• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1887-1891
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• 2005

Despite significant advances in multimedia transferring technologies in various fields of robotics, it is sometimes quite difficult for the operator to fully understand the context of 3D remote environments from 2D image feedback. Particularly, in the remote control of mobile robots, the recognition of the object associated with the task is very important, because the operator has to control the robot safely in various situations not through trial and error. Therefore, it is necessary to provide the operator with 3D volumetric models of the object and object-related information as well such as locations, shape, size, material properties, and so on. Thus, in this paper, we propose a vision-based human interface system that provides an interactive, information-rich map through network-based information brokering. The system consists of an object recognition part, a 3D map building part, a networked knowledge base part, and a control part of the mobile robot.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.5
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• pp.393-400
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• 2002

Teleoperation enables an operator to manipulate remote objects. One of the main goals in teleoperation researches is to provide the operator with the fueling of the telepresence, being present at the remote site. For these purposes, a master robot must be designed as a bilateral control system that can transmit position/force information to a slave robot and feedback the interaction force. A newly proposed impedance algorithm is applied for the control of a haptic interface that was developed as a master robot. With the movements of the haptic interface for position/force commands, impedance parameters are always varying. When the impedance parameters between an operator and the haptic interface and the dynamic model are known precisely, many model based control theories and methods can be used to control the device accurately. However, due to the parameters'variations and the uncertainty of the dynamic model, it is difficult to control haptic interfaces precisely. This paper presents a robust adaptive impedance control algorithm for haptic interfaces.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.96.4-96
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• 2001

A remote controlled robotic system using the Internet is proposed in this paper. The robotic system can for example act as a substitute for a child who is staying in a hospital. Using the proposed robotic system, the bedridden child can easily look around the inside of his/her classroom, and can talk to other people. The proposed robotic system will encourage a bedridden child to maintain his/her study habits. The robotic system has a CCD camera, a speaker, a microphone, and a PC display on the robot main body. An operator also has a CCD camera, a microphone, and a PC display on the operator desk. The two personal computers are connected using the Internet ...

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.50.6-50
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• 2002

In this paper, the relationship between a slave robot and the uncertain remote environment is modeled as the impedance to generate the virtual force to feed back to the operator. For the control of a teleoperated mobile robot equipped with camera, the teleoperated mobile robot take pictures of remote environment and sends the visual information back to the operator over the Internet. Because of the limitation of communication bandwidth and narrow view-angles of camera, it is not possible to watch the environment clearly, especially shadow and curved areas. To overcome this problem, the virtual force is generated according to both the distance between the obstacle and robot and the approachin...

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.204-209
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• 2016

In this paper, an unmanned delivery service using drone was proposed and verified the feasibility. The multicopter has GPS for autopilot and a camera for remote control by human operator. The gripper for manipulation of delivery object was designed and evaluated. The multicopter flies to a given position automatically based on GPS, and approaches to the prepared delivery desk by remote control of human operator using the received image from the multicopter. GPS sensor verification and experimental PID tuning were performed to ensure the flight stability. The flight tests were carried out to verify the feasibility of delivery service.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.3054-3056
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• 1999

There have been numerous risks for excavator operator in working space. To overcome these riske, many researchers have been studied automation of excavator system. In these studies, excavator system is introduced by many researchers based on master-slave force feedback system. In this paper, a remote manipulation excavator is introduced based on force feedback. The proposed remote manipulation excavator system can give a feeling that the operator maneuvers the object directly, resulting in improved reality and efficiency. To demonstrate its performance, experiments are carried out on a test bed which is built around a commercial Hyundai HX-60W hydraulic excavator.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2023.05a
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• pp.221-222
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• 2023

국제해사기구(IMO)는 자율운항선박(MASS)의 안전한 운항을 위해 해사안전위원회(MSC), 법률위원회(LEG) 및 해상교통간소화위원회(FAL)에서 협약규정식별작업(RSE)을 완료하고 각 위원회별로 MASS의 안전한 운항을 위한 조치방안에 대해 검토 중에 있다. RSE 결과를 반영하여 향후 MASS Code 개발과정에서 원격운항자(Remote Operator)가 중요한 검토사항이 될 것으로 식별됨에 따라 원격운항자가 갖추어야 할 최저역량에 대해 제시하였다. 또한 MASS Code 개발과정에서 논의될 운항모드(Mode of Operation)에서 원격운항자에게 필요한 역량에 대해서도 검토하였다.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.9
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• pp.816-821
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• 2005

The remote operation of $4\~5$ cranes for container loading/unloading at a port by one operator will dramatically improve loading/unloading efficiency through productivity increase, cost reduction, and so on. This study develops a remote crane control system for container loading/unloading yard cranes. First, a wireless video and audio system to transmit views and sounds of the working field is designed by using 3 web cameras and a microphone. Next, a RSVP-based multi-path reservation method is presented with a view to improving the quality of service in the communication network for remote control. Simulation results show that a RSVP-based multi-path reservation can enhance the reservation success rate in the TCP/IP network.

• The Journal of Korea Robotics Society
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• v.13 no.3
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• pp.151-156
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• 2018

Military robots are expected to play an important role in the future battlefield, and will be actively engaged in dangerous, repetitive and difficult tasks. During the robots perform the tasks a human operator controls the robots in a supervisory way. The operator recognizes battlefield situations from remote robots through an interface of the operator control center, and controls them. In the meantime, operator workload, controller interface, robot automation level, and task complexity affect robot operability. In order to assess the robot operability, we have developed ROSim (Robot Operational Simulator) incorporating these operational factors. In this paper, we introduce the results of applying ROSim experimentally to the assessment of reconnaissance robot operability in a battle field. This experimental assessment shows three resulting measurements: operational control workload, operational control capability, mission success rate, and discuss its applicability to the defense robot research and development. It is expected that ROSim can contribute to the design of an operator control center and the design analysis of a human-robot team in the defense robot research and development.

• Journal of the Institute of Electronics Engineers of Korea TE
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• v.39 no.3
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• pp.65-70
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• 2002

This paper discusses the work-in-progress of a system to control a moving robot over the WWW(World Wide Web). That is, we describes the experimental results and control methods of system over the world wide web. The remote control of the system is controlled by accessing a simple form of interface that is connected to the server. For this application, a remote operator should have a general-purpose computer with Internet connection and a WWW browser to remotely operate the line-tracer through the Internet. As a remote operator summits an input by operating html files in the server, the program written in java is operated the equipment is being connected to the serial port. By being transmitted to the line-tracer through the infra-red sensor, the remote controlled signal is operated in distance. As a tool in order to identify the system's operation of the over the web is used the line-tracer.