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Hyoung Il Son, Ph.D.

Adresse: Spemannstr. 44
72076 Tübingen
Raum Nummer: 2.VR.02
Tel.: 07071 601 218
Fax: 07071 601 616
E-Mail: Hyoungil.Son

 

Bild von Son, Hyoung Il, Ph.D.

Hyoung Il Son

Position: Wissenschaftler  Abteilung: Alumni Bülthoff

 

Son, Hyoung Il received the B.S. and M.S. degrees from the Department of Mechanical Engineering, Pusan National University, Pusan, Korea, in 1998 and 2000, respectively and the Ph.D degree from the Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), Daejeon, Korea in 2010. He is a research scientist of the Department of Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Tuebingen, Germany from April 2010.

From January to March in 2010 he workes as a researcher in the Intelligent Control System LaboratoryInstitute of Industrial Science, the University of Tokyo, Tokyo, Japan. He was a senior researcher in the Mobile Display Center, LCD Business, Samsung Electronics, Korea from 2005 to 2009 and in the Production Engineering Research Institute, LG Electronics, Korea from 2003 to 2005. In industry he was involved in several projects regarding a development and innovation of a robotic manipulator and a inspection equipment in LCD and semiconductor fabrication process.

<Research Interests>
-Robotics: Haptics, Teleoperation, Bio/Medical Robotics, Swarm Robotics, Psychophysical Validation
-Systems and Control: Discrete Event and Hybrid Systems, Supervisory Control, Factory Automation, Machine Vision

*Please visit https://sites.google.com/site/hyoungilson/ for more information.

Human-Centered Design and Evaluation of Haptic Teleoperation for Multiple Mobile Robots

 

Introduction

The use of multi-robot systems, when compared to single robot approaches, allows several improvements to be achieved in terms of performance, e.g., completion time and robustness. While recent years have seen increasing research on the development of bilateral teleoperation algorithms that can efficiently and robustly control multiple mobile robots (e.g., Unmanned Aerial Vehicles (UAVs)) [1], comparatively less attention has been devoted towards understanding how teleoperation performance can be improved with regards to the human operator in this considerably different task [2]. Given this level of interest in multiple-mobile-robot teleoperation, we believe that it is worthwhile to investigate how human control performance can be assessed within this context.

Goals

In this project, our aim is to propose a number of haptic feedback schemes for the teleoperation of multiple UAVs that could increase the operator’s performance in maneuvering the remote UAVs.

Methods

Psychophysical experiment evaluations are conducted for testing three kinds of haptic cues w.r.t. two most relevant performance indexes (maneuverability [3] and perceptual sensitivity [4]) in the field of mobile robot teleoperation (Figure 1).

Results

The experimental results clearly show that the maneuverability performance is best supported by the Force cue feedback. The results further show that the Velocity cue feedback confers a better perceptual sensitivity to the teleoperator than the other haptic cue feedbacks.

Conclusion

Maneuverability performance as well as perceptual awareness is equally important qualities during bilateral teleoperation. In light of this, the appropriate haptic feedback algorithm ought to be selected according to the application and the objective of the operator. The current evaluation of fabricated haptic cues for their influence on performance should allow us to design better algorithms for controlling multiple UAVs [5].

 

Experimental setup. Subject with haptic device (Omega 3) and Graphical User Interfaces (GUIs)

Figure 1. Experimental setup. Subject with haptic device (Omega 3) and Graphical User Interfaces (GUIs)

 

References

1.      Lee D., Franchi A., Robuffo Giordano P., Son H. I., Bülthoff H. H. (2011) Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet IEEE International Conference on Robotics and Automation 1341-1347.

2.      Franchi A., Secchi C., Son H. I., Bülthoff H. H., Robuffo Giordano P. (2011) Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology IEEE Transactions on Robotics (accepted).

3.      Son H. I., Chuang L. L., Franchi A., Kim J., Lee D., Lee S.-W., Bülthoff H. H., Robuffo Giordano P. (2011) Measuring an Operator's Maneuverability Performance in the Haptic Teleoperation of Multiple Robots IEEE/RSJ International Conference on Intelligent Robots and Systems 3039-3046.

