• Journal of the Korean Society of Safety
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• v.28 no.4
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• pp.19-25
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• 2013

For safe remote control, information on remote environment has to be delivered to operator realistically, and there have been numerous research efforts on this respect. Among them, haptic technology can significantly enhance safety and overall effectiveness of remote operation by delivering various kinds of information on virtual or real environment to operator. In this study, remote control based on haptic feedback is applied to control of mobile robot moving according to the command from operator avoiding collision with environmental obstacles and maintaining safe distance from them using ultrasonic sensors. Specifically, a remote feedback control structure for mobile robot is proposed. The controller is based on the inner feedback loop that directly utilizes information on distance to obstacles, and the outer feedback loop that the operator directly commands using the haptic device on which the computed reaction force based on the distance information is acting. Effectiveness of the proposed remote control scheme using double feedback loops is verified through a series of experiments on mobile robot.

• Journal of Korea Society of Industrial Information Systems
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• v.27 no.2
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• pp.53-59
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• 2022

In this paper, a mobile robot capable of remote control is designed in consideration of the user's various work environments. Specifically, a mobile remote work robot that moves in a predetermined direction and can perform a series of tasks in synchronization with the user's hand movements, and a control system and control method for controlling the robot were proposed. It was implemented using a robot hand and a wheel for movement to assist in tasks such as transporting dangerous goods or heavy goods. In order to evaluate the performance of the developed robot, the maximum weight that can be carried by the robot hand and the movable inclination of the robot were tested, and the test evaluation results satisfied most of the targeted design specifications.

• Proceedings of the IEEK Conference
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• 2002.07b
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• pp.848-851
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• 2002

Recently, there are lots of concerning on the integration of robot and virtual reality with the trends of the research of intelligent robot and mined reality. In this paper, a 3D GUI system is proposed based on Internet for remote controlling and monitoring of agent robot working for itself. The proposed system is consists of a manager ordering a new position and displaying the motion of robot, an agent robot moving to the destination according to the indication, a positioning module detecting the current position of robot, and a geographical information module. A user can order the robot agent move to a new position in a virtual space and watch the real images captured from the real sites of the robot. Then, the agent robot moves to the position automatically with avoiding collision by using range finding and a path detection algorithm. We demonstrate the proposed 3D GUI system is supporting a more convenient remote control means far the robots.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2004.06a
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• pp.430-432
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• 2004

Tele-operation and remote monitoring techniques are essential and important technologies for the inspection and maintenance of the radioactive waste. A mobile robot has been developed for the application of remote monitoring and inspection of nuclear facilities, where human access is limited because of the high-level radioactive environments, The mobile robot was designed with reconfigurable crawler type of wheels attached on the front and rear side in order to pass through the ditch, The extendable mast, mounted on the mobile robot, car be extended up to 8 m vertically. The robust controller for radiation is designed in focus on electric components to prevent abnormal operation in a highly radioactivated area during reactor operation, This robot system will enhance the reliability of nuclear power facilities, and cope with the unexpected radiation accident.

• Korean Journal of Computational Design and Engineering
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• v.11 no.3
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• pp.197-204
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• 2006

This paper introduces a development of an internet based robot on the view of product development for hardware and software convergences. The robot can report moving images of remote places and navigate there autonomously. In addition it can be controlled by remote users through wireless internet. Even the control program for the robot can be updated by the remote users during the regular operation mode. This paper provides a consistent product data model and generic product development processes that can support the development of the robot, a convergence of various hardware and software parts. It also includes discussions and experiences about the development of the convergence product.

• Journal of Electrical Engineering and Technology
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• v.9 no.3
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• pp.1034-1042
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• 2014

For the remote operation of the mobile robot, the human operator depends fully on the sensory information which is the partial information of the workspace of the mobile robot. It is usually very hard to fully manually operate the mobile robot in this situation. We propose the efficient guidance navigation method for improving the efficiency of the remote operation with the expanded guide circle using the sensory information. The guidance command is generated from the proposed algorithm using the expanded guide circle. We evaluated the performance of the proposed algorithm using the experiments.

• Transactions of The Korea Fluid Power Systems Society
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• v.6 no.4
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• pp.9-15
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• 2009

Hydraulic excavators are the representative of field robot and have been used in various fields of construction. Since the excavator operates in the hazardous working environment, operators of excavator are exposed in harmful environment. Therefore, the hydraulic excavator automation and remote operation system has been investigated to protect from the hazardous working environment. In this paper, remote operation excavator system is developed using the mini hydraulic excavator and the tracking control system of each links of excavator is designed. To apply the tracking control system, the adaptive sliding mode control algorithm is proposed. It is found that the performance of the proposed control system is improved through experimental results of using the remote operation excavator system.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2000.05a
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• pp.288-291
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• 2000

In this paper we implement a robot system consisted of mobile tole robot to be controlled by client through web browser Newly Internet is connected to all network of the whole world. If client uses the network like this, client can control direction of a robot that is selected in free place. In this study, system is embodied in using robot that can move freely in plan place and cod camera that can grab robot image. System transmit image data of cod camera to java server that is placed in web server of internet that is used by client. Java server display incoming data in home page using java applet. Then web browser offer robot image to client and client send remote control signal to robot. Control signal is transmitted to robot by java server and robot receiving signal moves toward direction wanted by client.

• Journal of Mechanical Science and Technology
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• v.19 no.6
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• pp.1290-1303
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• 2005

In this research, a remote control system has been developed and implemented, which combines autonomous obstacle avoidance in real-time with force-reflective tele-operation. A tele-operated mobile robot is controlled by a local two-degrees-of-freedom force-reflective joystick that a human operator holds while he is monitoring the screen. In the system, the force-reflective joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force which is generated in the form of a new collision vector and reflected to the operator. This reflected force makes the tele-operation of a mobile robot safe from collision in an uncertain and obstacle-cluttered remote environment. A mobile robot controlled by a local operator usually takes pictures of remote environments and sends the images back to the operator over the Internet. Because of limitations of communication bandwidth and the narrow view-angles of the camera, the operator cannot observe shadow regions and curved spaces frequently. To overcome this problem, a new form of virtual force is generated along the collision vector according to both distance and approaching velocity between an obstacle and the mobile robot, which is obtained from ultrasonic sensors. This virtual force is transferred back to the two-degrees-of-freedom master joystick over the Internet to enable a human operator to feel the geometrical relation between the mobile robot and the obstacle. It is demonstrated by experiments that this haptic reflection improves the performance of a tele-operated mobile robot significantly.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.5
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• pp.1030-1035
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• 2011

The remote control of mobile robot is widely used to perform dangerous and complex tasks such as underwater exploration and cleaning of nuclear reactor. For this purpose, the obstacle avoidance process will proceed to ensure a safe drive. In this paper, we tested that mobile robot drive in which replaced a pipe with a box. After we measured the distance around the obstacle through a sensor of robot, we got the information that changed haptic force from the distance of the obstacle.