Development of Seabed Walking Robot CR200

Development of Seabed Walking Robot CR200

Authors

Bong-Huan Jun, Hyungwon Shim, Banghyun Kim, Jin-Yeong Park, Hyuk Baek, Seong-yeol Yoo, and Pan-Mook Lee

MTS/IEEE Oceans 2013 San Diego (p. 1 ~ p. 5) 2013.06.12

This paper describes the development result of an underwater walking robot CR200. The CR200 is 6- legged seabed walking robot designed to work in high current and low visibility environment. The along sectional shape of the body is streamlined to improve the hydrodynamic characteristics. In order to detect the disturbance from the current, we installed an acoustic Doppler current profiler (ADCP), an attitude heading reference system (AHRS) on the body and a contact force sensor on each foot. Acoustic camera and scanning sonar were installed for the inspection of the low visibility environment. The pressure canister and electric-driven six legs/arms guarantee the 200m pressure-resistant and watertight performance. The main frame was made of carbon fiber reinforced plastic (CFRP) in order to reduce the total weight. In this paper, we introduce the results of manufacturing and verify the design concept.mlined to improve the hydrodynamic characteristics. In order to detect the disturbance from the current, we installed an acoustic Doppler current profiler (ADCP), an attitude heading reference system (AHRS) on the body and a contact force sensor on each foot. Acoustic camera and scanning sonar were installed for the inspection of the low visibility environment. The pressure canister and electric-driven six legs/arms guarantee the 200m pressure-resistant and watertight performance. The main frame was made of carbon fiber reinforced plastic (CFRP) in order to reduce the total weight. In this paper, we introduce the results of manufacturing and verify the design concept.

[출처] Development of Seabed Walking Robot CR200 |작성자 게와가재

Finite Element Analysis of Carbon Fiber Reinforced Plastic Frame for Multi-legged Subsea Robot

Authors
Seong-Yeol Yoo, Bong-Huan Jun, Hyungwon Shim and Pan-Mook Lee

Journal of Ocean Engineering and Technology Vol.27 No.6, pp 65-72, 2013

Abstract - This paper describes a finite element analysis (FEA) of the body frame of a subsea robot, Crabster200 (CR200). CR200 has six legs for mobility instead of screw type propellers, which distinguishes it from previous underwater robots such as remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs). Another distinguishing characteristic is the body frame, which is made of carbon fiber reinforced plastic (CFRP). This body frame is designed as a rib cage structure in order to disperse the applied external loads and reduce the weight. The frame should be strong enough to support many devices for exploration and operation underwater. For a reasonable FEA, we carried out specimen tests. Using the obtained material properties, we performed a modal analysis and FEA for CR200 with a ready posture. Finally, this paper presents the FEA results for the CFRP body frame and the compares the characteristics of CFRP with conventional material, aluminum.

(Pressed in Korean)

Finite Element Analysis of CFRP Frame with Launch and Recovery Conditions for Seabed Walking Robot, Crabster

Authors
Seongyeol Yoo, Bong-Huan Jun, Hyoungwon Shim, Pan-mook Lee

KSME, 2013, Gangwon in Korea

Abstract - This paper describes finite element analysis(FEA) for the body frame of 200 meter class multi-legged subsea robot, Crabster200(CR200). The body frame of CR200 is designed as a rib cage in order to disperse applied external loads and is made of carbon fiber reinforced plastic(CFRP). Therefore, the frame is lighter and stronger than a frame of the other conventional materials. In order to perform the reasonable FEA for CFRP body frame, we carried out specimen test of CFRP. Using the obtained material properties from the test, we performed FEA with respect to load conditions of launch and recovery process on the sea. Also, we performed FEA of the frame with conventional material to compare characteristics to CFRP.

(Pressed in Korean)

A High-Resolution Acoustic Camera for a Multi-legged Underwater Robot

Authors
Jin-Yeong Park, Hyuk Baek, Pan-Mook Lee, Bong-Huan Jun1

JOURNAL OF SHIPS & OCEAN ENGINEERING No.53 pp.59~67, 2013

Abstract - This paper describes a high-resolution acoustic camera as an identification sensor for a multi-legged underwater robot, CR200. The CR200 is supposed to inspect and work in high tidal current and low visibility environment. CR200 uses articulated six legs to thrust itself and control its attitude. The robot is equipped with three kinds of sensors to acquire underwater images. The first kind is conventional optical camera systems. The optical camera systems often fail depending on water turbidity and floating particles, however. The rest two sensors use acoustic beams. One is a single-beam scanning sonar and the other is a high resolution multi-beam acoustic camera. In this paper, characteristics and specifications of the acoustic camera are introduced. Differences between the optical camera and the acoustic camera are also described. Performance comparison with another multi-beam sonar which uses lower acoustic frequency is included. We conducted offshore experiments to acquire images and to test performance of integration between the CR200 and the acoustic camera.

(Pressed in Korean)

Multi-legged Seabed Robot Crabster (CR200) for the Exploration of High Tide and Low Visibility Environment

Author
Bong-Huan Jun

Journal of Institute of Control, Robotics and Systems Vol.19 No.3 pp.14~25, 2013

Abstract - 조수간만의 차가 크고 지형이 복잡한 우리나라 서해안은 세계적으로도 보기 드문 강조류 환경이다. 잠수부의 안전을 위협하는 이러한 환경은 수중로봇의 접근도 쉽게 허락하지 않는다. 해저로봇 크랩스터는 이러한 특수한 환경을 조사하기 위해 고안된 수중보행로봇이다. 기존의 프로펠러 방식으로 달성하기 어려웠던 문제점을 크랩스터 로봇은 게나 가재와 같은 수중 생명체를 모방하여 극복하고자 했다. 크랩스터는 게나 가재의 기능을 모방함으로써 강조류 악시계 환경에서 유용한 두 가지 특징을 얻는다. 첫째는 해저에 밀착하여 자세를 제어함으로써 조류력을 이용하여 자세를 안정화시키면서 이동할 수 있다. 둘째는 조류 속에서 동요하지 않는 안정된 자세를 바탕으로 깨끗한 초음파 영상을 얻을 수 있다. 이는 강조류 환경에서 동반되는 부유물에 의한 악시계 환경을 극복할 수 있는 중요한 수단을 제공한다. 본 고에서는 이러한 개념에 따라 설계 개발된 크랩스터 CR200의 구성과 사양을 소개하고, 여기에 사용된 핵심기술을 살펴본다. 또한, 최근 수행된 CR200의 시험 결과에 대해서도 요약 소개한다.







(Pressed in Korean)

Control Architecture for Stable Gait of a Six-legged Subsea Robot CR200

Authors
Banghyun Kim, Hyungwon Shim, Seong-yeol Yoo, Gyeong-mok Lee, Bong-Huan Jun, Pan-Mook Lee

OCEANS MTS/IEEE, 2013, San Diego in U.S.A

Abstract - This paper presents a control architecture for 200m-class subsea walking robot, named CR200, which can work in strong tidal current and high turbidity environment by crawling sea floor to survey shipwreck and scientific research. The control architecture consists of deliberative layer, execution layer, and hardware abstract layer. Deliberative layer is in charge of the high level control of the CR200. Deliberative layer only gets needed information from execution layer, and puts processing result to execution layer. Deliberative layer does not consider detail process because execution layer includes most essential process for robot control. Hardware abstract layer allows other layers to perform device-independent, and it includes communication module, sensor interface module, and motor interface module. The control architecture has been implemented to a program of operating software. The program runs on Linux operating system, and it supports soft real-time characteristic without real-time operating system. The control frequency of the CR200 is 100 Hz, and standard deviation of software timer occurrence error was 10.375 us. We conducted first sea trial of the CR200 at KIOST’s South Sea Research Institute in July 2013, and the CR200 performed well during its first dive.

Generation of Anaglyph using High Resolution Acoustic Images

Authors
Jin-Yeong Park, Hyuk Baek, Pan-Mook Lee Bong-Huan Jun

OCEANS MTS/IEEE, 2013, San Diego in U.S.A

Abstract - This paper describes post processing of high resolution acoustic images. A multi-beam acoustic camera with high resolution can be a substitute for typical optical systems as an identification sensor of an unmanned underwater robot in turbid underwater environment. The coustic images do not allow depth perception, however. Anaglyph method was adopted to generate stereoscopic images and to provide depth perception. There are several ways to generate anaglyph images and, basically, two images are required for each eye. In this paper, how to operate the acoustic camera to get two images are proposed.