• Proceedings of the KIEE Conference
• /
• 2008.10b
• /
• pp.427-428
• /
• 2008

In order to probe such mineral resources, AUVs (Autonomous Underwater Vehicles) have been used instead of ROVs (Remotely-Operated Vehicles) that are not suitable to probe submarine resources distributed over a wide area. However, the power consumption of AUVs needs to be reduced as they are operated by batteries. In controlling the power of underwater vehicles, the efficiency of batteries and their capacity have been heightened. This study aimed at developing a power control system suitable to the prober for submarine mineral resources. As a result, power was reduced as compared to the non-control system and the prober could explore the seabed longer than usual.

• Journal of Korea Multimedia Society
• /
• v.22 no.5
• /
• pp.601-612
• /
• 2019

As the $4^{th}$ industrial revolution is accelerating, IT convergence application technologies are attracting attention in various fields. In the manufacturing industry, Smart Factory technology, which is blended with IT technology, has been developed to solve the problem casued by the decrease of the labor force, and a monitoring server is required to remotely control the equipment or to inquire about the operation status of the factory. In this paper, we designed and implemented RESTful API for data sharing between factory equipment and monitoring server in Smart Factory. In order to verify the designed API, a testbed was operated for an actual plastics manufacturing plant. As a result, it was confirmed that the testbed can be operated normally in actual operating environment.

• Journal of Ocean Engineering and Technology
• /
• v.24 no.4
• /
• pp.23-31
• /
• 2010

The flow around a remotely-operated vehicle (ROV) has been investigated numerically to improve the resistant performance by modifying the hull form of the ROV. In the case of the base hull form considered in this study, form drag rather than friction drag was the dominant component of total drag. Subsequently, the surfaces that were most susceptible to local pressure effects were modified to give them a more streamlined shape. Eleven different hull forms were chosen to undergo surface modification for drag reduction. In addition, four different boat-tail appendages with different slant angles were installed at the stern to reduce the wake vortices that are induced by the local regions of very low pressure. Consequently, a total of 11 different hull forms for drag reduction were considered. The final hull form, which combined the hull for which surface modification resulted in the lowest drag with a boat-tail appendage with a 15-degree slant angle, resulted in a drag reduction of 20%.

• Journal of Navigation and Port Research
• /
• v.27 no.1
• /
• pp.87-95
• /
• 2003

Submarine optical fiber cable construction consists of marine survey, PLGR(Pre Lay Grapnel Run), shore-end-work, laying the submarine optical cable. This PLGR is work to ease the cable lay safely in seabed, improve the performance of Plough and ROV (Remotely-Operated Vehicle) laying work, and protect laying equipment. This paper presents the design and implementation of real-time monitoring system for PLGR work in submarine optical fiber cable construction enterprise. In this paper, we designe overall real-time monitoring system. For this purpose, the modules such as serial multiport communication module, real-time processing module, environment configuration module, real-time graph and a printout modules are designed and implemented. For the validity evaluation of this paper, serial multi port communication module, data parsing, realtime graph output are implemented and tested.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2008.03a
• /
• pp.84-88
• /
• 2008

The UAV propulsion system that will be operated for long time at more than 40,000ft altitude should have not only fuel flow minimization but also high reliability and durability. If this UAV propulsion system may have faults, it is not easy to recover the system from the abnormal, and hence an accurate diagnostic technology must be needed to keep the operational reliability. For this purpose, the development of the health monitoring system which can monitor remotely the engine condition should be required. In this study, a fuzzy trend monitoring method for detecting the engine faults including mechanical faults was proposed through analyzing performance trends of measurement data. The trend monitoring is an engine conditioning method which can find engine faults by monitoring important measuring parameters such as fuel flow, exhaust gas temperatures, rotational speeds, vibration and etc. Using engine condition database as an input to be generated by linear regression analysis of real engine instrument data, an application of the fuzzy logic in diagnostics estimated the cause of fault in each component. According to study results, it was confirmed that the proposed trend monitoring method can improve reliability and durability of the propulsion system for a long endurance UAV to be operated at medium altitude.

