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)
2014/01/26
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)
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)
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)
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)
2014/01/23
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.
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.
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.
First Field-Test of Seabed Walking Robot CR200
Authors
Bong-Huan Jun, Hyungwon Shim, Banghyun Kim, Jin-Yeong Park, Hyuk Baek, Seongyeol Yoo, Hangoo Kang, Gyeong-mok Lee, Pan-Mook Lee
OCEANS MTS/IEEE, 2013, San Diego in U.S.A
Abstract—This paper reports the results of underwater test of the CR200 seabed walking robot (Crabster) conducted from 24 June to 12 July 2013 in the pier of South Sea Research Institute
of KIOST. Through the test, we have successfully brought the concept of Crabster to reality, which is six-legged seabed walking robot designed to work in high current and low visibility environment. For the initial tests, the CR200 was only submerged 7 meters, so we checked the watertight, ballast and test its main capabilities. Then over the next several days we gathered data from its sensors including sonar scans and acoustic camera. In order to detect the disturbance from the current, the CR200 was
equipped with 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.
This paper reports brief overview of the CR200 robot design, and introduces the results of first underwater test.
Bong-Huan Jun, Hyungwon Shim, Banghyun Kim, Jin-Yeong Park, Hyuk Baek, Seongyeol Yoo, Hangoo Kang, Gyeong-mok Lee, Pan-Mook Lee
OCEANS MTS/IEEE, 2013, San Diego in U.S.A
Abstract—This paper reports the results of underwater test of the CR200 seabed walking robot (Crabster) conducted from 24 June to 12 July 2013 in the pier of South Sea Research Institute
of KIOST. Through the test, we have successfully brought the concept of Crabster to reality, which is six-legged seabed walking robot designed to work in high current and low visibility environment. For the initial tests, the CR200 was only submerged 7 meters, so we checked the watertight, ballast and test its main capabilities. Then over the next several days we gathered data from its sensors including sonar scans and acoustic camera. In order to detect the disturbance from the current, the CR200 was
equipped with 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.
This paper reports brief overview of the CR200 robot design, and introduces the results of first underwater test.
Application of High Resolution Scanning Sonar with Multi-Legged Underwater Robot
Authors
Hyuk Baek, Bong-Huan Jun, Jin-Yeong Park, Bo-Ram Kim, Pan-Mook Lee
OCEANS MTS/IEEE, 2013, San Diego in U.S.A
Abstract— This study looks into the high resolution scanning sonar application with multi legged underwater robot. Generally these sonars acquire horizontal images by using a tripod. But in shallow water, it is tough to get detailed images because of surface reverberation and multipath. To solve these problems, we had conventionally installed some motors to offer pitch angle to sensor itself, reduced size of vertical beam and operating ranges. However, these methods also cannot be the ultimate solution. The tripod still existed and the posture provided by it was always unstable. So, we obtained image data using high resolution scanning sonar and reviewed application probability of it wich CR200, which can supply desired posture and inclination.
Hyuk Baek, Bong-Huan Jun, Jin-Yeong Park, Bo-Ram Kim, Pan-Mook Lee
OCEANS MTS/IEEE, 2013, San Diego in U.S.A
Abstract— This study looks into the high resolution scanning sonar application with multi legged underwater robot. Generally these sonars acquire horizontal images by using a tripod. But in shallow water, it is tough to get detailed images because of surface reverberation and multipath. To solve these problems, we had conventionally installed some motors to offer pitch angle to sensor itself, reduced size of vertical beam and operating ranges. However, these methods also cannot be the ultimate solution. The tripod still existed and the posture provided by it was always unstable. So, we obtained image data using high resolution scanning sonar and reviewed application probability of it wich CR200, which can supply desired posture and inclination.
Development and Underwater Test of Seabed-Walking-Robot Prototype Crabster CR200
Authors
Bong-Huan Jun, Hyungwon Shim, Banghyun Kim, Jin-Yeong Park, Seong-Yeol Yoo, Hyuk Baek, Hangoo Kang, Gyeong-Mok Lee, Bo-Ram Kim, Sungwoo Park, Go Choi, Pan-Mook Lee
수중로봇기술연구회 추계학술대회, 2013, Changwon in Korea
Abstract : This paper reports the on-land and underwater test results of seabed walking robot Crabster CR200, which was conducted from June 24 to July 12, 2013 in Geoje South Sea Research Institute (SSRI) of KIOST. In the first underwater test, we verified 1) watertight of all the seal in thirty joints and pressure vessels, 2) identification of underwater topography and structures within 100m radius using high resolution scanning sonar on the top of CR200, 3) real-time identification of underwater objects within 10 meters-range using acoustic camera in front of CR200, 4) identification of objects y the combination of optical cameras and LED lamps, 5) underwater localization of CR200 using PS and USBL, 6) gathering the environment data such as direction and velocities of current, onductivity Temperature and Depth (CTD) data, 7) posture and walking control using six legs, 8) measuring and visualization of the underwater movement of CR200 using Attitude Heading Reference System.
(Pressed in Korean)
Bong-Huan Jun, Hyungwon Shim, Banghyun Kim, Jin-Yeong Park, Seong-Yeol Yoo, Hyuk Baek, Hangoo Kang, Gyeong-Mok Lee, Bo-Ram Kim, Sungwoo Park, Go Choi, Pan-Mook Lee
수중로봇기술연구회 추계학술대회, 2013, Changwon in Korea
Abstract : This paper reports the on-land and underwater test results of seabed walking robot Crabster CR200, which was conducted from June 24 to July 12, 2013 in Geoje South Sea Research Institute (SSRI) of KIOST. In the first underwater test, we verified 1) watertight of all the seal in thirty joints and pressure vessels, 2) identification of underwater topography and structures within 100m radius using high resolution scanning sonar on the top of CR200, 3) real-time identification of underwater objects within 10 meters-range using acoustic camera in front of CR200, 4) identification of objects y the combination of optical cameras and LED lamps, 5) underwater localization of CR200 using PS and USBL, 6) gathering the environment data such as direction and velocities of current, onductivity Temperature and Depth (CTD) data, 7) posture and walking control using six legs, 8) measuring and visualization of the underwater movement of CR200 using Attitude Heading Reference System.
(Pressed in Korean)
HMI for Remote Operating of a Multi-legged Subsea Robot CR200
Authors
Banghyun Kim, Hyungwon Shim, Bong-Huan Jun, Pan-Mook Lee
수중로봇기술연구회 추계학술대회, 2013, Changwon in Korea
Abstract - The Maritime and Ocean Engineering Research Institute (MOERI) a branch of the Korea Institute of Ocean Science & Technolgh (KIOST), has developed a 200-m class walking robot, named CR200, which works in shallow and strong tidal current environment by crawling sea floor. This paper presents human-machine interface (HMI) for remote operating of the CR200. Operators can steer the CR200 using four joysticks and a touchscreen monitor. One joystick is for posture, another is for movement, and the others are for manipulator We have developed agent program, pilot program, and 3D viewer program for interface with the CR200. Agent program, that is main software, interfaces remote control unit with the CR200. Pilot program provides user interface for remote control of the robot, and 3D viewer program displays 3D posture of the robot in real time. We conducted on-lend tests and first sea trial at KIOST's South Sea Research Institute (SSRI) in July 2013. The CR200 walked and changed posture well on the seabed 5 to 7 meters depth.
(Pressed in Korean)
Banghyun Kim, Hyungwon Shim, Bong-Huan Jun, Pan-Mook Lee
수중로봇기술연구회 추계학술대회, 2013, Changwon in Korea
Abstract - The Maritime and Ocean Engineering Research Institute (MOERI) a branch of the Korea Institute of Ocean Science & Technolgh (KIOST), has developed a 200-m class walking robot, named CR200, which works in shallow and strong tidal current environment by crawling sea floor. This paper presents human-machine interface (HMI) for remote operating of the CR200. Operators can steer the CR200 using four joysticks and a touchscreen monitor. One joystick is for posture, another is for movement, and the others are for manipulator We have developed agent program, pilot program, and 3D viewer program for interface with the CR200. Agent program, that is main software, interfaces remote control unit with the CR200. Pilot program provides user interface for remote control of the robot, and 3D viewer program displays 3D posture of the robot in real time. We conducted on-lend tests and first sea trial at KIOST's South Sea Research Institute (SSRI) in July 2013. The CR200 walked and changed posture well on the seabed 5 to 7 meters depth.
(Pressed in Korean)
Posture and Walking Control Method of CR200 for Precise Underwater Exploration
Authors
Hyungwon Shom, Seongyeol Yoo, Gyeong-Mok Lee, Hyuk Baek, Bong-Huan Hun
수중로봇기술연구회 추계학술대회, 2013, Changwon in Korea
Abstract - This paper presints the posture and walking control method of CRABSTER200(CR200), 200 meter-class 6-legged seabed walking robot, for precise underwater exploration in a low visibility environment. CR200 has various accuracy of the equipments, the kinematic body posture change and walking algorithm has been developed. The body posure control method is established through a coordinates transformation technique to generate the redundancy of underwater equipments(acoustic camera, high resolution scanning sonar). For high stability of walking and exploration, a 5 point supported gait method is applied to the walking algorithm. These methods create the joint paths of each leg for the desired body posture and foot position. This paper shows the simulation and experimental result of the posture and walking contrl of CR200. Also, to verify the effectiveness of porposed method, sonar images obtained through a sea trial are depicted according to differential body posture.
