화상강의 시스템을 이용한 외과 실습교육의 효과

양한광(Han-Kwang Yang),이혁준(Hyuk-Joon Lee),유문원(Moon Won Yoo),장성환(Seong-Hwan Chang),김상준(Sang Joon Kim) 한국의학교육학회 2003 Korean journal of medical education Vol.15 No.2

Purpose: Observation of operations is believed to be a major part in the clinical clerkship of surgery, but it is very hard to be performed effectively due to the difficulty of providing an appropriate view of surgical field for many students. To overcome this problem, we have started to provide a tele-video system for clinical clerkship of surgery since 2001. The aim of this study was to evaluate the effectiveness of educational program of surgery using tele-video system. Methods: We provided the tele-video system with camera systems in two operating rooms and 2 video projection systems in the teaching room to the third year medical students as a curriculum of clinical clerkship of surgery. Education using tele-video system was performed in the form of the interrogatory teaching between the teacher (operator) and students using microphone. The questionnaires about the program of clinical clerkship of surgery and the education with tele-video system were filled up by 190 students who had completed the 4 weeks clerkship schedule. After then, items in the questionnaires were analyzed in September and in December to evaluate the change of the students response for the education with tele-video system. Results: Eighty-eight percent of students had experienced the education with tele-video system. Most students (96%) recommended this system to their juniors, and 78% of students wanted this system to be also used in other departments clinical clerkship. The advantages of tele-video system were revealed as the better view of surgical field, followed by clear explanation for the surgical procedure, interrogatory teaching between the operator and the students, and so on. The most effective teaching methods were revealed as direct participating in the operation (33%), followed by tele-video system (32%), reading of textbook (19%), and simple observation of the operation (15%). General satisfaction for tele-video system were scored with five (11%), four (48%), three (25%), two (7%), and one (1%) (5=excellent, 1=very poor). General satisfaction rate about tele-video system was markedly improved from September to December. Conclusions: The education with tele-video system in the clinical clerkship of surgery seems to be very effective method for teaching the medical students.

Ergonomic Analysis of Tele-operation Tasks and Remote Handling Devices for a Pyroprocessing Facility

Seung Nam Yu,Jong Kwang Lee,Sung Hyun Kim,Byung Suk Park(번역자),Ki Ho Kim,Il Je Cho 대한인간공학회 2013 大韓人間工學會誌 Vol.32 No.1

Objective: The aim of this study is ergonomic analysis of tele-operation tasks using modified remote handling devices dedicated to the cell of PRIDE(PyRoprocess Integrated inactive DEmonstration facility) in KAERI(Korea Atomic Energy Research Institute). Background: Tele-operation manipulators of the PRIDE are applied to perform the remote handling and management of pyroprocessing facilities. Generally, these kinds of systems are composed of master-slave system and its peripherals installed along a wall or ceiling of the cell, and the manipulators transmit the user"s own motion to grippers directly. However, a user convenience and intuitiveness while operating the manipulators have not been fully considered in research fields. Method: This study tries to analyze the ergonomic performance of remote handling manipulators in the developed cell facility. It was included that the analysis of operator"s capability for his/her own motion range of upper arm while manipulating the MSM, considerations of its manipulation margin and related tool modifications to improve the remote handling performance. Conclusion: The test results of several remote handling tasks performed in PRIDE are represented, and adequate operation strategies for the tele-operation system of hot-cell type facilities are proposed. Application: The knowledge represented in this study can be utilized to improve a tele-operation system operated in a large-scale hot-cell system.

Tele-operating System of Field Robot for Cultivation Management - Vision based Tele-operating System of Robotic Smart Farming for Fruit Harvesting and Cultivation Management

류영선,박준걸,노광모 한국농업기계학회 2014 바이오시스템공학 Vol.39 No.2

Purposes: This study was to validate the Robotic Smart Work System that can provides better working conditions and highproductivity in unstructured environments like bio-industry, based on a tele-operation system for fruit harvesting with lowcost 3-D positioning system on the laboratory level. Methods: For the Robotic Smart Work System for fruit harvesting andcultivation management in agriculture, a vision based tele-operating system and 3-D position information are key elements. This study proposed Robotic Smart Farming, an agricultural version of Robotic Smart Work System, and validated a 3-Dposition information system with a low cost omni camera and a laser marker system in the lab environment in order to get avision based tele-operating system and 3-D position information. Results: The tasks like harvesting of the fixed target andcultivation management were accomplished even if there was a short time delay (30 ms ~ 100 ms). Although automaticconveyor works requiring accurate timing and positioning yield high productivity, the tele-operation with user’s intuitionwill be more efficient in unstructured environments which require target selection and judgment. Conclusions: This systemincreased work efficiency and stability by considering ancillary intelligence as well as user’s experience and knowhow. Inaddition, senior and female workers will operate the system easily because it can reduce labor and minimized user fatigue.

Tele-operating System of Field Robot for Cultivation Management - Vision based Tele-operating System of Robotic Smart Farming for Fruit Harvesting and Cultivation Management

Ryuh, Youngsun,Noh, Kwang Mo,Park, Joon Gul Korean Society for Agricultural Machinery 2014 바이오시스템공학 Vol.39 No.2

Purposes: This study was to validate the Robotic Smart Work System that can provides better working conditions and high productivity in unstructured environments like bio-industry, based on a tele-operation system for fruit harvesting with low cost 3-D positioning system on the laboratory level. Methods: For the Robotic Smart Work System for fruit harvesting and cultivation management in agriculture, a vision based tele-operating system and 3-D position information are key elements. This study proposed Robotic Smart Farming, an agricultural version of Robotic Smart Work System, and validated a 3-D position information system with a low cost omni camera and a laser marker system in the lab environment in order to get a vision based tele-operating system and 3-D position information. Results: The tasks like harvesting of the fixed target and cultivation management were accomplished even if there was a short time delay (30 ms ~ 100 ms). Although automatic conveyor works requiring accurate timing and positioning yield high productivity, the tele-operation with user's intuition will be more efficient in unstructured environments which require target selection and judgment. Conclusions: This system increased work efficiency and stability by considering ancillary intelligence as well as user's experience and knowhow. In addition, senior and female workers will operate the system easily because it can reduce labor and minimized user fatigue.

Internet-based Real-time Obstacle Avoidance of a Mobile Robot

Ko Jae-Pyung,Lee Jang-Myung The Korean Society of Mechanical Engineers 2005 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.19 No.6

In this research, a remote control system has been developed and implemented, which combines autonomous obstacle avoidance in real-time with force-reflective tele-operation. A tele-operated mobile robot is controlled by a local two-degrees-of-freedom force-reflective joystick that a human operator holds while he is monitoring the screen. In the system, the force-reflective joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force which is generated in the form of a new collision vector and reflected to the operator. This reflected force makes the tele-operation of a mobile robot safe from collision in an uncertain and obstacle-cluttered remote environment. A mobile robot controlled by a local operator usually takes pictures of remote environments and sends the images back to the operator over the Internet. Because of limitations of communication bandwidth and the narrow view-angles of the camera, the operator cannot observe shadow regions and curved spaces frequently. To overcome this problem, a new form of virtual force is generated along the collision vector according to both distance and approaching velocity between an obstacle and the mobile robot, which is obtained from ultrasonic sensors. This virtual force is transferred back to the two-degrees-of-freedom master joystick over the Internet to enable a human operator to feel the geometrical relation between the mobile robot and the obstacle. It is demonstrated by experiments that this haptic reflection improves the performance of a tele-operated mobile robot significantly.

파동변수 알고리즘을 적용한 텔레오퍼레이션 시스템 설계

유성구(Sung-Goo Yoo),설남오(Nam-O Seul),박상만(Sang-Man Park) 한국엔터테인먼트산업학회 2012 한국엔터테인먼트산업학회논문지 Vol.6 No.3

본 논문에서는 시간지연이 있는 경우에도 안정적으로 동작할 수 있는 텔레오퍼레이션 시스템을 설계하고자 한다. 텔레오퍼레이션 시스템은 마스터와 슬래이브 장치 그리고 통신채널로 구성한다. 안정적으로 전체 털레오퍼레이션 시스템이 동작하기 위해서는 장치들의 안정성뿐만 아니라 통신채널의 안정성도 보장해야 한다. 즉 통신채널 상의 시간지연 문제를 해결해야 한다. 시간지연은 원격제어시스템상에서 필수적으로 발생하며 이는 시스템을 불안정하게 할 수 있기 때문이다. 따라서 본 논문에서는 수동성 기반의 파동변수 알고리즘을 적용하여 텔레오퍼레이션 시스템을 설계하였다. 파동변수는 에너지 측면에 기반을 둔 방법으로 불안정성으로 인해 발생한 에너지를 강제로 소비하여 전체 시스템의 안정성을 도모하는 방법이다. 간단한 마스터와 슬래이브 장치 그리고 무선시리얼기반의 통신채널을 이용하여 텔레오퍼레이션 시스템을 구성하였으며 실험을 통해 제안한 시스템의 성능을 검증하였다. In this paper, we designed the tele-operation system that can work stable with time delay on the communication channel. The tele-operation system constitutes master, slave device and communication channel. The overall tele-operation system to work stably, master and slave devices should be stable and communication channels also have to guarantee stability. In other words, we have to solve the time delay problem on the communication channel because time delay should occur in the remote control system and it can make the system unstable. So, in this paper, we designed the tele-operation system using the wave variables algorithm based on passive theory. The wave variables method based on theenergy side is consumed energy caused unstable situation forcibly and to ensure stability. For experiments, we made simple master and slave device using joystick, server motors and sensors. And tele-operation system was composed the devices and remote serial communication. We analyzed the performance of the proposed system through the experiments.

