• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2003년도 춘계학술대회 논문집
• /
• pp.1101-1104
• /
• 2003

In this paper, we performed the study on the operation characteristics of tele-grasping using the developed experimental system. The experimental system consists of master and slave gripper. and signal processing system. For the stable grasping of an object, this system feedback the normal force obtained from the straingage of the slave gripper to magnetic particle brake of the master gripper through the signal processing system. This experimental system can control the grasping force in remote using the force feedback device. Some experimental results of the-tele-grasping are presented and discussed

• 제어로봇시스템학회논문지
• /
• 제17권3호
• /
• pp.258-263
• /
• 2011

In the bilateral tele-operation system, time delay may be a critical problem. Even if system modeling error or time delay occurs, when applied to wave transformation system, the system's stability can be achieved. Using the characteristic b which is an important parameter of wave transformation, the system can display robust performance for time delay. However, since assuming and that the time delay was fixed developing a theory, a stability cannot be guaranteed about the time-varying delay. Therefore, In the paper, Therefore, in this paper, we studied for the method that controls this by applying the fuzzy algorithm which surveyed the timevarying delay characteristics and can adjust the b according to it adaptively.

• 한국정밀공학회지
• /
• 제19권12호
• /
• pp.70-77
• /
• 2002

Necessity of the tole-operation has been increased in many fields. Since the Internet is inexpensive and available all over the world, it is a strong candidate for the transmission media of the tole-operation. However, the Internet has random time delays that may cause instability in the system especially if the tole -operation is bilateral. In the past few years many attempts have been made to overcome the random time delay, So far, they are still insufficient in terms of performance. The ‘Variable holding time’ is introduced to improve the performance of the ‘Event based tole-operation’ which controls a system with a non-time action reference. By holding each event for proper time, the system can quickly respond and be stabilized. The proper holding time should be selected based on the characteristics of the task that the system performs. The factors that reflect those characteristics are investigated. The fuzzy logic is employed to obtain the proper holding time for each event while the tole-operation system is in operation. The experimental results presented in this paper verify effectiveness of the proposed method.

• 디지털콘텐츠학회 논문지
• /
• 제5권1호
• /
• pp.22-27
• /
• 2004

밀폐 및 차폐 공간을 갖는 핫셀에서 사용후핵연료와 같은 고방사선 물질을 취급하고 있으며, 핵주기시설에서 마스터-슬레이브 매니퓰레이터는 원격취급장비로서 널리 사용되고 있다. 본 연구에서는 차세대관리공정의 디지털 목업을 구축하고 원격유지보수를 위한 매니퓰레이터의 작업영역 및 작업분석을 수행하였다. 실제 환경과 동일한 가상 작업환경을 갖는 디지털 목업은 3차원 그래픽으로 모델링된 공정장치 및 원격 취급장비들로 구성된다. 모델링된 매니퓰레이터는 기구학 및 동작범위에 대한 속성을 부여되고 외부 입력장치는 space ball을 사용하여 매니퓰레이터의 동작을 구현하였다. 또한 Tele-operation 인터페이스를 사용하여 6축 외부 입력장치와 연계한 시스템을 개발하였으며 외부 입력에 따른 매니퓰레이터의 동작에 대한 동기는 만족할 만한 응답을 보였다. 이는 가상환경에서 작업자 교육을 위한 시스템 개발에 유용할 것이다.

• 한국방사성폐기물학회:학술대회논문집
• /
• 한국방사성폐기물학회 2003년도 가을 학술논문집
• /
• pp.388-394
• /
• 2003

밀폐 및 차폐 공간을 갖는 핫셀에서 사용후핵연료와 같은 고방사선 물질을 취급하고 있으며, 핵주기시설에서 마스터-슬레이브 매니퓰레이터는 원격취급장비로서 널리 사용되고 있다. 본 연구에서는 차세대관리공정의 디지털 목업을 구축하고 원격유지보수를 위한 매니퓰레이터의 작업영역 및 작업분석을 수행하였다. 실제 환경과 동일한 가상 작업환경을 갖는 디지털 목업은 3차원 그래픽으로 모델링 된 공정장치 및 원격 취급장비들로 구성된다. 모델링 된 매니퓰레이터는 기구학 및 동작범위에 대한 속성을 부여되고 외부 입력장치는 space ball을 사용하여 매니퓰레이터의 동작을 구현하였다. 또한, Tele-operation 인터페이스를 사용하여 6축 외부 입력장치와 연계한 시스템을 개발하였으며 외부 입력에 따른 매니퓰레이터의 동작에 대한 동기는 만족할 만한 응답을 보였다. 이는 가상환경에서 작업자 교육을 위한 시스템 개발에 유용할 것이다.

