• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2002.12a
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• pp.98-101
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• 2002

기존의 이동로봇 시스템은 완전한 자율주행이 주된 목표였으며 이때 영상정보는 단지 모니터링을 하는 보조적인 수단으로 사용되었다. 이에 따라 이동로봇의 자체 기능이 점차 고도화되는 방향으로 연구가 진행되었고, 제작비 또한 함께 상승하게 되었다. 그러나 구동만이 목적인 저렴한 이동로봇 시스템을 조작자가 원격 제어하는 것 또한 중요한 분야 중 하나이다. 이때 원격제어에 사용되는 신호로는 카메라에 의한 영상정보와 초음파 센서 등에 의한 거리정보를 주로 사용하게 된다. 그러나 영상정보는 3차원의 입체적 정보를 제공하는 데에는 부적절하기 때문에 초음파 센서를 이용한 거리정보가 매우 유용하게 된다. 본 논문에서는 초음파 센서의 정보를 이용한 원격제어용 힘 반향 조이스틱을 개발하였다. 힘 반향 알고리즘은 하나의 식으로 표현하기 곤란하므로 전문가 시스템의 구현이 매우 필요한 분야이다. 따라서 퍼지 논리를 사용하여 생성한 힘 반향 알고리즘을 이동로봇 원격제어에 사용함으로써 조작자가 이동로봇 주변환경을 쉽게 인식하여 이동로봇을 안전하게 주행할 수 있도록 하였다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2023.01a
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• pp.333-334
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• 2023

비행시뮬레이터는 ICT 및 SW 응용분야에 속하는 기술로 항공기의 환경을 재현하는 시뮬레이션 환경을 제공한다. 시뮬레이터의 조종 장치인 일반적인 조이스틱을 대체한 기존 VR장비의 컨트롤러는 허공에 들고 조종하므로 정확하고 정교한 실제 항공기 조종에 사용하기에는 많은 문제점이 있다. 본 연구에서는 비행시뮬레이터와 VR분야에서 사용될 수 있는 가속도 센서와 진동 센서를 적용한 3D 조이스틱을 제안한다. 이를 위하여 3축 센싱과 정보를 표시하는 디스플레이 및 와이파이 통신을 위한 보드를 설계하고 유니티 기반의 가상 환경을 구현하여 적용 가능성을 확인하였다. 정상적으로 통신 인터페이스를 통하여 조종 장치가 동작하였고 게임 및 구현된 보드에서 확인한 센싱값이 일치함을 확인하였다. 연구의 결과물은 비행시뮬레이터 외에도 VR 및 다양한 메타버스 관련 콘텐츠에 사용될 수 있을 것으로 판단한다.

• Journal of the Ergonomics Society of Korea
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• v.31 no.2
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• pp.319-325
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• 2012

Objective: The aim of this study was to develop the assistive device for accelerator and brake pedals using bio-signals from the prefrontal lobe in the driving simulator and evaluate its performance. Background: There is lack of assistive devices for the driving in peoples with disabilities in Korea. However, if bio-signals and/or brain waves are used at driving a car, the people with serious physical limitations can improve their community mobility. Method: 15 subjects with driver's license participated in this study for experiment of driving performance evaluation in the simulator. Each subject drove the simulator the same course 10 times in three separated groups which use different interface controllers to accelerate and brake: (1) conventional pedal group, (2) joystick group and (3) bio-signal group(horizontal quick glance of the eyes and clench teeth). All experiments were recorded and the driving performances were evaluated by three inspectors. Results: Average score of bio-signal group for the driving in the simulator was increased 3% compared with the pedal group and was increased 9% compared with the joystick group(p<0.01). The subjects using bio-signals was decreased 44% in number of deduction compared with others because the device had the built-in modified cruise control. Conclusion: The assistive device for accelerator and brake pedals using bio-signals showed significantly better performance than using general pedal and a joystick interface(p<0.01). Application: This study can be used to design adaptive vehicle for driving in people with disabilities.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.1
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• pp.51-56
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• 2003

