• Journal of Auto-vehicle Safety Association
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• v.13 no.4
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• pp.129-143
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• 2021

This paper proposes actuator fault detection and adaptive fault-tolerant control algorithms using performance index and human-like learning for longitudinal autonomous vehicles. Conventional longitudinal controller for autonomous driving consists of supervisory, upper level and lower level controllers. In this paper, feedback control law and PID control algorithm have been used for upper level and lower level controllers, respectively. For actuator fault-tolerant control, adaptive rule has been designed using the gradient descent method with estimated coefficients. In order to adjust the control parameter used for determination of adaptation gain, human-like learning algorithm has been designed based on perceptron learning method using control errors and control parameter. It is designed that the learning algorithm determines current control parameter by saving it in memory and updating based on the cost function-based gradient descent method. Based on the updated control parameter, the longitudinal acceleration has been computed adaptively using feedback law for actuator fault-tolerant control. The finite window-based performance index has been designed for detection and evaluation of actuator performance degradation using control error.

• Journal of the Ergonomics Society of Korea
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• v.31 no.1
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• pp.211-217
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• 2012

Objective: The aim of this study is to show a correct application procedure using the compact Korean anthropometric data application program called Korean Human Scale(KHS) for anthropometric design. Background: The nation-wide anthropometric survey project called 'Size Korea' developed KHS and distributed it to the public on the web site. But some insufficiency of the current web service of KHS misleads the users; they just put their own statue and pick up a meaningless data for a body dimension. Method: This study provides five steps to follow to read appropriate data from KHS for an anthropometric design. Results: As a case study, the depth dimension of the supervisory and control console used in the Korea nuclear power plant was determined following the procedure and compared with the console design guideline recommendation. Conclusion: The supplementary anthropometry table should be added on the web service of KHS for users to read a meaningful data for design. Application: If properly used, the KHS has a lot more potential application area than users can expect such as in control center design area.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1217-1222
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• 2004

This paper describes the development of tele-robotic interface for the hot-line maintenance robot system. One of main issues in designing human-robot interface for the hot-line maintenance robot system is to plan the control procedure for each part of the robotic system. Another issue is that the actual degree of freedom (DOF) in the hot-line maintenance robot system is much greater than that of available control devices such as joysticks and gloves in the remote-cabin. For this purpose, a virtual simulator, which includes the virtual hot-line maintenance robot system and the environment, is developed in the 3D environment using CAD data. It is assumed that the control operation is done in the remote cabin and the overall work process is observed using the main-camera with 2 DOFs. For the input device, two joysticks, one pedal, two data gloves, and a Head Mounted Display (HMD) with tracker sensor were used. The interface is developed for each control mode. Designed human-interface system is operated using high-level control commands which are intuitive and easy to understand without any special training.

• The Journal of Korea Robotics Society
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• v.13 no.3
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• pp.151-156
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• 2018

Military robots are expected to play an important role in the future battlefield, and will be actively engaged in dangerous, repetitive and difficult tasks. During the robots perform the tasks a human operator controls the robots in a supervisory way. The operator recognizes battlefield situations from remote robots through an interface of the operator control center, and controls them. In the meantime, operator workload, controller interface, robot automation level, and task complexity affect robot operability. In order to assess the robot operability, we have developed ROSim (Robot Operational Simulator) incorporating these operational factors. In this paper, we introduce the results of applying ROSim experimentally to the assessment of reconnaissance robot operability in a battle field. This experimental assessment shows three resulting measurements: operational control workload, operational control capability, mission success rate, and discuss its applicability to the defense robot research and development. It is expected that ROSim can contribute to the design of an operator control center and the design analysis of a human-robot team in the defense robot research and development.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.21 no.47
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• pp.57-68
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• 1998

Work environments have been changed with the advent of new technologies, such as computer technology. However, human cognitive limits can't pace up with the change of work environment. Designing human-computer system requires knowledge and evaluation of the human cognitive processes which control information flow workload. Futhermore, under limited reaction time and/or urgent situation, human operator may the work stress, work error and resultant deleterious work environment. This paper evaluate the visual factors of major information processing factors(information density, amount of information, operational speed of speed)on operator performance of supervisory control under urgent(limited reaction time)environments which require deleterious work condition. To describe the work performance int the urgent work situations with time stress and dynamic event occurrence, a new concept of information density was introduced. For a series of experiments performed for this study, three independent variables(information amount, system proceeding speed, information density) were evaluated using five dependent variables. The result of statistical analyses indicate that the amount of information affected on all of five dependent measure. Number of failure and number of secondary task score were influenced by both amount of information and operational speed of system. However reaction time of secondary task were affected by both amount of information and information density. As a result, the deleterious factors for the performances seemed to be a scanning time to supervise each control panel. Consequently, a new display panel was suggest to reduce operator work load for scanning task showing better operator performance.

