HapticV1, Main, Merge, bibRecord, 004992

Excavator tele-operation system using a human arm

Identifieur interne : 004992 ( Main/Merge ); précédent : 004991; suivant : 004993

Excavator tele-operation system using a human arm

Auteurs : Dongmok Kim [Corée du Sud] ; Jongwon Kim [Corée du Sud] ; Kyouhee Lee [Corée du Sud] ; Cheolgyu Park [Corée du Sud] ; Jinsuk Song [Corée du Sud] ; Deuksoo Kang [Corée du Sud]

Source :

Automation in construction [ 0926-5805 ] ; 2009.

RBID : Pascal:09-0439726

Descripteurs français

Pascal (Inist)
- Matériel construction, Excavateur, Description système, Téléopération, Système commande, Capteur mesure, Orientation, Relation maître esclave, Bras, Algorithme, Simulation, Logiciel, Trajectoire.
Wicri :
- topic : Simulation, Logiciel.

English descriptors

KwdEn :
- Algorithm, Arm, Construction equipment, Control system, Excavator, Master slave relationship, Measurement sensor, Orientation, Remote operation, Simulation, Software, System description, Trajectory.

Abstract

It is difficult, for those without experience, to operate and manipulate a mechanical excavator. There is a long learning process to gain the skills required in operating the excavator's overall swing motions as well as movements of its boom, arm and bucket. In addition it is dangerous to operate such excavators on an inclined plane as this can lead to instability and puts the operator at great risk. In this study, a simple light weight tele-operation system has been developed for the excavator for dealing with these problems. Three sensors are attached to the operator's arm, in order to detect his movements. The operating commands for the actuators of an excavator will be transmitted via Bluetooth wireless communications. The new tele-operation system developed is simple, cost effective and lighter compared to typical haptic devices using a force feedback mechanisms. The operating algorithm has been modified and verified in many test cases. Prior to testing, the algorithms have been verified using the visual simulator, OpenGL The operating system to operate the excavator easily and safely is developed and the control algorithm verified by tests.

Links toward previous steps (curation, corpus...)

to stream PascalFrancis, to step Corpus: 000738
to stream PascalFrancis, to step Curation: 000C95
to stream PascalFrancis, to step Checkpoint: 000599

