• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2063-2065
• /
• 2003

The control rod drive mechanisms in a reactor head are arranged too narrow for a human worker to approach. Moreover, the working environment is in high radiation area. In order to inspect defections in the surfaces of the reactor head and welding parts, a visual inspection device that can approach such a narrow and high radiation area is required. This paper introduces a tele-operated mobile robot for visual inspection of a reactor head, which has pan/tilt camera, fixed rear camera, ultrasonic collision detection system, and so on. Moreover, the host controller and digital video logging system are developed and integrated control software is also developed. The robot is operated by a wireless control, which gives flexibility for the inspection.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.9 no.6
• /
• pp.55-61
• /
• 2009

This paper proposes a position estimation of a mobile robot based on USN(Ubiquitous Sensor Network) and encoder, and development of tele-operation system using Internet. USN used in experiments is based on ZigBee protocol and has location estimation engine which uses RSSI signal to estimate distance between nodes. By distortion the estimated distance using RSSI is not correct, compensation method is needed. We obtained fuzzy model to calculate more accurate distance between nodes and use encoder which is built in robot to estimate accurate position of robot. Based on proposed position estimation method, tele-operation system was developed. We show by experiment that proposed method is more appropriate for estimation of position and remote navigation of mobile robot through Internet.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.11
• /
• pp.904-911
• /
• 2016

This paper presents a novel driving system by the humanoid robot to drive a vehicle in disaster response situations. To enhance robot's capability for substituting human activities in responding to natural and man-made disaster, the one of prerequisite skills for the rescue robot is the mounted mobility to maneuver a vehicle safely in disaster site. Therefore, our driving system for the humanoid is developed in order to steer a vehicle through unknown obstacles even under poor communication conditions such as time-delay and black-out. Especially, the proposed system includes a tele-manipulation interface and stable navigation strategies. First, we propose a new type of path estimation method to overcome limited communication. Second, we establish navigation strategies when the operator cannot recognize obstacles based on Dynamic Window Approach. The effectiveness of the proposed developments is verified through simulation and experiments, which demonstrate suitable system for driving a vehicle in disaster response.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.821-824
• /
• 1993

In hazardous conditions, where entry of human operators is restricted, such as high radiation regions in nuclear facilities, a lot of remote inspections and remote handling tasks must be performed. In this study, the stereo imaging system has been developed and the remote handling technique, has been studied to enhance the efficiency of tele-operation. The nozzle dam handling robot is one of the most important robots applied to nuclear facility. The robot will be equipped with the developed stereo imaging system. The stereo imaging system will outstandingly improve the tele installing/removal tasks for nozzle dam.

• Proceedings of the Korean Society of Broadcast Engineers Conference
• /
• 1999.06b
• /
• pp.87-93
• /
• 1999

In this paper, we introduce a novel virtual studio environment where a broadcaster in the virtual set interacts with tele-viewers as if they are sharing the same environment as participants. A tele-viewer participates physically in the virtual studio environment by a dummy-head equipped with video "eyes" and microphone "ears" physically located in the studio. The dummy head as a surrogate of the tole-viewer follows the tele-viewer's head movements and views and hears through the dummy head like a tele-operated robot. By introducing the tele-presence technology in the virtual studio setting, the broadcaster can not only interact with the virtual set elements like the regular virtual studio environment but also share the physical studio with the surrogates of the tele-viewers as participants. The tele-viewer may see the real broadcaster in the virtual set environment and other participants as avatars in place of their respective dummy heads. With an immersive display like HMD, the tele-viewer may look around the studio and interact with other avatars. The new interactive virtual studio with the immersive viewer environment may be applied to immersive tele-conferencing, tele-teaching, and interactive TV program productions.program productions.

• Journal of the Institute of Electronics Engineers of Korea CI
• /
• v.49 no.3
• /
• pp.27-33
• /
• 2012

Tele-presence and tele-operation techniques are used to build up an immersive scene and control environment for the distant user. This paper presents a novel tele-presence system using the camera tracking based on planar homography. In the first step, the user wears the HMD(head mounted display) with the camera and his/her head motion is estimated. From the panoramic image by the omni-directional camera mounted on the mobile robot, a viewing image by the user is generated and displayed through HMD. The homography of 3D plane with markers is used to obtain the head motion of the user. For the performance evaluation, the camera tracking results by ARToolkit and the homography based method are compared with the really measured positions of the camera.

• Journal of Practical Engineering Education
• /
• v.10 no.2
• /
• pp.113-118
• /
• 2018

The most important thing in vocational education and training is to enhance students' interest and understanding of the whole process of the production site. In this paper, we present a case on the implementation of tele-operation robot hand by learning factory based technology convergence education. It also suggests some points to be taken when applying the learning factory in the future curriculum. In order to implement the tele-operation robot hand, it is necessary to support the compulsory subjects of university level courses in domestic curriculum such as mechanic design, motor control, local communication implementation, sensing and feedback control. The educational research presented in this paper guides the students with the skills they need and understands the skills through self-study and practice, and implements the final products. This study will be useful as a base data when introducing the training process of training factory in the future.

• The Journal of Korea Robotics Society
• /
• v.10 no.2
• /
• pp.104-111
• /
• 2015

In this paper, we proposed visual information to provide a highly maneuverable system for a tele-operator. The visual information image is bird's eye view from UFR(Unmanned Flying Robot) shows around UGR(Unmanned Ground Robot). We need UGV detection and tracking method for UFR following UGR always. The proposed system uses TLD(Tracking Learning Detection) method to rapidly and robustly estimate the motion of the new detected UGR between consecutive frames. The TLD system trains an on-line UGR detector for the tracked UGR. The proposed system uses the extended Kalman filter in order to enhance the performance of the tracker. As a result, we provided the tele-operator with the visual information for convenient control.

• Proceedings of the IEEK Conference
• /
• 2009.05a
• /
• pp.360-362
• /
• 2009

In this paper, we studied for the real-time azimuthal measurement of HMD(Head Mounted Display) using the feature points detection to control the tele-operated vision system on the mobile robot. 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.

• Proceedings of the Korean Information Science Society Conference
• /
• 1999.10c
• /
• pp.227-229
• /
• 1999

이동로봇에 통신 기술을 결합하여 응용하려는 시도는 Tele-Robotics라는 학문의 한 분야로 이미 국내외적으로 정착되고 있다. 초기에 Tele-Robotics.Tele-Operation 기술은 극한작업을 위해서만 사용되었으나, 최근에는 일상생활과 밀접한 다양한 분야로 그 응용분야를 넓혀가고 있다. 본 논문에서는 대화식 무선통신 기능을 가진 이동로봇을 제작하고 그와 통신할 수 있는 호스트 시스템을 구성하여 이동 로봇의 원격 제어, 원거리에서의 지형 탐색, 데이터 수집 기능 등을 구현함으로써 본격적인 원격 탐색 시스템 구축을 위한 기초 연구를 수행하였다.