• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1519-1522
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• 1996

In this paper, we have developed a tele-robotic system for nozzle dam installation/removal works and tube relating maintenance works inside unclear power plant steam generator. Developed tele-robotic system consists of many hardwares including robot and a control system. Based on the 3 dimensional graphic simulation, a 6 D.O.F. hydraulic actuated robot and a 2 D.O.F. robot install/removal device have been developed. And also we deviced special tools for nozzle dam carry and bolting. For the tele-robot and other devices to be controlled at the nonradioactive area outside reactor containment building, we developed a tele-robot control system consisting of supervisory controller and remote controller.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.132-135
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• 2000

The development of a robot system being able to work instead of human in the hazardous environment have been conducted for many year. In this study, the new design of controllers for the Master-Slave system is discussed. The Master-Slave system, force, velocity and torque signals are communicated between a master and a slave system. the conventional requires the enhancement of characteristics of tactility for minute force, precision signals and mechanical abrasion of loader. It is possible b controlling the viscosity of ERF(Electro-rheological fluid) since it varies with the electric field. Design of controller as well comparison between numerical simulation and experiments as will be presented. Futhermore, current methodology is also applicable to design of tele-surgery

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.6
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• pp.692-697
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• 2003

The researches on the Internet based tole-operation have received increased attention for the past few years. In this paper, we implement the Internet based tele-operating system. In order to transmit robustly the surroundings and control information of the robot, we make a data as a packet type. Also in order to transmit a very large image data, we use PEG compressive algorithm. The central problem in the Internet based tele-operation is the data transmission latency or data-loss. For this specific problem, we introduce an autonomous mobile robot with a 2-layer fuzzy controller. Also, we implement the color detection system and the robot can perceive the object. We verify the efficacy of the 2-layer fuzzy controller by applying it to a robot that is equipped with various input sensors. Because the 2-layer fuzzy controller can control robustly the robot with various inputs and outputs and the cost of control is low, we hope it will be applied to various sectors.

• Journal of Mechanical Science and Technology
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• v.18 no.11
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• pp.1941-1948
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• 2004

This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. This wheeled blimp can work both on the ground using wheeled vehicle part and in the air using the floating capability of the blimp part. The wheeled blimp stands on the floor keeping its balance using a caster-like passive wheel mechanism. In tele-guidance application, stationary position control is required to make the wheeled blimp naturally communicate with people in standing phase since the stationary blimp system responds sensitively to air flow even in indoor environments. To control the desired stationary position, a computed torque control method is adopted. By performing a controller design through dynamic analysis, the control characteristics of the wheeled blimp system have been found and finally the stable control system has been successfully developed. The effectiveness of the controller is verified by experiment for the real wheeled blimp system.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.3
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• pp.605-613
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• 2009

In this paper, we studied for the real-time azimuthal measurement of HMD (Head Mounted Display) to control the tele-operated vision system on the mobile robot. In the preexistence tele-operated vision system, a joystick was used to control the pan-tilt unit of the remote camera system. To give the sense of presence to the tele-operator, we used a HMD to display the remote scene, measured the rotation angle of the HMD on a real time basis, and transmitted the measured rotation angles to the mobile robot controller to synchronize the pan-tilt angles of remote camera with the HMD. In this paper, we suggest an algorithm for the real-time estimation of the HMD rotation angles using feature points extraction from pc-camera image. The simple experiment is conducted to demonstrate the feasibility.

• International Journal of Control, Automation, and Systems
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• v.3 no.1
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• pp.70-78
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• 2005

This paper presents hybrid control of displacement and force in a Medical Tele-Analyzer by disturbance observer-based controller which is robust to internal and external disturbances; model uncertainty, load, and friction for instances. The developed Medical Tele-Analyzer consists of 2 subsystems; doctor-side subsystem and patient-side subsystem. In the doctor side subsystem, an array of displacement sensor is equipped to detect movement of doctor's hand and fingers. The detected information is transmitted to the patient side to be used in medical analysis. On the other hand, the patient-side subsystem consists of an array of displacement actuators, which is used to follow displacement of doctor's hand and fingers. An array of force sensors is used to detect forces between patient and the equipment. Since displacement control in patient side is coupled with force control in doctor side and vice-versa, design of the controller has to take into account this coupling. Not only using in medical tele-analysis, the proposed system can also be used in any tele-displacement-force controls of industrial processes.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1997-1998
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• 2006

In this paper, we propose a remote control system which is used by internet network system in the small water booster supply. So far, TMTC(Tele Metering Tele Control) has been used to control and monitor small water booster pump. But it is possible and easy to control and observe local booster panel with the rapid development of internet, This new system is to provide operators and managers with sufficient information and control in order to implement the operation in an efficient and economical way. This system consists of three parts that are controller, netpump server and netview client. Controller has a dual architecture. The motive for installing controller is the continuous production and supply of drinking water.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.5
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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.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2779-2782
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• 2003

A tole-robot system for remote home-management has been developed. The tele-robot system is composed of a mobile robot system, server-computers and client-computers. The robot system is equipped with wireless camera and wireless controller so that the robot system captures the image remotely User makes the robot control command referring to the image feedback through internet. With such tole-robot system, the user can monitor and watch the inside of home by remotely maneuvering the mobile robot. The user can also save the received image of suspected scene on the client computer. Utilizing such function of tele-robot system, remote home-management and possible crime avoidance could be achieved.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.2
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• pp.185-193
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• 2013

The construction automation provides safer and more productive working environment of construction site. We developed the automation system of bolting operation for high-rise building in the previous research. However, this system has a weak point that the operation has to be processed in the air with the operator in the cabin. This weakness leads operators to considerably dangerous environment. Therefore, we proposed the tele-operation system in order to supplement this weak point. Furthermore, it leads more effective operation by application of more intuitive controller; spherical coordinate based Master Arm than the joystick in the Mobile Bolting Robot system. These proposed system and controller were evaluated based on Fitts' law paradigm, which is a general estimation method of speed accuracy of task. Through the experimental results, new developed tele-operation system is compared with the actual operation and it discloses distinctions between two systems. As a result, it is found that new developed teleoperation system can be possible to replace the operation in the cabin.