• 대한인간공학회지
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• 제32권1호
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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.

• 한국통신학회논문지
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• 제28권12B호
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• pp.1115-1123
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• 2003

본 논문에서는 기존외 무선 이동 회선망 및 전화 가입자 회선망을 사용한 정보통신기기에 적용하여 원격 제어를 할 수 있는 인터페이스 장치인 TeleRemote 시스템을 설계 및 구현한다. 제안된 방법은 신호 탐지 제어 이론에 기반을 둔 응용 프로그램으로, 컴퓨터에 TV 수신 카드를 장착하여 인터넷을 통한 고효율의 PC-EPG를 이용한 양방향성 방송을 통하여 MPEG-1 포맷의 TV 신호들을 코드화하여 실시간 재생 및 예약 녹화할 수 있는 우수한 성능을 가진다. 또한 통신망을 이용하여 원격 제어 프로그램으로 PC 전원을 ON/OFF한 수 있는 제어동작이 가능하다. PC-EPG 시스템은 서버/클라이언트 형태의 Web 프로그램으로 구현되며 EPG 기능을 제공하는 서버 시스템은 스케줄러에 의한 예약녹화 및 데이터 전송을 담당하며, 클라이언트 PC로의 데이터 저장은 TCP/IP을 통해 Visual C++/MFC 프로그램으로 구현된 클라이언트 프로그램에서 수신처리 된다. 구현된 시스템은 인트라넷을 구성하고 인터넷과 연결된 상업적 통신 시스템에 부합하여 안정성 및 신뢰성을 바탕으로 부가가치 창출이 가능한 시스템임을 확인할 수 있다.

• 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.

• 한국정밀공학회지
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• 제29권5호
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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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• 제3권2호
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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.

• 대한의용생체공학회:의공학회지
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• 제29권3호
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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.

• 대한정형도수물리치료학회지
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• 제28권2호
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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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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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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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• 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.

• 한국멀티미디어학회논문지
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• 제1권1호
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• pp.45-55
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• 1998

원격의료정보 시스템에서는 멀티미디어 정보의 전송을 위한 광대역 통신망과 멀티미디어 원격 의료 정보를 쉽게 사용할 수 있게 하는 단말장치가 기본적으로 구성되어야 한다. 특히 멀티미디어 원격 의료정보 시스템의 단말기에는 의료진이 쉽게 사용할 수 있도록 병원의 기존 진료 절차와 거의 동일한 형태의 진료업무가 실행될 수 있는 멀티미디어 GUI 환경이 제공되어야 한다. 본 논문에서는 ATM/B-ISDN을 기반으로 한 멀티미디어 원격의료정보 시스템에서의 PC용 멀티미디어 원격진료 GUI(TeleMe야_GUI)를 구현하였다. ATM/B-ISDN 통신망 환경에서 워크스테이션을 멀티미디어 데이터베이스 서버로 두고, 각 의료진이 사용하는 PC의 TeleMe야_GUI에서 멀티미디어 진료 자료들을 원격 검색 할 수 있도록 하기 위한 클라이언트/서버간의 통신 프로토콜을 제안하였다. 이러한 ATM 통신망과 통신 프로토콜을 기반으로 하여 PC용 GUI를 구현하였다. 본 논문에서 제시하는 TeleMedi_GUI를 이용하면 의사는 X-ray/CT와 같은 영상정보나 X-ray 판독소견과 같은 음성정보를 이용하여 환자를 효율적으로 진료할 수 있다. 이 연구결과는 1차 진료기관과 2차 종합 진료기관간의 의료정보 서비스망으로 활용될 수 있으며, 병원 내부에서도 멀티미디어 진료시스템 개발에 활용될 수있다.