(Pressed in Korean)
Hyungwon Shom, Seongyeol Yoo, Gyeong-Mok Lee, Hyuk Baek, Bong-Huan Hun
수중로봇기술연구회 추계학술대회, 2013, Changwon in Korea
Abstract - This paper presints the posture and walking control method of CRABSTER200(CR200), 200 meter-class 6-legged seabed walking robot, for precise underwater exploration in a low visibility environment. CR200 has various accuracy of the equipments, the kinematic body posture change and walking algorithm has been developed. The body posure control method is established through a coordinates transformation technique to generate the redundancy of underwater equipments(acoustic camera, high resolution scanning sonar). For high stability of walking and exploration, a 5 point supported gait method is applied to the walking algorithm. These methods create the joint paths of each leg for the desired body posture and foot position. This paper shows the simulation and experimental result of the posture and walking contrl of CR200. Also, to verify the effectiveness of porposed method, sonar images obtained through a sea trial are depicted according to differential body posture.
(Pressed in Korean)
Operating Strategy based on acoustic imaging sonars for CR200 in Low Visibility Environment and Experiments
Authors
Hyuk Baek, Jin-Yeong Park, Bong-Huan Jun, Bo-Ram Kim, Pan-Mook Lee
수중로봇기술연구회 추계학술대회, 2013, Changwon in Korea
Abstract - In this paper, we propose operating strategy for multi-legged underwater walking robot,
CR200 to overcome low visibility environment. Experiments to verify the performance of the strategy and their results are also included. There are three kinds of sensors on CR200 to acquire underwater images. The first one is conventional optical camera system. Performance of the optical camera system becomes very limited in turbid water. The second one and last one are high resolution single beam scanning sonar and multi-beam acoustic camera, respectively. The scanning sonar scans and acquires images around CR200 out to maximum 100m. The acoustic camera images out to maximum 5m with highest resolution of 3mm. CR200 is able to move on the sea-floor without disturbing sediment and keep its position under strong tidal currents using its six legs. In addition, the robot can control its attitude finely and decrease body oscillation caused by external disturbances. With these characteristics, we can operate the CR200 as an adaptive active tripod in underwater. For example, CR200 is able to decrease water surface reflected noise on images of the scanning sonar by changing its attitude. Experiments were conducted in South Sea Research Institute of KIOST in July, 2013.
(Pressed in Korean)
Hyuk Baek, Jin-Yeong Park, Bong-Huan Jun, Bo-Ram Kim, Pan-Mook Lee
수중로봇기술연구회 추계학술대회, 2013, Changwon in Korea
Abstract - In this paper, we propose operating strategy for multi-legged underwater walking robot,
CR200 to overcome low visibility environment. Experiments to verify the performance of the strategy and their results are also included. There are three kinds of sensors on CR200 to acquire underwater images. The first one is conventional optical camera system. Performance of the optical camera system becomes very limited in turbid water. The second one and last one are high resolution single beam scanning sonar and multi-beam acoustic camera, respectively. The scanning sonar scans and acquires images around CR200 out to maximum 100m. The acoustic camera images out to maximum 5m with highest resolution of 3mm. CR200 is able to move on the sea-floor without disturbing sediment and keep its position under strong tidal currents using its six legs. In addition, the robot can control its attitude finely and decrease body oscillation caused by external disturbances. With these characteristics, we can operate the CR200 as an adaptive active tripod in underwater. For example, CR200 is able to decrease water surface reflected noise on images of the scanning sonar by changing its attitude. Experiments were conducted in South Sea Research Institute of KIOST in July, 2013.
(Pressed in Korean)
Multi-legged Seabed Robot Crabster(CR200) for the Exploration of High Tide and Low Visibility Envirinment
Author
Bong-Huan Jun
제어로봇시스템학회지 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)
Bong-Huan Jun
제어로봇시스템학회지 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)
High-resolution Acoustic Camera on CR200 and Post-Processing
Authors
Jin-Yeong Park, Hyuk Baek, Pan-Mook Lee, Bong-Huan Jun
International Symposium on Unmanned Untethered Submersible Technology, 2013, New Hampshire in U.S.A
Abstract - This paper describes applications of high-resolution acoustic camera for a multi-legged underwater robot, CR200. CR200 has six legs and is supposed to inspect and work in high tidal current and low visibility environment. Performance of optical cameras are limited and their viewing range becomes less than a couple of meters. A multi-beam acoustic camera can be a substitute for the optical cameras for inspecting and surveying as an identification sensor. In this paper, we introduce an acoustic camera, ARIS, which uses 3.0MHz, the highest frequency. The ARIS shows 2.9mm downrange resolution with 5m range in identification mode. Comparison of the ARIS and a multi-beam sonar using 900kHz is present briefly. And then, we introduces post-processing for 3-dimensional object model reconstruction using multiple acoustic 2-dimensional images. Results of
underwater experiments of CR200 and ARIS are also included.
Jin-Yeong Park, Hyuk Baek, Pan-Mook Lee, Bong-Huan Jun
International Symposium on Unmanned Untethered Submersible Technology, 2013, New Hampshire in U.S.A
Abstract - This paper describes applications of high-resolution acoustic camera for a multi-legged underwater robot, CR200. CR200 has six legs and is supposed to inspect and work in high tidal current and low visibility environment. Performance of optical cameras are limited and their viewing range becomes less than a couple of meters. A multi-beam acoustic camera can be a substitute for the optical cameras for inspecting and surveying as an identification sensor. In this paper, we introduce an acoustic camera, ARIS, which uses 3.0MHz, the highest frequency. The ARIS shows 2.9mm downrange resolution with 5m range in identification mode. Comparison of the ARIS and a multi-beam sonar using 900kHz is present briefly. And then, we introduces post-processing for 3-dimensional object model reconstruction using multiple acoustic 2-dimensional images. Results of
underwater experiments of CR200 and ARIS are also included.
Underwater Positioning of Multi-legged Subsea Robot for Submarine Exploration Equipment
Authors
Seong-yeol Yoo1, Hyungwon Shim, Bong-Huan Jun, Gyeong-mok Lee, Hangoo Kang, Pan-Mook Lee
International Symposium on Unmanned Untethered Submersivle Technology, 2013, New Hampshire in U.S.A
Abstract - This paper describes underwater positioning of multi-legged walking robot, Crabster200, to improve performance of the exploration equipment. Crabster200 has six legs so that it can crawl on the seafloor such as crabs and lobsters. Using friction force between feet and seabed and Crabster200
can secure stable attitude to explore with sonar equipment. The underwater robot has lots of degree of freedom (DOF) because of legs which has total 24 DOF and it can generate and provide redundancy to the sensors. Also, own position in underwater can be calculated by kinematic relationship among coordinates of legs, body, ground. In this paper, we derived kinematic relationship based on matrices and established simulation program using derived kinematics. We performed simulation and experiments of posture and gait control. Finally, we validate underwater positioning of Crabster200 through the simulations and experiments.
Seong-yeol Yoo1, Hyungwon Shim, Bong-Huan Jun, Gyeong-mok Lee, Hangoo Kang, Pan-Mook Lee
International Symposium on Unmanned Untethered Submersivle Technology, 2013, New Hampshire in U.S.A
Abstract - This paper describes underwater positioning of multi-legged walking robot, Crabster200, to improve performance of the exploration equipment. Crabster200 has six legs so that it can crawl on the seafloor such as crabs and lobsters. Using friction force between feet and seabed and Crabster200
can secure stable attitude to explore with sonar equipment. The underwater robot has lots of degree of freedom (DOF) because of legs which has total 24 DOF and it can generate and provide redundancy to the sensors. Also, own position in underwater can be calculated by kinematic relationship among coordinates of legs, body, ground. In this paper, we derived kinematic relationship based on matrices and established simulation program using derived kinematics. We performed simulation and experiments of posture and gait control. Finally, we validate underwater positioning of Crabster200 through the simulations and experiments.
Development of a Specialized Underwater Leg Convertible to a Manipulator for the Seabed Walking Robot CR200
Authors
Hangoo Kang, Hyungwon Shim, Bong-Huan Jun, Pan-Mook Lee
Journal of Institute of Control, Robotics and Systems Vol.19 No.8 pp.709~717, 2013
Abstract: This paper presents the development of a specialized underwater leg with a manipulator function(convertible-to-arm leg) for the seabed walking robot named CRABSTER200(CR200). The objective functions of the convertible-to-arm leg are to walk on the seabed and to work in underwater for precise seabed exploration and underwater tasks under coastal area with strong tidal current. In order to develop the leg, important design elements including the degree of freedom, dimensions, mass, motion range, joint structure/torque/angular-speed, pressure-resistance, watertight capability and cable protection are considered. The key elements of the convertible-to-arm leg are realized through concept/specific/mechanical design and implementation process with a suitable joint actuator/gear/controller selection procedure. In order to verify the performance of the manufactured
convertible-to-arm leg, a 25bar pressure-resistant and watertight test using a high-pressure chamber and a joints operating test with posture control of the CR200 are performed. This paper describes the whole design, realization and verification process for implementation of the underwater convertible-to-arm leg.
(Pressed in Korean)
Hangoo Kang, Hyungwon Shim, Bong-Huan Jun, Pan-Mook Lee
Journal of Institute of Control, Robotics and Systems Vol.19 No.8 pp.709~717, 2013
Abstract: This paper presents the development of a specialized underwater leg with a manipulator function(convertible-to-arm leg) for the seabed walking robot named CRABSTER200(CR200). The objective functions of the convertible-to-arm leg are to walk on the seabed and to work in underwater for precise seabed exploration and underwater tasks under coastal area with strong tidal current. In order to develop the leg, important design elements including the degree of freedom, dimensions, mass, motion range, joint structure/torque/angular-speed, pressure-resistance, watertight capability and cable protection are considered. The key elements of the convertible-to-arm leg are realized through concept/specific/mechanical design and implementation process with a suitable joint actuator/gear/controller selection procedure. In order to verify the performance of the manufactured
convertible-to-arm leg, a 25bar pressure-resistant and watertight test using a high-pressure chamber and a joints operating test with posture control of the CR200 are performed. This paper describes the whole design, realization and verification process for implementation of the underwater convertible-to-arm leg.
(Pressed in Korean)
Development of Seabed Walking Robot CR200
Authors
Bong-Huan Jun, Hyungwon Shim, Banghyun Kim, Jin-Yeong Park, Hyuk Baek, Seongyeol Yoo, Pan-Mook Lee
OCEANS MTS/IEEE, 2013, Bergen in Norway
Abstract - 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.
Bong-Huan Jun, Hyungwon Shim, Banghyun Kim, Jin-Yeong Park, Hyuk Baek, Seongyeol Yoo, Pan-Mook Lee
OCEANS MTS/IEEE, 2013, Bergen in Norway
Abstract - 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.
Finite Element Analysis of Carbon Fiber Reinforced Plastic Body Frame for Seabed Robot, Crabster200
Authors
Seong-yeol Yoo, Bong-Huan Jun, Hyungwon Shim, Pan-Mook Lee, Boram Kim
OCEANS MTS/IEEE, 2013, Bergen in Norway
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 modal analysis and FEA with respect to certain load conditions. The first load condition is when the CR200 stands in the air and the other condition is when the robot stands in underwater. Finally, this paper presents the results of FEA for CFRP body frame.
Seong-yeol Yoo, Bong-Huan Jun, Hyungwon Shim, Pan-Mook Lee, Boram Kim
OCEANS MTS/IEEE, 2013, Bergen in Norway
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 modal analysis and FEA with respect to certain load conditions. The first load condition is when the CR200 stands in the air and the other condition is when the robot stands in underwater. Finally, this paper presents the results of FEA for CFRP body frame.
Development of Underwater Robotic Arm and Leg for Seabed Robot, CRABSTER200
Authors
Hyungwon Shim, Bong-Huan Jun, Hangoo Kang, Seongyeol Yoo, Gyeong-Mok Lee, Pan-Mook Lee
OCEANS MTS/IEEE, 2013, Bergen in Norway
Abstract - This paper presents the development of arm and leg of six-legged walking robot for precise seabed exploration and underwater works under coastal area with strong tidal current. For both seabed walking and precise underwater works, the seabed robot named CRABSTER200(CR200) uses six legs during walking and front two legs as manipulators during underwater work. To achieve the operation objective, the degree of freedom, dimensions, motion range, joint structure, and mass of the arm and leg are determined, and then suitable joint actuators and reduction gears are selected through a simple force analysis. In addition, a communication method, actuator controllers, and sensors are selected. The detailed mechanical design for 200m class pressure-resistance and watertight is performed, and the arms and legs are built by fabricating the mechanical parts and assembling them. Finally, in order to verify the performance of the arm and leg, the watertight test with 25bar pressureresistance and joints operating test by using a posture control of CR200 are performed. This paper describes the whole design and implementation process of the underwater robotic arm and leg of the seabed robot CR200.
Hyungwon Shim, Bong-Huan Jun, Hangoo Kang, Seongyeol Yoo, Gyeong-Mok Lee, Pan-Mook Lee
OCEANS MTS/IEEE, 2013, Bergen in Norway
Abstract - This paper presents the development of arm and leg of six-legged walking robot for precise seabed exploration and underwater works under coastal area with strong tidal current. For both seabed walking and precise underwater works, the seabed robot named CRABSTER200(CR200) uses six legs during walking and front two legs as manipulators during underwater work. To achieve the operation objective, the degree of freedom, dimensions, motion range, joint structure, and mass of the arm and leg are determined, and then suitable joint actuators and reduction gears are selected through a simple force analysis. In addition, a communication method, actuator controllers, and sensors are selected. The detailed mechanical design for 200m class pressure-resistance and watertight is performed, and the arms and legs are built by fabricating the mechanical parts and assembling them. Finally, in order to verify the performance of the arm and leg, the watertight test with 25bar pressureresistance and joints operating test by using a posture control of CR200 are performed. This paper describes the whole design and implementation process of the underwater robotic arm and leg of the seabed robot CR200.
Operating Software for a Multi-legged Subsea Robot CR200
Authors
Banghyun Kim, Hyungwon Shim, Seong-Yeol Yoo, Bong-Huan Jun, Sung-Woo Park, Pan-Mook Lee
OCEANS MTS/IEEE, 2013, Bergen in Norway
Abstract - This paper introduces operating software for a multi-legged subsea robot, named CR200, which is a 200m-class walking robot. The CR200 can work in shallow and strong tidal current and high turbidity environment by crawling sea floor using six legs to survey shipwreck and scientific research. The CR200 system is similar to traditional remotely operated vehicle system having remote control unit. Operators control the CR200 using various programs running on computers in the remote control unit. Operating software consists of agent program, pilot program, 3D viewer program, dynamics simulation program, navigation program, video program, scanning sonar program, acoustic camera program, and current monitoring program. Agent program is main program which interfaces remote control unit with the CR200, and calculates joint angle reference of legs by posture and gait algorithm. Pilot program provides graphic user interface using joysticks and touch screen to steer the CR200. 3D viewer program displays 3D pose of the CR200, and dynamic simulation program is used to test a robot control without the CR200. We have developed agent program, pilot program, 3D viewer program, and dynamics simulation program. Navigation program and video program is commercial, and the other programs are provided by manufacturer.
Banghyun Kim, Hyungwon Shim, Seong-Yeol Yoo, Bong-Huan Jun, Sung-Woo Park, Pan-Mook Lee
OCEANS MTS/IEEE, 2013, Bergen in Norway
Abstract - This paper introduces operating software for a multi-legged subsea robot, named CR200, which is a 200m-class walking robot. The CR200 can work in shallow and strong tidal current and high turbidity environment by crawling sea floor using six legs to survey shipwreck and scientific research. The CR200 system is similar to traditional remotely operated vehicle system having remote control unit. Operators control the CR200 using various programs running on computers in the remote control unit. Operating software consists of agent program, pilot program, 3D viewer program, dynamics simulation program, navigation program, video program, scanning sonar program, acoustic camera program, and current monitoring program. Agent program is main program which interfaces remote control unit with the CR200, and calculates joint angle reference of legs by posture and gait algorithm. Pilot program provides graphic user interface using joysticks and touch screen to steer the CR200. 3D viewer program displays 3D pose of the CR200, and dynamic simulation program is used to test a robot control without the CR200. We have developed agent program, pilot program, 3D viewer program, and dynamics simulation program. Navigation program and video program is commercial, and the other programs are provided by manufacturer.
Fault Detection for Underwater Hexapod Robot Based on PI Observer
Authors
Woo-Young Jeong, Pandu Sandi Pratama, Bong-Huan Jun, Sang-Bong Kim
한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea
Abstract - This paper introduces fault detection algorithm for legs of a hexapod robot. The fault detection algorithm is developed based on an unknown input PI observer for linear descriptor system. The states of system are estimated with unknown inputs and the faults of system are detected by the fault detection algorithm. A simple manipulator is used to confirm the effectiveness of the fault detection algorithm. A dynamic equation of a manipulator is described by LPD(Linear Parameter Dependent) system to apply the fault detection algorithm. Finally, the effectiveness of the fault detection algorithm is proved by simulation results.
Woo-Young Jeong, Pandu Sandi Pratama, Bong-Huan Jun, Sang-Bong Kim
한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea
Abstract - This paper introduces fault detection algorithm for legs of a hexapod robot. The fault detection algorithm is developed based on an unknown input PI observer for linear descriptor system. The states of system are estimated with unknown inputs and the faults of system are detected by the fault detection algorithm. A simple manipulator is used to confirm the effectiveness of the fault detection algorithm. A dynamic equation of a manipulator is described by LPD(Linear Parameter Dependent) system to apply the fault detection algorithm. Finally, the effectiveness of the fault detection algorithm is proved by simulation results.
Viscous flow analysis for the prediction of hydrodynamic forces and control parameters of the multi-legged underwater robot
Authors
Ji-Hyun Kim, Yeon-Seok Park, Yo-Han Jeong, Wu-Joan Kim, Bong-Huan Jun
한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea
Abstract - Viscous flow analysis around a underwater robot was performed using the ANSYS-CFX package in order to estimate hydrodynamic force. The Reynolds-averaged Navier-Stokes equations were solved to determine the hydrodynamic coefficients for the body and legs of the multi-legged underwater robot 'Crabster'. A turbulence closure model, k-ω Shear-stress transport(SST) was adopted. For the efficient CFD calculation, the unstructured grid was generated using ICEM-CFD. The comparison of the hydrodynamic forces between the previous robot geometry and the newly improved one was carried out. Furthermore the effect of viscous boundary layer on seabed was also assessed. The hydrodynamic forces acting on each part of leg and body were calculated separately to model the flow parameters for attitude control of the robot. Finally flow calculation was performed with the robot with multi-legs with various incident angles. The results of flow analysis is expected to be used as the base data in determining the geometry of the underwater robot and controlling the attitude.
(Pressed in Korean)
Ji-Hyun Kim, Yeon-Seok Park, Yo-Han Jeong, Wu-Joan Kim, Bong-Huan Jun
한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea
Abstract - Viscous flow analysis around a underwater robot was performed using the ANSYS-CFX package in order to estimate hydrodynamic force. The Reynolds-averaged Navier-Stokes equations were solved to determine the hydrodynamic coefficients for the body and legs of the multi-legged underwater robot 'Crabster'. A turbulence closure model, k-ω Shear-stress transport(SST) was adopted. For the efficient CFD calculation, the unstructured grid was generated using ICEM-CFD. The comparison of the hydrodynamic forces between the previous robot geometry and the newly improved one was carried out. Furthermore the effect of viscous boundary layer on seabed was also assessed. The hydrodynamic forces acting on each part of leg and body were calculated separately to model the flow parameters for attitude control of the robot. Finally flow calculation was performed with the robot with multi-legs with various incident angles. The results of flow analysis is expected to be used as the base data in determining the geometry of the underwater robot and controlling the attitude.
(Pressed in Korean)
Modal Analysis of Carbon Fiber Reinforced Plastic Frame for CR200
Authors
Seong Yeol Yoo, Bong-Huan Jun, Hyungwon Shim, Pan-Mook Lee
한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea
Abstract - This paper describes modal analysis 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 modal analysis.
(Pressed in Korean)
Seong Yeol Yoo, Bong-Huan Jun, Hyungwon Shim, Pan-Mook Lee
한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea
Abstract - This paper describes modal analysis 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 modal analysis.
(Pressed in Korean)
Implementation of Remote Operating Software for a Multi-legged Subsea Robot CR200 providing Soft Real-time Control
Authors
Banghyun Kim, Sung-Woo Park, Pan-Mook Lee, Bong Huan Jun
한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea
Abstract - This paper introduces romote operation software providing soft real-time control using software timer for a mulit-legged subsea robot, named CR200, which is a 200m-class walking robot. The CR200 can work in shallow and strong tidal current and high turbidity environminet by crawling sea floor using six legs to survey shipwreck and scientific research. Operators control the CR200 using various programs running on computers in the remote control unit. Operation software consists of agent program, pilot program, 3D viewer program, dynamics simulation program, navigation program, video program, scanning sonar program, acoustic camera program, and current monitoring program. Agent program is main program which interfaces remote control unit with the CR200, and calculates joint angle reference of legs by posture and gait algorithm. Agent program should support real-time characteristic because the CR200 needs 100 Hz control frequency to walk naurally. We have implemented soft real-time characteristic using software timer without real-time operating system. By experimental results, average of timer interval is exact 10 ms. Also timing occurrence error is less tha 171 us, and its standard deviation is 10.375 us. These results show that our approach without RTOS is enough to control the CR200 by 100Hz frequency.
(Pressed in Korean)
Banghyun Kim, Sung-Woo Park, Pan-Mook Lee, Bong Huan Jun
한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea
Abstract - This paper introduces romote operation software providing soft real-time control using software timer for a mulit-legged subsea robot, named CR200, which is a 200m-class walking robot. The CR200 can work in shallow and strong tidal current and high turbidity environminet by crawling sea floor using six legs to survey shipwreck and scientific research. Operators control the CR200 using various programs running on computers in the remote control unit. Operation software consists of agent program, pilot program, 3D viewer program, dynamics simulation program, navigation program, video program, scanning sonar program, acoustic camera program, and current monitoring program. Agent program is main program which interfaces remote control unit with the CR200, and calculates joint angle reference of legs by posture and gait algorithm. Agent program should support real-time characteristic because the CR200 needs 100 Hz control frequency to walk naurally. We have implemented soft real-time characteristic using software timer without real-time operating system. By experimental results, average of timer interval is exact 10 ms. Also timing occurrence error is less tha 171 us, and its standard deviation is 10.375 us. These results show that our approach without RTOS is enough to control the CR200 by 100Hz frequency.
(Pressed in Korean)
Preliminary Operation of High-Resolution Acoustic Camera for Cr200 in Low Visibility
Authors
Jin-Yeong Park, Hyuk Baek, Go Choi, Bong-Haun Jun
한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea
Abstract - We have developed a multi-legged underwater robot, CR200. This robot is supposed to inspect and work in high tidal current environment with low visibility. CR200 is equipped with a high-resolution acoustic underwater camera to clear her visibility in highly turbid water where any optic cameras are useless. In this paper, we introduce the acoustic camera and its preliminary operation in water tank. We compared images between the acoustic camera and a multi-beam sonar. Underwater experiments was conducted to acquire acoustic images. The acousic images are compared with images taken by a typical optical camera. Measuring size of a target object on the acoustic images and simple mosaic work are also included.
(Pressed in Korean)
Jin-Yeong Park, Hyuk Baek, Go Choi, Bong-Haun Jun
한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea
Abstract - We have developed a multi-legged underwater robot, CR200. This robot is supposed to inspect and work in high tidal current environment with low visibility. CR200 is equipped with a high-resolution acoustic underwater camera to clear her visibility in highly turbid water where any optic cameras are useless. In this paper, we introduce the acoustic camera and its preliminary operation in water tank. We compared images between the acoustic camera and a multi-beam sonar. Underwater experiments was conducted to acquire acoustic images. The acousic images are compared with images taken by a typical optical camera. Measuring size of a target object on the acoustic images and simple mosaic work are also included.
(Pressed in Korean)
3D Profiling SONAR Result of the Submerged Structrure and Interworking Operation Strategy of CR200
Authors
Hyuk Baek, Bo-Ram Kim, Jin-Yeong Park, Bong-Huan Jun, Pan-Mook Lee
한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea
Abstract - In this paper, we studied about profiling SONAR operating strategies of Multi-legged seabed robot based on result of th open sea experiment that the robot overcome the low visivility environment. This experiment was carried out on February 12 to February 22, 2013 at pier of South Sea Research Institute to get 3D profiling data and used device was 1171 high resolution scanning SONAR manufactured by Kongsberg Maritime. We acquired 3D profiling data from 19 locations using Profiling SONAR bracket, removed noise of the data and composed them by a post process program at CloudCompare. As a result of the composition, the substructure of a pier could be presented by total 2,001,349 points. In conclusion we established 3D Profiling SONAR operating strategy for CR200 through the experiment of profiling at pier.
(Pressed in Koream)
Hyuk Baek, Bo-Ram Kim, Jin-Yeong Park, Bong-Huan Jun, Pan-Mook Lee
한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea
Abstract - In this paper, we studied about profiling SONAR operating strategies of Multi-legged seabed robot based on result of th open sea experiment that the robot overcome the low visivility environment. This experiment was carried out on February 12 to February 22, 2013 at pier of South Sea Research Institute to get 3D profiling data and used device was 1171 high resolution scanning SONAR manufactured by Kongsberg Maritime. We acquired 3D profiling data from 19 locations using Profiling SONAR bracket, removed noise of the data and composed them by a post process program at CloudCompare. As a result of the composition, the substructure of a pier could be presented by total 2,001,349 points. In conclusion we established 3D Profiling SONAR operating strategy for CR200 through the experiment of profiling at pier.
(Pressed in Koream)
Redundancy Generation and Application Method of Underwater Exploration Equipment by Using the Posture Control of CR200
Authors
Hyungwon Shim, Gyeong-Mok Lee, Seongyeol Yoo, Bong-Huan Jun
한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea
Abstract - This paper presents the method of redundancy generation and application of underwater exploration equipment mounted on the seabed walking robot CR200 by using the posture control of the seabed robot. The redundancy of equipments including an acoustic camera and a scanning sonar is the degree of freedom of the robot’s body, which is generated by motion of the six legs equipped at both sides of CR200. Therefore, to generate the redundancy, the body posture control method is established through a coordinates transformation technique. Based on the control method, a maximum transformation bound of body center is calculated under given the legs’ posture. Through the results, the extended exploration areas of the underwater equipments are calculated. In addition, for increment o efficiencies of underwater work, survey, and walking, the application method of the underwater equipments is described.
(Pressed in Korean)
Hyungwon Shim, Gyeong-Mok Lee, Seongyeol Yoo, Bong-Huan Jun
한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea
Abstract - This paper presents the method of redundancy generation and application of underwater exploration equipment mounted on the seabed walking robot CR200 by using the posture control of the seabed robot. The redundancy of equipments including an acoustic camera and a scanning sonar is the degree of freedom of the robot’s body, which is generated by motion of the six legs equipped at both sides of CR200. Therefore, to generate the redundancy, the body posture control method is established through a coordinates transformation technique. Based on the control method, a maximum transformation bound of body center is calculated under given the legs’ posture. Through the results, the extended exploration areas of the underwater equipments are calculated. In addition, for increment o efficiencies of underwater work, survey, and walking, the application method of the underwater equipments is described.
(Pressed in Korean)
Development of Seabed Walking Robot CR200 and Its Application Strategy on the Underwater Exploration
Authors
Bong-Huan Jun, Pan-Mook Lee, Banghyun Kim, Hyungwon Shim
한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea
Abstract - A seabed walking robot named CR200 was developed for the exploration of high tide and low visibility environment. The CR200 is 6-legged underwater walking robot with equipment for tide and turbid environment. The CR200 provides stable posture in the sea current area, which enables the acoustic equipment to get clear acoustic images. The CR200 stablizes its body posture against to the current based on the mechanical contact between feet and seabed. In order to improve the tumble stability in tidal current, the CR200 actively controls the body posture and feet position according to the center of pressure (COP) criteria. The first sea-trial will be conducted in 2013, and then a series of
exploration will be conducted from 2014 in coastal area of Korea. In this paper, the development purpose and results of CR200 are introduced with preliminary operation results of mission sensors. The application strategy on underwater exploration are also presented.
(Pressed in Korean)
Bong-Huan Jun, Pan-Mook Lee, Banghyun Kim, Hyungwon Shim
한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea
Abstract - A seabed walking robot named CR200 was developed for the exploration of high tide and low visibility environment. The CR200 is 6-legged underwater walking robot with equipment for tide and turbid environment. The CR200 provides stable posture in the sea current area, which enables the acoustic equipment to get clear acoustic images. The CR200 stablizes its body posture against to the current based on the mechanical contact between feet and seabed. In order to improve the tumble stability in tidal current, the CR200 actively controls the body posture and feet position according to the center of pressure (COP) criteria. The first sea-trial will be conducted in 2013, and then a series of
exploration will be conducted from 2014 in coastal area of Korea. In this paper, the development purpose and results of CR200 are introduced with preliminary operation results of mission sensors. The application strategy on underwater exploration are also presented.
(Pressed in Korean)
Realization of underwater-Joint Driving and Controling System for Arm-Combined Leg for CR200
Authors
Hangoo Kang, Hyungwon Shim, Seongyeol Yoo, Bong-Huan Jun
한국해양과학기술협의회 공동학술대회, 2013 Jeju in Korea
Abstract - 본 논문은 한국해양과학기술원에서 개발 중인 천해용 다관절 복합이동 해저로봇 개발의 다리 겸용 로봇팔의 구현에 대하여 기술한다. 다리 겸용 로봇팔의 관절 구동에 요구되는 전원부 및 통신부의 체계에 대하여 기술하며, 외부 충격으로부터 케이블 손상을 예방하기 위한 링크 및 중공축을 이용한 케이블 몰딩 배선방법에 대하여 기술한다. 기존에 연구된 전원부 및 통신부 설계의 검증을 위하여 실제 구현딘 다리 겸용 로봇팔의 시스템으로 추후 실 해역에서 운용 될 CR200의 실제 운용환경과 동일하게 구축하여 로봇팔의 구동 성능실험을 수행 하였다.
(Pressed in Korean)
Hangoo Kang, Hyungwon Shim, Seongyeol Yoo, Bong-Huan Jun
한국해양과학기술협의회 공동학술대회, 2013 Jeju in Korea
Abstract - 본 논문은 한국해양과학기술원에서 개발 중인 천해용 다관절 복합이동 해저로봇 개발의 다리 겸용 로봇팔의 구현에 대하여 기술한다. 다리 겸용 로봇팔의 관절 구동에 요구되는 전원부 및 통신부의 체계에 대하여 기술하며, 외부 충격으로부터 케이블 손상을 예방하기 위한 링크 및 중공축을 이용한 케이블 몰딩 배선방법에 대하여 기술한다. 기존에 연구된 전원부 및 통신부 설계의 검증을 위하여 실제 구현딘 다리 겸용 로봇팔의 시스템으로 추후 실 해역에서 운용 될 CR200의 실제 운용환경과 동일하게 구축하여 로봇팔의 구동 성능실험을 수행 하였다.
(Pressed in Korean)
2014/01/22
Preliminary Study on the Application of High Resolution Scanning Sonar of Multi-legged Seabed Robot
Authors
Hyuk Baek, Bong-Huan Jun, Bo-Ram Kim, Hyung-Won Shim, Pan-Mook Lee
JOURNAL OF SHIPS & OCEAN ENGINEERING No.52 pp.73~81, 2013
Abstract - In this paper, we studied about the operating strategies of an imaging sonar for a multi-legged seabed robot via open sea experiment, of which the robot overcomes the low visibility environment. This experiment was carried out from April 3 to April 6 and April 17 to 19, 2012 at the pier of South Sea Research Institute to get the vertical and horizontal images. The device used in the experiment was 1171 high resolution scanning sonar manufactured by Kongsberg Maritime. Through this experiment, we have generated a sonar image and suggested a criteria for the positioning and sensor arrangement on the robot. Sonar images are also integrated into the picture of Google Earth satellite map by the mosaic processing of Adobe Photoshop CS5® program.
(Pressed in Korean)
Hyuk Baek, Bong-Huan Jun, Bo-Ram Kim, Hyung-Won Shim, Pan-Mook Lee
JOURNAL OF SHIPS & OCEAN ENGINEERING No.52 pp.73~81, 2013
Abstract - In this paper, we studied about the operating strategies of an imaging sonar for a multi-legged seabed robot via open sea experiment, of which the robot overcomes the low visibility environment. This experiment was carried out from April 3 to April 6 and April 17 to 19, 2012 at the pier of South Sea Research Institute to get the vertical and horizontal images. The device used in the experiment was 1171 high resolution scanning sonar manufactured by Kongsberg Maritime. Through this experiment, we have generated a sonar image and suggested a criteria for the positioning and sensor arrangement on the robot. Sonar images are also integrated into the picture of Google Earth satellite map by the mosaic processing of Adobe Photoshop CS5® program.
(Pressed in Korean)
Mobility and Analysis of a Multi-legged Subsea Robot System
Authors
Hyungwon Shim, Bong-Huan Jun, Pan-mook Lee
OCEAN ENGINEERING Vol.61 No.1 pp.88~ 96, 2013
Abstracrt - This paper presents a unified mathematical framework for the analysis of mobility and agility of a multilegged subsea robot. The aim of this research is to analyze a dynamic performance on the multi-legged robot in an underwater environment conditions with hydrodynamic forces, seabed friction, gravity, buoyancy, and so on. The dynamic performance is represented by both translational acceleration (mobility) and rotational acceleration (agility) that ensures no slip at each foot of robot under given a robot’s configuration, joint torque boundaries, and environment conditions. To analyze the performance, this work includes the derivation of a dynamic equation and a joint torque constraint equation and the establishment of mathematical framework by using its two equations. The dynamic equation is the relationship equation between joint actuator torques and body acceleration, which is derived from subsea robot dynamics and force and acceleration relationship of body and leg. The joint torque constraint equation for ensuring no slip at the contact point is derived from frictional force constraint conditions. In this paper, the resultant accelerations are represented as polytopes through the mathematical framework and given joint torque bounds. To verify the proposed method, the simulations of 4 and 6-legged robots were performed with the consideration of differential pose, environment, and tidal current
Hyungwon Shim, Bong-Huan Jun, Pan-mook Lee
OCEAN ENGINEERING Vol.61 No.1 pp.88~ 96, 2013
Abstracrt - This paper presents a unified mathematical framework for the analysis of mobility and agility of a multilegged subsea robot. The aim of this research is to analyze a dynamic performance on the multi-legged robot in an underwater environment conditions with hydrodynamic forces, seabed friction, gravity, buoyancy, and so on. The dynamic performance is represented by both translational acceleration (mobility) and rotational acceleration (agility) that ensures no slip at each foot of robot under given a robot’s configuration, joint torque boundaries, and environment conditions. To analyze the performance, this work includes the derivation of a dynamic equation and a joint torque constraint equation and the establishment of mathematical framework by using its two equations. The dynamic equation is the relationship equation between joint actuator torques and body acceleration, which is derived from subsea robot dynamics and force and acceleration relationship of body and leg. The joint torque constraint equation for ensuring no slip at the contact point is derived from frictional force constraint conditions. In this paper, the resultant accelerations are represented as polytopes through the mathematical framework and given joint torque bounds. To verify the proposed method, the simulations of 4 and 6-legged robots were performed with the consideration of differential pose, environment, and tidal current
Dynamic Workspace Control Method for Underwater Manipulator of Floating ROV
Authors
Hyungwon Shim1, Bong-Huan Jun, Pan-Mook Lee, Banghyun Kim
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING Vol. 14 No.3 pp.387~396, 2013
Abstract - This paper presents a dynamic workspace control method of underwater manipulator mounted on a floating ROV (Remotely Operated vehicle) in undersea. This method is developed for precise linear motion control of a manipulator’s end-effector considering the motion of a floating ROV caused by sea wave. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation. For online manipulator control achievement, the position tracking technique based on extended Kalman filter (EKF) and the input velocity compensation technique for differential inverse kinematics solution are applied. In addition, for precise workspace control, the third-order differential inverse kinematics is utilized. In this paper, the proposed method is verified by both experimental data based test of ROV position tracking and simulations of the proposed control method. In these tests, the specification of the KIOST deep-sea ROV Hemire is utilized.
Hyungwon Shim1, Bong-Huan Jun, Pan-Mook Lee, Banghyun Kim
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING Vol. 14 No.3 pp.387~396, 2013
Abstract - This paper presents a dynamic workspace control method of underwater manipulator mounted on a floating ROV (Remotely Operated vehicle) in undersea. This method is developed for precise linear motion control of a manipulator’s end-effector considering the motion of a floating ROV caused by sea wave. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation. For online manipulator control achievement, the position tracking technique based on extended Kalman filter (EKF) and the input velocity compensation technique for differential inverse kinematics solution are applied. In addition, for precise workspace control, the third-order differential inverse kinematics is utilized. In this paper, the proposed method is verified by both experimental data based test of ROV position tracking and simulations of the proposed control method. In these tests, the specification of the KIOST deep-sea ROV Hemire is utilized.
Omni-Directional Waling Control for Hexapod Robot
Author
Woo-Young Jeong, Hyo-Joon Lim, Bong-Haun Jun, Sang-Bong Kim
ISAMPE, 2012, Shanghai in China
Abstract - This paper introduces Omni-directional walking motion of a hexapod robot. The hexapod robot consists of its body, six legs with three links and three rotational joints. Kinematic modeling for one leg of the hexapod robot is proposed. Each angle of leg joints can be calculated by inverse kinematic. But inverse kinematic problem is difficult and conplex to represent relation between angle of joint and end effector. Therefore, a controller is designed to generate omni-directional walking trajectory of a lef with smooth and uniform velocity using differential kinematic algorithm based on DSP TMS320F28335 micro-controller and AX- 12A servo motor with half duplex communication. Simulation and experimental results for walking motion of the hexapod are shown to prove the effectiveness and applicability of the proposed controller.
Woo-Young Jeong, Hyo-Joon Lim, Bong-Haun Jun, Sang-Bong Kim
ISAMPE, 2012, Shanghai in China
Abstract - This paper introduces Omni-directional walking motion of a hexapod robot. The hexapod robot consists of its body, six legs with three links and three rotational joints. Kinematic modeling for one leg of the hexapod robot is proposed. Each angle of leg joints can be calculated by inverse kinematic. But inverse kinematic problem is difficult and conplex to represent relation between angle of joint and end effector. Therefore, a controller is designed to generate omni-directional walking trajectory of a lef with smooth and uniform velocity using differential kinematic algorithm based on DSP TMS320F28335 micro-controller and AX- 12A servo motor with half duplex communication. Simulation and experimental results for walking motion of the hexapod are shown to prove the effectiveness and applicability of the proposed controller.
ImpIementation of Core Technologies for Prototype of Seabed Walking Robot CR200
Authors
Bong-Huan Jun. Hyungwon Shim, Banghyun Kim, Han-Goo Kang, Jin-Yeong Park, Pan-Mook Lee,
한국수중로봇기술연구회 추계학술대회, 2012, Daejon in Korea
Abstract - The CR200, ci secibed walking robot for shallow water applications, is underdeveloping in KIOST for exploration of high current and low visibility environment. Based on the requirements of seabed robot, we chose several key technologies for successful development of CR200 robot. They are weight reduction, pressure-resisted watertight multi-joint mechanism, multi-legged underwater walking, handling of current loads, inspection in low visibility. The CR200 was designed and manufactured considering the implementation of key technologies. In this paper, we present the implementation example of the keij technologies in manufacturinz of CR200 platform.
(Pressed in Korean)
Bong-Huan Jun. Hyungwon Shim, Banghyun Kim, Han-Goo Kang, Jin-Yeong Park, Pan-Mook Lee,
한국수중로봇기술연구회 추계학술대회, 2012, Daejon in Korea
Abstract - The CR200, ci secibed walking robot for shallow water applications, is underdeveloping in KIOST for exploration of high current and low visibility environment. Based on the requirements of seabed robot, we chose several key technologies for successful development of CR200 robot. They are weight reduction, pressure-resisted watertight multi-joint mechanism, multi-legged underwater walking, handling of current loads, inspection in low visibility. The CR200 was designed and manufactured considering the implementation of key technologies. In this paper, we present the implementation example of the keij technologies in manufacturinz of CR200 platform.
(Pressed in Korean)
Head Alignment of a Single-beam Scanning SONAR installed on a Multi-legged Underwater Robot
Author
Jin-Yeong Park, Gyeong-Mok Lee, Hyungwon Shim, Hyuk Baek, Pan-Mook Lee, Bong-Huan Jun
OCEANS MTS/IEEE, 2012, Virginia in U.S.A
Abstract - In this paper, head alignment of a single-beam scanning sonar installed on a multi-legged underwater robot is described. The multi-legged underwater robot is supposed to survey seafloor, underwater structures, etc. Typical optic cameras, however, are not appropriate to show high quality scenes in a turbid water. Therefore, to collect images in a low visible underwater environment, the single-beam scanning sonar is proper and installed on the back of the robot. To collect sonar images without distortion caused by geological conditions of the sea floor, the robot needs to sense the attitude of the sonar and control it. This paper introduces a kinematic model of the multilegged robot and its proper pose for head alignment of the sonar.
Jin-Yeong Park, Gyeong-Mok Lee, Hyungwon Shim, Hyuk Baek, Pan-Mook Lee, Bong-Huan Jun
OCEANS MTS/IEEE, 2012, Virginia in U.S.A
Abstract - In this paper, head alignment of a single-beam scanning sonar installed on a multi-legged underwater robot is described. The multi-legged underwater robot is supposed to survey seafloor, underwater structures, etc. Typical optic cameras, however, are not appropriate to show high quality scenes in a turbid water. Therefore, to collect images in a low visible underwater environment, the single-beam scanning sonar is proper and installed on the back of the robot. To collect sonar images without distortion caused by geological conditions of the sea floor, the robot needs to sense the attitude of the sonar and control it. This paper introduces a kinematic model of the multilegged robot and its proper pose for head alignment of the sonar.
Development of Leg with Arm for the Multi-Legged Seabed Robot “CR200”
Author
Hangoo Kang, Hyungwon Shim, Bong-Huan Jun, Pan-Mook Lee
OCEANS MTS/IEEE, 2012, Virginia in U.S.A
Abstract— this paper presents the development of leg with arm for the CR200 as multi-legged seabed robot as design points, fabrication factors and experiments. The design points of leg with arm were presented and also the manufactured leg with arm was showed. In order to verify the design factors, the experiment of joint driving, pressure-resistant and watertight with 25bar were performed.
Hangoo Kang, Hyungwon Shim, Bong-Huan Jun, Pan-Mook Lee
OCEANS MTS/IEEE, 2012, Virginia in U.S.A
Abstract— this paper presents the development of leg with arm for the CR200 as multi-legged seabed robot as design points, fabrication factors and experiments. The design points of leg with arm were presented and also the manufactured leg with arm was showed. In order to verify the design factors, the experiment of joint driving, pressure-resistant and watertight with 25bar were performed.
Flow Analysis around Multi-Legged Underwater Robot "Crabster" To Evaluate Current Loads
Authors
Yeon-Seok Park, Wu-Joan Kim, Bong-Huan Jun
한국해양공학회지 Vol.26 No.5 pp.47~54, 2012
Abstract - In this study, numerical simulations were performed to evaluate the current loads acting on the multi-legged underwater robot "Crabster" with a variety of incident angles using the ANSYSY-CFX package. The Reynolds-weraged Navier-Stokes equations were solved to simulate the fluid flow around Crabster to calculate the forces and moments induced by incoming currents with various angles. First, to assess the posture stability of the body, the forces and moments were calculated with various incident angles when the current acted in the vertical and horizontal directions, Next, two forms of legs(box and foil types) were evaluated to determine the hydrodynamic force variation. Finally, the current forces and moments acting on the Crabster body with the legs attached were estimated.
(Pressed in Korean)
Yeon-Seok Park, Wu-Joan Kim, Bong-Huan Jun
한국해양공학회지 Vol.26 No.5 pp.47~54, 2012
Abstract - In this study, numerical simulations were performed to evaluate the current loads acting on the multi-legged underwater robot "Crabster" with a variety of incident angles using the ANSYSY-CFX package. The Reynolds-weraged Navier-Stokes equations were solved to simulate the fluid flow around Crabster to calculate the forces and moments induced by incoming currents with various angles. First, to assess the posture stability of the body, the forces and moments were calculated with various incident angles when the current acted in the vertical and horizontal directions, Next, two forms of legs(box and foil types) were evaluated to determine the hydrodynamic force variation. Finally, the current forces and moments acting on the Crabster body with the legs attached were estimated.
(Pressed in Korean)
Integration Test of Video System for a Subsea Walking Robot CR200
Authors
Sung-Woo Park, Banghyun Kim, Pan-Mook Lee, Bong-Haun Jun
한국컴퓨터종합학술대회 논문집 Vol.39 No.1 pp.233~235, 2012
Abstract - 해저보행로봇 Cr200은 여러 개의 관절로 이루어진 6개의 다리를 이용하여 해저면에서 보행으로 이동하며 해저 정밀탐사 및 작업을 수행하는 로봇으로, 케이블로 연결된 선상제어실에서 원격 제어된다. CR200시스템에서는 16개의 카메라가 장착될 예정이며, 취득된 카메라의 영상은 선상제어실의 비디오 컴퓨터로 전송되어 모니터링 및 녹화된다. 설계된 비디오 시스템에서 영상 전송은 전자기 간섭에 의한 화질 열화를 최소화 하기 위하여 기가비트의 대역폭을 가진 이더넷과 광케이블을 통하여 디지털 형태로 전송되며, 아날로그 카메라의 영상은 비디오 인코더를 사용하여 디지털 영상으로 변환된 후에 전송된다. 본 논문에서는 CR200의 비디오 시스템의 설계를 소개하고, 실제로 제작하기 전에 설계된 비디오 시스템을 검증하기 위하여 테스트베드를 사용한 통합 테스트 결과를 제시한다. 아직 준비되지 않은 카메라에 대해서는 아이패드의 아날로그 영상 출력을 비디오 인코더의 입력으로 전달하여, 설계된 모든 카메라들이 동작하는 상황을 테스트베드로 실험하였다. 16개 카메라의 영상이 모니터링 및 녹화되는 상황을 테스트베드로 실험한 결과에 따르면, 압축률 10%의 H.264 동영상 압축 알고리즘을 사용할 경우에 30fps 영상의 모니터링 및 녹화에 각각 60Mbps의 전송량으로 비디오 시스템이 정상적으로 동작하는 것을 확인할 수 있었다. 비디오 데이터의 전송은 센서 및 제어 데이터의 전송과 같은 네트워크를 사용하지만, 비디오 데이터의 기가비트 네트워크 사용률은 평균 12%이기 때문에 비디오 데이터 전송으로 인하여 데이터 통신은 거의 영향을 받지 않는다.
(Pressed in Korean)
Sung-Woo Park, Banghyun Kim, Pan-Mook Lee, Bong-Haun Jun
한국컴퓨터종합학술대회 논문집 Vol.39 No.1 pp.233~235, 2012
Abstract - 해저보행로봇 Cr200은 여러 개의 관절로 이루어진 6개의 다리를 이용하여 해저면에서 보행으로 이동하며 해저 정밀탐사 및 작업을 수행하는 로봇으로, 케이블로 연결된 선상제어실에서 원격 제어된다. CR200시스템에서는 16개의 카메라가 장착될 예정이며, 취득된 카메라의 영상은 선상제어실의 비디오 컴퓨터로 전송되어 모니터링 및 녹화된다. 설계된 비디오 시스템에서 영상 전송은 전자기 간섭에 의한 화질 열화를 최소화 하기 위하여 기가비트의 대역폭을 가진 이더넷과 광케이블을 통하여 디지털 형태로 전송되며, 아날로그 카메라의 영상은 비디오 인코더를 사용하여 디지털 영상으로 변환된 후에 전송된다. 본 논문에서는 CR200의 비디오 시스템의 설계를 소개하고, 실제로 제작하기 전에 설계된 비디오 시스템을 검증하기 위하여 테스트베드를 사용한 통합 테스트 결과를 제시한다. 아직 준비되지 않은 카메라에 대해서는 아이패드의 아날로그 영상 출력을 비디오 인코더의 입력으로 전달하여, 설계된 모든 카메라들이 동작하는 상황을 테스트베드로 실험하였다. 16개 카메라의 영상이 모니터링 및 녹화되는 상황을 테스트베드로 실험한 결과에 따르면, 압축률 10%의 H.264 동영상 압축 알고리즘을 사용할 경우에 30fps 영상의 모니터링 및 녹화에 각각 60Mbps의 전송량으로 비디오 시스템이 정상적으로 동작하는 것을 확인할 수 있었다. 비디오 데이터의 전송은 센서 및 제어 데이터의 전송과 같은 네트워크를 사용하지만, 비디오 데이터의 기가비트 네트워크 사용률은 평균 12%이기 때문에 비디오 데이터 전송으로 인하여 데이터 통신은 거의 영향을 받지 않는다.
(Pressed in Korean)
Performance Evaluation of Software Timer for Real-time Control of the Subsea Walking Robot CR200
Authors
Banghyun Kim, Sung-Woo Park, Pan-Mook Lee, Bong-Huan Jun
한국컴퓨터종합학술대회 논문집 Vol.39 No.1 pp.227~229, 2012
Abstract - 한국해양연구원에서 개발하고 있는 해저보행로봇 CR200은 6개의 다리를 이용하여 해저면에서 보행으로 이동하며 정밀 해저탐사 및 작업을 수행할 수 있는 로봇이다. 운용자는 선상제어실에서 유선으로 연결된 CR200을 원격으로 모니터링하거나 제어한다. 특히 안정적인 보행을 위해서는 100Hz의 주기로 CR200의 상태 정보가 선상제어실로 전송되고, 선상제어실에서는 전송된 정보를 기반으로 제어 명령을 산출하여 CR200으로 전송해야 한다. 이러한 주기적인 실시간 제어를 위해서는 일반적으로 실시간 운영체제를 사용하지만, 본 논문에서는 실시간 운영체제를 사용하지 않고 시스템 시간 기반의 백그라운드 프로세스로 동작하는 소프트웨어 타이머를 사용하여 실시간 제어를 하는 방법을 제안하고, 성능 평가 결과를 제시한다. 제안한 방법의 실시간 속성을 검증하기위하여, 현재 설계에서 운영체제로 고려하고 있는 우분투 10.04와 윈도우즈 7을 CR200에 탑재되는 Advantech 사의 PCM-3362 보드에 설치하여 소프트웨어 타이머의 성능을 10ms부터 100ms까지 각각 실험하였다. 실험결과에 따르면, 두 운영체제에서 모두 누락이 없이 타이머 동작이 수행되었으며, 10ms 간격으로 타이머를 동작하였을 때에 우분투에서는 평군 오차가 41μs이었고 위도우즈 7에서는 7.7ms였다. 윈도우즈 7에서의 오차는 100Hz 제어 주기에 사용하기에 적합하지 않지만, 우분투에서의 오차는 제어 주기 간격의 0.41%에 불과하기 때문에 해저보행로봇의 실시간 제어에 영향을 주지 않는 오차이다. 따라서 CR200의 임베디드 컴퓨터와 선상제어실의 원격제어 컴퓨터는 우분투 운영체제 상에서 소프트웨어 타이머를 이용하여 상호 연동되도록 구현할 예정이다.
(Pressed in Korean)
Banghyun Kim, Sung-Woo Park, Pan-Mook Lee, Bong-Huan Jun
한국컴퓨터종합학술대회 논문집 Vol.39 No.1 pp.227~229, 2012
Abstract - 한국해양연구원에서 개발하고 있는 해저보행로봇 CR200은 6개의 다리를 이용하여 해저면에서 보행으로 이동하며 정밀 해저탐사 및 작업을 수행할 수 있는 로봇이다. 운용자는 선상제어실에서 유선으로 연결된 CR200을 원격으로 모니터링하거나 제어한다. 특히 안정적인 보행을 위해서는 100Hz의 주기로 CR200의 상태 정보가 선상제어실로 전송되고, 선상제어실에서는 전송된 정보를 기반으로 제어 명령을 산출하여 CR200으로 전송해야 한다. 이러한 주기적인 실시간 제어를 위해서는 일반적으로 실시간 운영체제를 사용하지만, 본 논문에서는 실시간 운영체제를 사용하지 않고 시스템 시간 기반의 백그라운드 프로세스로 동작하는 소프트웨어 타이머를 사용하여 실시간 제어를 하는 방법을 제안하고, 성능 평가 결과를 제시한다. 제안한 방법의 실시간 속성을 검증하기위하여, 현재 설계에서 운영체제로 고려하고 있는 우분투 10.04와 윈도우즈 7을 CR200에 탑재되는 Advantech 사의 PCM-3362 보드에 설치하여 소프트웨어 타이머의 성능을 10ms부터 100ms까지 각각 실험하였다. 실험결과에 따르면, 두 운영체제에서 모두 누락이 없이 타이머 동작이 수행되었으며, 10ms 간격으로 타이머를 동작하였을 때에 우분투에서는 평군 오차가 41μs이었고 위도우즈 7에서는 7.7ms였다. 윈도우즈 7에서의 오차는 100Hz 제어 주기에 사용하기에 적합하지 않지만, 우분투에서의 오차는 제어 주기 간격의 0.41%에 불과하기 때문에 해저보행로봇의 실시간 제어에 영향을 주지 않는 오차이다. 따라서 CR200의 임베디드 컴퓨터와 선상제어실의 원격제어 컴퓨터는 우분투 운영체제 상에서 소프트웨어 타이머를 이용하여 상호 연동되도록 구현할 예정이다.
(Pressed in Korean)
Performance Evaluation of Communication and Video System for a Multi-legged Subsea Robot CR200
Author
Banghuyn Kim, Sung-Woo Park, Pan-Mook Lee, Bong-Huan Jun
ISOPE, 2012, Rhodes in Greece
Abstract - This paper presents the design and performance evaluation of communication and video system for a multi-legged subsea robot which can work in shallow and strong tidal current and high turbidity environment by crawling sea floor. The design keys are hierarchical network structure based on Gigabit Ethernet and full digital video transmission. Especially, the digital video transmission can minimize electronic and magnetic interference of video image. The results of performance evaluation show that compressed digital video transmission can decrease the amount of video data without image quality loss, and the round-trip time of communication message is enough to control the subsea robot.
Banghuyn Kim, Sung-Woo Park, Pan-Mook Lee, Bong-Huan Jun
ISOPE, 2012, Rhodes in Greece
Abstract - This paper presents the design and performance evaluation of communication and video system for a multi-legged subsea robot which can work in shallow and strong tidal current and high turbidity environment by crawling sea floor. The design keys are hierarchical network structure based on Gigabit Ethernet and full digital video transmission. Especially, the digital video transmission can minimize electronic and magnetic interference of video image. The results of performance evaluation show that compressed digital video transmission can decrease the amount of video data without image quality loss, and the round-trip time of communication message is enough to control the subsea robot.
Operating Strategy and Experimental Study on High Resolution Scanning Sonar of Multi-legged Seabed Robot to Overcome the Low Visibility Environment
Authors
Hyuk Baek, Bong-Huan Jun, Bo-Ram Kim, Hyung-Won Shim
한국해양과학기술협의회 공동학술대회, 2012, Daegu in Korea
Abstract - In this paper, we studied about ultrasonic sensor operating strategies of multi-legged seabed robot based on result of the open sea experiment that the robot to overcome the low visibility environment. This experiment was carried out on April 3 to April 6, 2012 at Pier of Namhae Institute to get vertical and horizontal images and used device was 1171 High Resolution sensor manufactured
by Kongsberg Maritime. The criteria of positioning and sensor arrangement of the robot was suggested by this experiment and acquired image data was represented as an integrated picture with Google Earth satellite map through the mosaic processing from Adobe Photoshop program.
