• Journal of Ocean Engineering and Technology
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• v.32 no.2
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• pp.138-142
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• 2018

The marine industry is rapidly developing as a result of the increase in various needs in the marine environment. In addition, accidents involving ship fires and explosions and the resulting casualties are increasing. Generally, manpower and safety problems exist in fire fighting. A fire fighter in the form of an autonomous surface robot would be ideal for marine fire safety, because it has no manpower and safety problems. Therefore, an autonomous surface robot with the abilities of fire recognition and tracking, nozzle selection, position and attitude control, and fire fighting was developed and is discussed in this paper. The test and evaluation results of this robot showed the possibility of real-size applications and the need for additional studies.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.8
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• pp.1213-1218
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• 2013

Recently, although the need of marine robots such as the underwater robot, surface robot and airborne robot being raised in extreme areas, the basis is very deficient. Fortunately, as the need of the robot education is increasing, it is desirable to establish the R&D basis of marine robots and to train future talents through the development and diffusion of marine robot kits. However, in conventional case, there is no marine robot-kit based on the balloon, which has the abilities of the airborne locomotion and obstacle avoidance. To solve this problem, a balloon-based autonomous airborne robot-kit that has the ability of the obstacle avoidance with an infrared sensor, is developed. The test and evaluation results show the possibility of the real applications and the necessity of additional work.

• Journal of Ocean Engineering and Technology
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• v.29 no.3
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• pp.249-254
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• 2015

Buoys are widely used in marine areas because they can mark positions and simultaneously acquire and exchange underwater, surface, and airborne information. Recently, the need for controlling and optimizing a buoy's position and attitude has been raised to achieve successful communication in a heterogeneous collaborative network composed of an underwater robot, a surface robot, and an airborne robot. A buoy in the form of a marine robot would be ideal to address this issue, as it can serve as a moving node of the communication network. Therefore, a buoy-based autonomous surface robot-kit with the abilities of sonar-based avoidance, dynamic position control, and static attitude control was developed and is discussed in this paper. The test and evaluation results of this kit show the possibility of real-world applications and the need for additional studies.

• Proceedings of the Korea Information Processing Society Conference
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• 2011.04a
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• pp.319-322
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• 2011

본 논문에서는 스마트 폰과 가정 내의 이동 로봇을 결합하여, 스마트 폰 사용자가 이동 로봇을 통해 원격으로 가정의 수상한 침입자나 거동이 불편한 노약자 혹은 어린 아이들을 살펴볼 수 있도록 개발된 지능형 감시 시스템의 설계와 구현에 대해 소개한다. 이동 로봇의 제한적인 인식 능력과 계산 능력을 고려하여, 이동 로봇의 완전한 자율성에만 의존하여 감시 작업을 수행하지 않고, 사용자와 로봇의 혼합 제어 방식으로 감시 로봇을 제어하도록 설계하였다.

• Korean Journal of Remote Sensing
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• v.34 no.2_2
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• pp.419-429
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• 2018

An unmanned autonomous maritime surface system can move the vehicle to the areas for observing the ocean accidents, disasters, and severe weather conditions. Detection and monitoring technologies have been developed by the converging of the regional and local surveillance system. Wave Glider, one of the autonomous maritime surface systems, is ocean-wave propelled autonomous surface vehicle and controlled using Iridium satellite communication. In this study, we carried out two-time Wave Glider observations for 2016 and 2017 summer in the East China Sea that the area was influenced by low-salinity water. We observed the sea surface warming effect due to the low-salinity water using the regional (satellite) and local (Wave Glider) surveillance system. We also monitored the effect of the typhoon and understood the change of the ocean-atmosphere environments in real-time. New unmanned surface system with autonomous system and high endurance structure can measure comprehensively and usefully a long observation in complicated ocean environments because of connecting with other surveillance systems.

• The Journal of Korea Robotics Society
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• v.13 no.3
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• pp.190-197
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• 2018

Geomagnetic field signals have potential for use in underwater navigation and geophysical surveys. To map underwater geomagnetic fields, we propose a method that exploits an autonomous surface vehicle. In our system, a magnetometer is rigidly attached to the vehicle and not towed by a cable, minimizing the system's size and complexity but requiring a dedicated calibration procedure due to magnetic distortion caused by the vehicle. Conventional 2D methods can be employed for the calibration by assuming the horizontal movement of the magnetometer, whereas the proposed 3D approach can correct for horizontal misalignment of the sensor. Our method does not require a supporting crane system to rotate the vehicle, and calibrates and maps simultaneously by exploiting data obtained from field operation. The proposed method has been verified experimentally in inland waters, generating a magnetic field map of the test area that is of much higher resolution than the public magnetic field data.

• The Journal of Korea Robotics Society
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• v.8 no.1
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• pp.51-57
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• 2013

Recently, the number of jellyfish has been rapidly grown because of the global warming, the increase of marine structures, pollution, and etc. The increased jellyfish is a threat to the marine ecosystem and induces a huge damage to fishery industries, seaside power plants, and beach industries. To overcome this problem, a manual jellyfish dissecting device and pump system for jellyfish removal have been developed by researchers. However, the systems need too many human operators and their benefit to cost is not so good. Thus, in this paper, the design, implementation, and experiments of autonomous jellyfish removal robot system, named JEROS, have been presented. The JEROS consists of an unmanned surface vehicle (USV), a device for jellyfish removal, an electrical control system, an autonomous navigation system, and a vision-based jellyfish detection system. The USV was designed as a twin hull-type ship, and a jellyfish removal device consists of a net for gathering jellyfish and a blades-equipped propeller for dissecting jellyfish. The autonomous navigation system starts by generating an efficient path for jellyfish removal when the location of jellyfish is received from a remote server or recognized by a vision system. The location of JEROS is estimated by IMU (Inertial Measurement Unit) and GPS, and jellyfish is eliminated while tracking the path. The performance of the vision-based jellyfish recognition, navigation, and jellyfish removal was demonstrated through field tests in the Masan and Jindong harbors in the southern coast of Korea.