• 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.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.28 no.12B
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• pp.1115-1123
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• 2003

In this paper, a remote control system called TeleRemote system which can be applied to existing wireless mobile networks or public telephone networks for remote control is designed and implemented. The proposed design employs program technology based on the theory of signal detect control and enables the EPG(Electronic Program Guide) functions such as recording reservation of bidirectional video signals with TV reception card on PC. It can also control recording reservation using remote control program through telecommunication network The PC-EPG system is implemented in Web programs with Server/Clinet architecture and the server system that provides EPG functionalities is in charge of recording reservations and data communications by means of the scheduler program. Data storing to client PCs is performed through TCP/IP and finished by client programs implemented using Visual C++/MFC programs. As remote control system, the developed system can be used for unmanned security system using the Web camera. Building intranet and making connection to internet, the TeleRemote system is believed to create potential for commercial communication system.

• 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.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.5
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• pp.524-530
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• 2012

In this study, it is performed that the assessment of feasibility of developed material processing facilities using tele-operation manipulator system for the pyroprocessing. To evaluate the performance of developed facilities using tele-operation system, several performance indices are considered as remote visibility, remote reachability and remote manipulability. These are applied to RHEM (Remote Handling Evaluation Mock-up) and digital mock-up system respectively. Through this approaches, several requirements for the system improvement are deduced and preliminary inspection for real system application is fully performed. Additionally, assembly and disassembly tasks for the repair of remote handling system are also examined remotely in RHEM and evaluated those performances.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.3 no.2
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• pp.244-250
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• 2003

In this paper, the relationship between a slave robot and the uncertain remote environment is modeled as the impedance to generate the virtual force to feed back to the operator. For the control of a tele-operated mobile robot equipped with camera, the tele-operated mobile robot take pictures of remote environment and sends the visual information back to the operator over the Internet. Because of the limitation of communication bandwidth and narrow view-angles of camera, it is not possible to watch the environment clearly, especially shadow and curved areas. To overcome this problem, the virtual force is generated according to both the distance between the obstacle and robot and the approaching velocity of the obstacle. This virtual force is transferred back to the master over the Internet and the master(two degrees of freedom joystick), which can generate force, enables a human operator to estimate the position of obstacle in the remote environment. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. This force reflection improves the performance of a tele-operated mobile robot significantly.

• Journal of Biomedical Engineering Research
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• v.29 no.3
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• pp.179-186
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• 2008

This paper presents a portable tele-assessment system designed for remote evaluation of the hypertonic elbow joint of neurologically impaired patients. A patient's upper limb was securely strapped to a portable limb-stretching device which is connected through Internet to a portable haptic device by which a clinician remotely moved the patient's elbow joint and felt the resistance from the patient. Elbow flexion angle and joint torques were measured from both master and slave devices and bilaterally fed back to their counterparts. In order to overcome problems associated with the network latency, two different tele-operation schemes were proposed depending on relative speed of tasks compared to the amount of time delay. For slow movement tasks, the bilateral tele-operation was achieved in real-time by designing control architectures after causality analysis. For fast movement tasks, we used a semi-real-time tele-operation scheme which provided the clinicians with stable and transparent feeling. The tele-assessment system was verified experimentally on patients with stroke. The devices were made portable and low cost, which makes it potentially more accessible to patients in remote areas.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.28 no.2
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• pp.15-24
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• 2022

Background: This study investigated the perception of community care-based tele exercise rehabilitation according to demographic characteristics of physical therapists and presented basic data for the spread of tele exercise rehabilitation within community care. Methods: The study collected and analyzed data from 195 physical therapists. The analysis was performed using frequency analysis with 10 general characteristics, 13 tele exercise rehabilitation recognition questions, and a total of 23 questions. Analysis of general characteristics of study subjects and recognition of tele exercise rehabilitation were expressed in terms of frequency and percentage using frequency analysis. Chi-squared test was used to compare general characteristics and tele exercise rehabilitation recognition. Correlation analysis of major sociodemographic variables affecting the perception of remote exercise rehabilitation was conducted. Results: The awareness level of physical therapists for remote exercise rehabilitation was confirmed. The difference in the recognition of remote motor rehabilitation in the number of therapists, career, hospital form according to the sociodemographic characteristics showed statistically significant differences. Conclusion: It is necessary to first raise awareness of therapists through the promotion of tele exercise rehabilitation, and furthermore, in the future, it will be necessary to find a policy direction and plan on how tele exercise rehabilitation can be applied to rehabilitation services in local communities care.

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

• Journal of Mechanical Science and Technology
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• v.19 no.6
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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 Korea Multimedia Society
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• v.1 no.1
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• pp.45-55
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• 1998

In the tele-medical system, the broadband network for multimedia telecommunication and the multimedia terminal equipment for the remote access of the tele-medical information are essential. Especially, the tele-medical terminal equipment should provide the multimedia GUI environment in order to support the similar medical process by the tele-medical system. In this paper, we present a multimedia GUI (Graphic User Interface) for a Multimedia Tele-Medical System (TeleMedi_GUI) based on ATM/B-ISDN. In the tele-medical system, one workstation is used for the multimedia data server that is supporting multiple client terminals that are connected by the ATM network. The client terminals are based on Multimedia Personal Computers, and provide the remote access environment of the tele-medical database. We also developed the remote access protocols among the clients and the server to access multimedia medical information of the multimedia server. With using the TeleMedi_GUI, the doctors can examine and treat patients efficiently, using image data like X-ray/CT and voice data such as the S-ray diagnosis. The result of this paper can be applied to the following areas: 1) the implementation of the advanced medical service system interconnecting the small-scale health center and general hospitals, 2) the development of a fully computerized medical information system within the hospital.