• ICROS
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• v.2 no.5
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• pp.17-25
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• 1996

본 기고에서는 원자력용 원격매니퓰레이터의 세계적인 개발 동향, 이들 매니퓰레이터의 원자력용으로서의 구비조건과 원자력 산업에의 적용 분야를 기술하였다.

• ICROS
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• v.6 no.6
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• pp.21-26
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• 2000

• Journal of the Korea Society of Computer and Information
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• v.20 no.4
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• pp.33-40
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• 2015

This paper presents the design and implementation of the educational remote controlled robot system including remote sensing in the embedded environment. The design of sensing information processing, software design and template design mechanism for the programming practice are introduced. LPC1769 using Cortex-M3 core as CPU, LPCXPRESSO as debugging environment, C language as firmware development language and FreeRTOS as OS are used in development environment. The control command is received via RF communication by the server and the robot system which is operated by driving the various sensors. The educational procedure is from robot demo operation program as hands-on practice and then compiling, loading of the basic robot operation program, already supplied. Thereafter the verification is checked by using the basic robot operation to allow demo operation such as hands-on-training procedure. The original protocol is designed via RF communication between server and robot system, and the satisfied performance result is presented by analyzing the robot sensing data processing.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.5
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• pp.93-98
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• 2011

In this paper, we propose the surveillance and combat robot framework for remote monitoring and robot control on the smart phone, which is implemented with the fusion technology called RITS(Robot technology & Information Technology System). In our implemented system, the camera phone mounted on the robot generates signals to control the robot and sends images to the smart phone of the operator. Therefore, we can monitor the surrounding area of the robot with the smart phone. Besides the control of the movement of the robot, we can fire the weapons armed on the robot by sending the fire command. From experimental results, we can conclude that it's possible to control the robot and monitor the surrounding area of the robot and fire the weapons in real time in the region where the 3G(Generation) mobile communication is possible. In addition, we controlled the robot using the 2G mobile communication or wired phone when the robot is in the visual range.

• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.1038-1041
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• 2015

본 연구에서는 개인 서비스 로봇에서 한 단계 더 발전시켜 사용자와 소통이 가능한 로봇을 개발하여, 사용자에게 편리함을 제공할 뿐만 아니라 동반자와 같은 개인 친화적 로봇을 개발하고자 한다. 스마트 벗(Smart Bot)은 안드로이드 어플리케이션으로 로봇의 움직임 및 커뮤니케이션을 제어하며, 현재 사용중인 스마트폰과 다른 스마트폰 두 대의 스마트폰만 있으면 누구나 사용가능 하다. 스마트 벗에 스마트폰을 도킹하면 어플리케이션이 실행되며, 로봇에 부착된 아두이노와 스마트폰이 시리얼 통신을 하게 된다. 그러면 각 쓰레드가 시작되어 영상전송서버, 원격제어, 얼굴인식, 음성인식을 멀티 쓰레드로 동작시킨다. 각 기능의 쓰레드 간의 통신과 쓰레드 주기설정은 메인 쓰레드의 Handler 객체의 Message로 통신 및 제어를 하며, 원격제어 및 영상전송의 경우 다른 스마트폰의 Remote 어플리케이션을 통해 해당 로봇에 접속하게 된다. 이 때, 해당 영상 및 제어 전송/수신 통신은 스마트폰의 WIFI 기능을 통한 TCP/IP 프로토콜을 통해 전송/수신된다. 로봇에 안드로이드 스마트폰을 결합하여 스마트폰 보유자라면 누구나 로봇을 이용할 수 있고, 연령층과 성별의 구분 없이 각 사람들의 생활 속에서 활용할 수 있는 다양한 기능을 통해 일상생활 속에서 로봇의 활용성을 증대시키고자 하였다.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.5
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• pp.525-532
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• 2004

Telemanipulator is distingushed from industrial robot by iterating same specified work. Manipulator operator is included in control loop for controlling the telemanipulator because he decide directly during the work and order controllabily. We implement fuzzy controller for reducing the modelling error of telemanipulator which depend on the PID controller. But position-force control method of bidirectional control impose unsafety of vibiration and Analytic Hierchy method can stabilize for reducing nonlinear modelling error by expert operator because of transformation empirical control rule to linear model.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2377-2379
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• 2001

본 논문에서는 인터넷 기반의 이동로봇의 원격제어를 위한 시스템의 효율적인 구성을 제안하고 구현한다. 구현된 원격제어 시스템의 인터페이스로 일반적인 웹 브라우저를 사용하며, 이동로봇의 제어용 서버와 이동로봇의 감시용으로 외부에 설치된 CCD 카메라 제어용 서버의 효율적인 구성을 위해, 기존의 Unix나 PC상에서 구현되었던 제어용 서버를 내장형 웹 서버로 대체한다. 외부에 설치된 CCD 카메라의 영상은 프레임 그래버로 전송되며 전송된 영상은 Microsoft Visual C++ 프로그램 언어를 사용하여 할당된 메모리에 저장한다. 저장된 영상은 클라이언트 풀 기술(client pull technique)을 이용하여 웹 브라우저를 통해 직접 보여줌으로써 현장의 실시간 감시가 가능하도록 한다.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.10 no.4
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• pp.91-97
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• 2010

This paper describes a development of an network based remote surveillance system using omni-directional mobile robot. the proposed surveillance system can control a mobile robot to move and examines the given place closely while the conventional surveillance system uses a fixed camera. The mobile robot in the proposed system has three omni-directional wheels to move to any given direction freely. We also developed the proposed system as robot services using Microsoft's MSRDS for a user to control the mobile robot and monitor the remote scene captured from the robot. Finally we verified the feasibility and effectiveness of the proposed system by conducting the remote operating the mobile robot and monitoring experiments in a networked environment. We also conducted a color based object detection and motion detection on image sequences acquired from a remote mobile robot in an another PC in a network environment.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.1
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• pp.159-165
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• 2010

The moving object monitoring and transforming personal robot system based on remote controls is designed and implemented, and the performance of the system is analyzed in this paper. The major considering factors in the system design are such as 1) the control scheme design (button based and the remote control schemes); 2) the operation modes design (wheel driving mode/pedestrian mode/auto driving mode/observation mode); 3) the remote control function design; 4) the design of the monitoring function of the changes in neighbor environments; 5) the design of the detection of obstruction. From the experiments, it is assured that the developed personal robot can walk to the grounds that covered with doorsill or electric wires in indoors by control the leg articulations, and can escape from the obstruction using three infrared sensors in the 30cm*30cm obstruction styled space under the auto driving mode.

• Proceedings of the Korea Contents Association Conference
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• 2006.05a
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• pp.136-139
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• 2006

In this paper, We are proposed the real-time monitor and control mechanism for intelligent robot called URC(Ubiquitous Robotic Companion). URC are intelligent robots designed as to interact with external digital device that can communicate through wire or wireless by integration the network and information technology into traditional robot. In this paper, we implemented the result of this study into the target robot called ISSAC4 and proved its practical worth. We designed it as be able to control on remote by such web browser as anywhere and anytime that show a status information for several controllers, devices, actuators and sensors of robot and guarantee a continuity of real-time image transferring by Client-Pull method and moving control of robot.