• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.5
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• pp.331-341
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• 2017

This paper presents the sea-trial results of Crabster CR6000 which is a deep-sea walking robot developed by KRISO in 2016. Crabster CR6000 is designed to inspect deep-sea environment rejecting the disturbance on the silent and calm abyssal area. The sea-trial was conducted at the East Sea and the Philippine Sea on December 2016. The Crabster CR6000 undocked successfully from the Shuttle after touchdown on the sea-bed and walked out on the soft sediment soil of the 4,743m seafloor at the fourth diving in the Philippine Sea. The advanced technologies and capabilities of CR6000 were verified from the operational and functional test conducted in the sea-trial. The experimental data acquired from the sea-trial were summarized and the first experience of the deep-sea walking robot was presented in this paper.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.1
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• pp.27-40
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• 2013

This study is about development of technology system for an advanced deep-sea unmanned underwater robot of S. Korea analysed by the application of scenario planning. It was developed a 6000m class next-generation deep-sea unmanned underwater vehicle(or robot, UUV) system, soonly ROV 'Hemire' and Depressor 'Henuvy' in 2006 at S. Korea and motion control, adaptive control algolithm, a work-space manipulator control algolithm, especially the underwater inertial-acoustic navigation system robust to initial errors and sensor failures. But there are remained matters on position tracking of the USBL, inertial-acoustic navigation system, attitude sensor, designed sonar sensors. So this study suggest the new idea for settle the matters and then this idea help the development of the underwater inertial-acoustic navigation system robust to initial errors and sensor failures, such as acoustic signal drop-out, by modifying the error covariance of the failed sonar signal when drop-out occurs. As a result, the future policy for deep-sea unmanned underwater robot of S. Korea is to further spur the development of new technology and more improvement of the technology level for deep-sea unmanned underwater robot system with indicator and imaginary wall as external device.

• Ocean and Polar Research
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• v.36 no.4
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• pp.367-371
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• 2014

In early 1990s, the Korean government has launched a deep-sea research program to secure the stable long-term supply of strategic metallic minerals including Cr, Cu and Ni. Through the pioneering surveys, Korea registered $150,000km^2$ of Mn-nodule field in the Clarion-Clipperton area, the NE equatorial Pacific to the international sea-bed authority (ISA) in 1994. Following the ISA exploration code, the final exclusive exploration area of $75,000km^2$ was assigned in 2002, based on results of eight-year researches of chemico-physical properties of nodules, bottom profiles and sediment properties. Since that time, environmental studies, mining technical developments including robot miner and lifting system and establishment of smelting systems were accompanied with the detailed geophysical studies to decipher the priori mining area until 2009. Major points of the recent Korea Mn-nodule program are deployed on a commercial scale until 2015. In order to meet the goals, we developed a 1/5 scaled robot miner compared to commercial one in 2012 and performed a mining test at the water depth of 1,370 m in 2013. In addition, detailed 25,000 scaled mining maps in the priori area, which can provide operation roots of the miner, will be prepared and an environmental-friendly mining strategy will be pursued based on the environmental impact test and environmental monitoring.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.6
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• pp.689-702
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• 2019

This paper deals with the verification of the functions about mining robot, which is the system for developing deep seabed resources by applying V&V(verification and validation). In order to overcome water pressure of 500 bar and to travel on soft ground, and to operate in deep sea environment with bad conditions, it is necessary to develop a robot that can satisfy various deepsea conditions. A mining robot has been developed based on simulation based design and Multidisciplinary design optimization. In order to verify the developed robot, lab test and real sea test should be performed for various marine environment conditions. There are too many requirements to consider, such as space, time, cost, personnel, and environment to do performance test. So it is costly and time consuming for developing robot. In order to solve this problems, V&V technique was applied to mining robot. The stages of mining robot design, fabrication and commission were verified.

• Journal of Ocean Engineering and Technology
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• v.29 no.5
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• pp.380-385
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• 2015

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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.04a
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• pp.390-394
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• 1994

In many cases, tasks are unpredictable and therefore not doable by special-purpose or pro-programble robots. So master/slave type robot hands which combine human perceptions with conventional robot hands are required as robot end effector. These also can be applied to hazardous worksites such as outer space, deep sea and nuclear power plant. In this study, master/slave type robot fingers with 3 joints each are designed and constructed. To control force accurately, TDT(tension difference type) torque sensors are constructed and attached toeachjoints of slave finger and new force reflecting control algorithm is suggested. Finally, experimental results show that the new control algorithm can be successfully applied.

• Journal of Ocean Engineering and Technology
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• v.28 no.2
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• pp.167-176
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• 2014

This paper proposes an optimum curve driving method for adeep-seabed mining robot(MineRo) in deep-sea soft ground. MineRo was designed as afour-row tracked vehicle. A study on the turning methods for the four-row tracked vehicle was conducted using three case by changing the velocity profile of each track. The configuration of the four-row tracked vehicle and soft ground equation are introduced, along with the dynamics analysis models of MineRo and soft ground, which were constructed using the commercial software DAFUL. Because the purpose of this study was to investigate a driving method on soft ground, the marine environment of the deep sea was not considered.

• Journal of the Society of Naval Architects of Korea
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• v.41 no.3
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• pp.28-34
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• 2004

This paper presents the results of the structural analysis and optimal design of the ROV to be operated at 6000m depth in the ocean. This will be the first domestic deep-sea ROV operating with an AUV and a launcher equipped with robot arms and the current weight is about 3 ton. initial optimal dimension of the frame is determined based on the stress analysis using FEA code ANSYS and design sensitivity and optimization results. The current design is the initial design and there is a possibility to change the design according to the modification of material, equipments and array of structure.

• Journal of The Korean Association of Information Education
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• v.17 no.1
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• pp.83-91
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• 2013

The Ministry of Education issues STEAM education as a part of convergence. Most important is "How to achieve goals of STEAM education". The goal of this paper searches possibilities that robot is a good tool for STEAM education. The main topic is photosynthesis unit as circumstantiation and "Deep sea exploration robot", is creative activity, in elementary science subject. Students complete 13 basic course about robot, then accomplish subject-oriented 10 robot application course about above topic. Basic course contains math and science elements that students learn in regular curriculum. Application course is organized following steps, photosynthesis with oxygen sensors, brainstorming, idea derivation, robot design, robot construction, demo and presentation and so on. These courses have elements of STEAM. Finally teacher has face-to-face meeting with parents and students. Most have positive aspects about this process in terms of creativity, study attitude, and school life. Specially low-ranking students win a prize in robot competition. So they can gain confidence and accomplishment. This paper don't show statistic chart, but we surely knew that robot education for STEAM education seriously affect creativity huminity and job search.

• Journal of Ocean Engineering and Technology
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• v.27 no.2
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• pp.80-86
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• 2013

KIOST developed a deep-sea mining robot called "MineRo" to collect manganese nodules in 2007. MineRo operates on flat ground. SMS (seafloor massive sulfide) deposits are shaped like undulating mountains. This paper deals with a numerical analysis model of a mining robot for SMS deposits. The mining robot consists of a tracked vehicle, chassis structure with a turntable, boom arm with 2 articulations, excavation tool, discharging unit, hydro-electric system, and sensing-and-monitoring system. In order to compare and analyze the dynamic responses of the driving mechanism, various tracked vehicles are modeled using commercial software. Straight driving simulations are conducted under undulating ground conditions. A conceptual design of a mining robot with four track systems for SMS deposits is modeled on the basis of these results.