• Journal of Electrical Engineering and Technology
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• 제8권3호
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• pp.613-620
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• 2013

A new remote control algorithm for a mobile robot is proposed, where a remote controller consists of a camera and inertial sensors. Initially the relative position and orientation of a robot is estimated by capturing four circle landmarks on the plate of the robot. When the remote controller moves to point to the destination, the camera pointing trajectory is estimated using an inertial navigation algorithm. The destination is transmitted wirelessly to the robot and then the robot is controlled to move to the destination. A quick movement of the remote controller is possible since the destination is estimated using inertial sensors. Also unlike the vision only control, the robot can be out of camera's range of view.

• Nuclear Engineering and Technology
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• 제50권4호
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• pp.613-618
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• 2018

We are developing a shared remote control mobile robot for aerial work in nuclear power plants (NPPs); a robot consists of a mobile platform, a telescopic mast, and a dual-arm slave with a working tool. It is used at a high location operating the manual operation mechanism of a fuel changer of a heavy water NPP. The robot system can cut/weld a pipe remotely in the case of an emergency or during the dismantling of the NPP. Owing to the challenging control mission considering limited human operator cognitive capability, some remote tasks require a shared control scheme, which demands systematic software design and integration. Therefore, we designed the architecture of the software systematically.

• 드라이브 ㆍ 컨트롤
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• 제17권4호
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• pp.103-112
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• 2020

Field robots are used in various fields, such as agriculture, forestry, manufacturing, and construction; their use has recently expanded to include submarine areas. Field robots can aid in various tasks, such as soil transport, ground clearance, and dismantling of buildings. As field robots are used in a variety of different areas, the difficulty of the work is also quite varied. Increased difficulty is associated with an increased risk of accidents involving the field robot. In order to reduce the accident rate of field robot workers, the need for digitalization and automation of field robots is becoming more of an issue. To this end, it is necessary to study a system that enables workers to do their work without directly contacting a field robot. Therefore, in this paper, we introduce a control system for wireless remote control of a small field robot. The field robot can be wirelessly controlled by a worker in a remote location if the worker cannot be present at the work site. The implemented remote system is tested according to the type of work, and the operating characteristics of the remote system are assessed.

• 정보학연구
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• 제4권1호
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• pp.9-22
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• 2001

본 논문에서는 웹브라우저를 이용하여 로봇을 원격 제어한다. 4대의 독립된 PC를 사용하여 자각의 기능을 분리하고 상호 연동하는 구조로 PC를 연결하였다. 조작자가 시간과 장소에 제약받지 않고 웹브라우저를 이용하여 제어값을 입력하면 제어값은 웹 서버를 거쳐 데이터베이스에 저장된다. 로봇과 연결된 PC는 데이터베이스에서 1ms 간격으로 제어값을 입력받아 제어값의 변화가 있을 경우만 제어값의 변화량으로 로봇이 동작한다. 스텝모터를 이용하여 간단한 로봇을 제작하고 이를 웹 브라우저를 이용하여 실제 동작시킨다. 조작자가 원하는 제어값이 최종 수신단의 로봇에 제대로 전달되어 동작하는지 확인하고 웹브라우저를 이용한 로봇제어의 가능성을 확인하였다

• 정보통신설비학회논문지
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• 제10권2호
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• pp.62-67
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• 2011

Embedded device that can support mobile computing environment has been popular recently. In this study, we propose a new robot application based on embedded device to control a mobile robot using a touch-based remote interface with information display of robot trajectory and sensors. We developed the robot application using Microsoft's.Net Compact Framework and Zigbee data communication with Windows CE kernel based embedded device. In experiment, we evaluated the feasibility and the effectiveness of the proposed system by showing a remote robot control using touch interface and a information display of the robot.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.737-741
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• 2004

A mobile robot system is developed which is remotely controlled by a haptic master called ‘PHANTOM’. The mobile robot has 4 ultrasonic sensors and single CCD camera which detects the distance from a mobile robot to obstacles in the environment and sends this information to a haptic master. For more convenient remote control, haptic rendering process is performed like viscosity forces and obstacle avoidance forces. In order to show the effectiveness of the developed system, we experiment that the mobile robot runs through the maze and the time is checked to complete the path of the maze with/without the haptic information. Through this repeated experiments, haptic information proves to be useful for remote control of a mobile robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.776-778
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• 1997

We propose a remote controller for a SCARA typed direct drive manipulator with two degrees-of-freedom(DOF). A remote controller system for SCARA robot of DDA is designed using a 2 DSP (TMS320c31) board and Winsock(Internet program class library supplied by Microsoft). The design objective of the system is to implement real time dynamic control algorithms which have been tested only by simulations so far and remote control regardless of the distance between user and robot. Because this system runs on Win95, we developed a VxD program to communicate with DSP controller.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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• pp.2693-2695
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• 2005

In this paper, we developed a more efficient system for the remote control and monitoring of a wheeled mobile robot using internet without spatial limitation. The hardware configuration of the remote control system for a wheeled mobile robot includes a client PC executed on the remote site, a embedded web-server and a mobile robot with many measuring equipments. The communication between a client PC and a embedded web-server is implemented through internet. And the Bluetooth module is used for connecting a embedded web-server and a mobile robot. A GUI program has been developed by using JavaScript in order to easily control a mobile robot on a client PC.

• 로봇학회논문지
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• 제5권3호
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• pp.209-215
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• 2010

This paper presents a graphic user interface system consisting of graphic simulator and remote control system for a building cleaning robot. It provides a tool of convenient 3D graphical map construction for real world. The 3D map is reconstructed from existing 2D building CAD data with DXF format by using OpenGL graphic API. Through this system, graphic display of robot's status information, remote control and cleaning scheduling can be done for a building cleaning robot. This proposed system is expected to give efficient way of graphic simulation and remote monitoring and control system for a building cleaning robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.45-45
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• 2000

This paper proposes a remote control system that combines computer network and an autonomous mobile robot. We control remotely an autonomous mobile robot with vision via the internet to guide it under unknown environments in the real time. The main feature of this system is that local operators need a World Wide Web browser and a computer connected to the internet communication network and so they can command the robot in a remote location through our Home Page. The hardware architecture of this system consists of an autonomous mobile robot, workstation, and local computers. The software architecture of this system includes the server part for communication between user and robot and the client part for the user interface and a robot control system. The server and client parts are developed using Java language which is suitable to internet application and supports multi-platform. Furthermore, this system offers an image compression method using motion JPEG concept which reduces large time delay that occurs in network during image transmission.