• 대한임베디드공학회논문지
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• 제12권5호
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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.

• 한국전자통신학회논문지
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• 제8권1호
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• pp.27-40
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• 2013

본 연구는 미래예측방법으로 많이 활용되고 있는 시나리오플래닝 방법론을 적용하여 2006년에 개발된 한국형 수중로봇시스템(심해무인잠수정시스템)의 바람직한 미래상을 도출하였다. 한국이 개발한 이 심해무인잠수정의 설계심도는 6000미터이며, 그 구성을 보면, '해미래'는 실질적인 심해탐사작업을 실행하고, 이 '해미래'를 지원하는 '해누비'는 심해에서 시료채취나 탐사가 가능하다. 한편 이 한국형 심해무인잠수정시스템은 수중복합항법시스템을 사용하고 있지만, 6000m심해에서 5m이내의 항법오차가 있고 50cm이내의 상대 위치오차를 가지고 있다. 따라서 본고는 이를 보완하여 관련 분야에서 기술 선도국이 될 수 있는 한국정부가 추진해야 할 바람직한 미래전략방향을 고찰했다. 그 결과 인디케이터와 가상벽을 갖춘 외부장치를 구비한 심해무인잠수정 시스템 개발이 한국에 있어 미래지향적인 정책추진방안이었다.

• Ocean and Polar Research
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• 제36권4호
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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.

• 한국산업융합학회 논문집
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• 제22권6호
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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.

• 한국해양공학회지
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• 제29권5호
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 춘계학술대회 논문집
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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.

• 한국해양공학회지
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• 제28권2호
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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.

• 대한조선학회논문집
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• 제41권3호
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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.

• 정보교육학회논문지
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• 제17권1호
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• pp.83-91
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• 2013

교육과학기술부는 2011년 융합형인재교육의 일환으로 STEAM교육을 발표하였다. 가장 중요한 문제는 "어떻게 STEAM교육의 목표를 달성하는가?"이다. 그래서 본 논문에서는 상황제시를 위한 초등학교 5학년 과학의 광합성 단원의 내용과 "심해탐사로봇"이라는 창의적 주제를 가지고 로봇을 활용한 STEAM교육을 실시하였다. 학생들은 13차시의 로봇 기초교육과정을 이수한 후, 10차시의 주제중심 로봇활용교육을 실시하였다. 로봇기초교육과정에서는 로봇을 제어할 때, 정규 수학 또는 과학과목에서 배운 내용을 적용할 수 있도록 구성되었으며, 로봇활용교육과정에서는 산소센서를 이용한 광합성 이해, 브레인스토밍, 아이디어 도출, 로봇 설계, 로봇 제작, 시연 및 발표의 과정으로 구성되었다. 이 두 개의 과정에는 STEAM의 모든 요소가 포함되었다. 모든 수업이 끝난 후, 학부모와 학생들의 교사면담을 통해서 창의성, 학습태도, 학교생활의 많은 부분에서 긍정적인 답변을 얻을 수 있었다. 특히 학교생활과 학습태도가 좋지 않은 학생들이 로봇경연 대회에서 우수한 성적을 거둠으로써, 학습의 자신감과 성취감을 가질 수 있었다. 통계적인 수치를 기술하지는 않았지만 이 수업으로 인하여 STEAM교육을 위한 로봇활용교육이 창의 인성, 직업탐색등에 매우 큰 효과가 있음을 알 수 있었다.

• 한국해양공학회지
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• 제27권2호
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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.