Links to Exploration step

Pascal:09-0439726

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Excavator tele-operation system using a human arm</title>
<author><name sortKey="Kim, Dongmok" sort="Kim, Dongmok" uniqKey="Kim D" first="Dongmok" last="Kim">Dongmok Kim</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Seoul National University, School of Mechanical and Aerospace Engineering</s1>
<s2>Seoul 151-744</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>6 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<placeName><settlement type="city">Séoul</settlement>
</placeName>
<orgName type="university">Université nationale de Séoul</orgName>
<placeName><settlement type="city">Séoul</settlement>
</placeName>
</affiliation>
</author>
<author><name sortKey="Kim, Jongwon" sort="Kim, Jongwon" uniqKey="Kim J" first="Jongwon" last="Kim">Jongwon Kim</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Seoul National University, School of Mechanical and Aerospace Engineering</s1>
<s2>Seoul 151-744</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>6 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<placeName><settlement type="city">Séoul</settlement>
</placeName>
<orgName type="university">Université nationale de Séoul</orgName>
<placeName><settlement type="city">Séoul</settlement>
</placeName>
</affiliation>
</author>
<author><name sortKey="Lee, Kyouhee" sort="Lee, Kyouhee" uniqKey="Lee K" first="Kyouhee" last="Lee">Kyouhee Lee</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Seoul National University, School of Mechanical and Aerospace Engineering</s1>
<s2>Seoul 151-744</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>6 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<placeName><settlement type="city">Séoul</settlement>
</placeName>
<orgName type="university">Université nationale de Séoul</orgName>
<placeName><settlement type="city">Séoul</settlement>
</placeName>
</affiliation>
</author>
<author><name sortKey="Park, Cheolgyu" sort="Park, Cheolgyu" uniqKey="Park C" first="Cheolgyu" last="Park">Cheolgyu Park</name>
<affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Doosan Infracore, Institute of Technology, 39-3, Sungbok-Dong, Suji-Gu</s1>
<s2>Yongin-Si, Gyeonggi-Do, 448-795</s2>
<s3>KOR</s3>
<sZ>4 aut.</sZ>
<sZ>5 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<wicri:noRegion>Yongin-Si, Gyeonggi-Do, 448-795</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Song, Jinsuk" sort="Song, Jinsuk" uniqKey="Song J" first="Jinsuk" last="Song">Jinsuk Song</name>
<affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Doosan Infracore, Institute of Technology, 39-3, Sungbok-Dong, Suji-Gu</s1>
<s2>Yongin-Si, Gyeonggi-Do, 448-795</s2>
<s3>KOR</s3>
<sZ>4 aut.</sZ>
<sZ>5 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<wicri:noRegion>Yongin-Si, Gyeonggi-Do, 448-795</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Kang, Deuksoo" sort="Kang, Deuksoo" uniqKey="Kang D" first="Deuksoo" last="Kang">Deuksoo Kang</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Seoul National University, School of Mechanical and Aerospace Engineering</s1>
<s2>Seoul 151-744</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>6 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<placeName><settlement type="city">Séoul</settlement>
</placeName>
<orgName type="university">Université nationale de Séoul</orgName>
<placeName><settlement type="city">Séoul</settlement>
</placeName>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">INIST</idno>
<idno type="inist">09-0439726</idno>
<date when="2009">2009</date>
<idno type="stanalyst">PASCAL 09-0439726 INIST</idno>
<idno type="RBID">Pascal:09-0439726</idno>
<idno type="wicri:Area/PascalFrancis/Corpus">000738</idno>
<idno type="wicri:Area/PascalFrancis/Curation">000C95</idno>
<idno type="wicri:Area/PascalFrancis/Checkpoint">000599</idno>
<idno type="wicri:doubleKey">0926-5805:2009:Kim D:excavator:tele:operation</idno>
<idno type="wicri:Area/Main/Merge">004992</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Excavator tele-operation system using a human arm</title>
<author><name sortKey="Kim, Dongmok" sort="Kim, Dongmok" uniqKey="Kim D" first="Dongmok" last="Kim">Dongmok Kim</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Seoul National University, School of Mechanical and Aerospace Engineering</s1>
<s2>Seoul 151-744</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>6 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<placeName><settlement type="city">Séoul</settlement>
</placeName>
<orgName type="university">Université nationale de Séoul</orgName>
<placeName><settlement type="city">Séoul</settlement>
</placeName>
</affiliation>
</author>
<author><name sortKey="Kim, Jongwon" sort="Kim, Jongwon" uniqKey="Kim J" first="Jongwon" last="Kim">Jongwon Kim</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Seoul National University, School of Mechanical and Aerospace Engineering</s1>
<s2>Seoul 151-744</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>6 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<placeName><settlement type="city">Séoul</settlement>
</placeName>
<orgName type="university">Université nationale de Séoul</orgName>
<placeName><settlement type="city">Séoul</settlement>
</placeName>
</affiliation>
</author>
<author><name sortKey="Lee, Kyouhee" sort="Lee, Kyouhee" uniqKey="Lee K" first="Kyouhee" last="Lee">Kyouhee Lee</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Seoul National University, School of Mechanical and Aerospace Engineering</s1>
<s2>Seoul 151-744</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>6 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<placeName><settlement type="city">Séoul</settlement>
</placeName>
<orgName type="university">Université nationale de Séoul</orgName>
<placeName><settlement type="city">Séoul</settlement>
</placeName>
</affiliation>
</author>
<author><name sortKey="Park, Cheolgyu" sort="Park, Cheolgyu" uniqKey="Park C" first="Cheolgyu" last="Park">Cheolgyu Park</name>
<affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Doosan Infracore, Institute of Technology, 39-3, Sungbok-Dong, Suji-Gu</s1>
<s2>Yongin-Si, Gyeonggi-Do, 448-795</s2>
<s3>KOR</s3>
<sZ>4 aut.</sZ>
<sZ>5 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<wicri:noRegion>Yongin-Si, Gyeonggi-Do, 448-795</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Song, Jinsuk" sort="Song, Jinsuk" uniqKey="Song J" first="Jinsuk" last="Song">Jinsuk Song</name>
<affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Doosan Infracore, Institute of Technology, 39-3, Sungbok-Dong, Suji-Gu</s1>
<s2>Yongin-Si, Gyeonggi-Do, 448-795</s2>
<s3>KOR</s3>
<sZ>4 aut.</sZ>
<sZ>5 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<wicri:noRegion>Yongin-Si, Gyeonggi-Do, 448-795</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Kang, Deuksoo" sort="Kang, Deuksoo" uniqKey="Kang D" first="Deuksoo" last="Kang">Deuksoo Kang</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Seoul National University, School of Mechanical and Aerospace Engineering</s1>
<s2>Seoul 151-744</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>6 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<placeName><settlement type="city">Séoul</settlement>
</placeName>
<orgName type="university">Université nationale de Séoul</orgName>
<placeName><settlement type="city">Séoul</settlement>
</placeName>
</affiliation>
</author>
</analytic>
<series><title level="j" type="main">Automation in construction</title>
<title level="j" type="abbreviated">Autom. constr.</title>
<idno type="ISSN">0926-5805</idno>
<imprint><date when="2009">2009</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
<seriesStmt><title level="j" type="main">Automation in construction</title>
<title level="j" type="abbreviated">Autom. constr.</title>
<idno type="ISSN">0926-5805</idno>
</seriesStmt>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Algorithm</term>
<term>Arm</term>
<term>Construction equipment</term>
<term>Control system</term>
<term>Excavator</term>
<term>Master slave relationship</term>
<term>Measurement sensor</term>
<term>Orientation</term>
<term>Remote operation</term>
<term>Simulation</term>
<term>Software</term>
<term>System description</term>
<term>Trajectory</term>
</keywords>
<keywords scheme="Pascal" xml:lang="fr"><term>Matériel construction</term>
<term>Excavateur</term>
<term>Description système</term>
<term>Téléopération</term>
<term>Système commande</term>
<term>Capteur mesure</term>
<term>Orientation</term>
<term>Relation maître esclave</term>
<term>Bras</term>
<term>Algorithme</term>
<term>Simulation</term>
<term>Logiciel</term>
<term>Trajectoire</term>
</keywords>
<keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Simulation</term>
<term>Logiciel</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">It is difficult, for those without experience, to operate and manipulate a mechanical excavator. There is a long learning process to gain the skills required in operating the excavator's overall swing motions as well as movements of its boom, arm and bucket. In addition it is dangerous to operate such excavators on an inclined plane as this can lead to instability and puts the operator at great risk. In this study, a simple light weight tele-operation system has been developed for the excavator for dealing with these problems. Three sensors are attached to the operator's arm, in order to detect his movements. The operating commands for the actuators of an excavator will be transmitted via Bluetooth wireless communications. The new tele-operation system developed is simple, cost effective and lighter compared to typical haptic devices using a force feedback mechanisms. The operating algorithm has been modified and verified in many test cases. Prior to testing, the algorithms have been verified using the visual simulator, OpenGL The operating system to operate the excavator easily and safely is developed and the control algorithm verified by tests.</div>
</front>
</TEI>
<affiliations><list><country><li>Corée du Sud</li>
</country>
<settlement><li>Séoul</li>
</settlement>
<orgName><li>Université nationale de Séoul</li>
</orgName>
</list>
<tree><country name="Corée du Sud"><noRegion><name sortKey="Kim, Dongmok" sort="Kim, Dongmok" uniqKey="Kim D" first="Dongmok" last="Kim">Dongmok Kim</name>
</noRegion>
<name sortKey="Kang, Deuksoo" sort="Kang, Deuksoo" uniqKey="Kang D" first="Deuksoo" last="Kang">Deuksoo Kang</name>
<name sortKey="Kim, Jongwon" sort="Kim, Jongwon" uniqKey="Kim J" first="Jongwon" last="Kim">Jongwon Kim</name>
<name sortKey="Lee, Kyouhee" sort="Lee, Kyouhee" uniqKey="Lee K" first="Kyouhee" last="Lee">Kyouhee Lee</name>
<name sortKey="Park, Cheolgyu" sort="Park, Cheolgyu" uniqKey="Park C" first="Cheolgyu" last="Park">Cheolgyu Park</name>
<name sortKey="Song, Jinsuk" sort="Song, Jinsuk" uniqKey="Song J" first="Jinsuk" last="Song">Jinsuk Song</name>
</country>
</tree>
</affiliations>
</record>

Pour manipuler ce document sous Unix (Dilib)

EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Merge

HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 004992 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/Main/Merge/biblio.hfd -nk 004992 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Ticri/CIDE
   |area=    HapticV1
   |flux=    Main
   |étape=   Merge
   |type=    RBID
   |clé=     Pascal:09-0439726
   |texte=   Excavator tele-operation system using a human arm
}}

This area was generated with Dilib version V0.6.23.
Data generation: Mon Jun 13 01:09:46 2016. Site generation: Wed Mar 6 09:54:07 2024

	Serveur d'exploration sur les dispositifs haptiques
	Attention, ce site est en cours de développement ! Attention, site généré par des moyens informatiques à partir de corpus bruts. Les informations ne sont donc pas validées.

Serveur d'exploration sur les dispositifs haptiques

Excavator tele-operation system using a human arm

Excavator tele-operation system using a human arm

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri