• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.50.4-50
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• 2002

$\textbullet$ Definition of TeleCare $\textbullet$ Motivations behind Internet TeleCare with Robots $\textbullet$ Framework of Robot Operation Management $\textbullet$ Database Structure $\textbullet$ Chat Room Conference $\textbullet$ Remote Robot Control by Softswitch $\textbullet$ Experimental Results and Conclusion

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.291-292
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• 2013

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.569-570
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• 2009

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.3
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• pp.605-613
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• 2009

In this paper, we studied for the real-time azimuthal measurement of HMD (Head Mounted Display) to control the tele-operated vision system on the mobile robot. In the preexistence tele-operated vision system, a joystick was used to control the pan-tilt unit of the remote camera system. To give the sense of presence to the tele-operator, we used a HMD to display the remote scene, measured the rotation angle of the HMD on a real time basis, and transmitted the measured rotation angles to the mobile robot controller to synchronize the pan-tilt angles of remote camera with the HMD. In this paper, we suggest an algorithm for the real-time estimation of the HMD rotation angles using feature points extraction from pc-camera image. The simple experiment is conducted to demonstrate the feasibility.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.349-351
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• 2007

A concept of the semi-autonomous tele-weeding-system which performs weeding tasks through co-operation of human and machine intelligence is proposed. The tele-weeding system consists of weeding robot, communication networks and operating server. The images of plants taken by the weeding robot are transferred through the communication networks to the human operator. Positions of the weeds are indicated at the operating host by the operator and transferred back to the weeding robot. Such position informations are converted to the world space and the weeding is done based on the robot intelligence. Feasibility of such concept has been tested through development of a laboratory model of the 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.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.2
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• pp.137-145
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• 1998

In this paper, we propose a tube-hole center detection vision algorithm verifying the position of a tele-controlled robot and providing visual information for increasing reliability and efficiency in the diagnosis of steam generator (SG) tubes in nuclear power plant. A tele-controlled robot plays a role in carrying the probe used in inspecting the integrity of SG tubes. Thus accurately locating a tele-controlled robot on the desired tube-hole center is important issue for reliability of inspection. To do this work, we have to find the tube-hole center locations from the input image. At first, we apply the three-class segmentation method modified for this application. WE extract minimum bounding rectangles (MBRs) in the theresholded binary image. Second, for discriminating between MBR by tube and MBR by noise, we introduce the MBR rejection rules as knowledge-based rule set. MBRs are divided into the very dark region MBRs and the very bright region MBRs. In order to describe the region of complete tube-hole, the MBRs need a process of pairing each other. We then can find the tube-hole center from the paired MBR. For more accurately finding the tube-hole center in several sequential images, the centers of some frames need to be averaged. We tested the performance of our method using hundreds of real images.

• Journal of Korea Multimedia Society
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• v.16 no.6
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• pp.689-699
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• 2013

There are four methods such as 1:1, 1:N, N:1, and N:N in the tele-operating system for control the remote side robot. The operator must know the information of surroundings of the robot, collision possibility of the mobil 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. N:N control technique having been developed lately has a switching algorithm for the operator to select the target robot or it's partial equipment. When multi-operators work together to accomplish a task with multi-robots, the switching facility must be offered. And the automatic tuning skill to generalize the operator's tendency is needed also. We describes the methodologies and skills for developing a haptic-based tele-operating environments to makes it possible to control the remote multi-robots with multi-operators in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.386-390
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• 1998

A master-slave system is proposed as a teaching device for a dual arm robot. The slave robots are remotely controlled by two delta-type master arms. In order to help the operator to observe the target object from the desired position and desired direction, cameras are mounted on a specialized manipulator, Movements of two slave arms are coordinated with that of the cameras. Due to this coordinated movements, the operator needs not to care the geometrical relation between the cameras and the slave robots.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.6
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• pp.692-697
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• 2003

The researches on the Internet based tole-operation have received increased attention for the past few years. In this paper, we implement the Internet based tele-operating system. In order to transmit robustly the surroundings and control information of the robot, we make a data as a packet type. Also in order to transmit a very large image data, we use PEG compressive algorithm. The central problem in the Internet based tele-operation is the data transmission latency or data-loss. For this specific problem, we introduce an autonomous mobile robot with a 2-layer fuzzy controller. Also, we implement the color detection system and the robot can perceive the object. We verify the efficacy of the 2-layer fuzzy controller by applying it to a robot that is equipped with various input sensors. Because the 2-layer fuzzy controller can control robustly the robot with various inputs and outputs and the cost of control is low, we hope it will be applied to various sectors.