• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.289-290
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• 2013

• Journal of Biosystems Engineering
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• v.39 no.2
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• pp.134-141
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• 2014

Purposes: This study was to validate the Robotic Smart Work System that can provides better working conditions and high productivity in unstructured environments like bio-industry, based on a tele-operation system for fruit harvesting with low cost 3-D positioning system on the laboratory level. Methods: For the Robotic Smart Work System for fruit harvesting and cultivation management in agriculture, a vision based tele-operating system and 3-D position information are key elements. This study proposed Robotic Smart Farming, an agricultural version of Robotic Smart Work System, and validated a 3-D position information system with a low cost omni camera and a laser marker system in the lab environment in order to get a vision based tele-operating system and 3-D position information. Results: The tasks like harvesting of the fixed target and cultivation management were accomplished even if there was a short time delay (30 ms ~ 100 ms). Although automatic conveyor works requiring accurate timing and positioning yield high productivity, the tele-operation with user's intuition will be more efficient in unstructured environments which require target selection and judgment. Conclusions: This system increased work efficiency and stability by considering ancillary intelligence as well as user's experience and knowhow. In addition, senior and female workers will operate the system easily because it can reduce labor and minimized user fatigue.

• 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

• 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.

• 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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• 2005.06a
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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.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2007.04a
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• pp.74-77
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• 2007

In this paper, we propose a system which can display panoramic-stereopic image for tele-operating excavator. the system was implemented by using center-viewpoint corresponding algorithm and image mosaic process. We could obtain remarkable result from the survey among the ex-pert of excavator. We also design a control station with RF transfer module, H.264 codec module and suggested algorithm. Especially, our system shows a superb performance on cubic effect and presence sense of a field of excavating work.

• Proceedings of the Korean Society of Computer Information Conference
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• 2015.07a
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• pp.204-206
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• 2015

본 논문에서는 원자력발전소와 같은 극한환경에서 사용할 수 있는 로봇 원격제어를 위한 데이터 송수신용 통신 모듈 구현의 제약 조건을 기술하고 이를 해결할 수 있는 방안을 제시한다. 원격제어는 오퍼레이터가 원격지 로봇의 다양한 환경 정보를 인식하면서 로봇 제어 명령을 전송하는 특성을 갖는다. 오퍼레이터와 원격지 로봇 사이에 지속적인 데이터 통신에 의해 제어를 수행하므로, 통신 속도와 통신 프로토콜에 따른 현재의 통신 상태 보장 방안도 필요하다. 네트워크 기반 통신에서는 물리적 환경에 의한 영향을 포함하여 TCP/IP 프로토콜의 경우 핸드쉐이크와 혼잡회피 알고리즘 등에 의한 논리적 통신 속도의 지터가 발생하므로, 로봇 원격제어 시 이 문제를 충분히 검토해야한다. 로봇 원격제어를 위해서는 TCP/IP는 물론 UDP와 같은 통신 프로토콜과 시리얼 통신 기반의 다양한 프로토콜을 적용할 수 있는데, 송수신 데이터의 종류에 따라 적절한 프로토콜을 적용해야하며 통신 라인의 연결 상태도 확인할 수 있어야 한다.

• Journal of the Ergonomics Society of Korea
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• v.32 no.1
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• pp.17-26
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• 2013

Objective: The aim of this study is ergonomic analysis of tele-operation tasks using modified remote handling devices dedicated to the cell of PRIDE(PyRoprocess Integrated inactive DEmonstration facility) in KAERI(Korea Atomic Energy Research Institute). Background: Tele-operation manipulators of the PRIDE are applied to perform the remote handling and management of pyroprocessing facilities. Generally, these kinds of systems are composed of master-slave system and its peripherals installed along a wall or ceiling of the cell, and the manipulators transmit the user's own motion to grippers directly. However, a user convenience and intuitiveness while operating the manipulators have not been fully considered in research fields. Method: This study tries to analyze the ergonomic performance of remote handling manipulators in the developed cell facility. It was included that the analysis of operator's capability for his/her own motion range of upper arm while manipulating the MSM, considerations of its manipulation margin and related tool modifications to improve the remote handling performance. Conclusion: The test results of several remote handling tasks performed in PRIDE are represented, and adequate operation strategies for the tele-operation system of hot-cell type facilities are proposed. Application: The knowledge represented in this study can be utilized to improve a tele-operation system operated in a large-scale hot-cell system.

• PNF and Movement
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• v.18 no.3
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• pp.365-373
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• 2020

Purpose: The COVID-19 pandemic has changed how healthcare is delivered worldwide and has affected the environment of the healthcare. Physical therapy in traditional healthcare systems can be difficult in unusual circumstances, such as the COVID-19 pandemic. Tele-physical therapy, defined as "the delivery of the physical therapy at a distance using electronic information and telecommunication technologies," will be a solution for this healthcare crisis. Thus, in this study, we proposed a mobile application for tele-physical therapy. Methods: This study used the Chrome Browser version 83.0.4 based on the Windows 10 64Bit operating system to use the App Inventor. To operate the mobile application, we used the Samsung Galaxy Note 9. The design of the mobile application was based on the review of a system used in the physical therapy department. Results: The graphical user interface (GUI) of the mobile application was displayed on three screens: selecting a painful joint (1st screen of the GUI); selecting a painful movement of the joint (2nd screen of the GUI); a self-manual therapy method and movie (3rd screen of the GUI). The proposed mobile application showed the stable repeatability of the self-manual therapy movie. Conclusion: The results of this study demonstrated that the proposed mobile application using the App Inventor for android will be able to create easy to use and reliable tele-physical therapy.