HapticV1, PascalFrancis, Corpus, bibRecord, 000738

Excavator tele-operation system using a human arm

Identifieur interne : 000738 ( PascalFrancis/Corpus ); précédent : 000737; suivant : 000739

Excavator tele-operation system using a human arm

Auteurs : Dongmok Kim ; Jongwon Kim ; Kyouhee Lee ; Cheolgyu Park ; Jinsuk Song ; Deuksoo Kang

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.

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A01	`01`	`1`		`@0 0926-5805`
A03		`1`		`@0 Autom. constr.`
A05				`@2 18`
A06				`@2 2`
A08	`01`	`1`	`ENG`	`@1 Excavator tele-operation system using a human arm`
A11	`01`	`1`		`@1 KIM (Dongmok)`
A11	`02`	`1`		`@1 KIM (Jongwon)`
A11	`03`	`1`		`@1 LEE (Kyouhee)`
A11	`04`	`1`		`@1 PARK (Cheolgyu)`
A11	`05`	`1`		`@1 SONG (Jinsuk)`
A11	`06`	`1`		`@1 KANG (Deuksoo)`
A14	`01`			`@1 Seoul National University, School of Mechanical and Aerospace Engineering @2 Seoul 151-744 @3 KOR @Z 1 aut. @Z 2 aut. @Z 3 aut. @Z 6 aut.`
A14	`02`			`@1 Doosan Infracore, Institute of Technology, 39-3, Sungbok-Dong, Suji-Gu @2 Yongin-Si, Gyeonggi-Do, 448-795 @3 KOR @Z 4 aut. @Z 5 aut.`
A20				`@1 173-182`
A21				`@1 2009`
A23	`01`			`@0 ENG`
A43	`01`			`@1 INIST @2 22616 @5 354000185562420090`
A44				`@0 0000 @1 © 2009 INIST-CNRS. All rights reserved.`
A45				`@0 11 ref.`
A47	`01`	`1`		`@0 09-0439726`
A60				`@1 P`
A61				`@0 A`
A64	`01`	`1`		`@0 Automation in construction`
A66	`01`			`@0 NLD`
C01	`01`		`ENG`	@0 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.
C02	`01`	`X`		`@0 001D14D02`
C02	`02`	`X`		`@0 295`
C03	`01`	`X`	`FRE`	`@0 Matériel construction @5 01`
C03	`01`	`X`	`ENG`	`@0 Construction equipment @5 01`
C03	`01`	`X`	`SPA`	`@0 Instalaciones construcción @5 01`
C03	`02`	`X`	`FRE`	`@0 Excavateur @5 02`
C03	`02`	`X`	`ENG`	`@0 Excavator @5 02`
C03	`02`	`X`	`SPA`	`@0 Excavador @5 02`
C03	`03`	`X`	`FRE`	`@0 Description système @5 03`
C03	`03`	`X`	`ENG`	`@0 System description @5 03`
C03	`03`	`X`	`SPA`	`@0 Descripción sistema @5 03`
C03	`04`	`X`	`FRE`	`@0 Téléopération @5 04`
C03	`04`	`X`	`ENG`	`@0 Remote operation @5 04`
C03	`04`	`X`	`SPA`	`@0 Teleacción @5 04`
C03	`05`	`X`	`FRE`	`@0 Système commande @5 05`
C03	`05`	`X`	`ENG`	`@0 Control system @5 05`
C03	`05`	`X`	`SPA`	`@0 Sistema control @5 05`
C03	`06`	`X`	`FRE`	`@0 Capteur mesure @5 06`
C03	`06`	`X`	`ENG`	`@0 Measurement sensor @5 06`
C03	`06`	`X`	`SPA`	`@0 Captador medida @5 06`
C03	`07`	`X`	`FRE`	`@0 Orientation @5 07`
C03	`07`	`X`	`ENG`	`@0 Orientation @5 07`
C03	`07`	`X`	`SPA`	`@0 Orientación @5 07`
C03	`08`	`X`	`FRE`	`@0 Relation maître esclave @5 08`
C03	`08`	`X`	`ENG`	`@0 Master slave relationship @5 08`
C03	`08`	`X`	`SPA`	`@0 Relación maestro esclavo @5 08`
C03	`09`	`X`	`FRE`	`@0 Bras @5 09`
C03	`09`	`X`	`ENG`	`@0 Arm @5 09`
C03	`09`	`X`	`SPA`	`@0 Brazo @5 09`
C03	`10`	`X`	`FRE`	`@0 Algorithme @5 10`
C03	`10`	`X`	`ENG`	`@0 Algorithm @5 10`
C03	`10`	`X`	`SPA`	`@0 Algoritmo @5 10`
C03	`11`	`X`	`FRE`	`@0 Simulation @5 11`
C03	`11`	`X`	`ENG`	`@0 Simulation @5 11`
C03	`11`	`X`	`SPA`	`@0 Simulación @5 11`
C03	`12`	`X`	`FRE`	`@0 Logiciel @5 12`
C03	`12`	`X`	`ENG`	`@0 Software @5 12`
C03	`12`	`X`	`SPA`	`@0 Logicial @5 12`
C03	`13`	`X`	`FRE`	`@0 Trajectoire @5 13`
C03	`13`	`X`	`ENG`	`@0 Trajectory @5 13`
C03	`13`	`X`	`SPA`	`@0 Trayectoria @5 13`
N21				`@1 320`
N44	`01`			`@1 PSI`
N82				`@1 PSI`