단일 홀센서 힘반영 조이스틱을 이용한 모바일 로봇 원격제어

이장명,전찬성,조승근 한국로봇학회 2006 로봇학회 논문지 Vol.1 No.1

Though the final goal of mobile robot navigation is to be autonomous, operators intelligent and skillful decisions are necessary when there are many scattered obstacles. There are several limitations even in the camera-based tele-operation of a mobile robot, which is very popular for the mobile robot navigation. For examples, shadowed and curved areas acnnot be viewed using a narrow view-angle camera, especially in bad weather such as on snowy or rainy days. Therefore, it is necessary to have other sensory information for reliable tele-operations. In this paper, sixteen ultrasonic sensors are attached around a mobile robot in a ring pattern to measure the distances to obstacles. Acollision vector is introduced in this paper as a new tool for obstacle avoidance, which is defined as a normal vector from an obstacle to the mobile robot. Based on this collision vector, a virtual reflection force is generated to avoid the obstacles and then the reflection force is transferred to an operator who is holding a joystick to control the mobile robot. Relying on the reflection force, the operator can control the mobile robot more smoothly and safely. For this bi-directional tele-operation, a master joystick system using a hall sensor was designed to resolve the existence of nonlinear sections, which are usual for a general joystick with two motors and potentiometers. Finally, the efficiency of a force reflection joystick is verified through the comparison of two vision-based tele-operation experiments, with and without force reflection.

Information Technology and Electronics : Original Article ; Tele-operating System of Field Robot for Cultivation Management - Vision based Tele-operating System of Robotic Smart Farming for Fruit Harvesting and Cultivation Management

( Youngsun Ryuh ),( Kwang Mo Noh ),( Joon Gul Park ) 한국농업기계학회 2014 바이오시스템공학 Vol.39 No.2

Purposes: This study was to validate the Robotic Smart Work System that can provides better working conditions and high productivity in unstructured environments like bio-industry, based on a tele-operation system for fruit harvesting with low cost 3-D positioning system on the laboratory level. Methods: For the Robotic Smart Work System for fruit harvesting and cultivation management in agriculture, a vision based tele-operating system and 3-D position information are key elements. This study proposed Robotic Smart Farming, an agricultural version of Robotic Smart Work System, and validated a 3-D position information system with a low cost omni camera and a laser marker system in the lab environment in order to get a vision based tele-operating system and 3-D position information. Results: The tasks like harvesting of the fixed target and cultivation management were accomplished even if there was a short time delay (30 ms ~ 100 ms). Although automatic conveyor works requiring accurate timing and positioning yield high productivity, the tele-operation with user`s intuition will be more efficient in unstructured environments which require target selection and judgment. Conclusions: This system increased work efficiency and stability by considering ancillary intelligence as well as user`s experience and knowhow. In addition, senior and female workers will operate the system easily because it can reduce labor and minimized user fatigue.

원격 작업을 위한 3 차원 점군 데이터기반의 실시간 폴리곤 생성 및 텍스처 맵핑 기법

장가람(Ga-Ram Jang),신용득(Yong-Deuk Shin),윤재식(Jae-Shik Yoon),박재한(Jae-Han Park),배지훈(Ji-Hun Bae),이영수(Young-Soo Lee),백문홍(Moon-Hong Baeg) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.10

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.

원격 로봇 비주얼 가이던스를 위한 가상벽 가시화 방법론 비교

김동엽(Dong Yeop Kim),신동인(Dong-In Shin),황정훈(Jung-Hoon Hwang),김영욱(Young-Ouk Kim) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.11

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.