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최진우,Jeonghong Park,정종대,Yoongeon Lee,최현택 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.3
The use of autonomous marine robots has been rapidly increasing in the development of marine environments. This paper presents the development of an autonomous surface vehicle (ASV) and validation of autonomous navigation technologies. The ASV was developed as a testbed to validate fundamental navigation technologies for autonomous marine robots including both surface and underwater vehicles. The ASV was developed on a catamaran by integrating various sensors and power and electrical propulsion systems, navigation and control systems, and communication devices. As fundamental navigation technologies for ASV, waypoint tracking and obstacle avoidance are developed and tested. Further, using the ASV as a testbed to validate underwater navigation technologies, two types of underwater localization methods were developed. First, an acoustic-based navigation was developed by using acoustic sources as landmarks in underwater environment. The proposed acoustic-based navigation localized both vehicle and source by Kalman filter-based SLAM. Second, terrain-based localization as geophysics-based navigation was developed using a particle filter. Effective resampling can be achieved by using a measurement of terrain roughness. Both acoustic and terrain-based underwater navigation methods are implemented with the developed ASV, and the performance of the navigation methods are evaluated by comparing the estimated localization results to the ground truth acquired by GPS. Several field tests conducted in inland water environments demonstrate the performance of the developed vehicle and navigation algorithms.
Trajectory Tracking Performance Analysis of Underwater Manipulator for Autonomous Manipulation
Junbo Chae,여태경,이영준,Yoongeon Lee,Suk-Min Yoon 한국해양공학회 2020 韓國海洋工學會誌 Vol.34 No.3
In this study, the end-effector tracking performance of a manipulator installed on a remotely operated vehicle (ROV) for autonomous underwater intervention is verified. The underwater manipulator is an ARM 7E MINI model produced by the ECA group, which consists of six joints and one gripper. Of the six joints of the manipulator, two are revolute joints and the other four are prismatic joints. Velocity control is used to control the manipulator with forward and inverse kinematics. When the manipulator approaches a target object, it is difficult for the ROV to maintain its position and posture, owing to various disturbances, such as the variation in both the center of mass and the reaction force resulting from the manipulator motion. Therefore, it is necessary to compensate for the influences and ensure the relative distance to the object. Simulations and experiments are performed to track the trajectory of a virtual object, and the tracking performance is verified from the results.
수상로봇의 개발과 충돌 회피 자율 운항에 관한 예비 실험
박정홍(Jeonghong Park),정종대(Jongdae Jung),이윤건(Yoongeon Lee),최현택(Hyun-Taek Choi),최진우(Jinwoo Choi) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.7
This paper presents the development and testing of an ASV (Autonomous Surface Vehicle) platform, as well as a collision-free path planning approach, for performing various tasks in maritime environments. The ASV is developed on a catamaran-type hull with integrated systems for navigation and control, electrical power and propulsion, sensing, onboard computing, and wireless communication. In addition, navigation algorithms for improving autonomous capabilities are also implemented on the ASV hardware. More specifically, in order to achieve reliable, collision-free maneuvering between the vehicle and an object, a collision probability is evaluated by considering their respective position uncertainties, which are estimated by a tracking filter based on the extended Kalman filter. Using this concept, a collision-free path planning approach is proposed, which takes into account the dynamic characteristics of the vehicle. To demonstrate the performance and practical feasibility of the developed ASV and the implemented algorithms, preliminary field tests were carried out in an inland water environment, and its results are discussed.
차량용 볼조인트에 사용되는 볼스터드의 피로수명 예측방법 및 선재 제조공정에 따른 피로수명 비교
조규영(Kyuyeong Cho),황효상(Hyosang Hwang),이윤건(Yoongeon Lee) 한국자동차공학회 2020 한국자동차공학회 학술대회 및 전시회 Vol.2020 No.11
In this study, to increase the reliability of prediction of fatigue life, ball studs were classified into the wire rod manufacturing processes and tested, and the results were analyzed. Ball stud uses cold heading quality wire using chromium-molybdenum steel as a material, and three types of wire rod manufacturing processes are typically used: (S)AIP, PASAIP, and PSASAIP. Loads were selected based on the results of FE-analysis, and fatigue tests were conducted on samples classified by the manufacturing process. As a result of the fatigue test, it was confirmed that there was a difference in fatigue life according to the manufacturing process of the wire rod. A method to reduce errors by generating a stress life curve according to the wire rod manufacturing process was proposed.