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http://dx.doi.org/10.5574/KSOE.2015.29.5.380

Redundant Architectural Design of Hydraulic Control System for Reliability Improvement of Underwater Construction Robot  

Lee, Jung-Woo (Korea Institute of Robot and Convergence)
Park, Jeong-Woo (Korea Institute of Robot and Convergence)
Suh, Jin-Ho (Korea Institute of Robot and Convergence)
Choi, Young-Ho (Korea Institute of Robot and Convergence)
Publication Information
Journal of Ocean Engineering and Technology / v.29, no.5, 2015 , pp. 380-385 More about this Journal
Abstract
In the development of an underwater construction robot, the reliability of the operating system is the most important issue because of its huge maintenance cost, especially in a deep sea application. In this paper, we propose a new redundant architectural design for the hydraulic control system of an underwater construction robot. The proposed architecture consists of dual independent modular redundancy management systems linked with a commercial profibus network. A cold standby redundancy management system consisting of a preprocessing switch circuit is applied to the signal network, and a hot standby redundancy management system is adapted to utilize two main controllers.
Keywords
Redundancy design; Standby redundancy; Profibus DP; Hydraulic control; Underwater construction robot;
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