무인 지상 로봇의 실시간 원격 제어를 위한3차원 시각화 시스템

장가람,배지훈,이동혁,박재한 한국로봇학회 2018 로봇학회 논문지 Vol.13 No.4

In the midst of disaster, such as an earthquake or a nuclear radiation exposure area, there are huge risks to send human crews. Many robotic researchers have studied to send UGVs in order to replace human crews at dangerous environments. So far, two-dimensional camera information has been widely used for teleoperation of UGVs. Recently, three-dimensional information based teleoperations are attempted to compensate the limitations of camera information based teleoperation. In this paper, the 3D map information of indoor and outdoor environments reconstructed in real-time is utilized in the UGV teleoperation. Further, we apply the LTE communication technology to endure the stability of the teleoperation even under the deteriorate environment. The proposed teleoperation system is performed at explosive disposal missions and their feasibilities could be verified through completion of that missions using the UGV with the Explosive Ordnance Disposal (EOD) team of Busan Port Security Corporation.

모션 캡쳐를 이용한 원격제어 최근 연구

송영은(Young Eun Song) 호서대학교 공업기술연구소 2018 공업기술연구 논문집 Vol.37 No.1

로봇 원격제어는 인간의 지능과 로봇의 정밀도 및 기계적 강도와의 결합을 통하여 위험하거나 잠재적인 위험이 존재하는 미탐사 지역에서 중요한 역할을 수행하고 있다. 하지만 현실감과 직관성 등이 부족한 인터페이스는 원격 오퍼레이팅에 어려움을 초래하는 경우가 많다. 이러한 문제를 해결하기 위해 최근 활발하게 연구가 진행되고 있다. 예를 들면 모션 기반 제어, 비주얼 피드백 시스템, 촉각 또는 포스 피드백 및 기타 다양한 피드백 시스템 및 가상현실 기반 인터페이스 시스템 등이다. 본 논문에서는 보다 현실감 있는 원격 제어 인터페이스로 직관적인 오퍼레이팅을 실현하기 위해, 모션 기반 멀티 모달 피드백 원격 제어 시스템에 초점을 맞추어 최근 연구 동향을 파악하고 앞으로의 가능성을 논의 하였다. Robotic teleoperation has been studied to combine the intelligence of human and the precision and mechanical strength of robot, and thus teleoperation systems have performed where environments are dangerous, unstructured, and under-recognized. But the lack of reality and fidelity often makes a human operator has difficulties to control robots at the remote site. To solve this problem, various approaches have been investigated in previous researches, e.g. human gesture-based control, visual feedback system, tactile or force feedback and other various haptic systems. This paper describes a tendency among these efforts, especially focussed on the multimodal feedback method for motion-based teleoperation system to make highly adaptable system to the human operator in order to achieve more realistic teleoperation interface with high fidelity.

Passive-based Bilateral Controller Design under Varying Time Delay

고영(Ying Gu),정길도(Kil To Chong) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.5

Bilateral teleoperation systems, connected to computer networks such as Internet have to deal with the time delay varying depending on factors such as congestion, bandwidth or distance. And the entire system is easy to become unstable due to irregular time delay. Passivity concept has been using as a framework to solve the stability problem in bilateral control of teleoperation. Acontrol scheme for teleoperation systems with varying time delay is proposed based on a passivity concept is proposed in this paper. One approach makinguse of the characteristic impedagces is proposed to achieve a passive control. Since passive control does not mean that the system performance will be acceptable, another transmission scheme which focuses on both the passive feature and the acceptable performance is configured for varying time delay in this paper. The tracking performance has been proved through the computer simulation for varying time delay bilateral teleoperation system using Matlab Simulink.

무인 지상 로봇의 실시간 원격 제어를 위한 3차원 시각화 시스템

장가람,배지훈,이동혁,박재한 한국로봇학회 2018 한국재료학회지 Vol.28 No.11

In the midst of disaster, such as an earthquake or a nuclear radiation exposure area, there are huge risks to send human crews. Many robotic researchers have studied to send UGVs in order to replace human crews at dangerous environments. So far, two-dimensional camera information has been widely used for teleoperation of UGVs. Recently, three-dimensional information based teleoperations are attempted to compensate the limitations of camera information based teleoperation. In this paper, the 3D map information of indoor and outdoor environments reconstructed in real-time is utilized in the UGV teleoperation. Further, we apply the LTE communication technology to endure the stability of the teleoperation even under the deteriorate environment. The proposed teleoperation system is performed at explosive disposal missions and their feasibilities could be verified through completion of that missions using the UGV with the Explosive Ordnance Disposal (EOD) team of Busan Port Security Corporation.