Format Inist (serveur)

NO :	PASCAL 09-0439726 INIST
ET :	Excavator tele-operation system using a human arm
AU :	KIM (Dongmok); KIM (Jongwon); LEE (Kyouhee); PARK (Cheolgyu); SONG (Jinsuk); KANG (Deuksoo)
AF :	Seoul National University, School of Mechanical and Aerospace Engineering/Seoul 151-744/Corée, République de (1 aut., 2 aut., 3 aut., 6 aut.); Doosan Infracore, Institute of Technology, 39-3, Sungbok-Dong, Suji-Gu/Yongin-Si, Gyeonggi-Do, 448-795/Corée, République de (4 aut., 5 aut.)
DT :	Publication en série; Niveau analytique
SO :	Automation in construction; ISSN 0926-5805; Pays-Bas; Da. 2009; Vol. 18; No. 2; Pp. 173-182; Bibl. 11 ref.
LA :	Anglais
EA :	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.
CC :	001D14D02; 295
FD :	Matériel construction; Excavateur; Description système; Téléopération; Système commande; Capteur mesure; Orientation; Relation maître esclave; Bras; Algorithme; Simulation; Logiciel; Trajectoire
ED :	Construction equipment; Excavator; System description; Remote operation; Control system; Measurement sensor; Orientation; Master slave relationship; Arm; Algorithm; Simulation; Software; Trajectory
SD :	Instalaciones construcción; Excavador; Descripción sistema; Teleacción; Sistema control; Captador medida; Orientación; Relación maestro esclavo; Brazo; Algoritmo; Simulación; Logicial; Trayectoria
LO :	INIST-22616.354000185562420090
ID :	09-0439726

