• Journal of Biosystems Engineering
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• 제39권2호
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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.

• 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.

• 동력기계공학회지
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• 제13권2호
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• pp.71-82
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• 2009

This paper presents a real-time haptic rendering method for a realistic force feedback in a remote environment with varying communication time-delay. The remote environment is assumed as a virtual environment based on a computer graphics, for example, on-line shopping mall, internet game and cyber-education. The properties of a virtual object such as stiffness and viscosity are assumed to be unknown because they are changed according to the contact position and/or a penetrated depth into the object. The DARMAX model based output estimator is proposed to trace the correct impedance of the virtual object in real-time. The output estimator is developed on the input-output relationship. It can trace the varying impedance in real-time by virtue of P-matrix resetting algorithm. And the estimator can trace the correct impedance by using a white noise that prevents the biased input-output information. Realistic output forces are generated in real-time, by using the inputs and the estimated impedance, even though the communication time delay and the impedance of the virtual object are unknown and changed. The generated forces trace the analytical forces computed from the virtual model of the remote environment. Performance is demonstrated by experiments with a 1-dof haptic device and a spring-damper-based virtual model.

• International Journal of Computer Science & Network Security
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• 제21권5호
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• pp.23-30
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• 2021

In recent years, hazardous flash flooding has caused deaths and damage to infrastructure in Saudi Arabia. In this paper, our aim is to assess patterns and trends in climate means and extremes affecting flash flood hazards and water resources in Saudi Arabia for the purpose to improve risk assessment for forecast capacity. We would like to examine temperature, precipitation climatology and trend magnitudes at surface stations in Saudi Arabia. Based on the assessment climate patterns maps and trends are accurately used to identify synoptic situations and tele-connections associated with flash flood risk. We also study local and regional changes in hydro-meteorological extremes over recent decades through new applications of statistical methods to weather station data and remote sensing based precipitation products; and develop remote sensing based high-resolution precipitation products that can aid to develop flash flood guidance system for the flood-prone areas. A dataset of extreme events has been developed using the multi-decadal station data, the statistical analysis has been performed to identify tele-connection indices, pressure and sea surface temperature patterns most predictive to heavy rainfall. It has been combined with time trends in extreme value occurrence to improve the potential for predicting and rapidly detecting storms. A methodology and algorithms has been developed for providing a well-calibrated precipitation product that can be used in the early warning systems for elevated risk of floods.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 2000년도 THE THIRD INTERNATIONAL CONFERENCE ON AGRICULTURAL MACHINERY ENGINEERING. V.II
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• pp.300-306
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• 2000

This paper introduces a new concept of automation for bio-production with tele-operative system. The proposed system showed practical and feasible way of automation for the volatile bio-production process. Based on the proposition, recognition of the job environment with object identification was performed using computer vision system. A man-machine interactive hybrid decision-making, which utilized a concept of tele-operation was proposed to overcome limitations of the capability of computer in image processing and feature extraction from the complex environment image. Identifying watermelons from the outdoor scene of the cultivation field was selected to realize the proposed concept. Identifying watermelon from the camera image of the outdoor cultivation field is very difficult because of the ambiguity among stems, leaves, shades, and especially fruits covered partly by leaves or stems. The analog signal of the outdoor image was captured and transmitted wireless to the host computer by R.F module. The localized window was formed from the outdoor image by pointing to the touch screen. And then a sequence of algorithms to identify the location and size of the watermelon was performed with the local window image. The effect of the light reflectance of fruits, stems, ground, and leaves were also investigated.

• 인간행동과 음악연구
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• 제18권1호
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• pp.1-27
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• 2021

본 연구의 목적은 비대면 음악프로그램 참여에 대한 학령기 발달장애 아동의 주양육자의 인식을 알아보는 것이다. 본 연구의 참여자는 비대면 수업이나 치료 프로그램에 참여한 적이 있는 만 6-18세의 발달장애 아동의 주양육자이다. 총 83명의 대상자가 온라인 혹은 오프라인으로 실시된 설문조사에 참여하였고, 회수된 응답지 중 응답이 불충분한 16부를 제외하고 총 67부의 응답을 분석하였다. 분석 결과, 비대면 학교 수업이 지속적으로 진행됨에 따라 발달장애 아동의 가정에 비대면 프로그램 참여를 위한 환경이 어느 정도 준비되어 있는 반면, 주양육자들은 프로그램 참여 시 아동을 도울 수 있는 인력의 필요성을 보고하였다. 비대면 음악프로그램에 어떻게 참여해왔는지 그 현황도 확인하였는데, 주양육자들은 참여 아동들이 비대면 음악프로그램 참여 시 긍정적인 반응을 보이는 것으로 인식하고 있음을 알 수 있었다. 비대면 일반교과수업과 비대면 음악프로그램에 대한 인식을 비교하였을 때, 비대면 음악프로그램에 참여하는 경우 아동의 주의 유지와 프로그램 참여도에 대해 보다 긍정적으로 인식하는 것으로 나타났다. 또한 비대면 음악프로그램을 경험한 그룹은 그렇지 않은 그룹보다 향후 비대면 음악치료 참여에 대해 긍정적으로 인식하고 있는 것으로 나타났다. 본 연구의 결과를 통하여 향후 비대면 음악치료 프로그램 개발을 위한 기초자료를 제시하였다는 점에서 의의가 있다.

• 대한안전경영과학회지
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• 제4권1호
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• pp.27-36
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• 2002

This paper describes "the remote automatic diagnosis and repair system which automatically reads the problems such as "out of order" occurred on equipment at customer's equipment from a remote computer center using HTTP(hyper text transfer protocol). It shows the scheme of the network configurations and features of the system. In addition, a way to implement the overall system, the specific functions of unit, and the operational specifications between the center's computer and customer's computer are also presented.also presented.

• 한국방사성폐기물학회:학술대회논문집
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• 한국방사성폐기물학회 2004년도 Proceedings of the 4th Korea-China Joint Workshop on Nuclear Waste Management
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• pp.205-219
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• 2004

The remote operation of the Advanced Spent Fuel Conditioning Process (ACP) is analyzed by using the 3D graphic simulation tools. The ACP equipment operates in intense radiation fields as well as in a high temperature. Thus, the equipment should be designed in consideration of the remote handling and maintenance. As well as suitable remote handling and maintenance technology needs to be developed along with the design of the process concepts. To develop such remote operation technology, we developed the graphic simulator which provides the capability of verifying the remote operability of the ACP without fabrication of the process equipment. In other words, by applying virtual reality to the remote maintenance operation, a remote operation task can be simulated in the graphic simulator, not in the real environment. The graphic simulator will substantially reduce the cost of the development of the remote handling and maintenance procedure as well as the process equipment, while at the same time developing a remote maintenance concept that is more reliable, easier to implement, and easier to understand.

• 유공압시스템학회논문집
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• 제6권4호
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• pp.9-15
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• 2009

Hydraulic excavators are the representative of field robot and have been used in various fields of construction. Since the excavator operates in the hazardous working environment, operators of excavator are exposed in harmful environment. Therefore, the hydraulic excavator automation and remote operation system has been investigated to protect from the hazardous working environment. In this paper, remote operation excavator system is developed using the mini hydraulic excavator and the tracking control system of each links of excavator is designed. To apply the tracking control system, the adaptive sliding mode control algorithm is proposed. It is found that the performance of the proposed control system is improved through experimental results of using the remote operation excavator system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.515-516
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• 2011