4.      Son H. I., Kim J., Chuang L. L., Franchi A., Robuffo Giordano P., Lee D., Bülthoff H. H.  (2011) An Evaluation of Haptic Cues on the Tele-Operator's Perceptual Awareness of Multiple UAVs' Environments IEEE World Haptics Conference 149-154.

5.      Son H. I., Franchi A., Chuang L. L., Kim J., Bülthoff H. H., Robuffo Giordano P. (2011) Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics (submitted).


Education

  • Ph.D. in Mechanical Engineering, January 2010
-Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea
-Advisor: Professor Doo Yong Lee
-Thesis: Control for Optimized Kinesthetic Perception in Scaled Teleoperation of Soft Tissues
  • M.S. in Mechanical and Intelligent Systems Engineering, August 2000
-Department of Mechanical and Intelligent Systems Engineering, Pusan National University, Pusan, Korea
-Advisor: Professor Suk Lee
-Thesis: Failure Diagnosis and Recovery of Discrete Event Systems
  • B.S. in Mechanical and Production Engineering, February 1998
-Department of Mechanical and Production Engineering, Pusan National University, Pusan, Korea
-Advisor: Professor Suk Lee
-Graduation Research: Development of Three-Legged Walking Robot


Professional Experiences

  • Academic Experiences
- April 2010 - Present, Research Scientist (Postdoctoral Associate)
at Department of Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Tuebingen, Germany

- January 2010 - March 2010, Researcher (Postdoctoral Associate)
at Intelligent Control System Laboratory, Institute of Industrial Science, The University of Tokyo, Tokyo, Japan

- February 2009 -December 2009, Research Assistant
at KAIST, Daejeon, Korea
- Topics: Control of a Novel Actuated and Remotely-Controlled Gastrointestinal Endoscope, Teleoperation of Dual-Arm Robot

- September 1999 - February 2000, Research Assistant
at Pusan National University, Pusan, Korea
- Topic: Development of Supervisory Control System for Manufacturing Cell
  • Industry Experiences
- December 2005 - November 2009, Senior Researcher
at Equipment Innovation Group, Mobile Display Center, LCD Business, Samsung Electronics, Cheonan, Korea
- Team Leader
- Topic: Development and Innovation of Robotic Manipulator and Inspection Equipment in LCD Fabrication

- January 2003 - November 2005, Senior Researcher
at Evaluation Technology Group, Production Research Engineering Institute, LG Electronics, Pyungtaek, Korea
- Topic: Control System Integration of Inspection Equipment and Development of Inspection Algorithm for Defects in Flat Panel Display

  • Teaching Experiences
- September 2007 - January 2009, Teaching Assistant
at KAIST, Daejeon, Korea
- Subjects: Modeling and Control of Engineering Systems, Introduction to Robotics Engineering, Automatic Control

- September 2000 - December 2003, Teaching Assistant
at KAIST, Daejeon, Korea
- Subjects: Electronics Laboratory for Mechanical Engineers, Applied Electronics, Automatic Control, Computer Integrated Manufacturing

- March 1998 - August 1999, Teaching Assistant
at Pusan National University, Pusan, Korea
- Subjects: Basic Experiment of Electronics, Manufacturing Automation


Professional Activities

- ad hoc reviewer for
IEEE Transactions on Robotics
IEEE Transactions on Control Systems Technology
IEEE Transactions on Systems, Man and Cybernetics, Part B: Cybernetics
IEEE Transactions on Haptics
IEEE Transactions on Industrial Electronics
International Journal of Medical Robotics and Computer Assisted Surgery
Journal of Intelligent Manufacturing
and several Conferences (ICRA, IROS, EMBC, and etc)


Präferenzen: 
Referenzen pro Seite: Jahr: Medium:

  
Zeige Zusammenfassung

Artikel (17):

Son HI Person, Jung H , Lee DY , Cho JH und Bülthoff HH Person (Januar-2014) A psychophysical evaluation of haptic controllers: viscosity perception of soft environments Robotica 32(1) 1-17.
Lee D , Franchi A Person, Son HI Person, Ha CS , Bülthoff HH Person und Robuffo Giordano P Person (August-2013) Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles IEEE/ASME Transactions on Mechatronics 18(4) 1334-1345.
pdf
Son HI Person, Franchi A Person, Chuang LL Person, Kim J Person, Bülthoff HH Person und Robuffo Giordano P Person (April-2013) Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots IEEE Transactions on Cybernetics 43(2) 597-609.
pdf
Cho JH , Son HI Person, Bhattacharjee T , Lee DG und Lee DY (März-2013) Gain-Scheduling Control of Teleoperation Systems Interacting With Soft Tissues IEEE Transactions on Industrial Electronics 60(3) 946-957.
Franchi A Person, Secchi C , Son HI Person, Bülthoff HH Person und Robuffo Giordano P Person (Oktober-2012) Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology IEEE Transaction on Robotics 28(5) 1019-1033.
pdf
Yu IS , Woo HS , Son HI Person, Ahn W , Jung HR , Lee DY und Yi SY (September-2012) Design of a Haptic Interface for a Gastrointestinal Endoscopy Simulation Advanced Robotics 26(18) 2115-2143.
Son HI Person, Bhattacharjee T und Hashimoto H (August-2012) Effect of Impedance-Shaping on Perception of Soft Tissues in Macro-Micro Teleoperation IEEE Transactions on Industrial Electronics 59(8) 3273-3285.
Son HI Person und Oh MH (Mai-2012) Real-time automatic inspection of macro defects in in-line TFT fabrication process Proceedings of the Institution of Mechanical Engineering, Part E: Journal of Process Mechanical Engineering 226(2) 178-183.
Son HI Person, Bhattacharjee T und Hashimoto H (Dezember-2011) Enhancement in Operator's Perception of Soft Tissues and Its Experimental Validation for Scaled Teleoperation Systems IEEE/ASME Transactions on Mechatronics 16(6) 1096-1109.
Son HI Person, Bhattacharjee T und Hashimoto H (Juli-2011) Effect of Scaling on the Performance and Stability of Teleoperation Systems Interacting with Soft Environments Advanced Robotics 25(11) 1577-1601.
Son HI Person (März-2011) Design and implementation of decentralised supervisory control for manufacturing system automation International Journal of Computer Integrated Manufacturing 24(3) 242-256.
Son HI Person, Bhattacharjee T und Lee DY (Juni-2010) Estimation of environmental force for the haptic interface of robotic surgery International Journal of Medical Robotics and Computer Assisted Surgery 6(2) 221-230.
Son HI Person (August-2009) Automatic Inspection Method for Macro Defects in TFT-LCD Color Filter Fabrication Process IEICE Electronics Express 6(8) 516-521.
Son HI Person und Lee S (November-2008) A Comparison of Decentralized and Partially Observed Supervisors: Application to a CIM Testbed Journal of Institute of Control, Robotics and Systems 14(11) 1155-1164.
pdf
Son HI Person und Lee S (Februar-2007) Failure Diagnosis and Recovery based on DES Framework Journal of Intelligent Manufacturing 18(2) 249-260.
Son HI Person, Kim KW und Lee S (Mai-2001) Failure Diagnosis of Discrete Event Systems Journal of Control, Automation and Systems Engineering 7(5) 375-383.
Son HI Person und Lee S (Juni-2000) Design and Implementation of Supervisors to Control of a CIM Testbed Journal of Control, Automation and Systems Engineering 6(6) 478-485.