Workspace mapping with adaptive fuzzy control for robotic manipulator in teleoperation

박태문,Sang-RyongLee,Hak Yi 대한기계학회 2020 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.34 No.5

This study addresses the adaptive fuzzy control of redundant robotic systems for developing a new approach to workspace mapping in teleoperation. In robot teleoperation, workspace mapping is applied to accomplish various tasks involving both large reachability and accurate control. However, discontinuous trajectories in teleoperation because of mode change of the master device and undesired inputs during user operation make it difficult for the slave robotic system to follow the trajectories of the master device. Therefore, in this study, a new approach to workspace mapping in teleoperation and the application of an adaptive fuzzy controller for tracking the desired trajectory are proposed. The results of simulations and experiments conducted in this study demonstrate that the proposed workspace mapping approach based on an adaptive fuzzy controller effectively improved system performance in terms of tracking for desired trajectories in robot teleoperation.

Parametric Sensitivity Analyses for Perceived Impedance in Haptic Teleoperation

Riaz Uddin,Muhammad Hammad Saleem,류제하 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.8

In this paper, sensitivity analyses (SA) are performed in order to find the effect of variations of master/slave site dynamics parameters on the perceived impedance in haptic teleoperation in the absence/presence of communication time delays. These analyses are useful in finding the dominant parameter perceived by the human operator during the teleoperation. In this regard, the comprehensive sensitivity analyses are performed for the prominent force reflecting teleoperation architectures such as (i) two-channel (2C) teleoperation architectures mainly (a) position error-based architecture (PE) and (b) direct force reflection architecture (PF), (ii) four-channel architecture (4C) and, (iii) three-channel (3C) architecture (a) OFC architecture and (b) EFC architecture. Several important results and conclusions are presented for sensitivity of perceived impedance in frequency domain using MATLAB/Simulink.

원격조작에 의한 작업대상물 강성과 마찰 특성의 동정

권혁조,전지명,김진옥,문일동,오재윤 전북대학교 공학연구원 ( 구 전북대학교 공업기술연구소 ) 2002 工學硏究 Vol.33 No.-

This study performs a workpiece stiffness and frictional characteristic identification experiments by teleoperation. Experiments are performed using a bilateral force feedback teleoperation system. It is composed of a master manipulator, the slave manipulator equipped with a force/torque sensor, and a real-time control system. To control the teleoperation system, a position-force controller is developed. The slave manipulator is controlled by the master manipulator's position command and the master manipulator is controlled by the force information from the slave manipulator. This study presents a method to find the slave manipulator's stiffness. And, this study presents a method to compute the workpiece stiffness based on the measured pressing force and deflection at the slave manipulator. Also, this study performs a workpiece frictional characteristic identification experiments. In the experiments, the slave manipulator rubs a workpiece with an arbitrary pressing force. While the slave manipulator rubs a workpiece, a vertical force and a frictional force are measured and the ratio of a frictional force to a vertical force is considered as a frictional characteristic.

Egocentric Teleoperation Approach

이호길,형현준,이동욱 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.6

In this paper, an egocentric teleoperation approach to overcome human cognitive and operation limitsfor multi body motions (robot motions) is proposed. This approach minimizes the degrees of freedom that a humanoperator has to operate by providing a virtual geometric constraint on the work path;the slave robot autonomouslymaintains the geometric constraint. The experimental results of an operation of target fitting showed significantlyless duration time and work load than the direct teleoperation.

A Study on the Effect of Haptic to Video Time-delay on Teleoperation and a Comment for Improving the Performance

Hyuk Kim,Jee-Hwan Ryu 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10

In this paper we investigate the effect of haptic to video time-delay on the performance of teleoperation. To analyze the effect of the delay on the performance of teleoperation, specially designed experiment, which is moving square objects from one place to another place, was conducted with 10 subjects in 16 different cases. Participants didn’t have any prior information about the amount of haptic and video time-delay. Completion time and number of dropping are used for evaluating the performance. Initially we assumed that synchronized haptic and video time-delay would give best performance, however as a result, we found that the accuracy was increased when haptic and video time-delay were synchronized, and the completion time was decreased when one of the time delays, haptic or video, was decreased. One more interesting fact that we found is that little bit smaller haptic delay than video delay even increase the accuracy more than synchronized delay case.

Real-time Video Prediction Using GANs With Guidance Information for Time-delayed Robot Teleoperation

Kang-Il Yoon,Dae-Kwan Ko,Soo-Chul Lim 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.7

A deep-learning method for real-time video prediction is proposed that overcomes delays in the transmission of visual information in teleoperation. The proposed method predicts the real-time video frame from a delayed image using guidance information (the current master position and the delayed interaction force) transmitted from the robot. To predict accurate and realistic video frames, adversarial training is introduced. The generator in the GAN is composed of image encoders, a guidance-information embedder, and prediction decoders. To create the training data set, three experimenters remotely operated robots that gripped, picked up, and moved nine objects. Numerical results and predicted images are presented, verifying that the master position and the interaction force can be used effectively to predict the current video frame. The proposed method can reduce time-delay problems in teleoperation systems.