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다관절 해저로봇의 불량 시계환경 극복을 위한 고해상도 주사음탐기의 운용전략과 실험적 고찰
백혁(Hyuk Baek),전봉환(Bong-Huan Jun),김보람(Bo-Ram Kim),심형원(Hyung-Won Shim) 한국해양환경·에너지학회 2012 한국해양환경공학회 학술대회논문집 Vol.2012 No.5
In this paper, we studied about ultrasonic sensor operating strategies of multi-legged seabed robot based on result of the open sea experiment that the robot to overcome the low visibility environment. This experiment was carried out on April 3 to April 6, 2012 at Pier of Namhae Institute to get vertical and horizontal images and used device was 1171 High Resolution sensor manufactured by Kongsberg Martime. The criteria of positioning and sensor arrangement of the robot was suggested by this experiment and acquired image data was represented as an integrated picture with Google Earth satellite map through the mosaic processing from Adobe Photoshop program.
다관절 해저로봇의 불량 시계환경 극복을 위한 고해상도 주사음탐기의 운용전략과 실험적 고찰
백혁(Hyuk Baek),전봉환(Bong-Huan Jun),김보람(Bo-Ram Kim),심형원(Hyung-Won Shim) 대한조선학회 2012 대한조선학회 학술대회자료집 Vol.2012 No.5
In this paper, we studied about ultrasonic sensor operating strategies of multi-legged seabed robot based on result of the open sea experiment that the robot to overcome the low visibility environment. This experiment was carried out on April 3 to April 6, 2012 at Pier of Namhae Institute to get vertical and horizontal images and used device was 1171 High Resolution sensor manufactured by Kongsberg Maritime. The criteria of positioning and sensor arrangement of the robot was suggested by this experiment and acquired image data was represented as an integrated picture with Google Earth satellite map through the mosaic processing from Adobe Photoshop program.
심해무인잠수정 운용사례 분석을 통한 해미래의 운용 전략 수립
백혁(Hyuk Baek),전봉환(Bong-Huan Jun),최고(Go Choi),이판묵(Pan-Mook Lee) 대한조선학회 2012 대한조선학회 학술대회자료집 Vol.2012 No.5
In this paper, we analyze the operating methods of the ROVs( Remotely Operated Vehicle ) and conduct a study on how to apply these methods to our self-developed 6,000 meter class ROV HEMIRE. The used data in this paper were collected from the expedition of JASON ROV of USA to retrieve a junction box installed on seabed 5,000 meter between Hawaii and California for maintenance during June 20th ~ July 11th 2004 and ROPOS ROV of Canada to explore the hydrothermal deposit located Tonga, southpacific, on January 12th ~ February 1st 2012. Through the analysis, we could arrange the applicable skills with HEMIRE system and strategy to carry out as an independent mode by itself.
주사음탐기를 이용한 불량시계 해저 맵핑에 관한 실험적 연구
백혁(Hyuk Baek),전봉환(Bong-Huan Jun),이판묵(Pan-Mook Lee) 대한조선학회 2011 대한조선학회 학술대회자료집 Vol.2011 No.6
In this paper, we present an experimental results of seabed mapping using single beam scanning sonar. We have established the image mosaicking process on the multiple sonar images. Sonar image acquisition using MS-1000 was conducted on 20th Jan 2011 at four different target positions of the pier area of South Sea Research Institute of KORDI. Besides, the images were taken at two different range distances as 25m and 50m. This mosaicking process is plan to apply to multi-legged seabed walking robot with clear identification capability of objects in highly turbid environment. The result of mosaic task was superimposed on the local map provided by Google Earth.
