• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.757-761
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• 2008

The aerostat dynamic equation of motion has been built including the tether cable dynamic effects. A numerical program to solve the derived equation of motion has been developed. The dynamic motion of the 32m aerostat has been analyzed under discrete gust and continuous turbulence. The aerostat behaviors under discrete gust which represents a deterministic approach for determining design loads for manned aircraft are solved to verify the effect of aerostat mechanical properties on the aerostat dynamic behavior. Continuous turbulences are simulated for each given altitude, translational mean wind velocity and gust intensity. Dynamic behaviors of the 32m aerostat are simulated for each continuous turbulence conditions. Translational and vertical velocity and pitching behavior and tether reaction force are monitored for each simulation.

• 한국해양공학회지
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• 제8권1호
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• pp.50-61
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• 1994

A 300 meter class ROV(CROV300) is composed of three parts : a surface unit, a tether cable and an underwater vehicle. The vehicle controller is based on two processors : an Intel 8097-16-bit one chip micro-processor and a Texas Instruments TMS320E25 digital signal processor. In this paper, the surface controller, the vehicle controller and peripheral devices interfaced with the processors are described. These controllers transmit/receive measured status data and control commands through RS422 serial communication. Depth, heading, trimming, camera tilting, and leakage signals are acquired through the embedded AD converters of the 8097. On the other hand, altitude of ROV and lbstacle avoidance signals are processed by the DSP processor and periodically fetched by the 8097. The processor is interfaced with a 4-channel 12-bit D/A converter to generate control signals for DC motors an dseveral transistors to handle the relays for on/off switching of external devices.

• 한국해안해양공학회지
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• 제5권1호
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• pp.25-38
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• 1993

해양구조물의 케이블 반응 분석을 위한 다방향 파람 스펙트라의 수치모델이 조사되었다. 여러 형태의 전파모델을 파랑으로 인한 물입자의 흐름과 계류시스템을 예측하기 위해 사용하였다. 케이블에 작용하는 수동역학적 파력은 케이블의 경사에 평행한 방향과 접선방향에서의 항력과 관성력을 고려한 Morison 공식에 의해 평가되었다. 변위와 속도, 궤적, 위상면의 반응, 그리고 장력을 고려한 다방향 불규칙 파랑의 수치해석에 의하여 부체의 tether pc와 anchor point에서 계류시스템 케이블의 반응을 나타내었다. 서로 다른 항력 계수와 다양한 유의 파고, 그리고 선택된 파랑계수들이 이 분석에 고려되었다. 예제에서 고려된 특정 시스템을 통하여 파랑의 전파함수계수와 항력계수 뿐만 아니라 파랑의 주기와 높이가 케이블-부체시스템의 동적반응에 중요한 영향을 미침을 알 수 있었다.

• 대한조선학회논문집
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• 제32권2호
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• pp.56-67
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• 1995

본 연구에서는 케이블 비선형 정역학 방정식의 해로서 선박-케이블-잠수체 시스템의 정적모양이 보여지고, 선형 운동 방정식의 진동수영역해석에 의해 고유진동수가 구해진다. 또한 긴 연직케이블의 스내핑 현상을 클리핑 오프(clipping-off) 수치모형으로 이상화하여 극단장력을 계산한다.

• 대한기계학회논문집A
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• 제32권8호
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• pp.685-692
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• 2008

In this paper, the trajectory control problem of an underwater robot is addressed. From the viewpoint of control engineering, trajectory control of the underwater robot is not an easy task due to its nonlinear dynamics, which includes various hydraulic forces such as buoyancy forces and hydrodynamic damping, the difference between the centers of buoyancy and gravity, and disturbances from a tether cable. To solve such problems, we applied Time Delay Control to the underwater robot. This control law has a very simple structure not requiring the nonlinear plant dynamics, and was proven to be highly robust against disturbances and uncertainties. We confirmed its effectiveness through experiments.

• Journal of Mechanical Science and Technology
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• 제18권4호
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• pp.573-581
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• 2004

A self-contained wall climbing robot, called MRWALLSPECT (Multi-functional Robot for WALL inSPECTion) II, is developed. It is designed for scanning external surfaces of gas or oil tanks with small curvature in order to find defects. The robot contains all the components for navigation in itself without any external tether cable. Although it takes the basic structure of the sliding body mechanism, the robot has its original characteristic features in the kinematic design with closed link mechanism, which is enabled by adopting a simple and robust gait pattern mimicking a biological system. By employing the proposed link mechanism, the number of actuators is reduced and high force-to-weight ratio is achieved. This paper describes its mechanism design and the overall features including hardware and software components. Also, the preliminary results of experiments are given for evaluating its performances.

• 한국해양공학회지
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• 제7권1호
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• pp.62-72
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• 1993

This paper describes the results of 3 years project on the design and development of a 500 meter class ocean survery ROV model. The design concept and the design procedure are given for each component of the ROV model. The design concept and the design procedure are given for each component of the ROV. Special emphasis is laid on the development of the position control system together with the development of the performance evaluation technique.

• 한국정밀공학회지
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• 제17권2호
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• pp.121-129
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• 2000

The robotic automation in NonDestructive Testing(NDT) is a promising field of research and it helps to expand the applications of NDT enormously. Especially, in the case of pipelines which are widely used in various industrial facilities, it is required to secure adequate ways of inspection in the usual maintenance activitites. In this paper, we present a robot system for inpipe inspection of underground urban gas pipelines. The robot is configured as an articulated structure like a snake with a tether cable. Two active driving vehicles are located in front and rear of the system, respectively and passive modules such as a NonDestructive Testing module and a control module are chained between the active vehicles. The proposed system has outstanding mobility by employing a new steering mechanism called Double Active Universal Joint, which makes it possible to cope with complicated configurations of underground pipelines. Characteristic features of the system are described and the construction of the system is briefly outlined.

• 제어로봇시스템학회논문지
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• 제19권9호
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• pp.813-821
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• 2013

In this paper, we present the development of P-SURO II hybrid AUV (Autonomous Underwater Vehicle) which can be operated in both of AUV and ROV (Remotely Operated Vehicle) modes. In its AUV mode, the vehicle is supposed to carry out some of underwater missions which are difficult to be achieved in ROV mode due to the tether cable. To accomplish its missions such as inspection and maintenance of complex underwater structures in AUV mode, the vehicle is required to have high level of autonomy including environmental recognition, obstacle avoidance, autonomous navigation, and so on. In addition to its systematic development issues, some of algorithmic issues are also discussed in this paper. Various experimental studies are also presented to demonstrate these developed autonomy algorithms.

• 한국해양공학회지
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• 제34권6호
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• pp.475-480
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• 2020

Underwater operating platforms face difficulties regarding power supply and communications. To overcome these difficulties, this study proposes a hybrid surface and underwater vehicle (HSUV) and presents the development of the platform, control algorithms, and results of field tests. The HSUV is capable of supplying reliable power to the unmanned underwater vehicle (UUV) and obtaining data in real time by using a tether cable between the UUV and the unmanned surface vehicle (USV). The HSUV uses global positioning system (GPS) and ultra-short base line sensors to determine the relative location of the UUV. Way point (WP) and dynamic positioning (DP) algorithms were developed to enable the HSUV to perform unmanned exploration. After reaching the target point using the WP algorithm, the DP algorithm enables USV to maintain position while withstanding environmental disturbances. To ensure the navigation performance at sea, performance tests of GPS, attitude/heading reference system, and side scan sonar were conducted. Based on these results, manual operation, WP, and DP tests were conducted at sea. WP and DP test results and side scan sonar images during the sea trials are presented.