• 전기학회논문지
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• 제58권3호
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 추계학술대회 논문집
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• pp.509-510
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• 2008

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.126.2-126
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• 2001

This paper, the integration of driving simulator and unmanned vehicle by means of new concept for better performance through a tele-operated system is suggested. But autonomous system is one of the most difficult research topics from the point of view of several constrains on mobility, speed of vehicle and lack of environmental information. In these days, however, many innovations on the vehicle provide the appropriate automatic control in vehicle subsystem for reducing human error. This tendency is toward to the unmanned vehicle or the tele-operated vehicle ultimately. This paper describes the motion system ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2063-2065
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• 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.

• 로봇학회논문지
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• 제16권3호
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• pp.232-237
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• 2021

In this research, a real-time tele-operation system for unmanned excavator using the LTE communication system is suggested. The distance between the operator and the excavator is limitless as long as the LTE communication available. The motion and video data of the excavator is synchronized using the Vehicle Control Unit (VCU) and streamed to the operator for immersion feeling. The video is played on the operator's monitor and the motion data is used to regenerate the excavator movement on the developed master platform. In general, a excavator is tele-operated using RF signal and the maximum distance for direct control is limited to within a hundred meter. In this research, the immersion tele-operation system is suggested for excavator operation within an 100ms time delay using the developed master platform, the VCU and LTE communication. A successful test run of the suggested tele-operation system has already been performed between an operator in Songpa (Seoul) and a excavator in Ansan (Gyeonggi-do) which is approximately 35 km apart.

• Journal of Mechanical Science and Technology
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• 제19권6호
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• pp.1290-1303
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• 2005

In this research, a remote control system has been developed and implemented, which combines autonomous obstacle avoidance in real-time with force-reflective tele-operation. A tele-operated mobile robot is controlled by a local two-degrees-of-freedom force-reflective joystick that a human operator holds while he is monitoring the screen. In the system, the force-reflective joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force which is generated in the form of a new collision vector and reflected to the operator. This reflected force makes the tele-operation of a mobile robot safe from collision in an uncertain and obstacle-cluttered remote environment. A mobile robot controlled by a local operator usually takes pictures of remote environments and sends the images back to the operator over the Internet. Because of limitations of communication bandwidth and the narrow view-angles of the camera, the operator cannot observe shadow regions and curved spaces frequently. To overcome this problem, a new form of virtual force is generated along the collision vector according to both distance and approaching velocity between an obstacle and the mobile robot, which is obtained from ultrasonic sensors. This virtual force is transferred back to the two-degrees-of-freedom master joystick over the Internet to enable a human operator to feel the geometrical relation between the mobile robot and the obstacle. It is demonstrated by experiments that this haptic reflection improves the performance of a tele-operated mobile robot significantly.

• Journal of Mechanical Science and Technology
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• 제16권10호
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• pp.1253-1263
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• 2002

The control system design and modeling of an unmanned vehicle by means of a new concept for better performance through a tole-operation system is suggested by sensor fusion. But, the control of a real vehicle is very difficult, because the system identification of the vehicle is hard to find the unknown factors and the disturbances of the experimental environment. For the longitudinal and lateral controls, the traction system and steering system models are set up and a tuning method to find the gain of the controller by experiments is presented. In this research, mechanical and electronic parts are implemented to operate the unmanned vehicle and data reconstruction method of information about the environment data coming from several sensors is presented by data plot for the vehicle navigation. This paper focuses on the integration of tole-operated unmanned vehicle. This vehicle mainly controlled lateral and longitudinal directions with actuators for controlling vehicle movement and sensors for the closed-loop controlled system.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.360-362
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• 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.

• 한국인터넷방송통신학회논문지
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• 제19권6호
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• pp.35-40
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• 2019

본 연구는 LTE 통신망을 사용하여, 실시간 드론 원격주행 시스템을 제안한다. 원격지에 위치한 드론을 180km 떨어진 거리에 위치한 조종자가 50msec 시간지연으로 실시간 고도와 위치, 자세를 제어하면서 조정한다. 조정자의 조정 신호에 따라 움직이는 드론의 영상과 모션 정보는 실시간으로 조정자에게 전송되어, 영상은 조종자의 HMD에서 재생되며, 모션 정보는 조종자가 탑승한 시뮬레이터를 구동하게 된다. 일반으로 드론조정은 RF 신호를 사용하여 통상 2km 이내에서 직접 조정이 가능하며, 이 이상의 거리에서는 미션 플래너를 사용하여 GPS 운행을 한다. 따라서 장거리 비행 중 발생하는 긴급 상황에 대처하는 방안은 자동 비행 종료 후, 원위치로 복귀하는 기능이 주를 이룬다. 본 연구에서는 LTE 통신을 사용하여, 비행 중인 드론의 모션과 영상을 평균 50m sec 이내로 조종자에게 전송하여, 조종자에게 실제 원격지의 드론 위에서 조정하는 것과 유사한 실감환경을 제시한다. 제안된 시스템의 검증을 위하여 대전의 드론 조종자가 강원도 인제에 위치한 드론을 조종하는 실험 결과를 제시한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.915-919
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• 2005

It is materialized an unmanned vehicle system as a part of Intelligent Transportation System (ITS) which is a fundamental constituent for unmanned vehicle. Remote control system, monitoring system and remote operating system which are consisted of unmanned vehicle system. Network program by TCP/IP socket, and real-time control & operating controlled by servo-motors from a remote place, those are used to verify safety and stability of the unmanned vehicle system in this research. This unmanned vehicle is divided into two major sections which are an unmanned vehicle part and control station part. The server PC is installed on the unmanned vehicle and a client PC is installed at a remote place, which can control the u manned vehicle. In this research work, main theme is that we experimented and tested to check the speed and utilization of the wireless LAN communication.