• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.155.2-155
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• 2001

A heavy duty power manipulator consisting of high reduction ratio joints is usually used in heavy duty tasks. When the heavy duty power manipulator is used as the slave manipulator in the teleoperated bilateral control system, the position control performance of the slave manipulator and the system stability tend to deteriorate due to the windup phenomenon caused by actuator saturation. KAERI has developed a teleoperated bilateral control system for the study of the remote handling of a spent fuel mockup bundle, which has an enhanced bilateral control algorithm improving the position tracking performance of the slave manipulator while compensating for the windup phenomenon. In this paper, the developed bilateral control system ...

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.100-107
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• 2002

The advanced bilateral control algorithm, which can enlarge a reflected force by combining force reflection and compliance control, greatly enhances workability in teleoperation. In this scheme the maximum boundaries of a compliance controller and a force reflection gain guaranteeing stability and good task performance greatly depend upon characteristics of a slave arm, a master arm, and an environment. These characteristics, however, are generally unknown in teleoperation. It is, therefore, very difficult to determine such maximum boundary of the gain. The paper presented a novel method for design of an advanced bilateral controller. The factors affecting task performance and stability in the advanced bilateral controller were analyzed and a design guideline was presented. The neurofuzzy compliance model (NFCM)-based bilateral control proposed herein is an algorithm designed to automatically determine the suitable compliance for a given task or environment. The NFCM, composed of a fuzzy logic controller (FLC) and a rule-learning mechanism, is used as a compliance controller. The FLC generates compliant motions according to contact forces. The rule-learning mechanism, which is based upon the reinforcement learning algorithm, trains the rule-base of the FLC until the given task is done successfully. Since the scheme allows the use of large force reflection gain, it can assure good task performance. Moreover, the scheme does not require any priori knowledge on a slave arm dynamics, a slave arm controller and an environment, and thus, it can be easily applied to the control of any telerobot systems. Through a series of experiments effectiveness of the proposed algorithm has been verified.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1099-1105
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• 2007

In this paper, modified two-port time-domain passivity approach is proposed for stable bilateral control of teleoperators under time-varying communication delay. We separate input and output energy at each port of a bilateral controller, and propose a sufficient condition for satisfying the passivity of the bilateral controller including time-delay. Output energy at the master port should be less than the transmitted input energy from the slave port with time-delay, and output energy at the slave port should be less than the transmitted input energy from the master port with time-delay. For satisfying above two conditions, two passivity controllers are attached at each port of the bilateral controller. A packet reflector with wireless internet connection is used to introduce serious time-varying communication delay of teleoperators. Average amount of time-delay was about 190(msec) for round trip, and varying between 175(msec) and 275(msec). Moreover some data packet was lost during the communication due to UDP data communication. Even under the serious time-varying delay and packet loss communication condition, the proposed approach can achieve stable teleoperation in free motion and hard contact as well.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.801-806
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• 2014

LAS (Laparoscopy Assisted Surgery) has been substituted alternatively for traditional open surgery. However, when using a commercialized robot assisted laparoscopic such as Da Vinci, surgeons have encountered some problems due to having to depend only on information by visual feedback. To solve this problem, a haptic function is required. In order to realize the haptic teleoperation system, a force feedback and bilateral control system are needed. Previous research showed that the perturbation value estimated by a SPO (Sliding Perturbation Observer) followed a reaction force that loaded on the surgical robot instrument. Thus, in this paper, the force feedback problem of surgical robots is solved through the reaction force estimation method. This paper then introduces the possibility of the haptic function realization of a laparoscopic surgery robot using a bilateral control system. For bilateral control, the master uses an impedance control and the slave uses a SMC (Sliding Mode Control). The experiment results show that a torque and force sensorless teleoperation system can be implemented using a bilateral control structure.

• Archives of Plastic Surgery
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• v.33 no.4
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• pp.399-406
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• 2006

Purpose: The authors accessed the anthropometric measurements of fourty non-cleft normal a three-month-old infant and using this obtained data as a basic guideline, authors applied the modified Noordhoff technique for the treatment of bilateral cleft lip. Methods: Over a period of 10 years, a total of 21 bilateral cleft lips were operated. 13 cases of complete and 8 cases of incomplete bilateral cleft lip and palate. In the complete type of bilateral cleft palate, elastic head cap and passive intraoral appliance were applied at 1 to 2 week of age for 2 months duration. The definitive cheiloplasty was performed at 3 months of age using the modified Noordhoff technique. Results: After a follow-up period ranging one to nine years, most patients presented with cosmetically and functionally satisfying results, with an exception of two cases where an undesired peaking effect of the vermilion and dimpling of the vermilion mucosa was encountered. Conclusion: Accessing the anthropometric measurements of fourty non-cleft normal three-month-old infant and using this obtained dara as a guideline, the modified Noordhoff technique can be applied to either complete or incomplete bilaterally cleft lip providing more naturally pleasing and cosmetically satisfying scars that lie in harmony with the philtral ridges, lip tubercle positioned just below the vermilion and a distinct white line and Cupid's bow.

