• International Journal of Fuzzy Logic and Intelligent Systems
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• 제3권2호
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• pp.161-165
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• 2003

In this paper, we investigate the issues on the design and implementation of tele-operation system based on the haptic interface. Here, the 3-DOF haptic device and the X-Y-Z stage are employed as master controller and slave system respectively. For this master-slave system, the force feedback algorithm, the modeling of virtual environments and the control method of X-Y-Z stage are presented. In this paper, internet network is used for data communication between master and slave. We construct virtual environment of the real convex surface from the force-feedback in controlling the X-Y-Z stage and measuring the force applied by the 3-DOF haptic device.

• Journal of Advanced Marine Engineering and Technology
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• 제33권8호
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• pp.1254-1260
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• 2009

DMA 무선원격 제어시스템은 저전력의 8 bit 마이크로콘트롤러인 ATmega 2560으로 설계하였으며, 마이크로콘트롤러는 CDMA 모뎀과 GPS 모듈 등을 시리얼 인터페이스를 하기 위한 4개의 UART 포트가 갖추어져 있으며, 내부에 4K 바이트의 프로그램 매개변수나 프로그램이 동작하는데 필요한 데이터를 저장할 수 있는 메모리(EEPROM)와 256K 바이트의 플래시 메모리 및 프로그램이 실행되는 내부 메모리(SRAM)로 구성되어 있다. 제작되어진 800 MHz CDMA 모뎀과 GPS를 사용한 항로표지 원격관리 시스템의 해상통신 거리를 측정한 결과 10 km 정도의 통신 거리를 확인할 수 있어서며, -80 dBm의 수신신호감도를 나타내었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2063-2065
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• 2003

The control rod drive mechanisms in a reactor head are arranged too narrow for a human worker to approach. Moreover, the working environment is in high radiation area. In order to inspect defections in the surfaces of the reactor head and welding parts, a visual inspection device that can approach such a narrow and high radiation area is required. This paper introduces a tele-operated mobile robot for visual inspection of a reactor head, which has pan/tilt camera, fixed rear camera, ultrasonic collision detection system, and so on. Moreover, the host controller and digital video logging system are developed and integrated control software is also developed. The robot is operated by a wireless control, which gives flexibility for the inspection.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.360-362
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• 2009

In this paper, we studied for the real-time azimuthal measurement of HMD(Head Mounted Display) using the feature points detection to control the tele-operated vision system on the mobile robot. 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.

• Journal of Mechanical Science and Technology
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• 제16권10호
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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.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.236-239
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• 2003

In this paper, we investigate the issues for the design and implementation of tele-operation system based on the haptic interface. Here, the 3-DOF haptic device and the x-y-z stage are employed as master controller and slave system respectively. In this master-slave system, the force feedback algorithm, the modeling of virtual environments and the control method of x-y-z stage are proposed. In this paper, inernet network is used for data communication between master and slave. We construct virtual environment of the real convex surface from the force-feedback in controlling the X-Y-Z stage and getting the force applied by the 3-DOF haptic device.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2008년도 하계종합학술대회
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• pp.1171-1172
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• 2008

In this paper, we investigate the issues on the design and implementation of tele-operation system based on the haptic interface. Here, the 3-DOF haptic device and the X-Y-Z stage are employed as master controller and slave system respectively. For this master-slave system, the force feedback algorithm, the modeling of virtual environments and the control method of X-Y-Z stage are presented. In this paper, internet network is used for data communication between master and slave.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1097-1100
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• 2003

Data Loggers for environmental monitoring are mostly dispersion in installation and systems located at long distance from monitoring system. And, it requests mostly flexible functions and high performances. that can fit to various sensor inputs, sensor interfaces and conditions or system working. In this research, we developed the micro controller based Data Logger with minimum hardware construction that allows the higher flexibility of application. Finally, we developed software function for water quality monitoring and tested in real system launched at Han river.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.622-627
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• 2003

The existing remote control system have some inherent disadvantage of direct control in the limit range. In some special cases, for example, a power apparatus, an unmanned factory, a nuclear factory, a security management system, the tele-operation is needed to control remote robot without limit space. This field is based on the Internet communication. Because the Internet is constructed all over the world. And it is possible that we control remote mobile robot in the long distance. In this paper, we developed a remote control system. This system is divided into two primary parts. These are local site and remote site. There are the moving robot and web server in the remote site and there is the robot control device in local site. The moving robot is moved by two stepper motors and the robot control device consists of SA-1100 micro controller and embedded Linux. And this controller is an embedded system. Public personal computer which is connected the Internet is used for the web server. The web server provides the mobile robot control interface program to the remote controller and captures the image for feedback information. In the whole system, a robot control device is connected with moving robot and web server through the Internet. So the operator can control the moving robot in the distance through the Internet.

• Journal of Advanced Marine Engineering and Technology
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• 제35권6호
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• pp.842-848
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• 2011

다중통신을 지원하는 하이브리드 통신 제어보드는 저전력의 8-bit 마이크로콘트롤러인 ATxmega128A1으로 설계하였으며, 마이크로콘트롤러는 다중통신을 위한 모뎀과 GPS 모듈 등을 시리얼 인터페이스 하기 위한 8개의 UART 포트가 갖추어져 있으며, 내부에 2K 바이트의 프로그램 매개변수와 프로그램이 동작하는데 필요한 데이터를 저장할 수 있는 EEPROM과 128K 바이트의 플래시 메모리 및 프로그램이 실행되는 8K 바이트의 SRAM으로 구성되어 있다. 항로표지의 원격 관리를 CDMA, TRS, RF 등 하이브리드 통신을 이용하면 개별 통신 방식별로 음영지역이 존재하는 경우에도, 최적의 통신방식을 선택하여 통신을 수행하게 됨으로써, 통신 음영지역의 해소가 가능하다. 또한 통신장치마다 동일한 데이터 프레임을 사용함으로써 데이터의 호환성을 높였다. 실험은 30일 동안 각 부표에서 매 5분마다 데이터를 취득하였으며, 데이터 수신율은 85 % 이상을 보였다.