• Journal of Advanced Marine Engineering and Technology
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• 제37권4호
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• pp.399-403
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• 2013

지하자원 채굴을 위한 갱도나 협소하고 위험한 공간에서 사람을 대신하여 채굴작업을 수행하는 로봇의 수요가 증가되고 있다. 본 연구에서는 원격 제어형 로봇 및 작업기구를 개발하여 석탄광산에서 원활한 채굴작업을 수행가능한지를 시험 갱도에서 확인하였다. 시험한 결과 개발된 로봇은 주행속도 1.0 km/h, 등판가능 경사도 $10^{\circ}$ 정도임을 확인하였다. 협소한 공간에서 분쇄기의 타격회수 500bpm, 타격력 $30kg_f-m$을 유지해야만 터널에서의 채굴작업이 가능하고, 최대 3시간까지 작업을 수행하기 위해서는 터널 내부의 환경조건을 분석하여 로봇을 충분히 냉각시키는 냉각시스템이 필요함을 알 수 있었다.

• Journal of Advanced Marine Engineering and Technology
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• 제37권4호
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• pp.391-398
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• 2013

선체 청소를 통해 선박에서 소비되는 연료량을 감소시킬 수 있으며 최근에는 이러한 작업을 산업용 로봇을 사용하여 수행한다. 선체를 청소하는 로봇에 있어서 안정적으로 선체에 부착되어 주행하는 것이 가장 중요하므로 본 연구에서는 안정적으로 선체 청소로봇을 구동할 수 있는 주행 제어시스템을 개발하였다. 이와 더불어 보다 편리하게 로봇을 운용할 수 있도록 주행 제어시스템에 작업자의 편의를 반영하여 주행 제어시스템을 구성하였다. 개발된 주행 제어시스템의 주행 제어성능과 편의성은 선체와 동일하게 제작된 구조물에서 실험을 통해 입증하였다.

• Journal of Advanced Marine Engineering and Technology
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• 제34권2호
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• pp.318-324
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• 2010

본 논문에서는 새로운 구조의 6축 다관절 로봇 매니퓰레이터의 경량화와 토크성능을 높이기 위하여 어깨관절부위에 중력보상기를 설계하고 적용하였다. 또한, 매니퓰레이터의 기구학 및 역기구학 해석을 하였다. 자체 중량 30Kg의 경량이면서도 25Kg 고가반하중 인 우수한 성능을 구비할 수 있도록 매니퓰레이터의 링크 구조에 대한 FEM 해석을 수행하였다. FEM 해석을 통하여 로봇 매니퓰레이터의 굽힘이나 파단에 대한 안정성을 확인하였다.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2008년도 추계종합학술대회 B
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• pp.555-558
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• 2008

For trying to frontal attack of new solution by fusion of technical tasks and conditions with it's solving methods of the essential tasks of marine resource development and environmental conservation in addition with elements of electronic high-technologies, the skimmer robot was proposed by using of oil spill disaster prevention and its disposal system with sequentially circular collection type of magnetic oil spill adsorbent powder and fabrics on the electronic barge robot for the scheme of sustainable development of environment-friendly technology. It was verified from the experiment of electronic barge robot demonstrator that the skimmer system of magnetic oil spill adsorbent powder and fabrics was very effective and useful technique to collect oil spill samples. At this point, the barge-based electronic remote control was very useful system operating easily on the marine fields to skim oil spill with dangerous toxic substances of crude oil and very harmful to human. Therefore, fusion technology proposed in this study combined with electronic and marine technology is the novel contributable technology for developing marine environmental conservation and environment-friendly disaster prevention, and also its management techniques.

• 대한조선학회논문집
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• 제58권2호
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• pp.121-128
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• 2021

According to the increasing interest and demand for the Autonomous Surface Vessels (ASV), the autonomous navigation system is being developed such as obstacle detection, avoidance, and path planning. In general, autonomous navigation algorithm controls the ship by detecting the obstacles with various sensors and planning path for collision avoidance. This study aims to construct and prove autonomous algorithm with integrated various sensor using the Robot Operating System (ROS). In this study, the safety zone technique was used to avoid obstacles. The safety zone was selected by an algorithm to determine an obstacle-free area using 2D LiDAR. Then, drift angle of the ship was controlled by the propulsion difference of the port and starboard side that based on PID control. The algorithm performance was verified by participating in the 2020 Korea Autonomous BOAT (KABOAT).

