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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.
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) 한국해양환경·에너지학회 2012 한국해양환경공학회 학술대회논문집 Vol.2012 No.5
To reduce cost, time and loss risk of robot in the sea-tried, 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.
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.
여태경(Tae-Kyeong Yeu),홍섭(Sup Hong),김형우(Hyung-Woo Kim),최종수(Jong-Su Choi) 한국해양공학회 2010 韓國海洋工學會誌 Vol.24 No.3
This paper presents a design approach of driving system for tidal flat vehicle. Firstly, topographic and geological survey of tidal flat zone was accomplished. 'Anac' located in the west-south coast of South Korea was chosen for the survey area. From the survey, the basic design data such as distribution of gullies size and bearing pressure was obtained. To figure out the shape of driving system, numerical simulations were carried out. Through the numerical dynamic simulations using Recurdyn<SUP>TM</SUP>, the performance of various concepts of driving system was analyzed. From the results, we propose the conceptual design with the functions: a) low contact pressure, b) powerful driving force transmission, c) adaptation to the ground undulation. To satisfy these functional requirements, the driving system adopts rubber tracks, sprockets, tires and suspensions. The static structural analysis of the frame structure was executed as well, from which the detailed design was drawn out. To validate the performance of the designed driving system, the test vehicle which has gasoline engine of 27HP and mechanical transmission was constructed. The driving tests of the vehicle were performed twice at the Anac area, and unveiled its capability.
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.
심해저 망간단괴 집광기의 운영 소프트웨어 및 데이터베이스 관리시스템 개발
박성재,여태경,윤석민,홍섭,김형우,최종수,김상봉,Park, Soung-Jae,Yeu, Tae-Kyeong,Yoon, Suk-Min,Hong, Sup,Kim, Hyung-Woo,Choi, Jong-Su,Kim, Sang-Bong 한국해양학회 2008 바다 Vol.13 No.3
The deep-sea miner is the tracked vehicle system which drives on the deep-seabed and gathers a manganese nodules. The miner is operated by remote control in real-time by the station of surface vessel. So operating S/W is a important part of miner remote operating. At present, the test miner has been designed and manufactured for near-shore sea-test. The test miner consists of mechanical parts, and electric-electronic parts. Because those parts should be controled and monitored remotely, operating S/W for control and monitoring is necessary by all means. In this paper, real-time operating S/W for a control and monitoring of the test miner was designed and developed using PXI, embedded controller and LabVIEW. This real-time operating S/W was developed for an efficient test of test miner in a near seabed area. Moreover, database management system(DBMS) was developed too for the data management of test miner monitoring using MS SQL and LabVIEW. 심해저 망간단괴를 채집하기 위한 집광기는 궤도차량 형태로 해저면을 주행하면서 망간단괴를 채집한다. 집광기의 운영은 수상선에서 실시간 원격으로 제어되며, 이를 위해서는 운영 소프트웨어가 중요한 역할을 차지하게 된다. 현재는 실제 심해저 망간단괴 집광기의 개발에 앞서 시험집광기를 개발하여 근해역 성능 실증시험을 준비중에 있다. 이러한 시험집광기는 기계부와 전기 전자부로 구성되는데, 이를 원격으로 제어, 계측하기 위해서 운영 소프트웨어가 필수적이다. 본 논문에서는 시험집광기의 제어와 계측을 위한 실시간 운영 소프트웨어의 설계와 개발에 대하여 소개하였다. 임베디드시스템으로 PXI 컨트롤러가 사용되고, 소프트웨어 개발툴로는 LabVIEW를 사용하였다. 시험집광기의 효과적인 성능 실증시험을 위하여 본 실시간 운영 소프트웨어가 개발되었다. 아울러 시험집광기의 모니터링 데이터를 관리하기 위한 데이터베이스 관리시스템(DBMS)이 MS SQL과 LabVIEW를 사용하여 개발되었다.
실해역 시험 데이터를 이용한 파일럿 채광로봇 엄빌리컬 케이블의 축진동 해석
민천홍(Cheong-Hong Min),여태경(Tae-Kyeong Yeu),홍섭(Sup Hong),김형우(Hyung-Woo Kim),최종수(Jong-Su Choi),윤석민(Suk-Min Yoon),김진호(Jin-Ho Kim) 한국해양공학회 2015 韓國海洋工學會誌 Vol.29 No.2
Axial vibration analysis is very important for a deep-seabed mining system, In this study, an axial vibration analysis was carried out to estimate the natural frequencies and tensions of the umbilical cable using experimental data obtained from the first pre-pilot mining test. The axial vibration of the umbilical cable with a pilot mining robot at the bottom end were analytically determined. The range of the added mass coefficients of the pilot mining robot is estimated by comparing the experimental and analytical data. The natural frequencies and maximum tensions are calculated using four estimated added mass coefficients.
최종수(JONG-SU CHOI),여태경(TAE-KYEONG YEU),김형우(HYUNG-WOO KIM),성기영(KI-YOUNG SUNG),박성재(SOUNG-JEA PARK),김성순(SEONG-SOON KIM),홍섭(SUP HONG) 대한조선학회 2012 대한조선학회 학술대회자료집 Vol.2012 No.5
A pilot mining robot for deep-sea manganese nodules, which aims at the use for Pre-Pilot Mining Test and Pilot Mining Test, was designed and was being manufactured. The scale of the pilot mining robot is 1/5 for commercial one. In this paper, hydraulic system of the pilot mining robot, which has just been constructed, is introduced and explained. Hydraulic system is composed of reservoir, high pressure filters, valve packs, linear and rotational actuators, return and drain filters, and so on. Since the hydraulic system is determined as a closed loop hydraulic circuits, reservoir pressure within the circuits is compensated to ambient. The pressure of reservoir always keeps about 0.25~0.5 bar the higher than ambient pressure. Since the pilot mining robot works about ambient temperature, 2℃, and is moving system, the small size reservoir was adopted for reducing total weight and space. The capacity of a compensator was calculated by considering the bulk modulus of the hydraulic oil. HPUs were tested successfully in factory at full flow, highest pressure, half loading. The load-compensated proportional valves for the speed control of some actuators were adopted in order to make the actuators rotating constantly for varied loading. The pilot mining robot including the hydraulic system will be tested at 1000m water depth of East Sea in the end of 2012. The performance of the system will be verified and the data for designing commercial mining system will be collected.