Beiträge zu Tagungsbänden (27):

Hong A Person, Bülthoff HH Person und Son HI Person (Mai-2013) A visual and force feedback for multi-robot teleoperation in outdoor environments: A preliminary result IEEE International Conference on Robotics and Automation (ICRA 2013), IEEE, Piscataway, NJ, USA, 1471-1478.
Riedel M Person, Franchi A Person, Robuffo Giordano P Person, Bülthoff HH Person und Son HI Person (2013) Experiments on Intercontinental Haptic Control of Multiple UAVs In: Intelligent Autonomous Systems 12, 12th International Conference on Intelligent Autonomous Systems (IAS-12), Springer, Berlin, Germany, 227-238.
pdf
Song EU , Niitsuma M , Kubota T , Hashimoto H und Son HI Person (2013) Multimodal Human-Robot Interface with Gesture-Based Virtual Collaboration In: Robot Intelligence Technology and Applications 2012, 1st International Conference on Robot Intelligence Technology and Applications (RiTA 2012), Springer, Berlin, Germany, 91-104.
Son HI Person, Hong A Person, Bülthoff HH Person und Lee D (Oktober-2012) Effects of imperfect communication network on haptic teleoperator's performance 12th International Conference on Control, Automation and Systems (ICCAS 2012), IEEE, Piscataway, NJ, USA, 1772-1777.
Hong A Person und Son HI Person (April-2012) Experimental Design for the Evaluation of a Multimodal Feedback in Multi-Robot Teleoperation 27th ICROS Annual Conference (ICROS 2012), Institute of Control, Robotics and Systems, Bucheon, South Korea, 355-356.
Son HI Person, Chuang L Person, Kim J Person und Bülthoff HH Person (Oktober-2011) Haptic Feedback Cues Can Improve Human Perceptual Awareness in Multi-Robots Teleoperation 11th International Conference on Control, Automations and Systems (ICCAS 2011), IEEE, Piscataway, NJ, USA, 1323-1328.
Son HI Person, Chuang LL Person, Franchi A Person, Kim J Person, Lee D , Lee S-W , Bülthoff HH Person und Robuffo Giordano P Person (September-2011) Measuring an Operator's Maneuverability Performance in the Haptic Teleoperation of Multiple Robots IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), IEEE, Piscatawy, NJ, USA, 3039-3046.
pdf
Son HI Person, Kim J Person, Chuang LL Person, Franchi A Person, Robuffo Giordano P Person, Lee D und Bülthoff HH Person (Juni-2011) An Evaluation of Haptic Cues on the Tele-Operator's Perceptual Awareness of Multiple UAVs' Environments IEEE 2011 World Haptics Conference (WHC 2011), IEEE, Piscataway, NJ, USA, 149-154.
pdf
Franchi A Person, Robuffo Giordano P Person, Secchi C , Son HI Person und Bülthoff HH Person (Mai-2011) A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology IEEE International Conference on Robotics and Automation (ICRA 2011), IEEE, Piscataway, NJ, USA, 898-905.
pdf
Lee D , Franchi A Person, Robuffo Giordano P Person, Son HI Person und Bülthoff HH Person (Mai-2011) Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet IEEE International Conference on Robotics and Automation (ICRA 2011), IEEE, Piscataway, NJ, USA, 1341-1347.
pdf
Cho JH , Son HI Person, Bhattacharjee T , Lee DG und Lee DY (Oktober-2010) Position-Position Control with Gain-Scheduling for Telesurgical Systems International Conference on Advanced Mechatronics (ICAM 2010), 283-288.
pdf
Robuffo Giordano P Person, Franchi A Person, Son HI Person, Secchi C , Lee D und Bülthoff HH Person (Oktober-2010) Towards Bilateral Teleoperation of Multi-Robot Systems 3rd Workshop for Young Researchers on Human-Friendly Robotics (HFR 2010), 1-2.
pdf
Son HI Person, Bhattacharjee T , Jung HR und Lee DY (Mai-2010) Psychophysical Evaluation of Control Scheme Designed for Optimal Kinesthetic Perception in Scaled Teleoperation 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), IEEE, Piscataway, NJ, USA, 5346-5351.
