한국해양공학회:학술대회논문집 (Proceedings of the Korea Committee for Ocean Resources and Engineering Conference)
- 한국해양공학회 2006년 창립20주년기념 정기학술대회 및 국제워크샵
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- Pages.331-334
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- 2006
상업용 자율무인잠수정의 안전운행을 위한 모듈러 구조 제어기 개발
Development of a Modular Structured Controller for a Commercial AUV
- 지상훈 (서울대학교 전기컴퓨터공학부) ;
- 정연수 (서울대학교 전기컴퓨터공학부) ;
- 김지민 (서울대학교 전기컴퓨터공학부) ;
- 이범희 (서울대학교 전기컴퓨터공학부) ;
- 우종식 (DSME유텍(주)) ;
- 주영석 (DSME유텍(주))
- Ji, Sang-Hoon (School of Electrical Engineering and Computer Sciences, Seoul National University) ;
- Jung, Yeon-Soo (School of Electrical Engineering and Computer Sciences, Seoul National University) ;
- Kim, Ji-Min (School of Electrical Engineering and Computer Sciences, Seoul National University) ;
- Lee, Beom-Hee (School of Electrical Engineering and Computer Sciences, Seoul National University) ;
- Woo, Jong-Sik (DSME UTech Co. Ltd.) ;
- Joo, Young-Seok (DSME UTech Co. Ltd.)
- 발행 : 2006.11.16
초록
This paper deals with the ways how the AUV is composed of sub-modules to be fault-tolerant during the mission. The emergency situations can be classified into several parts according to the zones where the situations take place - sensor zone, actuator zone, interpreter zone, and communication zone. This paper explains how each element of emergency situation is detected, contained and treated, and as a result, introduce the modular structured AUV controller for the autonomous cruising.