• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.126.2-126
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• 2001

This paper, the integration of driving simulator and unmanned vehicle by means of new concept for better performance through a tele-operated system is suggested. But autonomous system is one of the most difficult research topics from the point of view of several constrains on mobility, speed of vehicle and lack of environmental information. In these days, however, many innovations on the vehicle provide the appropriate automatic control in vehicle subsystem for reducing human error. This tendency is toward to the unmanned vehicle or the tele-operated vehicle ultimately. This paper describes the motion system ...

• Journal of Mechanical Science and Technology
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• v.16 no.10
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• pp.1253-1263
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• 2002

The control system design and modeling of an unmanned vehicle by means of a new concept for better performance through a tole-operation system is suggested by sensor fusion. But, the control of a real vehicle is very difficult, because the system identification of the vehicle is hard to find the unknown factors and the disturbances of the experimental environment. For the longitudinal and lateral controls, the traction system and steering system models are set up and a tuning method to find the gain of the controller by experiments is presented. In this research, mechanical and electronic parts are implemented to operate the unmanned vehicle and data reconstruction method of information about the environment data coming from several sensors is presented by data plot for the vehicle navigation. This paper focuses on the integration of tole-operated unmanned vehicle. This vehicle mainly controlled lateral and longitudinal directions with actuators for controlling vehicle movement and sensors for the closed-loop controlled system.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.915-919
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• 2005

It is materialized an unmanned vehicle system as a part of Intelligent Transportation System (ITS) which is a fundamental constituent for unmanned vehicle. Remote control system, monitoring system and remote operating system which are consisted of unmanned vehicle system. Network program by TCP/IP socket, and real-time control & operating controlled by servo-motors from a remote place, those are used to verify safety and stability of the unmanned vehicle system in this research. This unmanned vehicle is divided into two major sections which are an unmanned vehicle part and control station part. The server PC is installed on the unmanned vehicle and a client PC is installed at a remote place, which can control the u manned vehicle. In this research work, main theme is that we experimented and tested to check the speed and utilization of the wireless LAN communication.

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.232-237
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• 2021

In this research, a real-time tele-operation system for unmanned excavator using the LTE communication system is suggested. The distance between the operator and the excavator is limitless as long as the LTE communication available. The motion and video data of the excavator is synchronized using the Vehicle Control Unit (VCU) and streamed to the operator for immersion feeling. The video is played on the operator's monitor and the motion data is used to regenerate the excavator movement on the developed master platform. In general, a excavator is tele-operated using RF signal and the maximum distance for direct control is limited to within a hundred meter. In this research, the immersion tele-operation system is suggested for excavator operation within an 100ms time delay using the developed master platform, the VCU and LTE communication. A successful test run of the suggested tele-operation system has already been performed between an operator in Songpa (Seoul) and a excavator in Ansan (Gyeonggi-do) which is approximately 35 km apart.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1516-1519
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• 2004

A tele-operated robot should be used to maintain and inspect nuclear power plants to reduce the radiation exposure to the human operators. During an overhaul of the nuclear power plants in Korea, a ROV(Remotely Operated Vehicle) may enter a cold-leg connected to the reactor to examine the state of the thermal sleeve and it's position in the safety injection nozzle. To measure the positions of the thermal sleeve or scratches from the video images captured during the examination, the camera parameters should be identified. However, the focal length of the CCD camera could be increased to a close up of the target and the aspect ratio and the center of the image could also be varied with capturing devices. So, it is desired to self-calibrated the intrinsic parameters of the camera and capturing device with the video images captured during the examination. In the video image of the safety injection nozzle, two or more circular grooves around the nozzle are shown as ellipse contours. In this paper, we propose a camera self-calibration method using a single image containing two circular grooves which are the greatest circles of the cylindrical nozzle whose radius and distance are known.

• Journal of Intelligence and Information Systems
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• v.11 no.2
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• pp.47-57
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• 2005

In this research, the main theme is the system integration of driving simulator and unmanned vehicle. The total system is composed of the mater system and the slave system. The master system has a cockpit system and the driving simulator. The slave system means an unmanned vehicle, which is composed of the actuator system the sensory system and the vision system. The communication system is composed of RS-232C serial communication system which combines the master system with the slave system. To integrate both systems, the signal classification and system characteristics considered DSP(Digital Signal Processing) filter is designed with signal sampling and measurement theory. In addition, to simulate the motion of tele-operated unmanned vehicle on the driving simulator, the classical washout algorithm is applied to this filter, because the unmanned vehicle does not have a limited working space, while the driving simulator has a narrow working space and it is difficult to cover all the motion of the unmanned vehicle. Because the classical washout algorithm has a defect of fixed high pass later, fuzzy logic is applied to reimburse it through an adaptive filter and scale factor for realistic motion generation on the driving simulator.