• The Journal of Korea Robotics Society
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• v.7 no.4
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• pp.284-291
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• 2012

Recently, development of underwater robot has actively been in progress in the world as ROV(Remotely Operator Vehicle) and AUV(Autonomous Unmmanded Vehicle) style. But KIOST(Korea Institute of Ocean Science and Technology), beginning in 2010, launched the R&D project to develop the robot, dubbed CRABSTER(Crab + (Lob)ster) in a bid to enhance the safety and efficiency of resource exploration. CRABSTER has been designed to be able to walk and swim with its own legs without screws. Among many research subjects regarding CRABSTER, optimal swimming patterns are handled in this paper. In previous studies, drag forces during one period with different values for angle of each joint were derived. However kinematics of real-robot and fluid-dynamics are not considered. We conducted simulations with an optimization algorithm for swimming by considering simplified fluid dynamics in this paper. Drag-coefficients applied to the simulation were approximated values calculated by CFD(Computational Fluid Dynamics : Tecplot 360, ANSYS). In addition, optimized swimming patterns were applied to a real robot. The experiments with the real robot were conducted in circumstances in the water. As a result, when the experiments were carried out in the water, a regular pattern of drag force output came out depending on the movement of the robot. We confirmed the fact that the drag forces from the simulation and the experiment has a high similarity.

• The Journal of Korea Robotics Society
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• v.7 no.4
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• pp.259-266
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• 2012

In these days, researches about underwater robots have been actively in progress for the purposes of ocean detection and resource exploration. Unlike general underwater robots such as ROV(Remotely Operated Vehicle) and AUV(Autonomous Underwater Vehicle) which have propellers, an articulated underwater robot which is called Crabster has been being developed in KORDI(Korea Ocean Research & Development Institute) with many cooperation organizations since 2010. The robot is expected to be able to walk and swim under the sea with its legs. Among many researching fields of this project, we are focusing on a swimming section. In order to find effective swimming locomotion for the robot, we approached this subject in terms of Biomimetics. As a model of optimized swimming organism in nature, diving beetles were chosen. In the paper, swimming motions of diving beetles were analyzed in viewpoint of robotics for applying them into the swimming motion of the robot. After modeling the kinematics of diving beetle through robotics engineering technique, we obtained swimming patterns of the one of living diving beetles, and then compared them with calculated optimal swimming patterns of a robot leg. As the first trial to compare the locomotion data of legs of the diving beetle with a robot leg, we have sorted two representative swimming patterns such as forwarding and turning. Experimental environment has been set up to get the motion data of diving beetles. The experimental equipment consists of a transparent aquarium and a high speed camera. Various swimming motions of diving beetles were recorded with the camera. After classifying swimming patterns of the diving beetle, we can get angular data of each joint on hind legs by image processing software, Image J. The data were applied to an optimized algorithm for swimming of a robot leg which was designed by robotics engineering technique. Through this procedure, simulated results which show trajectories of a robot leg were compared with trajectories of a leg of a diving beetle in desired directions. As a result, we confirmed considerable similarity in the result of trajectory and joint angles comparison.

• ALGAE
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• v.32 no.2
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• pp.101-130
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• 2017

The ichthyotoxic Cochlodinium polykrikoides red tides have caused great economic losses in the aquaculture industry in the waters of Korea and other countries. Predicting outbreak of C. polykrikoides red tides 1-2 weeks in advance is a critical step in minimizing losses. In the South Sea of Korea, large C. polykrikoides red tide patches have often been recorded offshore and transported to nearshore waters. To explore the processes of offshore C. polykrikoides red tides, temporal variations in 3-dimensional (3-D) distributions of red tide organisms and environmental parameters were investigated by analyzing 4,432 water samples collected from 2-5 depths of 60 stations in the South Sea, Korea 16 times from May to Nov, 2014. In the study area, the vegetative cells of C. polykrikoides were found as early as May 7, but C. polykrikoides red tide patches were observed from Aug 21 until Oct 9. Cochlodinium red tides occurred in both inner and outer stations. Prior to the occurrence of large C. polykrikoides red tides, the phototrophic dinoflagellates Prorocentrum donghaiense (Jun 12 to Jul 11), Ceratium furca (Jul 11 to Aug 21), and Alexandrium fraterculus (Aug 21) formed red tides in sequence, and diatom red tides formed 2-3 times without a certain distinct pattern. The temperature for the optimal growth of these four red tide dinoflagellates is known to be similar. Thus, the sequence of the maximum growth rates of P. donghaiense > C. furca > A. fraterculus > C. polykrikoides may be partially responsible for this sequence of red tides in the inner stations following high nutrients input in the surface waters because of heavy rains. Furthermore, Cochlodinium red tides formed and persisted at the outer stations when $NO_3$ concentrations of the surface waters were < $2{\mu}M$ and thermocline depths were >20 m with the retreat of deep cold waters, and the abundance of the competing red-tide species was relatively low. The sequence of the maximum swimming speeds and thus potential reachable depths of C. polykrikoides > A. fraterculus > C. furca > P. donghaiense may be responsible for the large C. polykrikoides red tides after the small blooms of the other dinoflagellates. Thus, C. polykrikoides is likely to outgrow over the competitors at the outer stations by descending to depths >20 m and taking nutrients up from deep cold waters. Thus, to predict the process of Cochlodinium red tides in the study area, temporal variations in 3-D distributions of red tide organisms and environmental parameters showing major nutrient sources, formation and depth of thermoclines, intrusion and retreat of deep cold waters, and the abundance of competing red tide species should be well understood.