• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1520-1524
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• 2004

This paper describes the development of a robotic maintenance system for use in a maintenance operation of the nozzle dam in a water chamber of a steam generator at the Kori nuclear power plant in Korea. The robotic maintenance system was designed to minimize the personnel exposure to a hazardous radioactive environment. This robotic maintenance system is operated by a teleoperated control which was designed to perform the nozzle dam maintenance tasks in a remote manner without endangering the human workers. Specific maintenance tasks involve the transportation, insertion, and removal of nozzle dams in a water chamber inside a steam generator via a narrow man-way entrance port. The developed robotic maintenance system has two major subsystems: a two degrees of freedom guiding device acting as the main guiding arm and a master-slave manipulator with a kinematic dissimilarity. The mechanical design considerations, control system, and capabilities of the robotic maintenance system are presented. Finally, a graphical representation of the nozzle dam maintenance processes in a simulated work environment are also demonstrated.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.807-814
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• 2014

In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system can enable a mobile robot to avoid obstacles and move to the reference point, according to the direction provided by the device guides through a haptic device consisting of a vibration motor in a blind environment. There are a great deal of obstacles in real environments, and so mobile robots can avoid obstacles by recognizing the exact position of each obstacle through the superposition of an ultrasonic sensor. The navigation system determines the direction of obstacle avoidance through an avoidance algorithm that uses virtual impedance, and lets users know the position of obstacles and the direction of the avoidance through the haptic device consisting of 5 vibration motors. By letting users know intuitionally, it lets the mobile robot precisely reach the reference point in unknown blind environment. This haptic device can implement a haptic navigation system through the tactile sensor data.

• Journal of the Korean Society of Safety
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• v.28 no.4
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• pp.19-25
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• 2013

For safe remote control, information on remote environment has to be delivered to operator realistically, and there have been numerous research efforts on this respect. Among them, haptic technology can significantly enhance safety and overall effectiveness of remote operation by delivering various kinds of information on virtual or real environment to operator. In this study, remote control based on haptic feedback is applied to control of mobile robot moving according to the command from operator avoiding collision with environmental obstacles and maintaining safe distance from them using ultrasonic sensors. Specifically, a remote feedback control structure for mobile robot is proposed. The controller is based on the inner feedback loop that directly utilizes information on distance to obstacles, and the outer feedback loop that the operator directly commands using the haptic device on which the computed reaction force based on the distance information is acting. Effectiveness of the proposed remote control scheme using double feedback loops is verified through a series of experiments on mobile robot.

• Journal of The Korean Society of Agricultural Engineers
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• v.58 no.5
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• pp.19-28
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• 2016

This study was to design the optimal locations of the water level monitoring to quantify the agricultural water use in irrigation area supplied from an agricultural reservoir. In most of agricultural areas without TM/TC (Tele-Monitoring and Tele-Control) or monitoring network, irrigation water have been supplied on conventional experience and agricultural reservoir have been operated based on the operating simulation results by HOMWRS (Hydrological Operation Model for Water Resources System). Therefore, this study quantified the amount of agricultural water use in an irrigation area (Musu Reservoir, Jincheon-gun) by establishing water level monitoring network and analyzed the agricultural water saving effect. According to the evaluation of the economic values for water saving effect, the saving agricultural water of 1.7 million ton was analyzed to have economic values of 0.85 million won as water for living, and 1.78 million won as water for industrial use. It is identified to secure economic feasibility of the new water monitoring network by establishing one monitoring point in the entrance, irrigation area and endpoint through the economic analysis.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.840-845
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• 2010

This paper proposes the method indirectly measuring the operating force of the end-effect tip of surgical robot instrument which conducts the surgical operation in the body on behalf of the surgeon's hand. Due to the size and safety obligation to the surgical robot instrument, it is difficult to measure the operation force of its tip like grasping force. However the instrument is driven by cable-pulley torque transmission mechanism and when some force is occurred at the tip, then the reaction force appears on the cable as additional tension. Based on this phenomenon, this paper proposes a method to estimate the operating force from measuring reaction force against the driving motor by using a loadcell. And it induces mathematical equation to calculate the force from loadcell by approaching the modulus of elasticity to high order polynomial. And this paper proves the validity of proposed mechanism by experimental test.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.24-27
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• 2001

Nowadays, increasing demand of the customized products has led to an increased usage of rapid prototyping in the product development. However, the acquisition price of a rapid prototyping equipment is still too high that not every body can afford to buy one. To offer a wide access to the users who need physical prototypes, a connection of the rapid prototyping equipment to the Internet is a viable step. It would allow a large group of customers all over the world to use the manufacturing capability of a service provider offering this kind of manufacturing service. To realize how such an e-manufacturing concept can look like, a LOM-type 3D printer developed at KIST has been used as test site and connected to the Internet. A possible user can log on to the server of the equipment and view his STL file and start the building operation from a remote place. To see whether the operation runs properly, a CCD camera is used to transmit the actual state of operation online. The result so far proves the feasibility of rapid prototyping on the Internet as well as an order-adaptive manufacturing system via web.

• Proceedings of the KIEE Conference
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• 2001.10a
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• pp.230-232
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• 2001

The camera system we researched has two stepping motors for the pan and tilt operation, and the human face tracking algorithm. Recently, this kind of the camera is used in PC communication, telecommunication vision meeting and tele-lecture. This paper discusses the smooth speed control method of this camera when the face is moved to up, down, left and right direction. We used a mean shift algorithm for the face-tracking, proposed the speed control algorithm using a fuzzy logic and certified this characteristics with the experiment.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.803-807
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• 2003

Tele-operation and remote monitoring techniques are essential and important technologies for performing the inspection and repair tasks effectively in nuclear power plants. This paper presents the application of a mobile robot for the remote monitoring and inspection of the Calandria faces, where human access is limited because of the high-level radioactive environments during full power operation. The mobile robot was designed with reconfigurable crawler type of wheels attached on the front and rear side in order to pass through the ditch. The extendable mast, mounted on the mobile robot, can be extended up to 8 m vertically. This robot was also equipped a visible CCD/thermal infrared inspection head module and a stereo camera module for the enhancement of visual inspection.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.840-845
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• 2004

The remote operation of the Advanced Spent Fuel Conditioning Process (ACP) is analyzed by using the 3D graphic simulation tools. Since the spent nuclear fuel, which is a high radioactive material, is processed in the ACP, the ACP equipment is operated in intense radiation fields as well as in a high temperature. Thus, the equipment is operated in a remote manner and should be designed with consideration for the remote handling and maintenance. Also suitable remote handling technology needs to be developed along with the design of the process concepts. For this we developed a graphic simulator, which provides the capability of verifying the remote operability of the ACP without the fabrication of the process equipment. In other words, by applying virtual reality to the remote maintenance operation, a remote operation task can be simulated in the graphic simulator, not in the real environment. The graphic simulator will substantially reduce the cost of the development of the remote handling and maintenance procedure as well as the process equipment, while at the same time developing a remote maintenance concept that is more reliable, easier to implement, and easier to understand.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.10 no.3
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• pp.35-41
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• 2010

In this paper, an Android based ubiquitous interface for controlling service robots is presented. The robot server captures the images for the front view of the robot, makes a map of the environment and its position, produces a graphic image of its pose, and then transmits them to the Android client. The Android client displays them in the LCD panel and transfers control information obtained from touched buttons to the server. In the interface environment, we implement remote moving mode, autonomous moving mode, and remote operation mode for being used for versatile operability to the robot with limited screen of the smart phone. Experimental results show the implementation of the proposed interface in Android installed on Motoroi to control a service robot, and demonstrate its feasibility.