remotely User makes the robot control command referring to the image feedback through internet. With such tole-robot system, the user can monitor and watch the inside of home by remotely maneuvering the mobile robot. The user can also save the received image of suspected scene on the client computer. Utilizing such function of tele-robot system, remote home-management and possible crime avoidance could be achieved.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.5
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• pp.153-160
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• 1998

A master-slave system for tele-operation had been developed and tested for several decades. In this paper the master robot is composed of several wires and provides position information of the handle which is driven by a operator within the master robot work space. A PC is used for the command calculation for a slave robot. This paper deals with the relation between the number of strings and D.O.F of the master robot, control method of the slave robot during the operation and the monitoring method over the working area by the computer graphics simulation. The D.O.F of the master robot can be modified by adding or subtracting some strings. The controller of the slave robot uses the advanced PD control method to keep the performance against varying working load.

• Proceedings of the KSR Conference
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• 2005.05a
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• pp.903-908
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• 2005

Existing ATC/ATO/TWC system has a ATC(Automatic Train Control) antenna for receiving the speed code, a ATO(Automatic Train Operation) antenna for obtaining the exact distance to go to platform and TWC(Train and Wayside Communication) antenna for communication between on-board and wayside system. This paper proposes the ATO/TWC antenna with tele-powering module, telegram transmitter/receiver module. This antenna communicates with a passive type tag(wayside Precision Stop Marker) for the information of distance from the stop position and a active type tag for the door command and status in the platform.

• Journal of Biosystems Engineering
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• v.26 no.1
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• pp.21-28
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• 2001

Major deficiencies of current automation scheme including various robots for bioproduction include the lack of task adaptability and real time processing, low job performance for diverse tasks, and the lack of robustness of take results, high system cost, failure of the credit from the operator, and so on. This paper proposed a scheme that could solve the current limitation of task abilities of conventional computer controlled automatic system. The proposed scheme is the man-machine hybrid automation via tele-operation which can handle various bioproduction processes. And it was classified into two categories. One category was the efficient task sharing between operator and CCM(computer controlled machine). The other was the efficient interface between operator and CCM. To realize the proposed concept, task of the object identification and extraction of 3D coordinate of an object was selected. 3D coordinate information was obtained from camera calibration using camera as a measurement device. Two stereo images were obtained by moving a camera certain distance in horizontal direction normal to focal axis and by acquiring two images at different locations. Transformation matrix for camera calibration was obtained via least square error approach using specified 6 known pairs of data points in 2D image and 3D world space. 3D world coordinate was obtained from two sets of image pixel coordinates of both camera images with calibrated transformation matrix. As an interface system between operator and CCM, a touch pad screen mounted on the monitor and remotely captured imaging system were used. Object indication was done by the operator’s finger touch to the captured image using the touch pad screen. A certain size of local image processing area was specified after the touch was made. And image processing was performed with the specified local area to extract desired features of the object. An MS Windows based interface software was developed using Visual C++6.0. The software was developed with four modules such as remote image acquisiton module, task command module, local image processing module and 3D coordinate extraction module. Proposed scheme shoed the feasibility of real time processing, robust and precise object identification, and adaptability of various job and environments though selected sample tasks.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.502-504
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• 2004

With rapidly growing of computer and internet technology, Internet-based tote-operation of robotic systems has created new opportunities in resource sharing, long-distance learning, and remote experimentation. In this paper, remote control system of a mobile robot through the internet has been designed. The internet users can access and command a mobile robot in the real time, receiving the robot's sensor data. The overall system has been tested and its usefulness shown through the experimental results.

• Journal of Satellite, Information and Communications
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• v.2 no.2
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• pp.36-40
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• 2007

EGSE is used to check out satellite payload during the development prior to launch. The EGSE represented in this paper is a test system for Ka band communication transponder of COMS. The EGSE consist of two subsystems as CTS subsystem and PCTS subsystem. Communication Test subsystem (CTS) performs satellite transponder RF performance testing, data analysis and trending. Most of transponder RF performances are automatically tested by the CTS subsystem. Power, Command & Telemetry subsystem (PCTS) monitor telemetry messages from the transponder and send tele-commands to satellite transponder for the configuration change. PCTS also provide simulated S/C power to the transponder during the ground validation testing. The EGSE test functions are verified by the transponder simulator testing and will be used for the flight model transponders testing.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.340-345
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• 1998

A virtual reality system is implemented for the operator supervising a robot's operation at a remote site. For this implementation, a two D.O.F force-reflective joystick is designed to reflect the force/torque measured at the end of robotic manipulator and to generate the motion command for the robot by the operator using this joystick. In addition, the visual information that is captured by a CCD camera, is transmitted to the remote operator and is displayed on a CRT monitor. The operator who is holding the force reflective joystick and watching the CRT monitor can resolve unexpected problems that the robot confronts with. That is, the robot performs the tasks autonomously unless it confronts with unexpected events that can be resolved by only the operator. To demonstrate the feasibility of this system, a remote peg-in-hole operation is implemented and the experimental data are shown.