• 대한전기학회논문지:시스템및제어부문D
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• 제53권4호
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• pp.235-245
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• 2004

In this paper, fault tolerant mechanisms are presented for a servo manipulator system designed to operate in a hot cell. A hot cell is a sealed and shielded room to handle radioactive materials, and it is dangerous for people to work in the hot cell. So, remote operations are necessary to handle the radioactive materials in the hot cell. KAERI has developed a servo manipulator system to perform such remote operations. However, since electric components such as servo motors may fail by radiation, fault tolerant mechanisms have to be considered. For fault tolerance of the servo manipulator system, duplication mechanism increasing the reliability of the transport's driving motors and reconfiguration algorithm accommodating the slave's motor failure have been presented. The reconfiguration algorithm recovering the end effector's motion in spite of one motor's failure is based on control allocation redistributing redundant axes. The constrained optimization method and pseudo inverse method have been adopted for control allocation. Simulation examples and real test results have been presented to verify the Proposed methods.

• 한국전자통신학회논문지
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• 제6권2호
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• pp.325-329
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• 2011

외부 입력, 마이크, CD와 MP3 및 라디오 기능 등을 일체형으로 통합하고 소형화한 전관 방송 시스템을 개발하고 있다. 본 논문에서는 개발중인 시스템이 중앙 집중 제어가 가능하도록 운용 MICOM을 개발한다. 중앙 집중 제어를 수행하기 위해 운용 MICOM은 제어 계층, 처리 계층 및 사용자 인터페이스 계층인 3계층으로 구성된다. 제어 계층은 각종 기기들을 제어하고, 처리 계층은 음성, 소리 데이터 편집 및 기기의 제어 신호 및 상태 정보를 처리한다. 그리고 사용자 인터페이스 계층에서는 사용자가 기기 제어 및 데이터 처리를 효율적으로 할 수 있도록 도와주는 계층이다. 중앙 집중 제어는 원격 조종 장치(remote control)를 통해서 이루어진다.

• 전자공학회논문지CI
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• 제40권4호
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• pp.222-231
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• 2003

디지털기술과 반도체기술의 발전은 모든 전자제품의 발전을 가지고 왔다. 특히 이동 통신과 컴퓨터의 발전은 전자제품은 물론이고 가전제품까지도 네트워크화와 고성능화를 가져오게 하였다 따라서 기존의 전자제품들이 단순제어와 독자적인 동작에서 벗어나서 복잡한 제어와 네트워크에 접속이 되며, 원격으로 조종되는 기능이 추가가 되어지고 있다. 따라서 내장형 기기(Embedded System)는 예전의 단일 Task의 단순 루프 제어 방식과는 달리 다중 Task의 실시간 처리가 필요하게 되었다. 이에 따라서 중·소형 기기에도 실시간 운영체제의 필요성이 대두되고 있다. 본 논문에서는 소형 내장형 기기를 위한 실시간 운영체제를 설계하고 구현하였다. 소형 내장형 기기는 자원과 CPU의 성능에서 한계가 있기 때문에 기존의 상업용 운영체제의 기능 중에서 가장 필요한 기능을 중심으로 구현하였다.

• Spatial Information Research
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• 제6권1호
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• pp.1-10
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• 1998

시선물관리와 단지설계 등 소규모지역에 대한 항공사진의 필요성은 날로 증가되고 있지만 촬영시 소용되는 비용과 여러 가지 제약으로 인하여 일반 항공사진 촬영용 항공기에 의한 항공사진을 얻는 데는 많은 어려움이 따른다. 본 연구에서는 대축척 공중사진의 효율적인 획득방법의 하나로서 비측량용 카메라를 장착한 원격조종 모형비행기에 의한 사진촬영에 대하여 고찰하였다. RC모형기의 원리를 조사 연구하여 공중사진촬영에 적합합 RC모형기를 제작하였고 이를 이용하여 공중사진을 촬영하는 실험을 수행하였다.실험결과 지상시설물의 공중사진을 중복촬용할 수 있었고 모형기를 이용하여서도 일반 항공사진 촬영용 항공기의 기능을 일부 대신할 수 있음을 확인하였다.