Son HI Person, Bhattacharjee T und Lee DY (August-2009) Control Design Based on Analytical Stability Criteria for Optimized Kinesthetic Perception in Scaled Teleoperation ICCAS-SICE International Joint Conference, IEEE, Piscataway, NJ, USA, 3365-3370.
Son HI Person, Bhattacharjee T und Lee DY (Juni-2009) Passivity Analysis of Haptic Systems Interacting with Viscoelastic Virtual Environment 14th International Conference on Advanced Robotics (ICAR 2009), IEEE, Piscataway, NJ, USA, 1-6.
Son HI Person und Lee DY (Oktober-2008) Two-Channel Control for Scaled Teleoperation International Conference on Control, Automation and Systems (ICCAS 2008), IEEE, Piscataway, NJ, USA, 1284-1289.
Son HI Person und Lee DY (September-2008) Enhancement of Kinesthetic Perception for Microsurgical Teleoperation KSME Bioengineering Conference 2008, 259-260.
pdf
Son HI Person und Lee DY (August-2008) Enhancement of Kinesthetic Perception for Microsurgical Teleoperation using Impedance-Shaping 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS 2008), IEEE, Piscataway, NJ, USA, 1939-1942.
Bhattacharjee T , Son HI Person und Lee DY (August-2008) Haptic Control with Environment Estimation for Telesurgery 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS 2008), IEEE, Piscataway, NJ, USA, 3241-3244.
Son HI Person, Kim HW , Lee HH und Jeong DH (Juni-2005) Macro Defect Inspection of TFT-LCD Color Filter Glass: System and Algorithm EOS Conference on Industrial Imaging and Machine Vision, European Optical Society, Hannover, Germany, 129-130.
pdf
Son HI Person (Juni-2004) Failure Diagnosis and Recovery based on DES Framework IEEE International Conference on Mechatronics (ICM '04), IEEE Operations Center, Piscataway, NJ, USA, 255-260.
Yoo SP , Lee DY und Son HI Person (2001) Design and Verification of Supervisory Controller of High-Speed Train IEEE International Symposium on Industrial Electronics (ISIE 2001), IEEE Operations Center, Piscataway, NJ, USA, 1290-1295.
Son HI Person, Kim KW und Lee S (Oktober-2000) DES Approach Failure Diagnosis of Pump-valve System Annual Meeting of the Korean Society of Precision Engineering (KSPE 2000), 643-646.
pdf
Son HI Person, Kim KW und Lee S (Oktober-2000) DES Approach Failure Recovery of Pump-valve System Annual Meeting of the Korean Society of Precision Engineering (KSPE 2000), 647-650.
pdf
Son HI Person und Lee S (Oktober-1999) Implementation of DES Testbed to Investigate Supervisory Control Theory 14th Korea Automatic Control Conference (KACC 1999), D190-D193.
pdf
Son HI Person, Kim CS und Lee S (1999) The Design of DES Supervisor for the Control of Manufacturing Cell Annual Meeting of the Korean Society of Precision Engineering (KSPE 1999), 721-724.
pdf
Shin JH , Son HI Person, Kim CS und Lee S (Oktober-1998) The Modeling of Manufacturing Cell for The Real Time Supervisory Control 13th Korea Automatic Control Conference (KACC 1998), 176-179.
pdf

Vorträge (1):

Son HI Person (Mai-14-2012) Invited Lecture: Psychophysical Evaluation of Visual and Haptic Feedback in Teleoperation of Multiple Mobile Robots, ICRA 2012 - Workshop on Haptic Teleoperation of Mobile Robots: Theory, Applications and Perspectives, St. Paul, MN, USA.

Patent (8):

Lee DY , Son HI Person und Woo HJ : Haptic Device For Cell Manipulation, (2008).
Son HI Person, Kim YI , Yang JW und Jeon CJ : Substrate Inspecting Apparatus and Substrate Inspecting Method using Same, (2007).
Son HI Person, Kim YI , Yang JW und Jeon CJ : Substrate Inspection Unit, Substrate Inspection Device including it, and Substrate Inspection Method using it, (2007).
Kim SJ , Son HI Person, Kim YI , Yang JW , Yang DY , Jeon CJ , Kang SS und Song SG : Apparatus and Method of Inspecting Display Substrate, (2006).
Park MW , Son HI Person, Kim SJ , Kim KI Person und Yang JW : Apparatus for Inspecting Alignment Film of Liquid Crystal Display and Method Thereof, (2006).
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Last updated: Dienstag, 18.11.2014