• Journal of the Korean Society of Industry Convergence
• /
• v.18 no.3
• /
• pp.150-156
• /
• 2015

In this paper, it was proposed a new technology to improve the performance of the remote control in virtual reality applications. The operator must know the information of surroundings of the robot, collision possibility of the equipment, and force feedback of the manipulator. The time delay problem occurs in the tele-operating and it causes vibration and expressive power of the manipulator owing to bidirectional force feedback. We presented a new control method to control of the teleoperating system based on serial bus. The reliability is evaluated by simulation.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2013.11a
• /
• pp.1621-1623
• /
• 2013

원자력발전소를 비롯한 여러 산업플랜트들은 복잡한 파이프 시스템들이 필수적으로 필요한데, 이러한 파이프들 중 일부 파이프들은 안전성과 중요성을 고려하여 Over-haul 기간이나 가동 중에도 반드시 안전성 검사를 수행해야한다. 이 검사에는 검사자의 작업 공간 확보 어려움과 고위험 지역에 따른 작업환경으로 인하여 로봇을 이용한 검사 방안이 요구되고 있다. 본 논문에서는 파이프 등반 로봇을 개발함에 있어 영상을 이용한 파이프 자동 파지 기술과 로봇 원격제어 기술개발에 대하여 기술한다.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2013.11a
• /
• pp.1624-1626
• /
• 2013

햅틱 기반 로봇 원격제어를 위해서는 힘 반영을 인지할 수 있어야 한다. 원격조종에서는 데이터 통신과 처리에 소요되는 시간에 따른 지연이 발생하는데, 이 시간 지연은 로봇의 충돌과 제어기-로봇간의 힘 반영 부조화를 초래할 수 있다. 다수의 로봇이 협업을 하는 구조로 원격제어 시스템을 개발하기 위해서는 다수의 오퍼레이터와 다수의 로봇이 원활한 기능 분담을 수행할 수 있어야하는데, 본 논문에서는 원격지 로봇들의 협업을 수행할 수 있는 햅틱 기반 원격제어 시스템 구축 방법에 대하여 기술한다.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.260-263
• /
• 2003

This paper has developed the computer integration manufacturing system and Internet based tele-operations. The functions of CIMS include production planing, material requirement planning, work order generation, process control, quality control, shipping planning, warehouse and inventory management and material cost accounting.[1] In this paper focuses on the automatic warehouse control and inventory management by developing the information system as well as the Internet-based integration. The system overview is divided into three parts, the mechanical system, the computer and developed software to control and manage the information and the communication system. The mechanical system consists of the warehouse machine and forklift mobile robot controlled by programmable logic controller (PLC). The computer works on many functions such as control station interfaces with PLC, managing database and inventory, and Internet server to broadcast the inventory database to users via World Wide Web and monitoring the operation on web camera. Our scheme the inventory database can be checked easily anywhere and anytime when the users connect to the Internet. In this article, the lead-time and inventory level can be reduced therefore the holding cost and operating time is also decreased.

• Journal of Korean Society on Water Environment
• /
• v.33 no.2
• /
• pp.140-148
• /
• 2017

An important factor in determining the design and treatment efficiency of wastewater treatment plants (WWTPs) is the quantity and quality of influent. These detailed and accurate information is essential for process control, diagnosis and operation, as well as the basis in designing the plant, selecting the process and determining the optimal capacity of each bioreactor. Probabilistic models are used to predict the wastewater quantity and quality of WWTPs, which are widely used to improve the design and operation of WWTPs. In this study, the optimal probability distribution of time series influent data was derived for predicting water quantity and quality, and wastewater influent data were generated using the Monte Carlo simulation analysis. In addition, we estimated various alternatives for the improvement of bioreactor operations based on present operation condition using the generated influent data and activated sludge model, and suggested the alternative that can operate the most effectively. Thus, the influent quantity and quality are highly correlated with the actual operation data, so that the actual WWTPs influent characteristics were well reproduced. Using this will improve the operating conditions of WWTPs, and a proposed improvement plan for the current TMS (Tele Monitoring System) effluent quality standards can be made.