• 제어로봇시스템학회논문지
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• 제3권1호
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• pp.67-76
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• 1997

In this paper we developed a tactile feedback device using repulsive force of magnets. The force of the tactile feedback device was derived from the Maxwell's stress method by using the concept of magnetic charge. Magnetic repulsive force is linear function with respect to current and nonlinear to displacement. Experimental data shows these characteristics. To compensate the fact that the presented tactile feedback device can not be controlled by close loop control, we developed a simulation model which predicts output displacement and force by using Runge-Kutta method. And, this paper evaluated the presented tactile feedback device and compared it with commercial tactile feedback devices.

• 제어로봇시스템학회논문지
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• 제21권3호
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• pp.243-249
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• 2015

In direct vehicle teleoperation, a human operator drives a vehicle at a distance through a pair of master and slave device. However, if there is time delay, it is difficult to remotely drive the vehicle due to slow response. In order to address this problem, we introduced a novel methodology of shared vehicle teleoperation using a virtual driving interface. The methodology was developed with four components: 1) virtual driving environment, 2) interface for virtual driving environment, 3) path generator based on virtual driving trajectory, 4) path following controller. Experimental results showed the effectiveness of the proposed approach in simple and cluttered driving environment as well. In the experiments, we compared two sampling methods, fixed sampling time and user defined instant, and finally merged method showed best remote driving performance in term of completion time and number of collision.

• 제어로봇시스템학회논문지
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• 제17권6호
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• pp.558-565
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• 2011

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for surveillance, reconnaissance, search and rescue, etc. We considered a terrain-adaptive and transformable hybrid robot platform that is equipped with rapid navigation capability on flat floors and good performance in overcoming stairs or obstacles. The navigation mode transition is determined and implemented by adaptive driving mode control of the mobile robot. In order to maximize the usability of wheel-track hybrid robot platform, we propose a terrain-adaptive and user-friendly remote controller and verify the efficiency and performance through its navigation performance experiments in real and test-bed environments.

• 한국생산제조학회지
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• 제24권6호
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• pp.660-666
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• 2015

To avoid radiation exposure from repeated x-rays taken during orthopedic surgery, an x-ray permeable teleoperated Stewart platform for orthopedic fracture surgery was developed. This system is composed of a user interface device and a teleoperated operational robot, both of which use a Stewart platform mechanism. The links of the operational robot are made from an x-ray permeable material, polycarbonate, to minimize the interference. The forward and inverse kinematics algorithm applied and the structural reliability were both verified through an analysis using commercial engineering software. To monitor the operating status in real time and stop the device during an emergency, a monitoring software was developed. The performance of the x-ray permeable teleoperated Steward platform was validated experimentally.

• 대한기계학회논문집A
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• 제32권11호
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• pp.997-1002
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• 2008

This paper is mainly concerned with the development of a remotely operated vehicle for investigation of the coastal sea. For this, we have designed and constructed a vehicle entitled KMU-ROV(Korea Maritime University Remotely Operated Vehicle), for purpose of investigation mission under 50(m) of the sea surface. We have designed six independent waterproof actuators and the housing of the controller for underwater operation. For six degree-of-freedom motion, we have analyzed the dynamics of the KMU-ROV and have designed a new composition of six actuators including the driving system. For motion control, we have composed a concurrent velocity control algorithm for controlling the speed of all the actuating motors. The control system for the KMU-ROV is composed of a master DSP controller, DSP controller for the motor control and various sensors. We composed the PID control algorithm and a network system for controlling motors using the CAN communication. The performance of the KMU-ROV was presented by testing the developed control algorithm and control system under the water.

• Journal of Biosystems Engineering
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• 제32권2호
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• pp.91-96
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• 2007

In this study, a prototype remote controlled weeder using solar module was developed and the evaluations of weeding, side walking and weeding performance were conducted to see if actual application was feasible in the paddy field. When traveling, the loss electric current was 8 to 15 A depending on operating and soil conditions. The average traveling speed was 0.25 m/s and the average slippage was 18%. When it side walked row by row, electric current consumption was 7 A on the average. When wheel rotors line went initially up and last down, electric current consumption was 12 to 15 A due to soil resistance. Electric current consumption when shifting wheel rotors line was less than 5 A due to no resistance. Field efficiency was 105 min/10a based on the test field. Operation was able to be done for 4.16 hours continually by 52 AH battery based on 300 W average maximum power consumption and 4.6 hours under sunny day considering solar module.