• 해양환경안전학회지
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• 제23권5호
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• pp.574-584
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• 2017

본 논문에서는 보행로봇의 일종인 TITAN-VIII라 불리는 로봇을 이용하여 가장 짧은 경로를 탐색하여 이동하는 방법에 관한 연구를 나타낸다. 보행로봇의 경우 바퀴구동 로봇에 비해 불규칙한 지면 위를 자유로이 이동 가능한 장점 등을 가지고 있는데 반해 이동속도는 바퀴구동 로봇에 비해 느린 편이다. 따라서 본 논문에서는 목적지에 도달하기까지 시간을 최소화하는 최적경로 탐색 제어방법을 제시하였다. 경로를 탐색하기 위해 Dijkstra's algorithm라 불리는 알고리즘을 기반으로 하여 적용하였다. 또한 로봇이 항상 정적인 자세를 유지하는 로봇의 다양한 자세에 대해서도 다루었다. 로봇의 자세제어와 알고리즘을 통하여 로봇의 관절각 결정에 필요한 여러 수학방정식을 제시하였다. 그 후 원하는 궤적으로 로봇이 이동하고 탐색하는 알고리즘을 고안하였고, 제안한 방법의 결과를 실험으로 확인하였다.

• 한국해양공학회지
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• 제32권2호
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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.

• Journal of Advanced Marine Engineering and Technology
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• 제36권7호
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• pp.894-901
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• 2012

For more efficient use of the high pressure water-jet in rehabilitation of the water pipes, we have studied the water-jet cleaning motion of the in-pipe robot with screw drive. The mathematical models of the water-jet in the straight and the curved pipe (90 degrees elbow), representative features of the water mains, were designed to understand the water-jet motion and simulations have been performed. Furthermore the experiments has been conducted to validate the simulations by using the prototype in-pipe robot in the 3-D pipeline. The simulation results show that the water-jet motion in the straight pipe has a constant water-jet interval, whereas the motion in the curved pipe is changed by its position. By the comparison of the simulation and the experimental results, we have demonstrated that the simulations successfully estimate the water-jet motion inside the water pipes. Therefore in-pipe robot operators can predict a water-jet motion for a target water pipe through the simulation and flexibly make a proper water-jet motion by changing the robot configurations before a cleaning work.

• 한국해양공학회지
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• 제30권5호
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• pp.405-414
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• 2016

This paper presents an internal oil leakage detection problem for a hydraulic single-rod cylinder. We derive the dynamics of the hydraulic cylinder as a state space model, and then design a T—S fuzzy model-based fault detection observer. We adopt an H_∞ observer design scheme so that the observer is robust against disturbance and relatively sensitive to the leakage fault. Sufficient design conditions are derived in the form of linear matrix inequalities. A numerical example is provided to verify the proposed techniques.

• 공학교육연구
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• 제24권2호
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• pp.12-19
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• 2021

Recently, the need of the future education in youth and univesity is rapidly increasing according to 4th industrial revolution. However, the maker and design education as a kind of youth and university future education has the following problems: it is implemented as an interesting convergence education including software education, it is managed by integrating youth and university competencies, it is composed in the form of blended class of consilient subject and nonsubject, it requires considering satisfaction in competency measurement and management, it is connected with entering school and getting job. To solve these problems, a case study on competency-based maker and design education using marine robot, which is based on the process-based learing method, integrated competency of youth and university, blended-type curriculum in terms of online and offline, is executed. To verify the competency-based maker and design education, the satisfaction survey in subject and nonsubject is performed. Study results show the example of the marine robot-based maker and design education and the need for additional study.

• 한국해양공학회지
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• 제33권2호
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• pp.168-177
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• 2019

KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.

• 한국해양공학회지
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• 제29권3호
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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.

• Journal of Advanced Marine Engineering and Technology
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• 제38권6호
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• pp.648-657
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• 2014

본 논문에서는 화재나 홍수로 인하여 침수된 건물 내부를 탐사할 수 있는 새로운 방수형 4축 로봇팔을 설계하고 로봇의 기구학 및 동역학 해석을 수행한다. 로봇팔은 카메라를 이용한 탐사를 위한 Pitch-Pitch-Pitch-Yaw 4축 구조로 설계하고, 이를 구동하기 위한 관절구동기의 용량을 선정한다. 또한 수심 10m의 방수가능한 관절구동기를 설계 하고 실제 구동시험을 통하여 방수성능을 검증한다. 설계한 로봇팔의 순기구학 및 역기구학 식의 해석을 통해 닫힌 해를 유도하며, 메커니컬실의 마찰력을 고려한 로봇팔의 운동방정식을 뉴턴-오일러 방법에 의해 유도한다. 유도한 동역학식을 이용하여 개발한 로봇이 목표궤적을 잘 추종할 수 있도록 슬라이딩모드 제어기를 설계하고, 시뮬레이션을 통해 그 성능을 확인한다.

• 한국해양공학회지
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• 제33권3호
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• pp.300-311
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• 2019

An ROV trencher is a type of heavy-duty work class ROV equipped with high-pressure water jet tools for cutting into the sea floor and burying cables. This kind of trencher is mostly used for PLIB operations. This paper introduces the development of this kind of ROV trencher, which has a 698 kW power system, with a 250 kW hydraulic system and two 224 kW water jet systems. The project was launched in January 2014. After four years of design, manufacturing, and system integration, we carried out two sea trials near the Yeongilman port (about 20-30 m in depth) in Pohang to evaluate the system performance in November 2017 and August 2018. Through tests, we found that most of specifications were satisfied, including a maximum bury depth of 3 m, maximum bury speed of 2 km/h, and maximum forward speed of 1.54 m/s.

• Journal of Advanced Marine Engineering and Technology
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• 제30권8호
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• pp.934-940
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• 2006

The aims of this study is to develop working robot for a installed trolley cable of an electric train and objective of this paper is to implement mobile control of working robot. In this paper an approach to method for scheme of a mobile control system is presented in a dynamic hybrid velocity/tension control of working robot. The working robot is composed the velocity and tension controllers using the concept of two-degrees-of-freedom servo-controller. This robot moved at same time a certain distance to constrain a constant tension and installed a trolley cable of an electric train. To move the robot the velocity control system have design and implemented. Simulation and experimental results are presented to illustrate the validity of designed mobil scheme.