• 제어로봇시스템학회논문지
• /
• 제12권4호
• /
• pp.358-363
• /
• 2006

This paper demonstrates a new non-contact electronic joystick using single hall sensor which detects a horizontal vector of the magnetic field. Furthermore, in this paper, it is mathematically modeled that nonlinear characteristics between the output of hall sensor and the movement of joystick bar. The dynamic horizontal vector of magnetic flux is detected by the hall sensor while a permanent magnet is rotated with the joystick bar, which has two dimension detecting area. Using the nonlinear adjustment equations, the output signals of hall sensor have been linearized to give higher accuracy in the two dimension movement. Finally, through the real experiments, it is showed that the single hall sensor structure mechanism is superior to the dual sensor structure in sensing the two-dimensional motion without offset.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2001년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
• /
• pp.230-232
• /
• 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.

• 한국물환경학회지
• /
• 제33권2호
• /
• pp.140-148
• /
• 2017

An important factor in determining the design and treatment efficiency of wastewater treatment plants (WWTPs) is the quantity and quality of influent. These detailed and accurate information is essential for process control, diagnosis and operation, as well as the basis in designing the plant, selecting the process and determining the optimal capacity of each bioreactor. Probabilistic models are used to predict the wastewater quantity and quality of WWTPs, which are widely used to improve the design and operation of WWTPs. In this study, the optimal probability distribution of time series influent data was derived for predicting water quantity and quality, and wastewater influent data were generated using the Monte Carlo simulation analysis. In addition, we estimated various alternatives for the improvement of bioreactor operations based on present operation condition using the generated influent data and activated sludge model, and suggested the alternative that can operate the most effectively. Thus, the influent quantity and quality are highly correlated with the actual operation data, so that the actual WWTPs influent characteristics were well reproduced. Using this will improve the operating conditions of WWTPs, and a proposed improvement plan for the current TMS (Tele Monitoring System) effluent quality standards can be made.

• Journal of Biosystems Engineering
• /
• 제29권1호
• /
• pp.71-78
• /
• 2004

Real time and robust algorithm to extract the features of watermelon was developed from the remotely transmitted image of the watermelon. Features of the watermelon at the cultivation site such as size and shape including position are crucial to the successful tole-robotic operation and development of the cultivation data base. Algorithm was developed based on the concept of task sharing between the computer and the operator utilizing man-computer interface. Task sharing was performed based on the functional characteristics of human and computer. Identifying watermelon from the image transmitted from the cultivation site is very difficult because of the variable light condition and the complex image contents such as soil, mulching vinyl, straws on the ground, irregular leaves and stems. Utilizing operator's teaching through the touch screen mounted on the image monitor, the complex time consuming image processing process and instability of processing results in the watermelon identification has been avoided. Color and brightness characteristics were analyzed from the image area specified by the operator's teaching. Watermelon segmentation was performed using the brightness and color distribution of the specified imae processing area. Modified general Hough transform was developed to extract the shape, major and minor axes, and the position, of the watermelon. It took less than 100 msec of the image processing time, and was a lot faster than conventional approach. The proposed method showed the robustness and practicability in identifying watermelon from the wireless transmitted color image of the cultivation site.

• 한국물환경학회지
• /
• 제30권5호
• /
• pp.524-531
• /
• 2014

Korea has been trying to manage water quality of rivers and lakes in many ways. Ministry of Environment is making continuous efforts of operation control improvement such as strengthening effluent standards in sewage treatment plants and expanding Tele-Monitoring System (TMS). However, evaluation method for operations of sewage treatment plants and establishment system of effluent standards are inadequate. The objective of this study is to evaluate for operations of sewage treatment plants using statistics technique such as frequency analysis, percentile, normal distribution analysis. We used the effluent data (BOD, COD, SS) collected at 299 plants in 2012. The values were very low by comparison with standards. The Data followed a normal distribution. We think that distribution characteristics are closely related with effluent standards, especially T-P and BOD. Statistics technique attempted in this study can be used to evaluate for operations of sewage treatment plants and assess the appropriateness of effluent standards based on TBEL(Technology-based effluent limitation). And, this technique can be used to figure out the overall level of plants, the status of each plant and the favorable treatment process for each item (BOD, COD etc.). Data acquired through this method can be used to improve facilities and operation techniques and decide on a sewerage policy.