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여태경(Tae-Kyeong Yeu),홍섭(Sup Hong),김형우(Hyung-Woo Kim),윤석민(Suk-Min Yoon),박성재(Soung-Jea Park),성기영(Ki-Yong Sung),이창호(Chang-Ho Lee),최종수(Jong-Su Choi) 대한조선학회 2011 대한조선학회 학술대회자료집 Vol.2011 No.6
A self-propelled mining underwater robot, named MineRoTM was developed in 2007, which is consists of tracked vehicle, hybrid nodule pick-up device, electro-hydraulic assemblage, sensors, electric-electronic units for control and monitoring, and control station onboard, etc. In 2009 and 2010, shallow water tests around 100m depth have been executed for the purpose of evaluations of collecting, lifting and driving performance. Particularly, the test of 2010 was planned path tracking control at an inshore site near harbor, Hupo in the East Sea of South Korea. Here, tests of four-topic, track velocity control of driving system, verification of the proposed underwater navigation, turning property for various steering rate, and path tracking control have been performed for 3 weeks stage by stage. For operating and supporting the mining robot, DP vessel(8,500 ton) which is equipped with A-frame and winch system for umbilical cable was used as surface unit. This paper introduces about the overall contents of path tracking control test.