• Journal of the Ergonomics Society of Korea
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• v.32 no.1
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• pp.17-26
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• 2013

Objective: The aim of this study is ergonomic analysis of tele-operation tasks using modified remote handling devices dedicated to the cell of PRIDE(PyRoprocess Integrated inactive DEmonstration facility) in KAERI(Korea Atomic Energy Research Institute). Background: Tele-operation manipulators of the PRIDE are applied to perform the remote handling and management of pyroprocessing facilities. Generally, these kinds of systems are composed of master-slave system and its peripherals installed along a wall or ceiling of the cell, and the manipulators transmit the user's own motion to grippers directly. However, a user convenience and intuitiveness while operating the manipulators have not been fully considered in research fields. Method: This study tries to analyze the ergonomic performance of remote handling manipulators in the developed cell facility. It was included that the analysis of operator's capability for his/her own motion range of upper arm while manipulating the MSM, considerations of its manipulation margin and related tool modifications to improve the remote handling performance. Conclusion: The test results of several remote handling tasks performed in PRIDE are represented, and adequate operation strategies for the tele-operation system of hot-cell type facilities are proposed. Application: The knowledge represented in this study can be utilized to improve a tele-operation system operated in a large-scale hot-cell system.

• Journal of Construction Engineering and Project Management
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• v.2 no.1
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• pp.35-44
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• 2012

In the last two decades, several tele-operated and machine-vision-assisted systems have been developed in the construction and maintenance area, such as pavement crack sealing, sewer pipe rehabilitation, and excavation. In developing such tele-operated and machine-vision-assisted systems, trajectory plans are very important tasks for the optimal motions of robots whether their environments are structured or unstructured. This paper presents an optimal trajectory planning algorithm used for a machine-vision-assisted automatic pavement crack sealing system. In this paper, the performance of the proposed optimal trajectory planning algorithm is compared with the greedy trajectory plans, which are used in the previously developed pavement crack sealing systems. The comparison is based on the computational cost vs. the overall gains in crack sealing efficiency. Finally, it is concluded that the proposed algorithm plays an important role in the productivity improvement of the developed automatic pavement crack sealing system.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.4
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• pp.449-455
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• 2011

In this paper, a time-delay problem of a tele-operated control system is investigated and compensated by neural network. The smith predictor requires an exact system model to deal with a time-delay in the system. To compensate for modeling errors in the configuration of the Smith predictor, a neural network approach is presented. Based on forming the Smith predictor structure, the radial basis function(RBF) neural network estimator is used. Simulation and experimental studies are conducted to show the functionality of the proposed method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.207-208
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• 2012

• Korean Journal of Construction Engineering and Management
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• v.5 no.1 s.17
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• pp.157-167
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• 2004

In developing an automated construction system, it is essential to propose a performance evaluation model and methodology, which can measure productivity, quality, safety and economic feasibility in order to verify its superiority. Recently, a tele-operated hume concrete pipe laying machine has been developed to solve several problems related to safety, quality, productivity in conventional method. The primary objective of this study is to propose a model and methodology for the performance evaluation of the developed tele-operated hume concrete pipe laying machine. Furthermore, this study evaluates the automation machine's performance compared with the existing hume pipe laying work by using data which obtained in many field trials. It is anticipated that the proposed model and methodology might be effectively used in analyzing the performance of other automation robots.

• Journal of Biosystems Engineering
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• v.33 no.3
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• pp.186-195
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• 2008

In this paper, a prototype tele-operative system with a mobile base was developed in order to automate cultivation of house melon. A man-machine interactive hybrid decision-making system via tele-operative task interface was proposed to overcome limitations of computer image recognition. Identifying house melon including position data from the field image was critical to automate cultivation. And it was not simple especially when melon is covered partly by leaves and stems. The developed system was composed of 5 major modules: (a) main remote monitoring and task control module, (b) wireless remote image acquisition and data transmission module, (c) three-wheel mobile base mounted with a 4 dof articulated type robot manipulator (d) exchangeable modular type end tools, and (e) melon storage module. The system was operated through the graphic user interface using touch screen monitor and wireless data communication among operator, computer, and machine. Once task was selected from the task control and monitoring module, the analog signal of the color image of the field was captured and transmitted to the host computer using R.F. module by wireless. A sequence of algorithms to identify location and size of a melon was performed based on the local image processing. Laboratory experiment showed the developed prototype system showed the practical feasibility of automating various cultivating tasks of house melon.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2859-2861
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• 2000

In this paper, a robot system is proposed to make it easy to learn about microprocessors. The proposed system consists of several subsystems. Since each subsystem can be operated with other subsystems or without other subsystems, many microprocessor courses can be offered depending on the background of students. Also the proposed system can be used in some robotics courses which emphasize sensor and tele-operation because it contains camera, MPEG encoder, IR sensor, and RF communication module.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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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.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.06a
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• pp.80-81
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• 2012

Our society consist of many country's critical infrastructure such as production and distribution of electric power systems, communications technology, tele-communications, financial system, transportation systems when those systems are operated efficiently and normally. Country's critical infrastructure and its application fields of this magnitude rely on more and more P.N.T (Positioning, Navigation. Timing) systems, in which the tele-communications(Timing), financial market(Timing), logistics (Positioning, Navigation, Timing), transportation(Positioning, Navigation. Timing) is shoring. Reliability concerned about the exact position and timing of these critical national infrastructure rely on ability to provide a stable from GPS.

• Korean Journal of Construction Engineering and Management
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• v.11 no.4
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• pp.68-79
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• 2010

During the last two decades, several tele-operated and machine-vision-assisted systems have been developed in construction and maintenance area such as pavement crack sealing, sewer pipe rehabilitation, and excavation. In developing such tele-operated and machine-vision-assisted systems, trajectory plans are very important tasks for optimal motions of robots whether their environments are structured or unstructured. This paper presents an optimal trajectory planning algorithm used for a machine-vision-assisted automatic pavement crack sealing system. In this paper, the performance of the proposed optimal trajectory planning algorithm is compared with the greedy trajectory plans which are used in previously developed pavement crack sealing systems. The comparison is based on computational cost versus overall gains in crack sealing efficiency. Finally, it is concluded that the proposed algorithm plays an important role in productivity improvement of the automatic pavement crack sealing system developed.