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하이브리드 수중 글라이더의 제어 시스템 설계 및 성능 시험
지대형 ( Dae-hyeong Ji ),최형식 ( Hyeung-sik Choi ),김준영 ( Joon-young Kim ),정동욱 ( Dong-wook Jung ),정성훈 ( Seong-hoon Jeong ) 한국항행학회 2017 韓國航行學會論文誌 Vol.21 No.1
본 논문에서는 고정밀 항로 탐색 기능과 장기 임무 수행 능력이 장점인 하이브리드 수중 글라이더의 제어에 관한 연구를 수행하였다. 하이브리드 수중 글라이더의 동적 모델링은 자세 제어기와 부력 엔진, 추진기의 수치 모델을 기반으로 하였다. 하이브리드 수중 글라이더의 부드러운 제어와 정밀한 항해를 고려하여 제어 시스템을 설계하였다. 물을 흡입 할 수 있는 부력 엔진은 선체의 부력을 제어하도록 설계되었다. 그리고 배터리를 탑재한 질량 이동체는 선체의 피칭 동작을 제어 할 수 있도록 설계되었다. 또한 부력 엔진 및 자세 제어기를 제어하기 위한 제어 시스템이 구성하였다. 성능을 확인하기 위해 제작된 모델을 사용하여 수조 시험을 수행하였다. In this paper, we studied the control of the hybrid underwater glider (HUG), which has the advantage of high precision route search function and long-term mission capability. Dynamic modeling of HUG is based on numerical model of the attitude controller and buoyancy engine, thruster. We designed the control part considering the smooth control and precise sailing of HUG. A buoyancy engine capable of inhaling water is designed to control the buoyancy of HUG. And mass shifter carrying the battery was designed for controlling pitching motion of HUG. A control system for controlling the buoyancy engine and the attitude controller was constructed. In order to verify performance, we performed water tank test using manufactured HUG.
LED 광통신을 적용한 마스터 암과 수중 매니퓰레이터의 통합 제어
오지윤(Ji-Youn Oh),전봉환(Bong-Huan Jun),최형식(Hyeung-Sik Choi),김준영(Joon-Young Kim),지대형(Dae-Hyeong Ji),손현중(Hyeon-Joong Son),조성원(Sung-Won Jo) 한국해양공학회 2016 韓國海洋工學會誌 Vol.30 No.5
This paper presents the results of a study on the control system for an underwater manipulator controlled by a master arm through LED communication. The underwater manipulator was designed to be actuated by electric motors with six degrees of freedom for operation in various underwater environments. The master arm, which can remotely control the manipulator, was designed with a structure similar to the manipulator for convenient control. An underwater LED communication system was developed to communicate between the master arm and underwater manipulator. An integrated control program was developed that included data conversion, monitoring, datalogging, and filtering. Some experiments were performed to verify the performance of the developed control system of the master arm, manipulator, and LED communication system, and the results are presented
Ring Laser Gyro를 이용한 ARS에 관한 연구
정상기(Sang-Ki Jeong),최형식(Hyeung-Sik Choi),지대형(Dae-Hyeong Ji),정동욱(Dong-Wook Jung),권오순(O-Soon Kwon),신창주(Chang-Joo Shin),서정민(Jung-Min Seo) 한국해양공학회 2017 韓國海洋工學會誌 Vol.31 No.2
Studies were performed on an ARS using SDINS’s RLG and the geomatic sensor. To develop the ARS, experiments were performed to determine the characteristics of the RLG and geomatic sensor. Based on the results, to reduce the angular position errors of the RLG, which accumulate from the angular velocity data, an algorithm was studied that uses the Extended Kalman filter (EKF) to compensate the RLG data and geomatic sensor data. To verify the performance of the developed algorithm for reducing the cumulative angular errors, experiments that included the developed EKF were performed. Through these, it was shown that a drastic reduction in the angular errors of the RLG were achieved.
강진일(Jin-Il Kang),최형식(Hyeung-Sik Choi),전봉환(Bong-Huan Jun),지대형(Dae-Hyeong Ji),오지윤(Ji-Yoon Oh),김준영(Joon-Young Kim) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.11
This paper presents the kinematic and dynamic analysis of the robot arm for inspection and rescue operations. The inspection robot arm has Pitch–Pitch–Pitch–Yaw motion for an optimal and stable view of the camera installed at the end of the manipulator. The rescue operation robot arm has Yaw–Pitch–Pitch–Roll motion to handle heavy tools. Additionally, both robot arms are waterproof, as they use the triple-layer O-ring. Furthermore, the dynamic equation including the damping force due to the mechanical seal for waterproofness was derived by using the Newton–Euler method. A control system using the ARM processor was developed and introduced in this paper, and its performance was verified through experiments.