• 한국정보통신학회논문지
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• 제15권11호
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• pp.2292-2300
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• 2011

해양환경정보를 필요로 하는 어떠한 분야보다도 정확하고 신속한 의사결정이 요구되는 해군작전분야에서는 실시간으로 정확한 해양환경정보를 제공받을 수 있는 효과적인 자료 수집 수단이 필요하다. 현재 국내에서 시험운영중인 단파 레이더는 연안으로부터 약 10-220km의 해역에 대해 약 0.3-12km의 해상도를 가지며 실시간으로 표층해수의 흐름과 파랑을 관측할 수 있다. 단파 레이더를 이용한 표층해수 관측망이 구축되면 다양한 일반 해양 활동과 군사 해양 활동을 지원할 수 있다. 장차, 우리나라 전 연안에 설치되는 단파 레이더를 활용하여 해군작전 임무 수행 능력을 향상시킬 수 있는 방안을 제시한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.849-854
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• 2003

The Korea Atomic Energy Research Institute has developed a teleoperated cleaning robot for use in the radioactive zone of the isolation room of the Irradiated Material Examination Facility where direct human access to the interior is strictly limited. The teleoperated cleaning robot that was designed to completely eliminate human interaction with the hazardous radioactive contaminants has five remotely replaceable submodules - a mobile module for navigation, a cleaning module for dislodging and sucking contaminated waste, a sensing module for obstacle avoidance, a collection module for storing the acquired waste, and a cover module for protecting the collection module. This cleaning robot is capable of cleaning the contaminated floor surface of the isolation room and collecting loose dry spent nuclear fuel debris and other radioactive waste fixed or scattered on the floor surface. The developed cleaning robot is operated either by a manual control or by autonomous control in conjunction with a graphical simulator, by which the human operator can monitor and intervene the robot performing cleanup tasks in the isolation room. In this paper, we present the mechanical and environmental design considerations and development of the teleoperated cleaning robot for radioactive isolation room use. We also demonstrate its mock-up performance test results from the viewpoint of a remote cleanup operation and remote maintenance.

• 제어로봇시스템학회논문지
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• 제13권10호
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• pp.940-948
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• 2007

The Advanced Spent Fuel Conditioning Process(ACP), which is the process of the reduction of uranium oxide by lithium metal in a high temperature molten salt bath for spent fuel, was developed at Korea Atomic Energy Research Institute (KAERI). Since the ACP equipment is located in an intense radiation field (hot cell) as well as in a high temperature, it must be remotely operated and maintained. The ACP hot cell is very narrow so the workspace of the wall-mounted mechanical Master-Slave Manipulators(MSMs) is restricted. A Bridge Transported Servo Manipulator(BTSM) system has been developed to overcome the limitation of an access that is a drawback of the mechanical MSMs. The BTSM system consists ot a bridge crane with telescoping tubeset, a slave manipulator, a master manipulator, and a control system. We applied a bilateral position-position control scheme with friction compensation as force-reflecting controller. In this paper, the transmission characteristics on the tendon-and-pulley train is numerically formulated and analyzed. Also, we evaluate the performance of the force-reflecting servo manipulator.

• 한국산업융합학회 논문집
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• 제23권5호
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• pp.825-833
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• 2020

Currently, the K-Water uses various valves that can be remotely controlled for optimal water management. Valve system fault can be classified into rotor defects, stator defects, bearing defects, and gear defects of induction motors. If the valve cannot be operated due to a gear fault, the water management operation can be greatly affected. For effective water management, there is an urgent need for preemptive repairs to determine whether gear is damaged through failure prediction diagnosis.. Recently, deep learning algorithms are being applied for valve failure diagnosis. However, the method currently applied has a disadvantage of attaching a vibration sensor to the valve. In this paper, propose a new algorithm to determine whether a fault exists using a convolutional neural network (CNN) based on the voltage and current information of the valve without additional sensor mounting. In particular, a normalized Lisasjous diagram was used to maximize the fault classification performance in the CNN-based diagnostic system.

• Journal of Advanced Research in Ocean Engineering
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• 제3권3호
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• pp.136-148
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• 2017

The paper presents dual arm ROV manipulation using deep reinforcement learning. The purpose of this underwater manipulator is to investigate and excavate natural resources in ocean, finding lost aircraft blackboxes and for performing other extremely dangerous tasks without endangering humans. This research work emphasizes on a self-learning approach using Deep Reinforcement Learning (DRL). DRL technique allows ROV to learn the policy of performing manipulation task directly, from raw image data. Our proposed architecture maps the visual inputs (images) to control actions (output) and get reward after each action, which allows an agent to learn manipulation skill through trial and error method. We have trained our network in simulation. The raw images and rewards are directly provided by our simple Lua simulator. Our simulator achieve accuracy by considering underwater dynamic environmental conditions. Major goal of this research is to provide a smart self-learning way to achieve manipulation in highly dynamic underwater environment. The results showed that a dual robotic arm trained for a 3DOF movement successfully achieved target reaching task in a 2D space by considering real environmental factor.

