파일럿 채광로봇(미내로) 성능실증시험

여태경,홍섭,윤석민,김형우,최종수,민천홍,김진호,이민욱,성기영,이창호,김성순,오재원,김성대 한국해양환경·에너지학회 2014 한국해양환경공학회 학술대회논문집 Vol.2014 No.5

심해저 채광시스템에 대한 분산제어기 설계에 관한 연구

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.

자율작업용 원격운용잠수정의 추진 특성에 관한 실험 연구

여태경,이윤건,채준보,윤석민,이영준 한국해양공학회 2019 韓國海洋工學會誌 Vol.33 No.5

In autonomous interventions using an underwater vehicle with a manipulator, grasping based on target detection and recognition is one of the core technologies. To complete an autonomous grasping task, the vehicle body approaches the target closely and then holds it through operating the end-effector of the manipulator, while the vehicle maintains its position and attitude without unstable motion. For vehicle motion control, it is very important to identify the hydrodynamic parameters of the underwater vehicle, including the propulsion force. This study examined the propulsion characteristics of the autonomous intervention ROV developed by KRISO, because there is a difference between the real exerted force and the expected force. First, the mapping between the input signal and thrusting force for each underwater thruster was obtained through a water tank experiment. Next, the real propulsion forces and moments of the ROV exerted by thrusting forces were directly measured using an F/T (force/torque) sensor attached to the ROV. Finally, the differences between the measured and expected values were confirmed.

쿼드트랙 주행메커니즘을 갖는 수중로버 하부캐리지 개발

여태경,한종부,김성순,이영준,박대길,박상현,홍섭 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.5

Since 2020, the Korea Research Institute of Ships and Ocean Engineering (KRISO) has developed the core technologies based on the Cyber-Physical System (CPS) for the smart operation of underwater robots. The underwater rover of an experimental model scale has been designed and manufactured to evaluate these technologies. The rover model was developed from the undercarriage consisting of a body frame, a driving system, a hydraulic system, and a monitoring-control system. The undercarriage with a quad-track’s driving mechanism is equipped with many sensors, a data acquisition board of high-speed communication, and a high-precision controller for therealization of the cyber technology represented by computation or digitalization. .

수중 다중 로봇 분야의 최신 연구 동향

여태경,홍섭,전봉환 제어로봇시스템학회 2010 제어로봇시스템학회지 Vol.16 No.1

수중 자율작업용 로봇 플랫폼 개발

여태경,최현택,이윤건,채준보,이영준,김성순,박상현,이태희 한국해양공학회 2019 韓國海洋工學會誌 Vol.33 No.2

KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.

작업용 수중무인로봇 가상물리운용시스템(CPOS) 프레임워크 개발 - 감각 지각 관점

여태경,이영준,박대길,한종부,김성순 제어·로봇·시스템학회 2023 제어·로봇·시스템학회 논문지 Vol.29 No.11

. This study presents a framework for smart operational technology applied to unmanned underwater robots based on the principle of a cyber-physical system. This technology is designed to enhance operators' ability to accurately perceive underwater situations. It enables them to make informed decisions and effectively control the robots for safe and efficient operations. Situation awareness in underwater operations includes recognizing the robot's performance, status, changes in the environment, and the ongoing operational context. The primary objective is to deliver real-time, high-quality sensory information to operators, compensating for the limited sensory obtained from underwater environments. Visual cues involve real-time processing of point cloud data acquired from multi-beam echo sounders to generate 3D visualizations. Haptic cues leverage rendering technology to convey reaction forces from external interactions, and motion cues focus on translating the robot's dynamic states into meaningful motion information that can be perceived by humans. To effectively convey these cues of vision, haptic, and motion, a cockpit equipped with interface devices, such as multi-displays, six degrees of freedom motion platform, and haptic feedback device, is being developed. To experimentally validate the core technologies in the physical environment, a hydraulic underwater unmanned robot designed for excavation tasks is currently under development.

심해저 연약지반용 무한궤도차량의 견인력-슬립 관계에 관한 실험적 연구

여태경,박성재,최종수,홍섭,김형우,원문철 한국해양공학회 2007 韓國海洋工學會誌 Vol.21 No.1

수중항법 알고리즘을 위한 미내로 운동학 파라미터 예측

여태경,윤석민,박성재,홍섭,최종수,김형우,김대원,이창호 한국해양과학기술원 2011 Ocean and Polar Research Vol.33 No.1

A test miner named MineRo was constructed for the purpose of shallow water test of mining performance. In June of 2009, the performance test was conducted in depth of 100 m, 5 km away from Hupo-port (Korean East Sea), to assess if the developed system is able to collect and lift manganese nodules from seafloor. In August of 2010, in-situ test of automatic path tracking control of MineRo was performed in depth of 120 m at the same site. For path tracking control, a localization algorithm determining MineRo's position on seabed is prerequisite. This study proposes an improved underwater navigation algorithm through estimation of MineRo’s kinematic parameters. In general, the kinematic parameters such as track slips and slip angle are indirectly calculated using the position data from USBL (Ultra-Short Base Line)system and heading data from gyro sensors. However, the obtained data values are likely to be different from the real values, primarily due to the random noise of position data. The aim of this study is to enhance the reliability of the algorithm by measuring kinematic parameters, track slips and slip angle.

연약갯벌 차량용 주행장치 개발에 관한 연구

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.