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Visiting Researchers


Tae Yob Kim 

 

989-111 Daedeok-daero, Yuseong-gu, Daejeon, 305-353, Korea

Email: chhh2017@hanyang.ac.kr



Project Timeline and Contributions

Kim Tae-yeob joined the project in mid-August, significantly accelerating the development of VR-based teleoperation systems. His contributions include:

Establishing Unity - VR - Mycobot connections

Integrating Azure Kinect with Unity

Working on BDSM-VR connections (ongoing)

Managing the development personnel pool

 

Technical Achievements

Kim's work has focused on several key areas:

Successfully operating the Elephant Robotics Cobot 280 using Python

Developing a digital twin of MyCobot using Unity and ROS

Integrating Point Cloud technology with YOLO v8, ROS, and Unity

Attempting to establish communication with BTS Manipulator

 

VR Teleoperation Architecture

A significant part of Kim's work involves developing a VR teleoperation architecture using Unity and Mycobot 280 M5. The goal is to:

Control Mycobot using Oculus Quest in Unity

Replace Mycobot's kinematic information with BDSM's in Unity for simulation

Send motion commands to the real BDSM controller for actual system operation



Won Woo Park 

 

989-111 Daedeok-daero, Yuseong-gu, Daejeon, 305-353, Korea

Email: qkrdnjsdn4@naver.com



Project Timeline and Contributions

Park Won-woo joined the project as part of the winter vacation intern team, focusing on Unity development. His contributions include:

 

- Working on Unity-related tasks for the VR-based teleoperation project

- Developing communication between Unity and WinXP Visual C++

- Integrating various technologies within the Unity environment

 

Technical Achievements

 Park's work has focused on several key areas:

 - Establishing string communication between Unity and WinXP Visual C++

- Implementing Unity controls for the ceiling transfer device

- Creating a digital twin of PLC equipment in Unity

- Integrating ROS-Unity communication to unify different project components

 

Project Progress

 Park's development speed has been notably fast, with significant progress made:

 - Completed most of the tasks that could be done remotely for the PLC team

- Achieved project milestones ahead of schedule, with expectations of finishing his part much earlier than initially anticipated

- Worked on creating a comprehensive list of tasks that can only be performed on-site



Sung Ho Choi  

 

989-111 Daedeok-daero, Yuseong-gu, Daejeon, 305-353, Korea

Email: shchoibus@gmail.com



Project Role and Background

Choi Sung-ho joined the project with a background in SLAM (Simultaneous Localization and Mapping) from Hanwha Systems, bringing expertise in vision, robotics, and deep learning.

 

Technical Contributions

Focused on point cloud integration and object detection in 3D space

Developed methods for integrating multiple point clouds from various camera angles

Worked on object tracking based on 3D object information

Implemented semantic segmentation techniques for object recognition using point cloud data

Integrated RGB-D camera data using C++

 

Research and Development

Conducted extensive literature survey on 3D object detection methods

Explored both classical and neural network approaches for point cloud processing

Investigated methods for unknown object detection in unstructured environments

Worked on integrating point cloud data into Unity for VR visualization

 

Collaboration and Integration

Collaborated closely with Kim Tae-yeob on integrating vision systems with Unity-based VR environment

Participated in regular project meetings to align development directions and share progress

Worked on integrating ROS2-based systems with Unity for comprehensive project integration

 

Technical Challenges Addressed

Developed solutions for multi-camera point cloud integration

Addressed challenges in object detection and tracking within point cloud data

Worked on optimizing performance for real-time processing of point cloud data



Se Hun Lee  

 

989-111 Daedeok-daero, Yuseong-gu, Daejeon, 305-353, Korea

Email: mnpmx123@hanyang.ac.kr



Project Role and Responsibilities

Lee Se-hoon joined the winter internship team, focusing on the vision aspects of the VR-based teleoperation project.

