• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1217-1222
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• 2004

This paper describes the development of tele-robotic interface for the hot-line maintenance robot system. One of main issues in designing human-robot interface for the hot-line maintenance robot system is to plan the control procedure for each part of the robotic system. Another issue is that the actual degree of freedom (DOF) in the hot-line maintenance robot system is much greater than that of available control devices such as joysticks and gloves in the remote-cabin. For this purpose, a virtual simulator, which includes the virtual hot-line maintenance robot system and the environment, is developed in the 3D environment using CAD data. It is assumed that the control operation is done in the remote cabin and the overall work process is observed using the main-camera with 2 DOFs. For the input device, two joysticks, one pedal, two data gloves, and a Head Mounted Display (HMD) with tracker sensor were used. The interface is developed for each control mode. Designed human-interface system is operated using high-level control commands which are intuitive and easy to understand without any special training.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.116.4-116
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• 2002

$\textbullet$In case of using overhead camera system, mobile robot moves under static working area. $\textbullet$Mobile robot must use onboard camera system to work under wide working area. $\textbullet$Mobile robot must have wireless LAN to remove restriction of movement. $\textbullet$Onboard camera system must have wireless LAN environment. $\textbullet$We develop embedded vision platform using onboard camera.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.704-709
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• 1990

This study presents the structure and the gate control algorithm of KAMOBOT (KAIST Mobile Robot). The mobile robot has a six-legged, cylindrical configuration, each leg of which is equiped with a wheel at the bottom. The robot can go up and down stairs, go over obstacles, move along curvilinear paths and rotate around it's geometric center. Such maneuverability can be achieved by using only three electric motors.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.565-570
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• 1999

In this paper, we developed a windows 95 version Off-Line Programming system which can simulate a Robot model in 3D Graphics space. 4axes SCARA Robot (especially FARA SM5) was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 95's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• International Journal of Internet, Broadcasting and Communication
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• 제10권3호
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• pp.35-41
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• 2018

Smart device has become an affordable main computing resource for robotic ap-plications in accordance with a fast growth of mobile internet environment. Since the computing power of smart device has been increased, smart device based ro-bot system attempts to replace traditional robot applications with laptop-based system. Methodologies for acquisition of remote sensory information and control of various types of robots using smart device have been proposed recently. In this paper, we propose a robot control system using a monitoring program and a communication protocol. The proposed system is a combination of an educa-tional programming oriented robot named EPOR-S. as small service robot plat-form and a smart device. Through a simulation study using image processing, the feasibility of combination of the proposed robot monitoring program and control system was verified.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.849-854
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• 2003

The Korea Atomic Energy Research Institute has developed a teleoperated cleaning robot for use in the radioactive zone of the isolation room of the Irradiated Material Examination Facility where direct human access to the interior is strictly limited. The teleoperated cleaning robot that was designed to completely eliminate human interaction with the hazardous radioactive contaminants has five remotely replaceable submodules - a mobile module for navigation, a cleaning module for dislodging and sucking contaminated waste, a sensing module for obstacle avoidance, a collection module for storing the acquired waste, and a cover module for protecting the collection module. This cleaning robot is capable of cleaning the contaminated floor surface of the isolation room and collecting loose dry spent nuclear fuel debris and other radioactive waste fixed or scattered on the floor surface. The developed cleaning robot is operated either by a manual control or by autonomous control in conjunction with a graphical simulator, by which the human operator can monitor and intervene the robot performing cleanup tasks in the isolation room. In this paper, we present the mechanical and environmental design considerations and development of the teleoperated cleaning robot for radioactive isolation room use. We also demonstrate its mock-up performance test results from the viewpoint of a remote cleanup operation and remote maintenance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.580-585
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• 2005

A QRT(Quad-Rotor Type) hovering robot system is developed for quick detection and observation of the circumstances under calamity environment such as indoor fire spots. The UAV(Unmanned Aerial Vehicle) is equipped with four propellers driven by each electric motor, an embedded controller using a DSP, INS(Inertial Navigation System) using 3-axis rate gyros, a CCD camera with wireless communication transmitter for observation, and an ultrasonic range sensor for height control. The developed hovering robot shows stable flying performances under the adoption of RIC(Robust Internal-loop Compensator) based disturbance compensation and the vision based localization method. The UAV can also avoid obstacles using eight IR and four ultrasonic range sensors. The VTOL(Vertical Take-Off and Landing) flying object flies into indoor fire spots and sends the images captured by the CCD camera to the operator. This kind of small-sized UAV can be widely used in various calamity observation fields without danger of human beings under harmful environment.

• 한국정밀공학회지
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• 제15권5호
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• pp.153-160
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• 1998

A master-slave system for tele-operation had been developed and tested for several decades. In this paper the master robot is composed of several wires and provides position information of the handle which is driven by a operator within the master robot work space. A PC is used for the command calculation for a slave robot. This paper deals with the relation between the number of strings and D.O.F of the master robot, control method of the slave robot during the operation and the monitoring method over the working area by the computer graphics simulation. The D.O.F of the master robot can be modified by adding or subtracting some strings. The controller of the slave robot uses the advanced PD control method to keep the performance against varying working load.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.323-324
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• 2007

For the efficient and accurate development of a biped humanoid robot, systematic humanoid development platform is a necessary component in building the development environment. The simulator is a significant tool to develop a biped humanoid robot. In this paper, we first present a method for constructing a humanoid simulator that can be easily applied to an actual humanoid. Easy transplantation into an actual humanoid increases the efficiency of simulator and the development speed. Systematic structure, closely modeling and prediction of an actual humanoid is a significant part of the simulator to set a goal. Using the simulator, we can predict the motion of an actual humanoid. The functions and the effectiveness of the developed simulator were evaluated through simulated motions and walks.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.346-349
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• 2004

The teleoperation system applies all of the industrial fields due to the development of the network infrastructure. It is one of the indispensable elements for controlling the robot at a remote sight and monitoring the limit or unknown environment. The common teleoperation robot system is what has the visual module to supply the network system and realistic UI to the existed robot system. Therefore, remarked that the fusion between modules and transmission of visual data the remarked the important element to improve the robot application in the various environments. Delay of development time by robot platform and noneffective communication among developers are also problem to approach. In this paper we propose the independent teleoperation system. The main application language is JAVA in this system, which is applied JAVA API like JNI and JMF to construct the effective teleoperation system. The system has the both side communication system between sever and client as a basic structure. The visual data that is attached the robot at a remote sight is captured by JMF API and then is transmitted to the web browser called client by RTR protocol. JNI is used to connect between JAVA and the lower part application (sensor fusion, motion control.) of the robot programmed by various Native languages. The proposed system is the application that can perform the elements, for instance transmission of visual data, the fusion of various native application modules and the effective network communication, with any platform.