• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
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• pp.21-24
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• 2002

There has been a growing need for interaction between human operator and a remote system to perform a complex task in an unpredictable environment and to operate an important work at a remote distance. The interaction becomes an important parameter in the teleautonomous operation because it permits the operator to control the system at remote distance. As the environmental uncertainties to be applied are getting increased, so is the difference between the plan of the operator and the execution of the system increased. Since the operator may be difficult to know the latest information from frequently changing environment due to time-varying delays, remote system may be hard to control in accordance with the operators command. Interactive Teleautonomous Control System (ITCS) is an approach based on interactions at these environments. The ITCS can be regarded as a control system using the transmitted a system's intnetion. The interactive teleautonomous control does not mean the interaction from operators point of view only considering feedback environmental information and forward simulation but an interaction between the operator and the system that transmits or receives intentions. The proposed ITCS is based on the intention communication that transmits their intentions to each other. The ITCS can correctly control the system in accordance with the operator's intention. Using the intention communication, a system intention is helpful to the operator. In the interactive teleautonomous control, the intention communication has to be provided by the interaction between the operator and the system.

• 대한후두음성언어의학회지
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• 제7권1호
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• pp.43-49
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• 1996

In this study, remote articulation training system which connects the hearing disabled trainee and the speech therapist via B-ISDN is introduced. The hearing disabled does not have the hearing feedback of his own pronuciation, and the chance of watching his speech organs movement trajectory will offer him the self-training of articulation. So the system has two purposes of self articulation training and trainer's on-line checking in remote place. We estimate the vocal tract articultory movements from the speech signal using inverse modelling and display the movement trajectoy on the sideview of human face graphically. The trajectories of trainees articulation is displayed along with the reference trajectories, so the trainee can control his articulating to make the two trajectories overlapped. For on-line communication and ckecking training record the system has the function of video conferencing and tranferring articulatory data.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.132.2-132
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• 2001

In this paper, we propose an efficient configuration of a system for the remote control of a mobile robot. The interface has a video feedback and runs in standard web environments. For control servers of mobile robot and CCD camera, we use the environment with embedded web server Specific program has been developed in order to grab the images using Microsoft Visual C++ The external camera sends the video signal to a framegrabber in the PC, then this program grabs the images and puts them in shared memory in BMP format. For a video feedback, we use image feedback based on the client pull technique supported by Netscape and Internet Explorer.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1101-1104
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• 2003

In this paper, we performed the study on the operation characteristics of tele-grasping using the developed experimental system. The experimental system consists of master and slave gripper. and signal processing system. For the stable grasping of an object, this system feedback the normal force obtained from the straingage of the slave gripper to magnetic particle brake of the master gripper through the signal processing system. This experimental system can control the grasping force in remote using the force feedback device. Some experimental results of the-tele-grasping are presented and discussed

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2779-2782
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• 2003

A tole-robot system for remote home-management has been developed. The tele-robot system is composed of a mobile robot system, server-computers and client-computers. The robot system is equipped with wireless camera and wireless controller so that the robot system captures the image remotely User makes the robot control command referring to the image feedback through internet. With such tole-robot system, the user can monitor and watch the inside of home by remotely maneuvering the mobile robot. The user can also save the received image of suspected scene on the client computer. Utilizing such function of tele-robot system, remote home-management and possible crime avoidance could be achieved.

• 제어로봇시스템학회논문지
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• 제17권6호
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• pp.552-557
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• 2011

This paper presents experimental results on the energy-bounding approach to a rate-mode bilateral teleoperation control that can guarantee the robust system stability in variable time-delayed telecommunication environments. Previously, rate-mode energy bounding approach [15] was proposed and verified with experimental results using the simulated remote slave model. In this paper, a real experimental setup using an industrial robot (Denso) as a remote slave robot composed and conducted similar experiments with previous paper. In order to guarantee stability of the Denso when contacting with high impedance wall, velocity based impedance control modified by position based is used. Experimental results show that the rate-mode energy bounding approach can guarantee stable bilateral teleoperation system in the free and contact motion with variable time delay.

• 대한전기학회논문지
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• 제41권7호
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• pp.694-700
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• 1992

The digital computer control systems which are used in time sharing control or remote control may experience intermittent interruptions. Further it can be made unstable by the intermittent interruptions of a control computer. This paper presents a mathematical model with intermittent computer interruptions and an unstable output response through simulation. Also it presents to improve the control quality using extrapolation method in interrupt synchronizing feedback path.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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• pp.437-440
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• 2003

Recently, the study on the design of NCS(Network Control System) using Ethernet is being rapidly progressed. NCS can be extensively applied in manufacturing automation, office automation, home automation, remote control and ect. A merit of NCS on based Ethernet is to make good use of advanced Internet environment and to apply a application of abundant TCP/IP upper layer to NCS. The purpose of this paper is to control a speed of DC-motor using NCS on based Ethernet. The control system is divided into a server part and a client part. A server transfers a value of reference speed of a DC-motor. A client receives a output signal of DC-motor and a reference input obtained from the server. A client computes a error of two signals and then makes a control input. The control input is transferred to a actuator In this pater, A controller uses a classical control using a general feedback. In this paper, a viewpoint is to compare performance of NCS with performance of a classical control and to analyze the cause of that.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.119.1-119
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• 2001

Teleoperation enables an operator to manipulate remote objects. One of the main goals in teleoperation researches is to provide the operator with the feeling of the telepresence, being present at the remote site. For these purposes, a master robot must be designed as a bilateral control system that can transmit position/force information to a slave robot and feedback the interaction force. A newly proposed impedance algorithm is applied for the control of a haptic interface that was developed as a master robot. With the movements of the haptic interface for position/for co commands, impedance parameters are varying always. When the impedance parameters between an operator and ...

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2019년도 춘계학술대회
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• pp.111-114
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• 2019

This paper intends to implement a software that controls TurtleBot 2 remotely. The moving of the robot TurtleBot 2 can be controlled using command control based on Windows 10 IoT core instead of the Robot Operating System (ROS). The implemented software allows the user to move remotely TurtleBot 2 in any specified direction and perform the monitoring such as reading feedback data from the robot. Through TCP/IP and serial communication technology, TurtleBot 2 can successfully receive command control and send feedback to the user. Using C# programming language, two Universal Windows Platform apps (client app and server app) have been implemented to allow communication between the user and TurtleBot 2. The result of this implementation has been verified and tested in an indoor platform.