• 한국항공운항학회지
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• 제22권1호
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• pp.22-31
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• 2014

Military UAV(Unmanned Aerial Vehicle) operated as a RC(Remotely Control) model level within the limit of the military special use airspace until now. However, the high and medium altitude of URA(Unmanned Reconnaissance Aircraft) which the ROKAF have been trying to import recently is at the UAV level and needs the criteria for the classified airspace flights. The required flight criteria includes operator location, mission operation limit, equipment, etc., which are the principle and standard applied based on the airspace use for UAV. Also, the general flight rules, visual flight rules, instrument flight rules are required in order to have to be applied to the actual flight. Besides, an appliance regulation needs to be arranged regarding two-way communication, ATC and communication issue, airspace and area in-flight between UAS( Unmanned Aircraft System) users. An operation of the UAV in the air significantly requires the guarantee of the aircraft's capacity, and also the standardized flight criteria. A safe and smooth use is ensured only if this criteria is applied and understood by the entire airspace users. For the purpose, a standardized military UAV flight operations criteria that is to be applied for each airspace by UAV is to be prepared through analysis of the present state, a legend UAV system, and a special character analysis.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.684-687
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• 2002

The authors have developed two devices which cuts the spend fuel rod to an optimal size and extracts fuel pellet from the pieces of cut fuel rods. These devices are so important to reduce radioactive wastes that some advanced countries developed their own methods and devices. The authors have benchmarked from these methods and devices. For spent fuel rod cutting, the tube cutting method has been chosen. some mechanical properties of the fuel tube and pellet has been carefully considered for an optimal cutting size. For fuel pellet extraction, a mechanically extracting method has been adopted. The existing chemical method have turned out to be inappropriate because it produced large amount of radioactive wastes, in spite of its high fuel recovery characteristics. The developed method has an advantage that it can be applied to other fuel rods that have different shapes and sizes. The two devices are set up and operated in the hot cell where people can not go in, so that the devices have been designed to be controlled remotely and modulated for easy maintenance. And the performance of the devices has been tested by using simulated fuel rod. From the experimental results, the devices are supposed to be useful for reducing radioactive wastes.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2011년도 춘계학술대회 초록집
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• pp.147.1-147.1
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• 2011

지식경제부 가스 하이드레이트 개발사업의 일환으로 동해 울릉분지 가스 하이드레이트 2차 시추(Ulleung Basin Gas Hydrate Drilling Expedition: UBGH2)가 2010년 7월 8일부터 9월 30일까지 D/V Fugro Synergy를 이용하여 수행되었다. UBGH2 수행을 위해 선정된 13개 site에서 약 1개월 동안 Schlumberger사의 장비를 이용 Logging-While-Drilling/Measurement-While-Drilling(LWD/MWD) 자료를 취득하였다. LWD/MWD 자료는 선상에서 분석되었으며, 이 결과는 coring 및 borehole plan 수립을 위하여 활용되었다. Coring Phase 동안 10개 site의 18개 hole로부터 퇴적물 코어 시료를 채취하고 선상에서 퇴적학, 지구화학, 생지화학, 물리적 특성 등 각종 분석과 측정 작업을 수행하였다. 약 2개월에 걸쳐 수행된 coring phase 동안에 2개 site에서 FAOL(Fugro Alluvial Offshore Limited)사의 장비를 이용 Wireline Logging/Vertical Seismic Profile(WL/VSP) 자료도 취득하였다. LWD/MWD phase와 coring phase 동안 12개 site에서 무인잠수정(remotely operated vehicle: ROV)를 이용하여 퇴적물 시료 채취, 해저면 관찰, 용존메탄 측정 등의 작업을 수행하였으며, 선상에서 취득된 이들 자료를 분석하였다. Coring을 수행한 모든 site에서 가스 하이드레이트 부존을 확인하였으며, 다양한 산상의 가스 하이드레이트 실물을 회수하고 분석하였다.

• 로봇학회논문지
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• 제6권1호
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• pp.1-9
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• 2011

An increasing number of researches and developments for personal or professional service robots are attracting a lot of attention and interest industrially and academically during the past decade. Furthermore, the development of intelligent robots is intensively fostered as strategic industry. Until now, most of practical and commercial service robots are worked by remotely operated controller. The most important technical issue of remote control is a wireless communication, especially in the indoor and unstructured environments where communication infrastructures might be destroyed by various disasters. Therefore we propose a multi-robot following navigation method for securing the valid communication distance extension of the remote control based on WPAN(Wireless Personal Area Networks). The concept and implementation of following navigation are introduced and the performance verification is performed through real navigation experiments in real or test-bed environments.

• Ocean and Polar Research
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• 제23권4호
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• pp.411-417
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• 2001

Due to international law the Antarctic is currently the best protected large ecosystem on earth, providing the opportunity for scientific research into processes of both regional and global importance. However, it is impossible to carry out research activities without minor disturbances to the environment. The Weddell Sea with its shelf inhabiting fauna can be considered to be representative for the entire Antarctic shelf with exceptions. It has generally escaped major anthropogenic impact but it is the only area in the high latitude Antarctic where long-term research fishing has been carried out. There are two main results combining aspects of nature conservation and benthos research. Firstly, the use of dredges has clearly decreased over the last two decades, whilst the use of non-invasive underwater photography and video has significantly increased. Secondly, during the same period icebergs destroyed an area of the seafloor and its fauna more than 2000-times greater than the area affected by research trawls. The increased use of imaging methods, Remotely Operated Vehicles (ROV) and other modem instruments, as well as statistically based and coordinated sampling strategies can contribute to both a better understanding of ecosystem function and to an ongoing reduction in anthropogenic impact.