• Journal of the Korea Institute of Military Science and Technology
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• v.27 no.2
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• pp.265-276
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• 2024

The future battlefield operation concept does not focus on advanced and complete weapon systems, but requires a new battlefield operation concept that can effectively demonstrate offensive power by combining a large number of low-cost, miniaturized weapons. Recently, research on the autonomous application of major technologies that make up the mission control system is actively underway. However, since the mission control system is still dependent on the operator's operating ability when operating multiple robots, there are limitations to simply applying the automation technology of the existing mission control system. Therefore, we understand how changes in operator capabilities affect multi-robot operation and propose an adaptive mission control architecture design method that supports multi-robot integrated operation by adjusting the level of autonomy of the mission control system according to changes in operator capability.

• Korean Journal of Computational Design and Engineering
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• v.18 no.3
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• pp.155-166
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• 2013

We present recent human-vehicle interaction (HVI) research conducted in the area of defense and military application. Research topics discussed in this paper include: training simulation for overland navigation tasks; expertise effects in overland navigation performance and scan patterns; pilot's perception and confidence on an overland navigation task; effects of UAV (Unmanned Aerial Vehicle) supervisory control on F-18 formation flight performance in a simulator environment; autonomy balancing in a manned-unmanned teaming (MUT) swarm attack, enabling visual detection of IED (Improvised Explosive Device) indicators through Perceptual Learning Assessment and Training; usability test on DaViTo (Data Visualization Tool); and modeling peripheral vision for moving target search and detection. Diverse and leading HVI study in the defense domain suggests future research direction in other HVI emerging areas such as automotive industry and aviation domain.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.17 no.32
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• pp.243-253
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• 1994

Work environments have been changed with the advent of new technologies, such as computer technology. The newer technologies, the more changes in our work conditions. However, human cognitive limits can't keep up with the change of work environments. Mental workload has been an important factors in designing modem work environments such as human-computer interaction. Designing man-machine systems requires knowledge and evaluation of the human cognitive processes which control information flow workload. Futhermore, under an urgent situation, human operator may suffer the work stress, work error, and resultant deleterious work performance. To describe the work performance in the urgent work situations, with time stress and dynamic event occurence, a new concept of information density was introduced. For a series of experiments performed for this study, three independent variables(information amount system processing time, information density) were evaluated using such dependent variables as reaction time, number of error, and number of failure. The results of statistical anlysiss indicate that the amount of information effected on all of five dependent measure. Number of failure and number of secondary task score were effected by both amount of information and operational speed of system, but reaction time of secondary task were effected by both amount of information and information density.

• Proceedings of the Korean Information Science Society Conference
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• 2004.04a
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• pp.736-738
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• 2004

현재 수많은 OPC(OLE Process Control)관련 제품들이 나와 있다. 특히, 클라이언트 제품군 가운데 가장 많이 눈에 띄는 것은 OPC 서버와 통신하여 사용자에게 장비의 정보를 전달하거나 장비를 제어 할 수 있는 OLE(Object Linking and Embedding) 컨트롤(ActiveX 컨트롤)들이다. 하지만. 이러한 OLE 컨트롤을 시스템에 적용하기 위해서는 이를 지원하는 개발 언어와 컴파일러에 대한 프로그래밍적 지식이 필요하다. 이에 본 논문에서는 프로그래밍에 대한 전문적 지식이 없이도 HMI(Human Machine Interface) / SCADA(Supervisory Control and Data Acquisition)와 같은 시스템을 구축할 수 있도록 OLE 컨트롤 컨테이너를 제공함으로써 사용자가 쉽게 디자인할 수 있는 방법을 제시한다. 본 논문에서 제안하고자 하는 OLE 컨트롤 컨테이너는 OLE/COM 기술을 기반으로 하는 OLE 컨트롤을 지원하고 웹으로의 빠른 확장을 위해 설계되었다.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.94-106
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• 2017

Unmanned military vehicles (UMVs) will be increasingly applied to the various military operations. These UMVs are most commonly characterized as dealing with "4D" task - dull, dirty, dangerous and difficult with automations. Although most of the UMVs are designed to a high degree of autonomy, the human operator will still intervene in the robots operation, and tele-operate them to achieve his or her mission. Thus, operator capacity, along with robot autonomy and user interface, is one of the important design factors in the research and development of the UMVs. In this paper, we propose the method to assess the operator capacity of the UMVs. The method is comprised of the 6 steps (problem, assumption, goal function identification, operator task analysis, task modeling & simulation, results and assessment), and herein colored Petri-nets are used for the modeling and simulation. Further, an illustrative example is described at the end of this paper.