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1060-1065
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• 2005

An Independent Administrative Corporation Japan Agency for Marine-Earth Science and Technology (JAMSTEC) is developing light-and-small Autonomous Underwater Vehicles (AUV)$^{1)}$, named 'MR-X1' (Marine Robot Experimental 1), which can cruise, investigate and observe by itself without human's help. In this paper, we consider the motion control problem of 'MR-X1' and derive a controller. Since the dynamic property of 'MR-X1' is changed by the influence of the speed, the mathematical model of 'MR-X1' becomes the nonlinear model. In order to design a controller for 'MR-X1', we generally apply nonlinear control theories or linear control theories with some constant speed situation. If we design a controller by applying Linear Quadratic (LQ) optimal control theory, the obtained controller only compensates t e optimality at the designed speed situation, and does not compensate the stability at another speed situations. This paper proposes a controller design method using Linear Matrix Inequalities (LMIs)$^{2),3),4)}$, which can adapt the speed variation of 'MR-X1'. And examples of numerical analysis using our designed controller are shown.

• 한국정보통신학회논문지
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• 제20권5호
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• pp.923-930
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• 2016

상 하수도, 해양플랜트 등 다양한 배관이 산업현장에 이용되고 있으며, 이러한 배관의 유지보수 작업은 필수적이다. 특히 산업현장에서 배관 유지보수 작업은 전문 인력이 배관 내 투입되어 작업이 진행되거나, 인력 투입이 불가능한 경우 와이어에 연결된 스크래퍼를 배관에 삽입하는 방식을 이용한다. 그러나 이 방식은 교통체증, 막대한 예산의 투입 등의 문제를 야기한다. 이런 문제점을 해결하기 위한 배관 청소 로봇의 연구, 개발이 진행되고 있다. 현재 배관청소 로봇은 작업 및 운용 상태를 실시간으로 확인할 수 없는 문제점이 있다. 본 논문에서는 배관 청소로봇의 운용, 배관 내부 및 청소 상태를 확인할 수 있도록 카메라로부터 촬영된 영상을 수집하며, 수집된 데이터는 RS-485 통신을 이용하여 모니터링 시스템에 전송하여 사용자가 실시간으로 상태를 확인할 수 있게 구성하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1814-1819
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• 2005

This paper describes the development of a Stewart platform-based robot force sensor with distinctive structure of ball joints. The number of ball joints is only a half of the similar style sensors, so it is possible to reduce size and weight of the sensor. The structure of ball joint is described and discussed. Furthermore, we use strain gauges, but not liner voltage differential transformers, as sensing elements, in order to reduce size and weight of the sensor. It is also proposed that beams are replaced with pipes as sensing elements of the sensor. The ball joints and sensing elements with pipes can effectively reduce the error of the sensor. A geometric analysis model is also proposed. The external force and its moment can be measured with this model. Moreover, the performance of this sensor was tested. The test results conducted to evaluate the sensing capability of the sensor is reported and discussed.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2011년도 전기공동학술대회 논문집
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• pp.217-217
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• 2011

• 한국산업융합학회 논문집
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• 제22권6호
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• pp.689-702
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• 2019

This paper deals with the verification of the functions about mining robot, which is the system for developing deep seabed resources by applying V&V(verification and validation). In order to overcome water pressure of 500 bar and to travel on soft ground, and to operate in deep sea environment with bad conditions, it is necessary to develop a robot that can satisfy various deepsea conditions. A mining robot has been developed based on simulation based design and Multidisciplinary design optimization. In order to verify the developed robot, lab test and real sea test should be performed for various marine environment conditions. There are too many requirements to consider, such as space, time, cost, personnel, and environment to do performance test. So it is costly and time consuming for developing robot. In order to solve this problems, V&V technique was applied to mining robot. The stages of mining robot design, fabrication and commission were verified.