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><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>
</affiliation>
</author>
<author><name sortKey="Kim, Jongwon" sort="Kim, Jongwon" uniqKey="Kim J" first="Jongwon" last="Kim">Jongwon Kim</name>
<affiliation><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>
</affiliation>
</author>
<author><name sortKey="Lee, Kyouhee" sort="Lee, Kyouhee" uniqKey="Lee K" first="Kyouhee" last="Lee">Kyouhee Lee</name>
<affiliation><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>
</affiliation>
</author>
<author><name sortKey="Park, Cheolgyu" sort="Park, Cheolgyu" uniqKey="Park C" first="Cheolgyu" last="Park">Cheolgyu Park</name>
<affiliation><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>
</affiliation>
</author>
<author><name sortKey="Song, Jinsuk" sort="Song, Jinsuk" uniqKey="Song J" first="Jinsuk" last="Song">Jinsuk Song</name>
<affiliation><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>
</affiliation>
</author>
<author><name sortKey="Kang, Deuksoo" sort="Kang, Deuksoo" uniqKey="Kang D" first="Deuksoo" last="Kang">Deuksoo Kang</name>
<affiliation><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>
</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>
</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><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>
</affiliation>
</author>
<author><name sortKey="Kim, Jongwon" sort="Kim, Jongwon" uniqKey="Kim J" first="Jongwon" last="Kim">Jongwon Kim</name>
<affiliation><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>
</affiliation>
</author>
<author><name sortKey="Lee, Kyouhee" sort="Lee, Kyouhee" uniqKey="Lee K" first="Kyouhee" last="Lee">Kyouhee Lee</name>
<affiliation><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>
</affiliation>
</author>
<author><name sortKey="Park, Cheolgyu" sort="Park, Cheolgyu" uniqKey="Park C" first="Cheolgyu" last="Park">Cheolgyu Park</name>
<affiliation><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>
</affiliation>
</author>
<author><name sortKey="Song, Jinsuk" sort="Song, Jinsuk" uniqKey="Song J" first="Jinsuk" last="Song">Jinsuk Song</name>
<affiliation><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>
</affiliation>
</author>
<author><name sortKey="Kang, Deuksoo" sort="Kang, Deuksoo" uniqKey="Kang D" first="Deuksoo" last="Kang">Deuksoo Kang</name>
<affiliation><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>
</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>
</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>
<inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>0926-5805</s0>
</fA01>
<fA03 i2="1"><s0>Autom. constr.</s0>
</fA03>
<fA05><s2>18</s2>
</fA05>
<fA06><s2>2</s2>
</fA06>
<fA08 i1="01" i2="1" l="ENG"><s1>Excavator tele-operation system using a human arm</s1>
</fA08>
<fA11 i1="01" i2="1"><s1>KIM (Dongmok)</s1>
</fA11>
<fA11 i1="02" i2="1"><s1>KIM (Jongwon)</s1>
</fA11>
<fA11 i1="03" i2="1"><s1>LEE (Kyouhee)</s1>
</fA11>
<fA11 i1="04" i2="1"><s1>PARK (Cheolgyu)</s1>
</fA11>
<fA11 i1="05" i2="1"><s1>SONG (Jinsuk)</s1>
</fA11>
<fA11 i1="06" i2="1"><s1>KANG (Deuksoo)</s1>
</fA11>
<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>
</fA14>
<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>
</fA14>
<fA20><s1>173-182</s1>
</fA20>
<fA21><s1>2009</s1>
</fA21>
<fA23 i1="01"><s0>ENG</s0>
</fA23>
<fA43 i1="01"><s1>INIST</s1>
<s2>22616</s2>
<s5>354000185562420090</s5>
</fA43>
<fA44><s0>0000</s0>
<s1>© 2009 INIST-CNRS. All rights reserved.</s1>
</fA44>
<fA45><s0>11 ref.</s0>
</fA45>
<fA47 i1="01" i2="1"><s0>09-0439726</s0>
</fA47>
<fA60><s1>P</s1>
</fA60>
<fA61><s0>A</s0>
</fA61>
<fA64 i1="01" i2="1"><s0>Automation in construction</s0>
</fA64>
<fA66 i1="01"><s0>NLD</s0>
</fA66>
<fC01 i1="01" l="ENG"><s0>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.</s0>
</fC01>
<fC02 i1="01" i2="X"><s0>001D14D02</s0>
</fC02>
<fC02 i1="02" i2="X"><s0>295</s0>
</fC02>
<fC03 i1="01" i2="X" l="FRE"><s0>Matériel construction</s0>
<s5>01</s5>
</fC03>
<fC03 i1="01" i2="X" l="ENG"><s0>Construction equipment</s0>
<s5>01</s5>
</fC03>
<fC03 i1="01" i2="X" l="SPA"><s0>Instalaciones construcción</s0>
<s5>01</s5>
</fC03>
<fC03 i1="02" i2="X" l="FRE"><s0>Excavateur</s0>
<s5>02</s5>
</fC03>
<fC03 i1="02" i2="X" l="ENG"><s0>Excavator</s0>
<s5>02</s5>
</fC03>
<fC03 i1="02" i2="X" l="SPA"><s0>Excavador</s0>
<s5>02</s5>
</fC03>
<fC03 i1="03" i2="X" l="FRE"><s0>Description système</s0>
<s5>03</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG"><s0>System description</s0>