 

Technical Focus

Continuing the work on point cloud integration and processing initiated by Choi Sung-ho

Working on integrating Azure Kinect with Unity for point cloud visualization

Exploring Windows-based solutions for point cloud processing, as opposed to the previous Ubuntu-based approach

 

Development Goals

Replicating and improving upon Choi Sung-ho's results in point cloud processing

Implementing point cloud visualization in Unity without the need for ROS

Integrating ROS-Unity communication for comprehensive project integration

 

Technical Challenges

Adapting point cloud processing techniques to work efficiently in a Windows environment

Implementing point cloud library (PCL) functionality within Unity

Optimizing performance for real-time processing and visualization of point cloud data



Chai Eun Kyun 

 

989-111 Daedeok-daero, Yuseong-gu, Daejeon, 305-353, Korea

Email: kyun22@hanyang.ac.kr



Project Role and Responsibilities

Kyun Chai-eun joined the project as a new intern for the 2024 spring semester, focusing on continuing and expanding the VR-based teleoperation research.

 

Technical Focus

Working on Unity project integration and communication

Assisting in the transition and continuation of the Alchemist project

Potentially involved in the virtual space teaching project, an extension of the current research

 

Project Contributions

Integration of Unity and Oculus Quest 2 for VR-based teleoperation system⁠

Implementation of LAN-based communication between Unity and project hardware

Development of 6-DOF Position control inverse kinematics module for robot control⁠

Application of an Eye-Tracking System with Hand-Tracking Mode Deactivation

Development of Autonomous Home-position roll-back functionality for BTSM


Jung Mok Kim   

 

989-111 Daedeok-daero, Yuseong-gu, Daejeon, 305-353, Korea

Email: wjdahr2000@hanyang.ac.kr



Project Role and Responsibilities

Kim Jeong-mok joined the project as part of the 2024 summer internship team, focusing on robotics and VR integration at Hanyang University's Department of Robotics Engineering.

 

Technical Contributions

Worked on BTSM (Bilateral Teleoperation System for Manipulators) integration and control

Developed solutions for Doosan Robotics Manipulator A509 in Unity environment

Implemented and tested bHaptics haptic gloves for enhanced user feedback

Resolved IK (Inverse Kinematics) output issues in Unity, particularly step-like ramp problems

Applied Gaussian filters to smooth angle controls in Unity

Established TCP/IP connection between Windows 11 and Windows XP systems

 

Research and Development

Investigated IK Singularity Solutions for redundant robots, focusing on workspace limitations and damping factors

Explored Impedance Control techniques for workspace management in Unity

Conducted research on adaptive DLS (Damped Least Squares) methods to enhance manipulator control

Analyzed various control strategies including PD control, TDC (Time Delay Control), and Inverse Dynamics for BTSM

 

Technical Challenges Addressed

Developed methods to mitigate IK singularity issues in redundant robot systems

Implemented real-time control based on Doosan API control functions

Addressed challenges in VR hand tracking integration with Unity for manipulator control

Explored solutions for jerking issues in API-based control, including interpolation techniques




Se Chan Jang  

 

989-111 Daedeok-daero, Yuseong-gu, Daejeon, 305-353, Korea

Email: wind990530@hanyang.ac.kr



Project Role and Responsibilities

Jang Se-chan joined the project as part of the 2024 summer internship team at Hanyang University's Department of Robotics Engineering, focusing on robotics integration and communication.

 

Technical Contributions

Implemented KEBA - Unity communication, documenting the process in a detailed log

Worked extensively with the Doosan Robotics A0509 robot

Conducted various communication tests to ensure robust connections between different systems

Integrated A0509 robot with SeenGrip and bHaptics technologies

Explored the integration of Insta360 X4 camera with VR systems

 

Key Projects

Jang Se-chan's work centered around several key areas:

KEBA - Unity Communication: Developed and documented the process of establishing communication between KEBA systems and Unity, crucial for virtual environment control

Doosan Robotics Integration: Focused on integrating and controlling the Doosan Robotics A0509 model within the project's framework

Multi-technology Integration: Combined the A0509 robot with SeenGrip and bHaptics technologies, advancing the project's haptic feedback capabilities

VR-Camera Integration: Explored the potential of integrating the Insta360 X4 camera with VR systems, potentially enhancing immersion and visual feedback




Gi Geum Lee  

 

989-111 Daedeok-daero, Yuseong-gu, Daejeon, 305-353, Korea

Email: 2007gun@naver.com



Project Role and Responsibilities

Lee Gi-geum joined the project as part of the 2024 second semester internship team at Hanyang University's Department of Robotics Engineering.