• Korean Journal of Applied Biomechanics
• /
• v.20 no.2
• /
• pp.221-230
• /
• 2010

The purpose of this study was to analyze biomechanical factors of trail running shoes applied to korean shoe-lasts. 10 healthy male subjects with an average age of 37.2 years(SD=8.28), weight of 69.6 kg(SD=10.56) and a height of 171 cm(SD=4.93) were recruited for this study. Ten males walked on a treadmill wearing four different shoes. Foot pressure data was collected using a Pedar-X mobile system(Novel Gmbh., Germany) operating at the 1000 Hz. Surface EMG signals for tibialis anterior, gastrocnemius, vastus lateralis and biceps femoris were acquired at 1000 Hz using Noraxon TeleMyo DTS system(Noraxon Inc., USA). Foot pressure and leg muscle fatigue were measured and calculated during walking. The results are as follows: After walking 60 minutes, Type A showed a lower MPF. MPF values were significantly different from each muscle(p<.05). Therefore, Type A shoe might decrease muscle fatigue in the legs while walking. In addition, Type It showed that Type A shoe has the highest contact area and the lowest maximum pressure. As a result of the analysis, Trail running shoes will use a new design to reduce muscle fatigue and are expected to increase comfort and fitting.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.11
• /
• pp.912-918
• /
• 2016

This paper presents various strategies for humanoid vehicle driving and egress tasks. For driving, a tele-operating system that controls a robot based on a human operator's commands is built. In addition, an autonomous assistant module is developed for the operator. Normal position control can result in severe damage to robots when they egress from vehicles. To prevent this problem, another approach that mixes various joint control techniques is adopted in this study. Additionally, a footplate is newly designed and attached to the vehicle floor for the ground landing phase of the egress task. The attached plate enables the robot to step down onto the ground in a safe manner. For stable locomotion, a balance controller is designed for the humanoid. For the design of the controller, the robot is modeled using an inverted pendulum that consists of a spring and a damper. Then, a state feedback controller (with pole placement and a state observer) is built based on the simplified model. Many approaches that are presented in this paper were successfully applied to a full-sized humanoid, DRC-HUBO+, in the DARPA Robotics Challenge Finals, which were held in the United States in 2015.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.10 no.1
• /
• pp.80-87
• /
• 2006

SONY corporation preoccupies $80\%$ of a market of the CCD used in a CCTV system. The CCD of SONY have high duality which can not follow the progress of capability. But there are some problems which differ the clock frequency used in CCD from the frequency used in common video encoder. To get the result by using common video encoder, the system needs a scaler that could adjust image size and PLL that synchronizes CCD's with encoder's clock So, this paper proposes the video encoder that is activated at equal clock used in CCD without scaler and PLL. The encoder converts ITU-R BT.601 4:2:2 or ITU-R BT.656 inputs from various video sources into NTSC or PAL signals in CVBS. Due to variable clock, property of filters used in the encoder is automatically changed by clock and filters adopt multiplier-free structures to reduce hardware complexity. The hardware bit width of programmable digital filters for luminance and chrominance signals, along with other operating blocks, are carefully determined to produce hish-quality digital video signals of ${\pm}1$ LSB error or less. The proposed encoder is experimentally demonstrated by using the Altera Stratix EP1S80B953C6ES device.

• Journal of Environmental Impact Assessment
• /
• v.28 no.6
• /
• pp.592-603
• /
• 2019

This study is about the implementation of low energy sewage management technology through effective control of blower which consumes the most energy in sewage treatment. In calculating the amount of oxygen required for microorganisms, unlike the existing method using the operating index in the bioreactor or TMS data in the discharge port, the CODcr and NH₄⁺-N concentration changes in sewage flowing into the sewage treatment plant were detected in advance before entering the bioreactor and the amount of air was controlled based on this. The pre-sensing was found to have a high correlation compared with conventional products. As a result of blower control, it was possible to save about 9.9% energy more than the manual control. Consequently, this study suggested the possibility of blower's real-time control combined with pre-sensing technology. Also, it is expected that the low energy sewage treatment can be applied to sewage treatment facilities dependent on operation by manpower, and it will contribute to the reduction of greenhouse gas emissions.

• Proceedings of the Korea Contents Association Conference
• /
• 2003.05a
• /
• pp.344-350
• /
• 2003

In this paper, we propose a novel sharing method ordering the events occurring between users collaborated with the common telecomputing environment. We realize the sharing method with multimedia data to improve the coworking effect using teleprocessing network. This sharing method advances the efficiency of communicating projects such as remote education, tele-conference, and co-authoring of multimedia contents by offering conveniences of presentation, group authoring, common management, and transient event productions of the users. As for the conventional sharing white board system, all the multimedia contents segments should be authored by the exclusive program, and we cannot use any existing contents or program. Moreover we suffer from the problem that ordering error occurs in the teleprocessing operation because we do not have any line-up technology for the input ordering of commands. Therefore we develop a method of retrieving input and output events from the windows system and the message hooking technology which transmits between programs in the operating system In addition, we realize the allocation technology of the processing results for all sharing users of the distributed computing environment without any error. Our sharing technology should contribute to improve the face-to-face coworking efficiency for multimedia contents authoring, common blackboard system in the area of remote educations, and presentation display in visual conference.