• Title/Summary/Keyword: Tele-robotics

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Tele-robotics in Agriculture - Tomato Harvesting Experiment -

  • Monta, Mitsuji;Kobayashi, Koji;Hirai, Takuya;Namba, Kazuhiko;Nishi, Takao
    • Agricultural and Biosystems Engineering
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    • v.6 no.2
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    • pp.54-58
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    • 2005
  • In this study, tele-robotics was researched to actualize robots in agriculture. The robot system consisted of a data collecting robot, several robots that performed their own agricultural operations, a server, client computers and networks between robots and computers. In this paper, as a first step, harvesting experiments were carried out. From the results, it was observed that the tele-robotics had feasibility to propel the robotization in agriculture. The tele-robotics has advantages not only that human workers are released from the severe working environment but also that the greenhouse can be monitored and controlled anytime and anywhere.

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Methodological Comparison of Visualization for Tele-operated Robot Visual Guidance (원격 로봇 비주얼 가이던스를 위한 가상벽 가시화 방법론 비교)

  • Kim, Dong Yeop;Shin, Dong-In;Hwang, Jung-Hoon;Kim, Young-Ouk
    • Journal of Institute of Control, Robotics and Systems
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    • v.22 no.11
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    • pp.877-882
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    • 2016
  • Disaster robots have accepted tele-operation in order to share the intelligence of human operators and robot systems. Virtual wall is one of the tele-operation technology to support recognition of human operator. If the virtual wall can block the robot from dangers, the operator will feel comfortable and can concentrate on fundamental missions. In this paper, we proposes and compares three methods for virtual wall visualization in tele-operation using 3D reconstruction. First is a virtual wall visualized only with edges. A wall filled with transparent color is the second method. Finally, third method is a texture-mapped virtual wall. In the experiments, we discuss their merits and demerits in view of robot tele-operation.

Tele-Manipulation of ROBHAZ-DT2 for Hazard Environment Applications

  • Ryu, Dong-Seok;Lee, Jong-Wha;Yoon, Seong-Sik;Kang, Sung-Chul;Song, Jae-Bok;Kim, Mun-Sang
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.2051-2056
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    • 2003
  • In this paper, a tele-manipulation in explosive ordnance disposal(EOD) applications is discussed. The ROBHAZ-DT2 is developed as a teleoperated mobile manipulator for EOD. In general, it has been thought that the robot must have appropriate functions and accuracy enough to handle the complicated and dangerous mission. However, the research on the ROBHAZ-DT2 revealed that the teleoperation causes more restrictions and difficulties in EOD mission. Thus to solve the problem, a novel user interface for the ROBHAZ-DT2 is developed, in which the operator can interact with various human senses (i.e. visual, auditory and haptic sense). It enables an operator to control the ROBHAZ-DT2 simply and intuitively. A tele-manipulation control scheme for the ROBHAZ-DT2 is also proposed including compliance control via force feedback. It makes the robot adapt itself to circumstances, while the robot faithfully follows a command of the operator. This paper deals with a detailed description on the user interface and the tele-manipulation control for the ROBHAZ-DT2. An EOD demonstration is conducted to verify the validity of the proposed interface and the control scheme.

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Tele-Operation System for Excavator using LTE Communication (LTE 통신을 사용한 건설용 굴삭기 원격조종시스템 개발)

  • Lee, Seung Chol;Kang, Byoung Hun
    • The Journal of Korea Robotics Society
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    • v.16 no.3
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    • pp.232-237
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    • 2021
  • In this research, a real-time tele-operation system for unmanned excavator using the LTE communication system is suggested. The distance between the operator and the excavator is limitless as long as the LTE communication available. The motion and video data of the excavator is synchronized using the Vehicle Control Unit (VCU) and streamed to the operator for immersion feeling. The video is played on the operator's monitor and the motion data is used to regenerate the excavator movement on the developed master platform. In general, a excavator is tele-operated using RF signal and the maximum distance for direct control is limited to within a hundred meter. In this research, the immersion tele-operation system is suggested for excavator operation within an 100ms time delay using the developed master platform, the VCU and LTE communication. A successful test run of the suggested tele-operation system has already been performed between an operator in Songpa (Seoul) and a excavator in Ansan (Gyeonggi-do) which is approximately 35 km apart.