• Journal of Information Processing Systems
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• v.12 no.4
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• pp.631-643
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• 2016

Due to the block-based discrete cosine transform (BDCT), JPEG compressed images usually exhibit blocking artifacts. When the bit rates are very low, blocking artifacts will seriously affect the image's visual quality. A bilateral filter has the features for edge-preserving when it smooths images, so we propose an adaptive-weighted bilateral filter based on the features. In this paper, an image-deblocking scheme using this kind of adaptive-weighted bilateral filter is proposed to remove and reduce blocking artifacts. Two parameters of the proposed adaptive-weighted bilateral filter are adaptive-weighted so that it can avoid over-blurring unsmooth regions while eliminating blocking artifacts in smooth regions. This is achieved in two aspects: by using local entropy to control the level of filtering of each single pixel point within the image, and by using an improved blind image quality assessment (BIQA) to control the strength of filtering different images whose blocking artifacts are different. It is proved by our experimental results that our proposed image-deblocking scheme provides good performance on eliminating blocking artifacts and can avoid the over-blurring of unsmooth regions.

• The Korean Journal of Nuclear Medicine
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• v.24 no.2
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• pp.332-336
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• 1990

Pheochromocytoma occurs at all ages but is most common in young to midadult life. In adults 10 percent of pheochronocytoma are bilateral. And bilateral lesions are common in the familial syndromes; within Multiple Endocrine Neoplasia (MEN) kindreds over half with pheochromocytomas have bilateral lesions. We report a case of bilateral pheochromocytoma firstly detected by ultrasonogram. This 24-year-old male was normotensive and had symptoms of dilated cardiomyopathy and elevated VMA level. CT and MRI were performed to evaluate the tissue nature and associated abnormalities. $^{131}I-MIBG$ scan seems to be the imaging of choice in patients with suspected multicentric/bilateral or recurrent or metastatic pheochromocytomas.

• Korean Journal of Head & Neck Oncology
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• v.30 no.2
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• pp.83-86
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• 2014

Kimura's disease is a chronic inflammatory disease with unknown etiology. The most common clinical presentation of Kimura's disease is non-tender unilateral mass in the head and neck area, but bilateral involvement has rarely been reported. Histopathological confirmation should be taken for the diagnosis. Various management options are available, including surgical excision, steroid therapy, and radiotherapy. We report a male patient diagnosed as Kimura's disease involving bilateral retro-auricular region. Simultaneous bilateral neck involvement is an extremely rare finding. For cosmetic reasons, the patient was treated surgically, with satisfactory postoperative results. When evaluating patients with mass lesion in bilateral parotid/retro-auricular area, Kimura's disease should be considered as differential diagnosis.

• Journal of IKEEE
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• v.19 no.2
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• pp.148-154
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• 2015

Automotive electronics system must alarm accurately in every moment. In order to apply vehicle's image recognition algorithms, it is necessary to preprocess the system quickly. In this paper, blurred image correction method that utilizes histogram equalization and bilateral filter using deviation for driver assist system's image processing is proposed. It forms 5-stage processes namely scaler, equalization, modified noise filter, blur decision and edge detector. Using the extracted proper, values in bilateral filter for driving environment occurred driver assist system, the proposed algorithm is much faster processing time compare to the previous methods in blurred within 10 pixel. Results of experiment which are run time and experimental PSNR results using MATLAB is obtained and verified that our proposed algorithm is more faster performance compare with the existing methods.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.1-10
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• 2017

For dismantling heavy structure under special environment in radioactivity, there are many problems which should be tele-operated and feedback a cutting force for cutting a thick structure such as concrete. When operator dismantles a thick heavy concrete structure, it is in sufficient to judge whether robot is contacting or not with environment by using only vision information. To overcome this problem, force feedback and impedance model based bilateral control are introduced. The sliding mode control with sliding perturbation observer (SMCSPO) based bilateral control is applied and surveyed to a single rod hydraulic cylinder in this paper. The sliding mode control is used for robustness against a disturbance. The sliding perturbation observer is used for estimation of a reaction force such as cutting force. The bilateral control is executed using the information of reaction force estimated by SMCSPO. The contribution of this paper is that the estimation method and bilateral control of the single rod hydraulic cylinder are introduced and discussed by experiment.