 

Hardware Investigation

Conducted a thorough examination of the AGV Narmi, a physical robot in the lab

Investigated the AGV's control systems, including its PID control setup and potential encoder presence

Identified and traced electrical connections within the AGV, particularly focusing on motor control components

 

Problem-Solving and Analysis

Analyzed the AGV's movement mechanisms, including forward and reverse motion controls

Discovered that the main PC and driver for the AGV are integrated, contrary to initial assumptions

Considered potential modifications to the AGV's control system, including the possibility of replacing existing components with a new motor driver

 

Skills and Knowledge Areas

Unity development and robot control simulation

Hardware analysis and troubleshooting

Understanding of robotic control systems and communication protocols

 


Kyoo Min Park

 

989-111 Daedeok-daero, Yuseong-gu, Daejeon, 305-353, Korea

Email: mir0pp15@gmail.com



Project Role and Responsibilities

Park Kyoo-min joined the project as part of the 2024 second semester internship team at Hanyang University's Department of Robotics Engineering, focusing on robotics simulation and integration.

 

Technical Contributions

Initiated work with KEBA, including simulation setup and code follow-up (September 5-6, 2024)

Successfully completed KEBA simulation (September 9, 2024)

Conducted in-depth study of simulation techniques (September 10, 2024)

Compiled comprehensive documentation on KEBA

 

Unity Development

Developed preliminary plans for safety inspection in Unity (September 30, 2024)

Implemented Unity-MuJoCo Plugin integration (October 8, 2024)

Combined Unity with MuJoCo and added Doosan robot modeling (October 10, 2024)

 

Skills and Knowledge Areas

Robotics simulation using KEBA and Unity

Integration of physics engines (MuJoCo) with Unity

3D modeling and integration of robotic systems in virtual environments

Safety inspection protocols in virtual reality simulations

 

Project Progression

Park Kyoo-min's work shows a clear progression from basic simulation setups to more complex integrations involving physics engines and detailed robot modeling. His efforts contribute significantly to the project's goals of creating accurate and interactive virtual environments for robotic systems.




Na Kyung Park  

 

989-111 Daedeok-daero, Yuseong-gu, Daejeon, 305-353, Korea

Email: qkqajrrhajrh@naver.com



Project Role and Responsibilities

Park Na-kyung joined the project as part of the 2024 second semester internship team at Hanyang University's Department of Robotics Engineering, focusing on haptic feedback integration and VR technologies.

 

Technical Contributions and Key Projects

Park Na-kyung made significant contributions in several areas:

Integration of haptic technologies: Worked on integrating bHaptics and 3D hand models in Unity, and extensively explored the capabilities of Senseglove NOVA2, a haptic feedback glove

VR development: Implemented OpenXR and integrated VIVE hardware, advancing the project's virtual reality capabilities

Remote robot control: Developed a system for remote robot arm control with haptic feedback, bridging the gap between virtual interfaces and physical robotics

Research and literature review: Conducted comprehensive literature reviews on relevant research papers, strengthening the theoretical foundation of the project

 

Skills and Knowledge Areas

Unity development for VR applications

Integration of various haptic feedback devices (bHaptics, Senseglove NOVA2)

OpenXR implementation and VR hardware integration (VIVE)

Research skills in robotics and haptic technologies

System development for remote robot control with tactile feedback

 

Project Impact and Progression

Park Na-kyung's work demonstrates a comprehensive approach to integrating haptic feedback in virtual reality environments. Her efforts have significantly contributed to the project's goals of creating immersive and interactive virtual environments with tactile feedback. The progression of her work shows a clear evolution from basic haptic integration to more complex systems involving remote robot control and advanced VR technologies.