• 동력기계공학회지
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• 제4권4호
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• pp.78-83
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• 2000

It is often necessary to observe the working environment of a robot to control it efficiently in the remote location. The remote sensing data and control commands are transmitted via various media such as radio, microwave, and computer network. The World Wide Web can be used as the infrastructure for teleoperation of mobile robots. In this paper we propose an advanced technique of the remote control of mobile robots on the web. For the real-time control, the image separation algorithm is proposed to transmit the current positions of mobile robots instead of transmitting the full frame image. It is shown by experiments that the proposed algorithm is effective.

• 한국정밀공학회지
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• 제30권2호
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• pp.185-193
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• 2013

The construction automation provides safer and more productive working environment of construction site. We developed the automation system of bolting operation for high-rise building in the previous research. However, this system has a weak point that the operation has to be processed in the air with the operator in the cabin. This weakness leads operators to considerably dangerous environment. Therefore, we proposed the tele-operation system in order to supplement this weak point. Furthermore, it leads more effective operation by application of more intuitive controller; spherical coordinate based Master Arm than the joystick in the Mobile Bolting Robot system. These proposed system and controller were evaluated based on Fitts' law paradigm, which is a general estimation method of speed accuracy of task. Through the experimental results, new developed tele-operation system is compared with the actual operation and it discloses distinctions between two systems. As a result, it is found that new developed teleoperation system can be possible to replace the operation in the cabin.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 B
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• pp.1395-1397
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• 2003

This paper is concerned with a client-server architecture for the remote control of wind turbine system over the internet network. Recently the development of internet are study in remote area machine control, observation, remote control (teleoperation) automation industrial system in several fields. One of the important problems which should be solved in the remote control is an irregular time delay problem. This research practiced emergency system on-off experiment to Internet. Finally, we apply it to a wind turbine system that consists of a remote control and network via internet. It is experimented that real time of internet remote control and stability of wind turbine system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1520-1524
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• 2004

This paper describes the development of a robotic maintenance system for use in a maintenance operation of the nozzle dam in a water chamber of a steam generator at the Kori nuclear power plant in Korea. The robotic maintenance system was designed to minimize the personnel exposure to a hazardous radioactive environment. This robotic maintenance system is operated by a teleoperated control which was designed to perform the nozzle dam maintenance tasks in a remote manner without endangering the human workers. Specific maintenance tasks involve the transportation, insertion, and removal of nozzle dams in a water chamber inside a steam generator via a narrow man-way entrance port. The developed robotic maintenance system has two major subsystems: a two degrees of freedom guiding device acting as the main guiding arm and a master-slave manipulator with a kinematic dissimilarity. The mechanical design considerations, control system, and capabilities of the robotic maintenance system are presented. Finally, a graphical representation of the nozzle dam maintenance processes in a simulated work environment are also demonstrated.

• 한국정밀공학회지
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• 제28권9호
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• pp.1048-1053
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• 2011

Recently, robots have been used in surgical area. Robotic surgery in Minimally Invasive Surgery gives many advantages to surgeons and patients both. This study introduce a robotic assistant to improve the safety of telerobotic Minimally Invasive Surgical procedures. The master-slave system is applied to the telerobotic surgical system with the master arm, which control the system, and slave robot which operates the surgery on the patient body. By using a 3-DOF master arm, the surgeon can control the 6-DOF surgical robot under the constraint of fulcrum point. This paper explains the telerobotic surgical system and confirms the system with the precision of the robot control related to the fulcrum point to enhance the safety.

• 한국생산제조학회지
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• 제24권6호
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• pp.660-666
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• 2015

To avoid radiation exposure from repeated x-rays taken during orthopedic surgery, an x-ray permeable teleoperated Stewart platform for orthopedic fracture surgery was developed. This system is composed of a user interface device and a teleoperated operational robot, both of which use a Stewart platform mechanism. The links of the operational robot are made from an x-ray permeable material, polycarbonate, to minimize the interference. The forward and inverse kinematics algorithm applied and the structural reliability were both verified through an analysis using commercial engineering software. To monitor the operating status in real time and stop the device during an emergency, a monitoring software was developed. The performance of the x-ray permeable teleoperated Steward platform was validated experimentally.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2471-2474
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• 2003

This paper focuses on the stability and operability of a man-machine system considering a human operator. Some papers' main interest has been the stability only, but the operability such as fatigue is also the other main interest. In a man-machine system, feelings such as motional, visual, and kinesthetic are important since those enable operators to work easily or fatigue operators. A model of a man-machine system has been developed. Motional, visual, and kinesthetic feelings may be considered as feedbacked sensor signals. We also have quantified the degree of fatigue with respect to reference operation. This is a performance index to be optimized. Several methods are presented to optimize the degree of fatigue and the stability of the integrated system. Examples are presented to show that the usefulness of the proposed modeling method and fatigue mitigating algorithm.

• 한국CDE학회논문집
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• 제13권6호
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• pp.429-439
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• 2008

With a remote operated manipulator system, the situation at a remote site can be rendered through remote visualized image to the operator. Then the operator can quickly realize situations and control the slave manipulator by operating a master input device based on the information of the virtual image. In this study, the remote operator visual support system (ROVSS) was developed for viewing support of a remote operator to perform the remote task effectively. A visual support model based on virtual environment was also inserted and used to fulfill the need of this study. The framework for the system was created by Windows API based on PC and the library of 3D graphic simulation tool such as ENVISION. To realize this system, an operation test environment for a limited operating site was constructed by using experimental robot operation. A 3D virtual environment was designed to provide accurate information about the rotation of robot manipulator, the location and distance of operation tool through the real time synchronization. In order to show the efficiency of the visual support, we conducted the experiments by four methods such as the direct view, the camera view, the virtual view and camera view plus virtual view. The experimental results show that the method of camera view plus virtual view has about 30% more efficiency than the method of camera view.

• 한국소음진동공학회논문집
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• 제23권1호
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• pp.41-48
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• 2013

In this work, 4-DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery(MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4-DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2012년도 추계학술대회 논문집
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• pp.421-427
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• 2012

In this work, 4 DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery (MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4 DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.