심해무인잠수정 운용사례 분석을 통한 해미래의 운용 전략 수립
백혁(Hyuk Baek),전봉환(Bong-Huan Jun),최고(Go Choi),이판묵(Pan-Mook Lee) 한국해양환경·에너지학회 2012 한국해양환경·에너지학회 학술대회논문집 Vol.2012 No.5
In this paper, we analyze the operating methods of the KOVs( Remotely Operated Vehicle ) and conduct a study on haw to apply these methods to our self-developed 6,000 meter class ROV HEMIRE. The used data in this paper were collected from the expedition of JASON ROV of USA to retrieve a junction box installed on seabed 5,000 meter between Hawaii and California for maintenance during June 20th ~ July 11th 2004 and ROPOS ROV of Canada to explore the hydrothermal deposit located Tonga, southpacific, on January 12th ~ February 1st 2012. Through the analysis, we could arrange the applicable skills with HEMIRE system and strategy to carry out as an independent mode by itself.
해미래의 심해탐사 운용기법 개선 및 서태평양 해저산 망간각 탐사에 적용
백혁(Hyuk Baek),박진영(Jin-Yeong Park),심형원(Hyungwon Shim),전봉환(Bong-Huan Jun),이판묵(Pan-Mook Lee) 한국해양공학회 2018 韓國海洋工學會誌 Vol.32 No.4
This paper presents the results of an exploration of the ferromanganese crusts of Western Pacific Seamount registered by the Korean government. This area has been surveyed with a deep-sea camera and crust samples have been acquired by deep-sea dredging since 2013. On October 18-19, 2017, a united research team from KIOST and KRISO explored two blocks, OSM11 and OSM07, on the seamount using Hemire ROV. A precise survey was conducted on the ferromanganese crusts and sediments covering the slope/top of OSM11 and the middle flat area of OSM07. Rock samples were collected with precise positioning, and HD videos were recorded for 7 hours. This paper discusses the technical issues of this exploration in terms of (1) how to deal with an emergency situation during an electric power blackout, (2) the improvement of the thruster power by adding cooling plugs to the housings of the thruster amplifiers, (3) the relative motion of the depressor by changing the fixing method of the cable terminator, which affects the service life of the cable, (4) a sampling technique for the steep slope of the seamount, (5) integrated navigation under a USBL blackout, and (6) a 3-dimensional image mosaic for visualizing the distribution state of the crusts.
백혁(HYUK BAEK),김기훈(KI-HUN KIM),전봉환(BONG-HUAN JUN),이판묵(PAN-MOOK LEE),임용곤(YONG-KON LIM) 한국해양공학회 2008 韓國海洋工學會誌 Vol.22 No.4
This paper represents the experimental identification of a finite-dimensional dynamical plant model for the HEMIRE Remotely Operated Vehicle. The experiments were conducted during sea trials in the East Sea in October 2006 and peer testing by the South Sea Research Institute in January 2007. A least-squares method was employed to identify decoupled single degree-of-freedom plant dynamical models for the X, Y, Zand heading degree-of-freedom from experimental data. The performance of the identified plant dynamical model was evaluatedby directly comparing simulations of the identified plant model to the experimentally observed motion data from the actual vehicle.
소형 ROV를 이용한 IDEF0 기반의 수중 미확인 물체 식별절차에 관한 연구
백혁(Hyuk Baek),전봉환(Bong-Huan Jun),윤석민(Suk-Min Yoon),노명규(Myounggyu Noh) 한국해양공학회 2019 韓國海洋工學會誌 Vol.33 No.3
Various sizes of ROVs are being utilized in offshore industrial, scientific, and military applications all around the world. Because of innovative developments in science and technology, image acquisition devices such as sonar devices and cameras have been reduced in size and their performance has been improved. Thus, we can expect better accuracy and higher resolution even in the case of exploration using a small ROV. The purpose of this paper is to prepare a standard procedure for the identification of unidentified hazardous materials found during the National Oceanographic Survey. In this paper, we propose an IDEF (Integrated DEFinition) method modeling technique to identify unidentified targets using a small ROV. In accordance with the proposed procedure, an ROV survey was carried out on target No.16 with a four-ton-class fishing boat as a support vessel on September 18th of 2018 in the sea near Daebu Island. Unidentified targets, which were not known by the multi-beam data obtained from the ship, could be identified as concrete pipes by analyzing the HD camera and high-resolution sonar images acquired by the ROV. The whole proposed procedure could be verified, and the survey with the small ROV required about 10 days to identify the target in one place.