Tele-Operated Mobile Robot for Visual Inspection of a Reactor Head

  • Choi, Chang-Hwan;Jeong, Kyung-Min;Kim, Seung-Ho
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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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.

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A study on optimal design of tele-existence system (원격 현장 제어시스템의 최적 설계에 관한 연구)

  • 이창훈;도미선;박민용;이상배
    • 제어로봇시스템학회:학술대회논문집
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    • 1989.10a
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    • pp.222-225
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    • 1989
  • A method is proposed to design a mobile tele-existence system, which can be remotely driven with the auditory and visual sensation of presence. The system consists of mobile robot with camera and two microphones. The effectiveness of the proposed system was evaluated by navigation experiments of the tele-robot through an obstructed space.

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Tele-operation of A Low-cost Un-autonomous Mobile Robot Using A New Fuzzy Command Smoothing Concept (새로운 퍼지 명령 스무딩 개념을 이용한 저가형 비자율주행 이동로봇의 원격제어)

  • Yoo Bong-Soo;Joh Joongseon
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.9
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    • pp.809-815
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    • 2004
  • Researches on mobile robots have been mainly focused on the autonomous navigation and a lot of interesting results have been published so far. Most of applications are, however, fancy, unpractical, and very expensive to be used for 'UN-expensive' purpose. Well-known soccer robot may be an example of unpractical application. Un-autonomous mobile robot has, however, potential for a lot of practical applications. Especially, tele-operation of the un-autonomous mobile robot may the central issue of research. Major research topics for the tele-operated un-autonomous mobile robot include development of a force reflecting joystick for tele-operation and development of a sophisticated algorithm for smooth tele-operation. A new concept named fuzzy command smoothing algorithm is proposed in this paper in order to provide smooth motion to a tele-operated mobile robot. It gives smooth motion command to the mobile robot from possibly abrupt quick turn motion command of the joystick using fuzzy logic. Simulation results verify the usefulness of the proposed algorithm.

A study on the stability of bilaterally controlled tele-manipulator (힘반영 원격조작 매니퓰레이터의 안정성에 대한 연구)

  • 차동혁;박영수;조형석
    • 제어로봇시스템학회:학술대회논문집
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    • 1990.10a
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    • pp.377-381
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    • 1990
  • In this paper, the stability analysis for the bilateral control of tele-manipulator is considered. Two-port network model is used to describe the tele-manipulator system. The stable conditions are derived using impedance matrix and passive network theory for two different types of bilateral control scheme. It is also shown that such conditions can be succefully applied to the n-d.o.f tele-manipulator system in which the kinematics and dynamics of master and slave manipulators are different.

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Real-time Polygon Generation and Texture Mapping for Tele-operation using 3D Point Cloud Data (원격 작업을 위한 3 차원 점군 데이터기반의 실시간 폴리곤 생성 및 텍스처 맵핑 기법)

  • Jang, Ga-Ram;Shin, Yong-Deuk;Yoon, Jae-Shik;Park, Jae-Han;Bae, Ji-Hun;Lee, Young-Soo;Baeg, Moon-Hong
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.10
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    • pp.928-935
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    • 2013
  • In this paper, real-time polygon generation algorithm of 3D point cloud data and texture mapping for tele-operation is proposed. In a tele-operation, it is essential to provide more highly realistic visual information to a tele-operator. By using 3D point cloud data, the tele-operator can observe the working environment from various view point with a reconstructed 3D environment. However, there are huge empty space in 3D point cloud data, since there is no environmental information among the points. This empty space is not suitable for an environmental information. Therefore, real-time polygon generation algorithm of 3D point cloud data and texture mapping is presented to provide more highly realistic visual information to the tele-operator. The 3D environment reconstructed from the 3D point cloud data with texture mapped polygons is the crucial part of the tele-operation.

Multimedia network system

  • Fukuda, Toshio;Arai, Fumihito
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10a
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    • pp.13-16
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    • 1996
  • Based on the technical innovation of the recent communication system technologies, systems are linked by the worldwide network. We introduce some examples of the multimedia network systems. Especially, we introduce our recent attempt to realize the multimedia tele-surgery system using high speed optical fiber network. At first, we shows the technical problems of the multimedia tele-surgery. We applied this idea to the intravascular neurosurgery. System configuration for the prototype experiments and experimental results are shown.

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