• The Journal of Korea Robotics Society
• /
• v.15 no.1
• /
• pp.39-47
• /
• 2020

This paper presents a control and operation system for a remotely operated vehicle (ROV). The ROV used in the study was equipped with a manipulator and is being developed for underwater exploration and autonomous underwater working. Precision position and attitude control ability is essential for underwater operation using a manipulator. For propulsion, the ROV is equipped with eight thrusters, the number of those are more than six degrees-of-freedom. Four of them are in charge of surge, sway, and yaw motion, and the other four are responsible for heave, roll, and pitch motion. Therefore, it is more efficient to integrate the management of the thrusters rather than control them individually. In this paper, a thrust allocation method for thruster management is presented, and the design of a feedback controller using sensor data is described. The software for the ROV operation consists of a robot operating system that can efficiently process data between multiple hardware platforms. Through experimental analysis, the validity of the control system performance was verified.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.14 no.2
• /
• pp.113-121
• /
• 2014

A subsea oil production system must be safely operated for 20-30 years after being installed. Because of the severe conditions of the subsea environment, such as extreme high pressure, low visibility, the possibility of unexpected impact by any object, and corrosion by seawater, subsea oil production systems should be monitored by subsea data logger systems and remotely operated vehicles to check for abnormal vibration and leakage to prevent a catastrophic accident. Because of the severity of subsea environmental conditions and the dominance of a few companies in the market, many people have thought that it would be difficult to develop a subsea data logger system. The primary objectives of the study described in this paper were to analyze existing subsea data logger systems to establish the requirements for a subsea data logger system, implement a prototype subsea data logger system, and conduct a test of the prototype subsea data logger system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.9
• /
• pp.813-821
• /
• 2013

In this paper, we present the development of P-SURO II hybrid AUV (Autonomous Underwater Vehicle) which can be operated in both of AUV and ROV (Remotely Operated Vehicle) modes. In its AUV mode, the vehicle is supposed to carry out some of underwater missions which are difficult to be achieved in ROV mode due to the tether cable. To accomplish its missions such as inspection and maintenance of complex underwater structures in AUV mode, the vehicle is required to have high level of autonomy including environmental recognition, obstacle avoidance, autonomous navigation, and so on. In addition to its systematic development issues, some of algorithmic issues are also discussed in this paper. Various experimental studies are also presented to demonstrate these developed autonomy algorithms.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2003.06a
• /
• pp.1651-1654
• /
• 2003

The process equipment for handling high level radioactive materials, such as spent nuclear fuel, is operated within a sealed facility, called a hot cell, due to high radioactivity. Thus, this equipment should be maintained and repaired by remotely operated manipulator. In this study, to carry out the sale and effective maintenance of the process equipment installed in the hot cell by a servo type manipulator, a collision free motion planning method of the manipulator using virtual prototyping technology is suggested. To do this, the parts are modelled in 3-D graphics, assembled, and kinematics are assigned and the virtual workcell is implemented in the graphical environment which is the same as the real environment. The method proposed in this paper is to find the optimal path of the manipulator using the function of the collision detection in the graphic simulator. The proposed path planning method and this graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhancing the reliability of the spent fuel management.

• International Journal of Aeronautical and Space Sciences
• /
• v.9 no.2
• /
• pp.64-70
• /
• 2008

The UAV propulsion system that will be operated for long time at more than 40,000ft altitude should have not only fuel flow minimization but also high reliability and durability. If this UAV propulsion system may have faults, it is not easy to recover the system from the abnormal, and hence an accurate diagnostic technology must be needed to keep the operational reliability. For this purpose, the development of the health monitoring system which can monitor remotely the engine condition should be required. In this study, a fuzzy trend monitoring method for detecting the engine faults including mechanical faults was proposed through analyzing performance trends of measurement data. The trend monitoring is an engine conditioning method which can find engine faults by monitoring important measuring parameters such as fuel flow, exhaust gas temperatures, rotational speeds, vibration and etc. Using engine condition database as an input to be generated by linear regression analysis of real engine instrument data, an application of the fuzzy logic in diagnostics estimated the cause of fault in each component. According to study results. it was confirmed that the proposed trend monitoring method can improve reliability and durability of the propulsion system for a long endurance UAV to be operated at medium altitude.