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심해용 크랩스터 CR6000 시스템의 실해역 시험 결과
전봉환,유승열,이판묵,박진영,심형원,백혁,Jun, Bong-Huan,Yoo, Seong-Yeol,Lee, Pan-Mook,Park, Jin-Yeong,Shim, Hyungwon,Baek, Hyuk 대한임베디드공학회 2017 대한임베디드공학회논문지 Vol.12 No.5
This paper presents the sea-trial results of Crabster CR6000 which is a deep-sea walking robot developed by KRISO in 2016. Crabster CR6000 is designed to inspect deep-sea environment rejecting the disturbance on the silent and calm abyssal area. The sea-trial was conducted at the East Sea and the Philippine Sea on December 2016. The Crabster CR6000 undocked successfully from the Shuttle after touchdown on the sea-bed and walked out on the soft sediment soil of the 4,743m seafloor at the fourth diving in the Philippine Sea. The advanced technologies and capabilities of CR6000 were verified from the operational and functional test conducted in the sea-trial. The experimental data acquired from the sea-trial were summarized and the first experience of the deep-sea walking robot was presented in this paper.
네 대의 주 추진기를 이용한 무인잠수정의 속도, 심도 및 방위각 제어 - 시뮬레이션 및 실험
전봉환(BONG-HUAN JUN),이판묵(PAN-MOOK LEE),이계홍(JI-HONG LI),홍석원(SEOK-WON HONG),이지홍(JIHONG-LEE) 한국해양공학회 2005 韓國海洋工學會誌 Vol.19 No.2
This paper describes depth, heading and speed control of an underwater vehicle that has four stern thrusters of which forces are coupled in the diving and, steering motion, as well as the speed of the vehicle. The optimal linear quadratic controller is designed based on a linearized- state space model, developed by combining the dynamic equations of speed, steering and diving motion. The designed controller gives provides an optimal thrust distribution, minimizing the given performance index to control speed, depth and heading simultaneously. To validate the performance of the controller, a simulation and tank-test are carried out with DUSAUV (Dual Use Semi-Autonomous Underwater Vehicle), developed by KORDI as a test-bed for testing new underwater technologies. Optimal gains of the controller are tuned, using a computer simulation environment with a nonlinear 6-DOF numerical DUSAUV model, developed by PMM (Planner Motion Mechanism) test. To verify the performance of the presented controller in experiment, a tank-test with DUSAUV is carried out in the ocean engineering basin in KORDI. The experimental results are also compared with the simulation results to investigate the accordance of the numerical and the real mode.
해저보행 로봇의 다리에 작용하는 유체력의 근사적 모델링과 해석
전봉환(Bong-Huan Jun),이판묵(Pan-Mook Lee),박진영(Jin-Yeong Park) 대한조선학회 2011 대한조선학회 학술대회자료집 Vol.2011 No.6
In this paper, we present an approximated numerical model of drag and lift forces acting on the articulated legs moving in fluid. Generalized drag torque is successfully derived as a function of generalized variables and its first derivative, even though the arm has roll joint and twist angles between joints. Since the model is described as closed-form dynamic equations based on L-E formulation, it is advantageous to apply in the analysis and controller design of underwater articulated legs. To verify the proposed model, we conducted drag torque simulations with simple scara robot and presented the results in this paper.
해저보행로봇 CR200의 설계와 조류환경에서의 안정성 검토
전봉환(Bong-Huan Jun),심형원(Hyungwon Shim),박연석(Yeon-Seok Park),김우전(Wu-Joan Kim) 대한조선학회 2012 대한조선학회 학술대회자료집 Vol.2012 No.5
In this paper, we present the design result and stability analysis result of underwater walking robot CR200. To perform underwater working in current and low visibility environment, the CR200 is designed as six-legged underwater walking robot with acoustic imaging system. The shape of body is streamlined in the consideration of hydrodynamic characteristics. The stability criteria of underwater robot is presented to analyze the tumble stability of CR200. The stability criteria is defined as the minimum potential energy by considering the hydrodynamic forces to the normalized energy stability margin. The hydrodynamic forces acting on the robot in current is estimated by the numerical simulation using ANSYS-CFX. The tumble stability of CR200 is analyzed in the presented stability criteria and estimated hydrodynamic forces.
전방 입사조류에 대한 해저보행로봇의 동적 전복안정성 해석
전봉환(Bong-Huan Jun),심형원(Hyungwon Shim),유승열(Seongyeol Yoo) 대한기계학회 2015 大韓機械學會論文集A Vol.39 No.8
본 논문에서는 해저보행로봇 크랩스터(CR200)의 전방 입사 조류에 대한 동적 전복안정성에 대하여 연구하였다. CR200 은 우리나라 근해 환경의 특징인 강조류 환경에서 운용될 수 있도록 설계되었고, 몸체도 유체역학적 요소를 고려하여 제작되었다. 해저보행로봇의 동적 전복안정성을 판단하기 위하여 육상보행로봇의 동적 전복안정성의 개념을 도입하여 수중환경에 맞도록 전복 판별식을 재정의하고 이를 이용해 전방 조류에 대한 동적 전복안정성을 시뮬레이션으로 해석하였다. 이를 위하여 조류속도가 변할 때 CR200 의 자세변화에 따른 유동해석 결과를 이용하였다. 또한 CR200 의 지지다리를 이동하여 전복축의 위치가 바뀌었을 경우에 대하여 해석을 수행하여 전복축의 이동에 따른 CR200 의 전복안정성 개선효과를 확인하였다. In this paper, we describe the dynamic tumble-stability analysis of a seabed-walking robot named Crabster(CR200) in forward-incident currents. CR200 is designed to be operated in tidal-current conditions, and its body shape is also designed to minimize hydrodynamic resistances considering hydrodynamics. To analyze its tumble stability, we adopt the dynamic stability margin of a ground-legged robot and modify the definition of the margin to consider tidalcurrent effects. To analyze its dynamic tumble stability, we use the estimated hydrodynamic forces that act on the robot in various tidal-current conditions, and analyze the dynamic tumble-stability margin of the robot using the estimated results obtained for the various tidal-current conditions. From the analyses, we confirm the improved tumble stability of the robot according to the movement of the tumble axis caused by the supporting points of the legs.
해저보행로봇 CR200의 설계와 조류환경에서의 안정성 검토
전봉환(Bong-Huan Jun),심형원(Hyungon Shim),박연석(Yeon-Seok Park),김우전(Wu-Joan Kim) 한국해양환경·에너지학회 2012 한국해양환경공학회 학술대회논문집 Vol.2012 No.5
In this paper, we present the design result and stability analysis result of underwater walking robot CR200. To perform underwater working in current and low visibility environment, the CR200 is designed as six-legged underwater walking robot with acoustic imaging system. The shape of body is streamlined in the consideration of hydrodynamic characteristics. The stability criteria of underwater robot is presented to analyze the tumble stability of CR200. The stability criteria is defined as the minimum potential energy by considxering the hydrodynamic forces to the normalized energy stability margin. The hydrodynamic forces acting on the robot in current is estimated by the numerical simulation using ANSYS-CFX. The tumble stability of CR200 is analyzed in the presented stability criteria and estimated hydrodynamic forces.