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사용자 운용 편의성을 위한 수중로봇 MR-1의 수조실험에 관한 연구
남건석,류제두,하경남 한국로봇학회 2020 로봇학회 논문지 Vol.15 No.1
This paper describes a method for tracking attitude and position of underwater robots. Underwater work with underwater robots is subject to differences in work efficiency depending on the skill of the operator and the utilization of additional sensors. Therefore, this study developed an underwater robot that can operate autonomously and maintain a certain attitude when working underwater to reduce difference of work efficiency. The developed underwater robot uses 8 thrusters to control 6 degrees of freedom motion, IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log) and PS (Pressure Sensor) to measure attitude and position. In addition, the thruster allocation algorithm was designed to follow the control desired value using 8 thrusters, and the motion control experiments were performed in the engineering water basin using the thruster allocation method.
무인 수중글라이더의 자세제어기 및 부력제어기 특성을 고려한 운동해석 시뮬레이션
남건석(Keon-Seok Nam),하지훈(Ji-Hoon Ha),김준영(Joon-Young Kim),최형식(Hyeung-Sik choi),이용국(Yong-Kuk Lee) 대한기계학회 2014 대한기계학회 춘추학술대회 Vol.2014 No.5
The underwater glider make forward movement through the downward movement and upward movement. Downward movement and upward movement is generated by buoyancy control using the control of buoyancy controller. In this paper, we derive nonlinear 6 DOF dynamic equation consider characteristic of underwater glider. Validity of derived nonlinear 6DOF dynamic equation is verified through simulation.
류제두,남건석,하경남 한국산업융합학회 2020 한국산업융합학회 논문집 Vol.23 No.3
Recently, various tries to apply ROV (Remotely Operated Vehicle) into underwater are being developed. However, due to underwater environment uniqueness, the additional problem must be taken into account when designing an ROV for the inspection of the underwater structure. This is because a GPS-based information method cannot be applied, and the obtainable image is also dependent on the turbidity. Also, it is necessary to be able to satisfy waterproof and operating speeds in consideration of most practical application environments. This paper describes the design results of the ROV system for underwater structure inspection considering the above problems. The designed system applied INS / DVL for location recognition and was configured to support 3D mapping and stereo camera-based image information using sonar depending on visibility. To satisfy the waterproof, a pressure vessel using a composite material was applied. And over-actuated system using eight thrusters to maintain a stable posture and operating speed was applied also. The designed system was verified by structural analysis and flow analysis also.