Ayoung Hong

I was born in 1987 in Daegu, South Korea.

I studied mechanical engineering in KAIST, South Korea.

Currently, I start an internship in Human Robot Interaction group of MPI (Human Perception, Cognition and Action, Prof.Dr.Bülthoff) from January 2012.

1. Psychophysical study on the multi-modal feedback in multi-robot teleoperation

I'm interested in psychophysical study on the multi-modal feedback in multi-robot teleoperations. Within outdoor envirionments, it's hard to get a global information of multi-robots. However, based on the bearing-only formation control scheme[1], the inter-robot relative bearings are achievable. And an on-board camera on each of multi-robots only offers a local view. Therefore, by combining local views and global informations from [1], it may help human operator's ability to perceive remote environments.

2. Experiments for teleoperation over imperfect communication

Imperfect communication in teleoperation system is also an interesting research topic for me. The imperfect communication includes time delay, packet loss or switching and so on. Firstly, I plan to do some experiments including packet loss in communication by using the omega device as a haptic device and the KUKA robot as a slave robot. Also, psychophysical experiments of haptic interaction over imperfect communication will be executed. In this experiments, virtual objects will be considered instead of KUKA robot because it's easy to change and implement. The performance limitation of teleoperation under imperfect communications will be discussed based on the experimental results.

References

1. Antonio Franchi, Carlo Masone, Heinrich H. Bülthoff, Paolo Robuffo Giordano, "Bilateral teleoperation of multiple uavs with decentralized bearing-only formation control", in the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2215-2222, 2011.