• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.1167-1168
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• 2011

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2481-2485
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• 2003

In this paper novel concept of real reality robot game controlled by a mobile server robot is proposed. Real reality robot game means that two real robots controlled by two human operator through the internet are playing a boxing game. The mobile server robot captures playing images of the boxing game and send them to GUI on the screen of human operators’ PC. The human operator can login to boxing game from any computer in any place if he/she is permitted. Remote control of boxing robot by a motion capture system through network is implemented. Successful motion control of a boxing robot remotely controlled by a motion capture system through network can be achieved.

• 제어로봇시스템학회논문지
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• 제11권12호
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• pp.977-983
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• 2005

In this paper, novel ubiquitous concept of real reality robot game controlled by a mobile server robot is proposed. Real reality robot game means that two real robots controlled by humans/computers through the internet are playing a boxing game. The mobile server robot captures playing images of the boxing game and sends them to GUI on the screen of human operators' PC. The human operator can login to the boxing game from any computer in any place if he/she is permitted. Remote control of a boxing robot by a motion capture system through network is implemented. Successful motion control of a boxing robot remotely controlled by a motion capture system through network can be achieved. In addition, real boxing games between a human and a computer are demonstrated.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.386-390
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• 1998

A master-slave system is proposed as a teaching device for a dual arm robot. The slave robots are remotely controlled by two delta-type master arms. In order to help the operator to observe the target object from the desired position and desired direction, cameras are mounted on a specialized manipulator, Movements of two slave arms are coordinated with that of the cameras. Due to this coordinated movements, the operator needs not to care the geometrical relation between the cameras and the slave robots.

• 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.

• 한국항행학회논문지
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• 제27권1호
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• pp.139-145
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• 2023

의사가 병원에서 환자를 진찰할 때 의사는 환자의 상태를 직접 확인하고 환자와의 대화를 통해 대면 진단을 한다. 그러나 의사가 환자를 직접 진료하기 어려운 경우가 많다. 최근에는 여러 유형의 원격 의료 시스템이 개발되었다. 그러나 현존하는 많은 시스템이 심장질환, 목상태, 피부상태, 귀의 내부상태 등을 관찰할 수 있는 능력이 부족하다. 이러한 문제를 해결하기 위하여 본 논문에서는 환자의 육안 검사와 청진이 가능하도록 실내에서 자율주행이 가능한 대화형 원격진료 로봇 시스템을 개발한다. 개발된 로봇은 WebRTC 플랫폼을 통해 원격 제어가 가능하도록 다관절 로봇팔을 이용해 의사의 관찰 하에 환자에게 다가가 환자의 상태를 확인할 수 있다. 환자로부터 원격으로 얻은 영상 정보, 음성 정보, 환자의 심음 및 기타 데이터를 WebRTC 플랫폼을 통해 의사에게 전송할 수 있다. 개발된 시스템은 의사가 참석할 수 없는 다양한 장소에 적용이 가능하다.

• 로봇학회논문지
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• 제17권2호
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• pp.118-123
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• 2022

We implemented a real-time cloud robotics application by offloading robot navigation engine over to 5G Mobile Edge Computing (MEC) sever. We also ran a fleet management system (FMS) in the server and controlled the movements of multiple robots at the same time. The mobile robots under the test were connected to the server through 5G SA network. Public 5G network, which is already commercialized, has been temporarily modified to support this validation by the network operator. Robot engines are containerized based on micro-service architecture and have been deployed using Kubernetes - a container orchestration tool. We successfully demonstrated that mobile robots are able to avoid obstacles in real-time when the engines are remotely running in 5G MEC server. Test results are compared with 5G Public Cloud and 4G (LTE) Public Cloud as well.

• Journal of Positioning, Navigation, and Timing
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• 제12권1호
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• pp.67-73
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• 2023

As interest in underwater structures and ocean exploration increases, many researchers are proposing methods for modeling and controlling various remotely operated vehicles (ROVs). Recently, hybrid systems composed of an autonomous underwater vehicle and an ROV capable of remote control and autonomous navigation are being developed. In this study we introduce a method that models Ariari-aROV, an ROV consisting of five thrusters, and performs navigation. The proposed ROV can be controlled manually and by autonomous navigation when given a target point. An extended Kalman filter is utilized for sensor measurement correction for more precise navigation. The proposed method is verified through a simulation.

• 로봇학회논문지
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• 제16권3호
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• pp.199-206
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• 2021

The robot is an effective means to perform repetitive tasks quickly and accurately. It could be more effective in dangerous environments where human is difficult to access. The construction site is a dangerous environment with a high possibility of industrial accidents where heavy work is frequently carried out at a high place. In particular, an accident in the construction site is highly likely to lead to a severe disaster. Of course, various technologies are being developed to monitor the safety of workers in construction sites and prevent accidents, but there is a limit to eliminate the risk of accidents. Therefore, it is necessary to make efforts to replace workers exposed to dangerous environments with equipment or robots that could be controlled remotely in a more active way. In this study, Remote Precise Installation System was proposed to replace the workers exposed to the risk of accident at a high place during the bridge construction. Also, the conceptual design and analytical reviews of this system were carried out. Suppose Remote Precise Installation System is developed according to the derived concept and the target performance. In that case, this system is expected to be applied as a technology that can effectively replace the workers at the bridge construction site.