• The Journal of Korean Institute for Practical Engineering Education
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• v.3 no.1
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• pp.193-199
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• 2011

In this paper, we propose a novel manipulator intended for the needs of telerobotic micromanipulation. We designed an original manipulator capable of performing fine motion with an accuracy greater than $2{\mu}m$, while remaining simple in design and easy in control. Preliminary calculations of manipulator accuracy have been conducted, and the device has been designed and manufactured accordingly. The accuracy of the proposed manipulator has been verified during the series micro-positioning experiments under different types of controllers, and the results proved that the manipulator is suitable for micromanipulation applications as a part of telerobotic system. The proposed manipulator has been compared to existing analogues by several parameters, and both its advantages and disadvantages have been discussed.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.4 s.310
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• pp.60-66
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• 2006

Underwater ultrasonic communication is critical to explore and development ocean using instrument. Essential to these applications is the reliable teleoperation and telemetering of the unit. But the problem is that the controllability of the instrument and the reliability of submarine communication are decreased, as so various passive noises are generated. In the existing methods, the control informations, received from an observation instrument, are identified used by hardware and repeatedly compared with standard information. However, such a method weakens the efficiency in controllability-centered systems. This study presents an ultrasonic signal detection algorithm that can identify the ultrasonic signal without the influence of disturbances due to underwater environmental changes. Likewise, the logicality of detection algorithm were ascertained by simulation.

• 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.

• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.339-346
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• 2022

To operate in real environment, humanoid robots should be able to react to unknown disturbances. To deal with disturbances, various robust control algorithms have been developed for decades. But for collaborative works such as teleoperation system, a compliance control can be the better solution for disturbance reactions. In this paper, a center of mass (CoM) compliance control algorithm for humanoid robots is proposed. The proposed algorithm is based on the state observer and positive feedback of disturbance. With the state observer based on humanoid CoM control performance model, disturbance in each direction can be observed. The positive feedback of disturbances to the reference CoM trajectory enables compliant motion. The main contributions of this algorithm are achieving compliance independently in each axis and maintaining balance against external force. Through dynamic simulations, the performance of the proposed method was demonstrated. Under two types of disturbance conditions, humanoid robot DYROS-JET reacted with compliant motion via the proposed algorithm.

• Proceedings of the KIEE Conference
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• 2003.04a
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• pp.335-337
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• 2003

원격지에서 임의의 시스템을 제어하는 원격제어(teleoperation)는 자동화산업시스템을 비롯한 많은 분야에서 연구와 활용이 지속적으로 진행되고 있다. 본 논문에서 소개하는 원격 감시제어시스템은 인터넷을 이용 풍력발전기에 적용시킴으로써 카메라를 동해 현장상태를 상시 감시하고, 필요시 원격지 제어를 통해 시스템을 안정적으로 운용하는 데 목적이 있다. 대부분의 풍력발전시스템은 사람이 쉽게 접근하거나 거주하기 용이하지 않는 지역에 설치되고 있으며, 특히 수기 또는 그 이상의 풍력발전기를 운용하는 대규모 풍력발전단지(Wind Farm)에서는 풍력발전기에 따라 자체 현장관리사무소를 설치하고, 헌장관리사무소를 원격지의 중앙통제실에서 종합적으로 관리하는 상황을 고려하면 원격 감시제어시스템은 풍력발전시스템을 구성하는 데 있어 매우 필요한 시스템이라 할 수 있다.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.603-609
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• 2016

This paper presents an optimally designed master device mechanism for teleoperated interventional robotic system. The interventional procedures using the teleoperated robotic system and the physicians' requirements are summarized. The master device should implement 5-DOF motion including 2-DOF translational motion for the entry position control, 2-DOF rotational motion for the orientation control, and 1- DOF translational motion for needle insertion. The handle assembly includes a 1-DOF translational mechanism for needle insertion and buttons for operation mode selection. The mechanisms for the 2-DOF translational motion and the 2-DOF rotational motion are designed using motors and brakes based on the various mechanisms to satisfy all the above requirements, respectively. Absolute position sensors are adopted to implement automatic initial positioning and orientation matching at the first step of needle insertion.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.7
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• pp.1417-1426
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• 2011

Radiofrequency ablation through cardiac catheterization is one of minimally invasive intervention procedures used in drug resistant arrhythmia treatment. To facilitate more accurate and precise catheter navigation, systems for robotic cardiac catheter navigation have been developed and commercialized. The authors have been developing a novel robotic catheter navigation system. The system is a network-based master-slave configuration 3-DOF (Degree-Of-Freedom) robotic manipulator for operation with conventional cardiac ablation catheter. The catheter manipulation motion is composed of the translation (forward/backward) and the roll movements of the catheter and knob rotation for the catheter tip articulation. The master manipulator comprises an operator handle compartment for the knob and the roll movement input, and a base platform for the translation movement input. The slave manipulator implements a robotic catheter platform in which conventional cardiac catheter is mounted and the 3-DOF motions of the catheter are controlled. The system software that runs on a realtime OS based PC, implements the master-slave motion synchronization control in the robot system. The master-slave motion synchronization performance tested with step, sinusoidal and arbitrarily varying motion commands showed satisfactory results with acceptable level of steady state error. The developed system will be further improved through evaluation of safety and performance in in vitro and in vivo tests.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.3 s.303
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• pp.33-40
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• 2005

In order to successfully exploit underwater resources, the first step would be a marine environmental research and exploration on the seafloor. Traditionally one sets up a long-term underwater experimental unit on the seafloor and retrieves the unit later after a certain period time. Essential to these applications is the reliable teleoperation and telemetering of the unit. This study presents ultrasonic-wave remote control system and an underwater sound recognition algorithm that can identify the sound signal without the influence of disturbances due to underwater environmental changes. The proposed method provides a means suitable for units which require low power dissipation and long-time underwater operation. We demonstrate its ability of securing stability and fast sound recognition through experimental methods.

• Korean Journal of Biological Psychiatry
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• v.19 no.3
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• pp.121-127
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• 2012

Objectives : The multimodal telepresence systems have been adopted in a variety of applications, such as telemedicine, space or underwater teleoperation and videoconference. Multimedia, one of the telepresence systems, has been used in various fields including entertainment, education and communication. The degree of subjective telepresence is defined as the probability that a person perceives to be physically in the remote place when he/she experiences a multisensory feedback from the multimedia. The current study aimed to explore the neural mechanism of telepresence related to multisensory feedback in patients with schizophrenia. Methods : Brain activity was measured using functional magnetic resonance imaging while fifteen healthy controls and fifteen patients with schizophrenia were experiencing filmed referential conversation at various distances (1 m, 5 m and 10 m). Correlations between the image contrast values and the telepresence scores were analyzed. Results : Subjective telepresence was not significantly different between the two groups. Some significant correlations of brain activities with the telepresence scores were found in the left postcentral gyrus, bilateral inferior frontal gyri, right fusiform gyrus, and left superior temporal sulcus. There were no main effects of group and distance. Conclusion : These results suggest that patients with schizophrenia experience telepresence as appropriately as healthy people do when exposed to multimedia. Therefore, patients with schizophrenia would have no difficulty in immersing themselves in multimedia which may be used in clinical training therapies.