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박성재(Soung-Jea Park),신승묵(Seung-Mok Shin),이채규(Chae-Gue Lee),김상봉(Sang-Bong Kim) 대한기계학회 2003 대한기계학회 춘추학술대회 Vol.2003 No.4
In this paper, we concern for development of precise measuement system for civil structure by using<br/> one chip microprocessor based on communication system. The datalogger is developed by using<br/> 80C196KC microprocessor. It has RF communication modul and data acquisition function for several<br/> kinds of sensors such as load cell, tilt-meter, strain gauge, tension meter, themocouple and so on. The<br/> data is acquisited by datalogger is sent to a main server which is located at central monitoring office.<br/> The server has a function suppervising several data points located at civil structures, it analyzes the<br/> data and shows the data graphically. The effectiveness of the developed system is proven through<br/> experimental results by an application for the bridge of Nakdong river edge in Busan, Korea.
파일럿 집광기의 전기·전자 시스템 설계를 위한 요구사항
박성재(Soung-Jea Park),여태경(Tae-Kyeong Yeu),윤석민(Suk-Min Yoon),김진호(Jin-Ho Kim),홍섭(Sup Hong),김형우(Hyong-Woo Kim),최종수(Jong-Su Choi) 대한조선학회 2011 대한조선학회 학술대회자료집 Vol.2011 No.6
In this paper, we discuss about requirements of electrical and electronics system design for pilot miner. The pilot miner is one of the unique system as a kind of working ROV. We already developed test miner, MineRo, which verified the concept of manganese nodule miner. And we are now designing the pilot miner to examine the concept of commercial miner. The electrical and electronics system of pilot miner is more complex and larger than MineRo system. In the view of requirement engineering, system designers has many uncertainty and ambiguity in system functional definition. In order to reducing those facts, requirements are predetermined using requirement analysis process, so we could use this for having wide applications like design rules, manufacturing specifications and management manual, etc.
여태경,박성재,홍섭,김형우,최종수,Yeu, Tae-Kyeong,Park, Soung-Jea,Hong, Sup,Kim, Hyung-Woo,Choi, Jong-Su 한국해양학회 2008 바다 Vol.13 No.3
심해채광시스템(Deep-sea mining system)은 보편적으로 수상선(Surface vessel), 양광관(Lifting system), 버퍼(Buffer), 유연관(Flexible pipe) 그리고 집광기(Miner)로 구성된다. 이러한 채광시스템은 하부시스템들(Subsystems)로 구성되기 때문에 대규모 시스템(Large-scale system)으로 가정할 수 있다. 대규모 시스템을 제어하기 위하여, 최근에는 분산제어기법(Decentralized control approach)이 널리 적용되고 있다. 본 논문에서는 대규모 시스템인 채광시스템에 분산제어 기법의 적용성에 대한 기본연구로서, 먼저 심해채광시스템을 유사 모델(양광관과 버퍼를 구면진자 유연관을 2차원 선형 스프링 결합)로 가정하고 간략하게 모델화하였다. 간략화된 모델을 바탕으로, 대규모 심해 채광시스템을 2개의 하부 시스템, 수상선, 양광관과 버퍼로 구성된 시스템과 집광기 시스템으로 각각 나누었다. 다음으로 각 하부 시스템 사이의 상호작용 요소(Interaction term)를 외란(Disturbance)으로 가정하고, 각 하부시스템에 대한 분산제어기를 설계하였다. 여기서 제어기는 집광기가 주어진 경로를 움직이는 동안, 집광기 시스템과 수상선, 양광관과 버퍼 시스템 사이의 거리가 일정하게 유지되도록 제어하였다. 끝으로 제안된 제어기의 효율성을 검증하기 위해, 간략화된 모델을 이용한 수치 시뮬레이션을 수행하였다. The deep-sea mining system is generally composed of surface vessel, lifting system, buffer, flexible pipe and miner. The mining system can be regarded as a large-scale system in which each subsystem is interconnected to other ones. In order to control a large-scale system, decentralized control approaches have been proposed recently. In this paper, as a basic study on application of decentralized control, firstly, the mining system was modeled in a simplified way. Lifting system and buffer were regarded as a spherical pendulum and the flexible pipe was taken as a two-dimensional linear spring connection. Based on the simplified model dynamics, the mining system can be decentralized two subsystems, the one consisting of surface vessel, lifting system and buffer, and the other, the miner. Next, this paper proposed the design of controller for each decentralized subsystem by regarding the interacting terms as disturbances. The controllers kept the constant distance between two subsystems during the miner was moving on the specified track. Finally, the efficiency of proposed controller was proven through the numerical simulation of the derived model.
