• 로봇학회논문지
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• 제16권3호
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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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.139-139
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• 2000

The subject of this paper is the tole operation for unmanned vehicle. The aim is studied in context of motor control system and algorithms for the mid to low level control of tele operation unmanned vehicle described. Modern, vehicle related researches have been implemented about control, chassis, body and safe쇼 but now is to driving comfort, I.T.S. and human factor, etc. As a result of this fact, unmanned vehicle is main research topic over the world but it is still very expensive and unreasonable. A hierarchical approach is studied in context of motor control system and algorithms for the mid to low level control of tele operation unmanned vehicle described. The real time control and monitoring of longitudinal, lateral, Pitching motion is to be solved by system integration and optimization technique. We show the experimental result about fixed brake range test and acceleration test. And all system is to integrated for driving simulator and unmanned vehicle.

• 제어로봇시스템학회논문지
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• 제10권9호
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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.

• 제어로봇시스템학회논문지
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• 제22권11호
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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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.50.4-50
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• 2002

$\textbullet$ Definition of TeleCare $\textbullet$ Motivations behind Internet TeleCare with Robots $\textbullet$ Framework of Robot Operation Management $\textbullet$ Database Structure $\textbullet$ Chat Room Conference $\textbullet$ Remote Robot Control by Softswitch $\textbullet$ Experimental Results and Conclusion

• 제어로봇시스템학회논문지
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• 제19권10호
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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.

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

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제3권2호
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• pp.161-165
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• 2003

In this paper, we investigate the issues on the design and implementation of tele-operation system based on the haptic interface. Here, the 3-DOF haptic device and the X-Y-Z stage are employed as master controller and slave system respectively. For this master-slave system, the force feedback algorithm, the modeling of virtual environments and the control method of X-Y-Z stage are presented. In this paper, internet network is used for data communication between master and slave. We construct virtual environment of the real convex surface from the force-feedback in controlling the X-Y-Z stage and measuring the force applied by the 3-DOF haptic device.

• 제어로봇시스템학회논문지
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• 제17권3호
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• pp.258-263
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• 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
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• 제15권5호
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• pp.153-160
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• 1998

A master-slave system for tele-operation had been developed and tested for several decades. In this paper the master robot is composed of several wires and provides position information of the handle which is driven by a operator within the master robot work space. A PC is used for the command calculation for a slave robot. This paper deals with the relation between the number of strings and D.O.F of the master robot, control method of the slave robot during the operation and the monitoring method over the working area by the computer graphics simulation. The D.O.F of the master robot can be modified by adding or subtracting some strings. The controller of the slave robot uses the advanced PD control method to keep the performance against varying working load.