<s5>03</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA"><s0>Descripción sistema</s0>
<s5>03</s5>
</fC03>
<fC03 i1="04" i2="X" l="FRE"><s0>Téléopération</s0>
<s5>04</s5>
</fC03>
<fC03 i1="04" i2="X" l="ENG"><s0>Remote operation</s0>
<s5>04</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA"><s0>Teleacción</s0>
<s5>04</s5>
</fC03>
<fC03 i1="05" i2="X" l="FRE"><s0>Système commande</s0>
<s5>05</s5>
</fC03>
<fC03 i1="05" i2="X" l="ENG"><s0>Control system</s0>
<s5>05</s5>
</fC03>
<fC03 i1="05" i2="X" l="SPA"><s0>Sistema control</s0>
<s5>05</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Capteur mesure</s0>
<s5>06</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Measurement sensor</s0>
<s5>06</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Captador medida</s0>
<s5>06</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Orientation</s0>
<s5>07</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>Orientation</s0>
<s5>07</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Orientación</s0>
<s5>07</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Relation maître esclave</s0>
<s5>08</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Master slave relationship</s0>
<s5>08</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Relación maestro esclavo</s0>
<s5>08</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Bras</s0>
<s5>09</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Arm</s0>
<s5>09</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Brazo</s0>
<s5>09</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Algorithme</s0>
<s5>10</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Algorithm</s0>
<s5>10</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Algoritmo</s0>
<s5>10</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Simulation</s0>
<s5>11</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Simulation</s0>
<s5>11</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Simulación</s0>
<s5>11</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Logiciel</s0>
<s5>12</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Software</s0>
<s5>12</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Logicial</s0>
<s5>12</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Trajectoire</s0>
<s5>13</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Trajectory</s0>
<s5>13</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Trayectoria</s0>
<s5>13</s5>
</fC03>
<fN21><s1>320</s1>
</fN21>
<fN44 i1="01"><s1>PSI</s1>
</fN44>
<fN82><s1>PSI</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 09-0439726 INIST</NO>
<ET>Excavator tele-operation system using a human arm</ET>
<AU>KIM (Dongmok); KIM (Jongwon); LEE (Kyouhee); PARK (Cheolgyu); SONG (Jinsuk); KANG (Deuksoo)</AU>
<AF>Seoul National University, School of Mechanical and Aerospace Engineering/Seoul 151-744/Corée, République de (1 aut., 2 aut., 3 aut., 6 aut.); Doosan Infracore, Institute of Technology, 39-3, Sungbok-Dong, Suji-Gu/Yongin-Si, Gyeonggi-Do, 448-795/Corée, République de (4 aut., 5 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>Automation in construction; ISSN 0926-5805; Pays-Bas; Da. 2009; Vol. 18; No. 2; Pp. 173-182; Bibl. 11 ref.</SO>
<LA>Anglais</LA>
<EA>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.</EA>
<CC>001D14D02; 295</CC>
<FD>Matériel construction; Excavateur; Description système; Téléopération; Système commande; Capteur mesure; Orientation; Relation maître esclave; Bras; Algorithme; Simulation; Logiciel; Trajectoire</FD>
<ED>Construction equipment; Excavator; System description; Remote operation; Control system; Measurement sensor; Orientation; Master slave relationship; Arm; Algorithm; Simulation; Software; Trajectory</ED>
<SD>Instalaciones construcción; Excavador; Descripción sistema; Teleacción; Sistema control; Captador medida; Orientación; Relación maestro esclavo; Brazo; Algoritmo; Simulación; Logicial; Trayectoria</SD>
<LO>INIST-22616.354000185562420090</LO>
<ID>09-0439726</ID>
</server>
</inist>
</record>

Pour manipuler ce document sous Unix (Dilib)

EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PascalFrancis/Corpus

HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000738 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/PascalFrancis/Corpus/biblio.hfd -nk 000738 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Ticri/CIDE
   |area=    HapticV1
   |flux=    PascalFrancis
   |étape=   Corpus
   |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

Notice en format standard (ISO 2709)

Format Inist (serveur)

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