이민욱(Minuk Lee),박성재(Soung-Jea Park),여태경(Tae-Kyeong Yeu),김형우(Hyong-Woo Kim),홍섭(Sup Hong),조수길(Su-gil Cho),장준용(Jun-yong Jang),이태희(Tae Hee Lee),최종수(Jong-Su Choi) 대한기계학회 2012 大韓機械學會論文集A Vol.36 No.12
심해저 장비에 사용되는 압력용기는 내장된 전자장비를 대기압 상태로 보호할 수 있도록 설계되어야 한다. 따라서 해수에 노출되지 않도록 수밀성과 심해의 높은 압력을 견딜 수 있는 구조적 안전성을 확보해야 한다. 본 연구의 압력용기는 원통형이며, 중앙부의 원통형 용기와 양 끝단의 평판형 덮개부로 이루어져있다. 일반적으로 압력용기 내부 전자장비와의 통신 및 전력전송을 위해 압력용기 덮개판에 다양한 수중 커넥터를 배치 한다. 그러나 한정된 덮개판 공간에 다수의 홀이 배치되면 응력집중을 유발하여 압력용기 덮개판의 구조적 안전성에 영향을 줄 수 있다. 본 논문에서는 구조적 안전성을 고려한 압력용기 덮개판의 홀 배치 최적화 기법에 대한 연구를 수행하였다. A deep-sea pressure vessel needs to protect the internal electrical equipment from the high external pressure. Thus, the pressure vessel should be designed to be watertight and structurally safe. In this study, a cylindrical-type pressure vessel comprising a hollow cylinder and cover plates at both ends is investigated. For communication between the internal electronic equipment and the external device, holes are bored on the cover plate to install underwater connectors. Considering the type of internal equipment and underwater connector specifications, multiple holes may be required. These holes can affect the structural safety of the pressure vessel cover plate. In this study, the optimum design of the hole arrangement in consideration of the structural safety of the cover plate was performed.
파일럿 집광 로봇 전기·전자 시스템의 노이즈 대책 방안 연구
김진호(Jin-Ho Kim),박성재(Soung-Jea Park),여태경(Tae-Kyeong Yeu),홍섭(Sup Hong) 대한조선학회 2012 대한조선학회 학술대회자료집 Vol.2012 No.5
The pilot mining robot is the tracked vehicle which drives on the deep-seabed and gathers manganese nodules. The pilot mining robot is composed of mechanical system, hydraulic system and electric-electronic system. In order to operate these systems appropriately the electric and control system must be needed and designed. And this system needs to many sensors for navigation or path tracking pilot mining robot. But many sensors and signal processing devices has unknown noise. These kinds of troubles have come out the mis-operation and damage in pilot mining robot. So we need a reduction method of noise. This paper discusses a method to reduce unknown noise in pilot mining robot.
파일럿 집광 로봇 전기․전자 시스템의 노이즈 대책 방안 연구
김진호(Jin-Ho Kim),박성재(Soung-Jea Park),여태경(Tae-Kyeong Yeu),홍섭(Sup Hong) 한국해양환경·에너지학회 2012 한국해양환경공학회 학술대회논문집 Vol.2012 No.5
The pilot mining robot is the tracked vehicle which drives on the deep-seabed and gathers manganese nodules. The pilot mining robot is composed of mechanical system, hydraulic system and electric-electronic system. In order to operate these systems appropriately the electric and control system, must be needed and designed. And this system needs to many sensors for navigation or path tracking pilot mining robot. But many sensors and signal processing devices has unknown noise. These kinds of troubles have come out the mis-operation and damage in pilot mining robot. So we need a reduction method of noise. This paper discusses a method to reduce unknown noise in pilot mining robot.
다중 해저주행로봇의 제어를 위한 육상시험기반 구축에 관한 연구
여태경(Tae-Kyeong Yeu),윤석민(Suk-Min Yoon),박성재(Soung-Jea Park),김진호(Jin-Ho Kim),김형우(Hyung-Woo Kim),최종수(Jong-Su Choi),홍섭(Sup Hong) 대한조선학회 2012 대한조선학회 학술대회자료집 Vol.2012 No.5
To reduce cost, time and loss risk of robot in the sea-trial, the developed algorithm should be tested and verified through a lab test bed in advance. This paper introduces a lab test bed to develop control algorithms for multi-tracked-robots driving on seabed. First, state-of-the-art on multi underwater vehicles is illustrated focused on research papers. Then, the researches and applications of single underwater tracked-robot, and the appearance of multi tracked-robots are briefly introduced. Finally, the lab test bed composed of the ultrasonic position system, ground multi-tracked-robots and camera based motion measuring system is explained. The ultrasonic position system is considered as USBL system to measure the position of robot in ocean. In the ground tracked-robot, tracked driving system, laser scanning sensor, camera, magnetic gyro, and embedded controller are installed. The camera based motion measuring system as a reference measuring system is applied to evaluate the performance of developed algorithms.