• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.5
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• pp.891-898
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• 2001

This paper develops a master manipulator which can reflect a force from a slave manipulator effectively. It many have a big workspace, can represent a human operators manipulation perfectly, and is composed of a position control part, an orientation control part and an end effector control part. This paper also develops a graphic simulator using the Visual C++ and OpenGL in the Window operating system. It can be used to make a virtual slave manipulator and set a virtual working environment, and provide a visual information from a desired view point. A virtual teleoperation system is developed by connecting the developed master manipulator to the graphic simulator using an interfacing hardware bilaterally. It is used for performing a virtual object exploration experiment. In the experiment, two virtual objects are used. They are virtual wall and virtual hexahedron which have 0.7N/mm and 2.2 N/mm stiffness respectively. The experiments are performed under six different working conditions. The experiment results will show the effectiveness of the reflected force from the slave manipulator for improving the efficiency and stability of the teleoperation task.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.45-51
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• 2009

In this paper, a transparency analysis and network-adaptive transport scheme are proposed in order to improve transparency of EBA-based force-reflecting teleoperation. EBA guarantees stability of force-reflecting teleoperation over network delay and loss but has limitation that it cannot overcome transparency deterioration of haptic interactions. The proposed transparency analysis quantifies the force feedback distortion caused by network delay and loss. Based on the analysis, the proposed haptic data synchronization and transmission rate control schemes adapt synchronization delay and transmission rate to current network state for more transparent haptic interaction. Through Matlab/Simulink simulations, it is confirmed that the proposed analysis provides an acceptable quantification method about haptic interaction quality and that the proposed haptic data transport scheme effectively improves haptic interaction quality with respect to network delays and losses.

• Proceedings of the Korean Nuclear Society Conference
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• 2002.10a
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• pp.89.1-89
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• 2002

• Proceedings of the Korean Nuclear Society Conference
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• 2003.10a
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• pp.227.1-227.1
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• 2003

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.850-855
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• 1991

In this paper, neural network-based compliance control of telerobot is presented, This is a method to learn the compliance of human behavior and control telerobot using learned compliance. The consistency of human behavior is checked using Lipschitz's condition. The neural compliance model is composed of a multi-layered neural network which mimics the compliant notion of the human operator. The effectiveness of proposed scheme ie verified by a simulation study.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.377-381
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• 1990

In this paper, the stability analysis for the bilateral control of tele-manipulator is considered. Two-port network model is used to describe the tele-manipulator system. The stable conditions are derived using impedance matrix and passive network theory for two different types of bilateral control scheme. It is also shown that such conditions can be succefully applied to the n-d.o.f tele-manipulator system in which the kinematics and dynamics of master and slave manipulators are different.

• ICROS
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• v.17 no.2
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• pp.27-35
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• 2011

This paper presents the state of the art of control strategies for bilateral teleoperation systems under time delays. In the bilateral teleoperation that has force feedback, the time delay in the communication channel is the main source of instability. To cope with this problem. a number of control methods have been proposed. Among many control strategies. key aspects of the recent passivity-based methods are mainly summarized for approaches with wave variables. PO/PC (passivity observer/passivity controller), simple PD, and energy bounds.

• Journal of the Korea Convergence Society
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• v.13 no.4
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• pp.137-145
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• 2022

The usability evaluation of the remote fluid monitoring device, which was introduced to reduce the work of nurses and increase the efficiency, was performed due to the expansion of the non-face-to-face medical system. Remote fluid monitoring is a fusion of various technologies such as fluid measurement and analysis, error correction technology, and transmission technology. The range of use by users, the information they want to obtain, and the control device, etc. are wide, and the factors that evaluate the product are also diverse. Therefore, it is difficult to improve the product through evaluation. In this study, a quantitative index was developed to help improve the product for commercialization by conducting 20 usability evaluations in three areas of product stability, operability, and satisfaction with the remote sap monitoring system device. It was performed through infrared and load cell-type sap monitoring devices. In terms of stability, there was a difference in installation work such as fixing the pole of the device, and high satisfaction was shown for operability and accuracy. In terms of product satisfaction, the satisfaction of load cell devices was generally high.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.36 no.3
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• pp.157-165
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• 2000

A small hydraulic winch system with an automatic tension control unit was designed to improve the work efficiency of coastal small vessels and the dynamic response characteristics of the winch system operated in the open loop condition was investigated. The inlet and the outlet pressures in hydraulic motor, the torque and the rotating speed of winch drum were measured as a function of time, and the behaviour in autotension mode for stepped load changes was analyzed. The results obtained are summarized as follows : 1. The developed winch system for coastal small vessels will result in better fishing with improved efficiency and lower manpower consumption by remote control of winch system. 2. The rotating delay times of winch drum for on/off operations of solenoid valve were 0.09 see at CW mode and 0.04 sec at CCW mode, respectively. After the solenoid valve was controlled, response characteristics were unstable slightly but showed good tracking behaviour over short time. 3. The driving torque of winch system in autotension mode was kept almost constant of 55.9 kgf·m, and 11.1 then the rotating speed of winch drum was kept almost constant of 5.1 rpm in the larger torque than 55.9 kgf·m and 11.1 rpm in the lower torque than that. 4. The 5% settling times in the transient response characteristics of autotension mode under rapid increasing and decreasing conditions of load were 0.12 sec and 0.2 sec, respectively, and then the rotating speeds were 11 rpm and 5.3 rpm, respectively. 5. The tracking behaviour of torque and rotating speed by remote control operation were stable within 0.23 sec at CW mode and 0.37 sec at CCW mode, respectively.

• Proceedings of the Korean Society of Computer Information Conference
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• 2021.07a
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• pp.485-486
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• 2021

항공기에는 많은 시스템이 있고 다양한 장치들이 있다. 이 장치들은 사용자의 명령을 입력받아 사용되는데 자동을 제외한 거의 모든 시스템들은 사용자의 직접적인 조작으로 작동된다. 하지만 여전히 완전 자동화는 되지 않아 사소하고 섬세한 부분에서 조종사는 수동으로 작동시켜 주어야하는 부분들이 있다. 사소한 부분들을 신경써야 하기에 조종사에게 피로는 필수적을 따라왔다. 본 연구에선 현재의 기술에서 더 나아가 음성인식(STT, TTS)을 활용하여 항공기의 다양한 장치들을 원격제어할 수 있게 개발하여 완전 자동화를 목적으로 한다. 음성을 이용한 방식은 조종사에게 손을 사용하지 않는 편리함을 제공한다. 조종사에게 원거리에서 음성으로 조작할 수 있게 해줌으로써 손을 사용하여 조작하지 않아 편의성을 제공할 수 있고 명령을 통해 컴퓨터가 처리함으로써 조종이 간단해진다. 본 연구로 인해 사소한 부분까지 신경쓸 필요가 없어져 조종사의 실수나 피로로인해 일어나는 사고를 방지할 수 있다.