• 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.

• Journal of Ocean Engineering and Technology
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• v.29 no.2
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• pp.128-134
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• 2015

Axial vibration analysis is very important for a deep-seabed mining system. In this study, an axial vibration analysis was carried out to estimate the natural frequencies and tensions of the umbilical cable using experimental data obtained from the first pre-pilot mining test. The axial vibrations of the umbilical cable with a pilot mining robot at the bottom end were analytically determined. The range of the added mass coefficients of the pilot mining robot is estimated by comparing the experimental and analytical data. The natural frequencies and maximum tensions are calculated using four estimated added mass coefficients.

• Asian Journal of Innovation and Policy
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• v.8 no.1
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• pp.73-96
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• 2019

This study suggests a new approach for identifying core robot tech-nologies based on technological cross-impact. Specifically, the approach applies data mining techniques and multi-criteria decision-making methods to the co-classification information of registered patents on the robots. First, a cross-impact matrix is constructed with the confidence values by applying association rule mining (ARM) to the co-classification information of patents. Analytic network process (ANP) is applied to the co-classification frequency matrix for deriving weights of each robot technology. Then, a technique for order performance by similarity to ideal solution (TOPSIS) is employed to the derived cross-impact matrix and weights for identifying core robot technologies from the overall cross-impact perspective. It is expected that the proposed approach could help robot technology managers to formulate strategy and policy for technology planning of robot area.

• 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 Korea Society of Digital Industry and Information Management
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• v.20 no.2
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• pp.37-47
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• 2024

The food tech market, which uses artificial intelligence robots for the restaurant industry, is gradually expanding. Among them, the robot barista, a representative food tech case for the restaurant industry, is characterized by increasing the efficiency of operators and providing things for visitors to see and enjoy through a 24-hour unmanned operation. This research was conducted through text mining analysis to examine trends related to robot baristas in the restaurant industry. The research results are as follows. First, keywords such as coffee, cafe, certification, ordering, taste, interest, people, robot cafe, coffee barista expert, free, course, unmanned, and wine sommelier were highly frequent. Second, time, variety, possibility, people, process, operation, service, and thought showed high closeness centrality. Third, as a result of CONCOR analysis, a total of 5 keyword clusters with high relevance to the restaurant industry were formed. In order to activate robot barista in the future, it is necessary to pay more attention to functional development that can strengthen its functions and features, as well as online promotion through various events and SNS in the robot barista cafe.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.377-382
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• 2005

This paper presents a new method for the attitude control of planar space robots. In order to control highly constrained non-linear system such as a 3D space robot, the analytical formulation for the system with complex dynamics and effective control methodology based on the formulation, are not always obtainable. In the proposed method, correspondingly, a non-analytical but effective self-organizing modeling method for controlling a highly constrained system is proposed based on a polynomial data mining algorithm. In order to control the attitude of a planar space robot, it is well known to require inputs characterized by a special pattern in time series with a non-deterministic length. In order to correspond to this type of control paradigm, we adopt the Model Predictive Control (MPC) scheme where the length of the non-deterministic horizon is determined based on implementation cost and control performance. The optimal solution to finding the size of the input pattern is found by a solving two-stage programming problem.

• 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 Advanced Marine Engineering and Technology
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• v.37 no.4
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• pp.399-403
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• 2013

Mining diggers have been substituted with the robots for the mining works in dangerous and narrow tunnel, and those demands are increased in nowadays. In this study, experimental research on the remote controlled robots to perform after the development of the robot. According to the test results, performances of the developed robot and its working devices have been modified several times. It has been considered that the robot keeps its optimum performance in states as follows; driving speed 1.0 km/h, crawl angle $10^{\circ}$, spiking cycle 500bpm and breaking power $30kg_fm$. And also it has been found that sufficient cooling for the robot's working parts is essential to extend those working periods longer than 3 hours steadily under rating condition.

• Ocean and Polar Research
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• v.36 no.4
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• pp.465-473
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• 2014

This paper proposes a formation control method by which multi-mining robots maintain a specified formation and follow a path. To secure the path tracking performance, a pure-pursuit algorithm is considered for each individual robot, and to minimize the deviation from the reference path, speed reduction in the steering motion is added. For the formation, in which two robots are parallel in a lateral direction, the robots track the specified path at a constant distance. In this way, the Leader-Follower method is adopted and the following robot knows the position and heading angle of the leader robot. Through the experimental test using two ground vehicle models, the performance is verified.

• Journal of Ocean Engineering and Technology
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• v.26 no.6
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• pp.66-73
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• 2012

A pressure compensated chamber of a pilot mining robot isolates and protects an electrical-electronic system from the ambient highly pressured water. Since the inner pressure of the chamber is compensated with outer water pressure using hydraulic oil and pressure compensator, there exists a pressure difference, less than 1 bar, between outer and inner surface. The structural safety of the chamber is obtained relatively easier than the canister type which inner pressure is kept as the atmospheric pressure. However, due to the adoption of box shape for space efficiency and usage of the transparent engineering plastic viewport for checking inner circumstance, the viewport can be largely deformed. This large deformation can cause an additional tensile force, called the prying force, to the bolt-flange connection parts of the viewport. In this paper, we suggest the structural design equation considering the prying action for designing the structure of a box-shape pressure compensated chamber.