The main goal of existing mobile robot system was a complete autonomous navigation and the vision information was just used as an assistant way such as monitoring For this reason, the researches have been going towards sophistication of autonomousness gradually and the production costs also has been risen. However, it is also important to control remotely an inexpensive mobile robot system which has no intelligence at all. Such systems may be much more effective than fully autonomous systems in practice. Visual information from a simple camera and distance information from ultrasonic sensors are used for this system. Collision avoidance becomes the most important problem for this system. In this paper, we developed a force feedback joystick to control the robot system remotely with collision avoiding capability. Fuzzy logic is used for the algorithm in order to implement the expert s knowledge intelligently. Some experimental results show the force feedback joystick werks very well.

• Journal of Drive and Control
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• v.17 no.3
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• pp.33-46
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• 2020

We introduce a piece of special-purpose equipment for responding to disasters that has a dual-arm manipulator consisting of six-axis multi joints, and a master-slave operating system controlled by a wearable joystick for intuitive and convenient operation. However, due to the complexity and diversity of a disaster environment, training and suitable training means are needed to improve the interaction between the driver and equipment. Therefore, in this paper, a system that can improve the operator's immersion in the training simulation is proposes, this system is implemented in a virtual environment. The implemented system consists of a cabin installed with the master-slave operation system, a motion platform, visual and sound systems, as well as a real-time simulation device. This whole system was completed by applying various techniques such as a statistical mapping method, inverse kinematics, and a real-time physical model. Then, the implemented system was evaluated from a point of view of the appropriateness of the mapping method, inverse kinematics, the feasibility for real-time simulations of the physical environment through some task mode.

• Journal of the Korea Society of Computer and Information
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• v.28 no.8
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• pp.111-118
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• 2023

In this paper, we propose a WiFi-based joystick with an acceleration sensor and a vibration sensor that can be used in flight simulators and VR fields. The flight simulator is a technology belonging to the ICT and SW application field and provides a simulation environment that reproduces the aircraft environment. Existing flight simulator control devices are fixed to a specific device and the user's activity area is limited. In this paper, a 3D space manipulation device was implemented for the user's free use of space. In addition, the proposed control device is designed as a WiFi communication board and display that displays information and performs 3-axis sensing for accurate and sophisticated control compared to existing VR equipment controllers. And the applicability was confirmed by implementing a Unity-based virtual environment. As a result of the implementation device verification, it was confirmed that the control device operates normally through the communication interface, It was confirmed that the sensing values in the game and the sensing values measured on the implemented board matched each other. The results of this study can be used for VR and various metaverse related contents in addition to flight simulators.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.361-362
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.363-364
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• 2009

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.235-235
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• 2000

This paper proposes a tole force feedback control through internet systems. The system consists of joystick, solver, client, robot, and internet. The main contribution of this work is the implementation of the system rather than theoretical analysis. The time delay problems will be considered next step.

• Journal of Drive and Control
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• v.17 no.2
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• pp.45-54
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• 2020

The IMV is a combination of four two-way valve systems which replace a conventional four-way spool valve to improve efficiency mostly in excavator hydraulics. As the environmental regulations for construction equipment have tightened, some overseas advanced companies have released commercial excavators in which the MCV is implemented with the IMVs. Development of the IMV type MCV relies on the control algorithm as well as the robust performance of proportional flow control valves. In this study, the IMV controller was designed and verified with experiments for the excavator working unit, which determines the IMV mode of operation and the extent of the valve opening in consideration of the load conditions on hydraulic actuators. First, the open-loop controller was designed with a joystick command vs. a PSV reference current map comprising several control parameters in to compensate for the different flow characteristics and non-linearities of two-way flow control valves. Second, the closed-loop controller was designed with the PI control fed by the actuator displacement and outputs actuator percent effort equivalent to the operator's joystick command. Finally, the performance of the IMV type MCV was verified with the trajectory control of position references derived from the energy consumption test standard. Experimental results showed the control performance of the IMV developed in this study, and suggest that future studies to be conducted to advance technical progress.