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http://dx.doi.org/10.21289/KSIC.2020.23.3.463

A Basic Study of ROV System Design for Underwater Structure Inspection  

Ryu, Jedoo (Marine Robot Center, Korea Institute of Industrial Technology)
Nam, Keonseok (Marine Robot Center, Korea Institute of Industrial Technology)
Ha, Kyoungnam (Marine Robot Center, Korea Institute of Industrial Technology)
Publication Information
Journal of the Korean Society of Industry Convergence / v.23, no.3, 2020 , pp. 463-471 More about this Journal
Abstract
Recently, various tries to apply ROV (Remotely Operated Vehicle) into underwater are being developed. However, due to underwater environment uniqueness, the additional problem must be taken into account when designing an ROV for the inspection of the underwater structure. This is because a GPS-based information method cannot be applied, and the obtainable image is also dependent on the turbidity. Also, it is necessary to be able to satisfy waterproof and operating speeds in consideration of most practical application environments. This paper describes the design results of the ROV system for underwater structure inspection considering the above problems. The designed system applied INS / DVL for location recognition and was configured to support 3D mapping and stereo camera-based image information using sonar depending on visibility. To satisfy the waterproof, a pressure vessel using a composite material was applied. And over-actuated system using eight thrusters to maintain a stable posture and operating speed was applied also. The designed system was verified by structural analysis and flow analysis also.
Keywords
Remotely Operated underwater Vehicles; Underwater Structure Inspection; Underwater Robot Design;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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