• International Journal of Control, Automation, and Systems
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• v.5 no.6
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• pp.681-690
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• 2007

This article presents the kinematic analysis and implementation of an interface and control of two robots-an exoskeleton master robot and a human-like slave robot with two arms. Two robots are designed and built to be used for motion-following tasks. The operator wears the exoskeleton master robot to generate motions, and the slave robot is required to follow after the motion of the master robot. To synchronize the motions of two robots, kinematic analysis is performed to correct the kinematic mismatch between two robots. Hardware implementation of interface and control is done to test motion-following tasks. Experiments are performed to confirm the feasibility of the motion-following tasks by two robots.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.45-45
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• 2000

This paper proposes a remote control system that combines computer network and an autonomous mobile robot. We control remotely an autonomous mobile robot with vision via the internet to guide it under unknown environments in the real time. The main feature of this system is that local operators need a World Wide Web browser and a computer connected to the internet communication network and so they can command the robot in a remote location through our Home Page. The hardware architecture of this system consists of an autonomous mobile robot, workstation, and local computers. The software architecture of this system includes the server part for communication between user and robot and the client part for the user interface and a robot control system. The server and client parts are developed using Java language which is suitable to internet application and supports multi-platform. Furthermore, this system offers an image compression method using motion JPEG concept which reduces large time delay that occurs in network during image transmission.

• Journal of Power System Engineering
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• v.4 no.4
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• pp.78-83
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• 2000

It is often necessary to observe the working environment of a robot to control it efficiently in the remote location. The remote sensing data and control commands are transmitted via various media such as radio, microwave, and computer network. The World Wide Web can be used as the infrastructure for teleoperation of mobile robots. In this paper we propose an advanced technique of the remote control of mobile robots on the web. For the real-time control, the image separation algorithm is proposed to transmit the current positions of mobile robots instead of transmitting the full frame image. It is shown by experiments that the proposed algorithm is effective.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.277-283
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• 2006

A recently proposed method for stabilizing haptic interfaces and teleoperation systems was tested with a 'PHANToM' commercial haptic device. The 'Passivity Observer' (PO) and 'Passivity Control1er' (PC) stabilization method was applied to stabilize the system but also excited a high frequency mode in the device. To solve this problem, we propose a method to use a timevarying desired energy threshold instead of fixed zero energy threshold for the PO, and make the actual energy input follow the timevarying energy threshold. With the time-varying energy threshold, we make the PC control action smooth without sudden impulsive behavior by distributing the dissipation. The proposed new PO/PC approach is applied to PHANToM with high stiffness (K = 5000N/m), and stable and smooth contact is guaranteed. Resetting and active environment display problems also can be solved with the reference energy following idea.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.976-979
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• 1996

Teleoperation is the extension of a person's sensing and manipulation capability to a remote location. Teleoperators generally can be modeled as linear transfer function indecently including modeling uncertainty. Modeling uncertainties can make the system unstable and its performance poor. Thus I'm studying about a design framework for a bilateral controller of teleoperator systems with modeling uncertainties. In this paper, a method based on the H$_{\infty}$-optimal control and .mu.-synthesis frameworks are introduced to design a controller for the teleoperator that achieves stability and performance in the presence of the modeling uncertainties..ties.inties.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.44.1-44
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• 2001

This paper discusses the interacting mobile robots for tele-operation system using the world wide web. In multi-agent and web-based teleoperation environment the problem of communication delay must be solved for the efficient and robust control of the system. The standard graphic user interface(GUI)is implemented using Java Programing language. The web browser is used to integrate the virtual environment and the standard GUI(Java applet) in a single user interface. Users can access a dedicated WWWserver and download the user interface. Reinforcement learning is applied to indirect control in order to autonomously operate without the need of human intervention. Java application has been developed to communicate and control multi robots using WWW. The effectiveness of our multi robots system is verified by simulation and experiments ...

• Nuclear Engineering and Technology
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• v.35 no.3
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• pp.214-225
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• 2003

A teleoperated manipulator system has been developed for remote handling of the spent fuel bundles. A heavy-duty power manipulator with high reduction ratio joints is used for the slave manipulator in the developed system since the handling tasks of the spent fuel bundles need power. Also, the universal type master manipulator, which has force reflecting capability, is used for precise remote manipulation. The power manipulators so frequently occur the control input saturation that the precise control performances are not achieved due to the windup phenomenon. An advanced bilateral control scheme compensating for the saturation is applied to the teleoperated manipulator system. The validity of the developed system is verified by the grid cutting and fuel transportation tasks from the mockup spent fuel bundle.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.9
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• pp.2373-2380
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• 1993

This paper addresses the design procedure and testing result of a servo driven pan/tilt device which is capable of tracking arbitrary movement of a specified target object. In order to achieve real-time acquisition of feedback signal, a 2 degree-of freedom non-contact type displacement follower has been employed in stead of vision camera. The performance of the designed system is tested for different target velocities and control gains. The test result shows the satisfactory performance to be adopted as an effective tool for visual transfer in the context of teleoperation.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.117-119
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• 2004

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.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.171.3-171
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• 2001

The master/slave-combined system has a simplified and miniaturized structure formed by combining the master and slave that are the teleoperation system. In a certain situation, the operator may want to feel the magnified/reduced admittance of the real environments. Or he may want to feel the specific predefined admittance of the virtual environments. This paper presents a force feedback control structure for the master/slave-combined system. Through the proposed control structure, the operator can feel the predefined admittance of the virtual environments in case of free motion, and the magnified/reduced admittance of real environments in case of contact situation. It is discussed how the elements of the admittance effect ...