Earticle

Due to the increasing impact of climate change, the global prevalence of forest disturbances such as forest insect pests and wildfires has led to a growing volume of damaged trees. In response, the necessity of salvage logging has been highlighted as a means to recover the economic value of affected timber resources. However, the inherently hazardous nature of salvage logging stemming from unstable terrain, particulate matter, and smoke exposure poses significant safety risks to field operators. To mitigate these risks and enhance operational safety, ongoing research has focused on the teleoperation of forestry machinery. In particular, establishing a wireless communication system capable of providing reliable coverage over extensive forested areas has been identified as a critical factor influencing the effectiveness of teleoperation. Accordingly, this study developed a Wi-Fi system with a helikite and evaluated its performance by measuring the Received Signal Strength Indicator (RSSI). Based on the empirical data, a remote salvage logging operation plan was formulated and implemented in a real-world environment to assess the system's practical applicability. The findings suggest that this approach offers a viable technological solution for improving worker safety during salvage logging operations. Further research will investigate optimized deployment techniques to ensure stable system operation under diverse environmental conditions.

This paper focuses on developing a control method for a single-master multi-slave (SMMS) system to cooperatively control a team of mobile agents for multi-robot multi-task multi- target (MRMTMT) pairing. Major components of the developed control method are (1) mod- ied potential eld based leader-follower formation, (2) adaptive master-slave impedances, (3) compensation for human induced errors and contact forces, and (4) robot-task-target pairings. Component (1)-(3) have been developed for formation reconguration, collision avoidance, and motion control for reliability and robustness. Component (4) is derived from proven auction algorithms for MRMTMT cases, which optimizes robot-task-target pairing based on heuristic data. The MRMTMT pairing method is developed using a weighted attack guidance table (WAGT), which includes benets of subteam-robot-task-target pairs. It converges rapidly - as is the case for auction algorithms with integer benets. Simulations illustrated ecacy of a SMMS system with proposed Component (1)-(4) of the control method for multi-target capturing and transporting.

Gesture based natural human-robot interface is an important function of robot teleoperation system. Such interface not only enables users to manipulate a remote robot by demonstration, but also ensures user-friendly interaction and software reusability in developing a networked robot system. In this paper, an application of gesture-based remote human-robot interaction is proposed using a Kinect sensor. The gesture recognition method combines depth information with traditional Camshift tracking algorithm by using Kinect and employs HMM in dynamic gesture classification. A Client/Server structured robot teleoperation application system is developed, which provides a favorable function of remotely controlling a dual-arm robot by gestural commands. Experiment results validate the practicability and effectiveness of the application system.

본 논문에서는 핫셀에서의 원격 운전 및 유지보수 작업을 위해 개발한 천정이동 서보 조작기시스템에 대해 소개한다. 조작기 시스템은 텔레스코픽형 이송장치, 슬레이브, 마스터, 그리고 제어시스템으로 구성되어 있다. 개발한 시스템에 대해 위치 추종, 하중 취급, 신뢰성, 및 조작성에 대한 테스트를 수행하였으며 이에 대한 테스트 결과를 제시한다. 이러한 테스트 결과를 바탕으로 개선된 시스템 이 설계되었으며 이 개선된 시스템 이 차세대 공정의 실증에 적용될 예정이다.

In this paper, a prototype of the Bridge-Transported Servo Manipulator (BTSM) system is introduced, which has been developed to do operation and maintenance jobs remotely in a hot cell. The system consists of a telescopic transporter, a slave arm, a master arm, and a control system. Several tests such as a positional tracking, a weight handling, reliability, and operability have been performed and test results are presented. Based on the test results, an upgraded system which will be used during demonstrations of the advanced spent fuel conditioning process (ACP) has been designed.

On-orbit servicing robots were developed to complete the missions in the uncertain and hazards outer space. The operator controls the remote robot via teleoperation systems, which allows the operator to manipulate the robot at a distance. But, as the existing of communication time-delay affects the whole system stability, transparency and other performance index. Consequently, a proper teleoperation system could help the operator to perform missions more accurate. This paper presents the general scheme of the teleoperation system, compares the four typical control modes and estimates methods of time-delay. At last provides an outlook to future research directions.