(Pressed in Korean)
Hyuk Baek, Bong-Huan Jun, Bo-Ram Kim, Hyung-Won Shim
한국해양과학기술협의회 공동학술대회, 2012, Daegu in Korea
Abstract - In this paper, we studied about ultrasonic sensor operating strategies of multi-legged seabed robot based on result of the open sea experiment that the robot to overcome the low visibility environment. This experiment was carried out on April 3 to April 6, 2012 at Pier of Namhae Institute to get vertical and horizontal images and used device was 1171 High Resolution sensor manufactured
by Kongsberg Maritime. The criteria of positioning and sensor arrangement of the robot was suggested by this experiment and acquired image data was represented as an integrated picture with Google Earth satellite map through the mosaic processing from Adobe Photoshop program.
(Pressed in Korean)
Design of Electrical & Electronic System for a 20m-rated Multi-legged Underwater Robot
Authors
Jin-Yeong Park, Gyeong-Mok Lee, Hyungwon Shim, Banghyun Kim, Pan-Mook Lee, Bong-Huan Jun
한국해양과학기술협의회 공동학술대회, 2012, Daegu in Korea
Abstract - The Korea Ocean Research and Development Institute(KORDI) has been developing a 200m depth rated multi-legged underwater robot named CR200. This robot has six legs totally. Each leg has 4 degrees of freedom. Two legs wich are installed on the front of the robot have manipulators. CR200's goal is to inspect sunken ships or underwater structures. Also CR200 is supposed to do underwater manipulator operation. In This paper, electrical & electronic system for CR200 is introduced. Sensor interface is also presented. CR200 is supplied 190VDC grom the mother ship. This main power is converted to proper voltage and distributed to every devices, sensors, motors and motor drivers. We designed Crabster Integrate Control System(CICS) to interface various sensors including a single-beam scanning sonar, multi-beam acoustic camera and optic cameras to survey underwater environment. Various types of communication protocol are converted to Ethernet and connected to the mother ship through a fiber optic cable.
(Pressed in Korean)
Jin-Yeong Park, Gyeong-Mok Lee, Hyungwon Shim, Banghyun Kim, Pan-Mook Lee, Bong-Huan Jun
한국해양과학기술협의회 공동학술대회, 2012, Daegu in Korea
Abstract - The Korea Ocean Research and Development Institute(KORDI) has been developing a 200m depth rated multi-legged underwater robot named CR200. This robot has six legs totally. Each leg has 4 degrees of freedom. Two legs wich are installed on the front of the robot have manipulators. CR200's goal is to inspect sunken ships or underwater structures. Also CR200 is supposed to do underwater manipulator operation. In This paper, electrical & electronic system for CR200 is introduced. Sensor interface is also presented. CR200 is supplied 190VDC grom the mother ship. This main power is converted to proper voltage and distributed to every devices, sensors, motors and motor drivers. We designed Crabster Integrate Control System(CICS) to interface various sensors including a single-beam scanning sonar, multi-beam acoustic camera and optic cameras to survey underwater environment. Various types of communication protocol are converted to Ethernet and connected to the mother ship through a fiber optic cable.
(Pressed in Korean)
Design of the Robot Arm combined with Leg for the Multi-Legged Underwater Robot “CR 200”
Author
Hangoo Kang, Hyungwon Shim, Bong-Huan Jun, Pan-Mook Lee
한국해양과학기술협의회 공동학술대회, 2012, Daegu in Korea
Abstract - The KORDI has launched a new project to develop multi-legged subsea robot, named CR200, for precise proximity exploration and precise underwater work in the shallow sea under 200m depth. In this project, a six-legged underwater robot is proposed for the both of seabed walking and underwater working in the high tide and high turbidity environment. The proposed robot uses two front legs as manipulators. This paper deals with the design of robot arm combined with leg for the six-legged subsea robot. First, The kinematics structure and shapes of robot arm combined with
leg are established. Second, the specific design is performed such as calculation of torque for joints and selections of motor, reduction gears, sensors, and motor controller. Finally, mechanical designs were performed using 2D and 3D CAD design tools. All of the design process will be presented in this paper.
(Pressed in Korean)
Hangoo Kang, Hyungwon Shim, Bong-Huan Jun, Pan-Mook Lee
한국해양과학기술협의회 공동학술대회, 2012, Daegu in Korea
Abstract - The KORDI has launched a new project to develop multi-legged subsea robot, named CR200, for precise proximity exploration and precise underwater work in the shallow sea under 200m depth. In this project, a six-legged underwater robot is proposed for the both of seabed walking and underwater working in the high tide and high turbidity environment. The proposed robot uses two front legs as manipulators. This paper deals with the design of robot arm combined with leg for the six-legged subsea robot. First, The kinematics structure and shapes of robot arm combined with
leg are established. Second, the specific design is performed such as calculation of torque for joints and selections of motor, reduction gears, sensors, and motor controller. Finally, mechanical designs were performed using 2D and 3D CAD design tools. All of the design process will be presented in this paper.
(Pressed in Korean)
Design of Underwater Walking Robot CR200 and Stability Analysis in Tidal Current
Authors
Bong-Huan Jun, Hyungwon Shim, Yeon-Seok Park, Wu-Joan Kim
한국해양과학기술협의회 공동학술대회, 2012, Daegu in Korea
Abstract - In this paper, we present the design result and stability analysis result of underwater walking robot CR200. To perform underwater working in current and low visibility environment, the CR200 is designed as six-legged underwater walking robot with acoustic imaging system. The shape of body is streamlined in the consideration of hydrodynamic characteristics. The stability criteria of underwater robot is presented to analyze the tumble stability of CR200. The stability criteria is defined as the minimum potential energy by considering the hydrodynamic forces to the normalized energy stability margin. The hydrodynamic forces acting on the robot in current is estimated by the
numerical simulation using ANSYS-CFX. The tumble stability of CR200 is analyzed in the presented stability criteria and estimated hydrodynamic forces.
(Pressed in Korean)
Bong-Huan Jun, Hyungwon Shim, Yeon-Seok Park, Wu-Joan Kim
한국해양과학기술협의회 공동학술대회, 2012, Daegu in Korea
Abstract - In this paper, we present the design result and stability analysis result of underwater walking robot CR200. To perform underwater working in current and low visibility environment, the CR200 is designed as six-legged underwater walking robot with acoustic imaging system. The shape of body is streamlined in the consideration of hydrodynamic characteristics. The stability criteria of underwater robot is presented to analyze the tumble stability of CR200. The stability criteria is defined as the minimum potential energy by considering the hydrodynamic forces to the normalized energy stability margin. The hydrodynamic forces acting on the robot in current is estimated by the
numerical simulation using ANSYS-CFX. The tumble stability of CR200 is analyzed in the presented stability criteria and estimated hydrodynamic forces.
(Pressed in Korean)
Mechanical Design of Six-Legged Walking Robot, Little Crabster
Author
Jung-Yup Kim, Bong-Huan Jun
OCEANS MTS/IEEE, 2012, Yeosu in Korea
Abstract—This paper describes the mechanical design of a sixlegged walking robot named Little Crabster as a ground test platform of an underwater walking robot. First, the dimensions, joint structure, range of motion, and mass distribution of the robot are determined by considering biological data of the crabs, lobsters, and insects. Second, the joint actuators including motors and reduction gears are chosen through the simple force analysis. Third, the two types of the joint mechanism are established for the detailed design. Finally, the 2D design is performed using AutoCAD which is a commercial CAD software. The detailed design features are addressed in this paper.
Jung-Yup Kim, Bong-Huan Jun
OCEANS MTS/IEEE, 2012, Yeosu in Korea
Abstract—This paper describes the mechanical design of a sixlegged walking robot named Little Crabster as a ground test platform of an underwater walking robot. First, the dimensions, joint structure, range of motion, and mass distribution of the robot are determined by considering biological data of the crabs, lobsters, and insects. Second, the joint actuators including motors and reduction gears are chosen through the simple force analysis. Third, the two types of the joint mechanism are established for the detailed design. Finally, the 2D design is performed using AutoCAD which is a commercial CAD software. The detailed design features are addressed in this paper.
Preliminary Design of the Multi-Legged Underwater Walking Robot CR200
Authors
B.H. Jun, H. Shim, B. Kim, J.Y. Park, H. Baek, P.M. Lee W.J. Kim, Y.S. Park
OCEANS MTS/IEEE, 2012, Yeosu in Korea
Abstract - This paper presents the design results of the underwater walking robot named CR200 which is able to perform the precise inspection and manipulation in underwater tidal and low visibility environment. The main mission of the CR200 is to survey and inspect the subsea structure and shipwrecks in the cost of Korea Peninsula. The CR200 has 6 legs for mechanical contact with seabed and the forward 2 legs also work as robotic arms for underwater manipulation. The CR200 endures the tidal current by controlling the posture of its streamlined body and legs so the hydrodynamic forces on the body and legs work to improve the stability margin. The numerical simulations were performed for the evaluation of current loads acting on the CR200 with a variety of incident angles using ANSYS-CFX package. The Reynolds-averaged Navier-Stokes equations were solved to simulate the fluid flow around the CR200 to calculate forces and moments induced by incoming current with angles.
B.H. Jun, H. Shim, B. Kim, J.Y. Park, H. Baek, P.M. Lee W.J. Kim, Y.S. Park
OCEANS MTS/IEEE, 2012, Yeosu in Korea
Abstract - This paper presents the design results of the underwater walking robot named CR200 which is able to perform the precise inspection and manipulation in underwater tidal and low visibility environment. The main mission of the CR200 is to survey and inspect the subsea structure and shipwrecks in the cost of Korea Peninsula. The CR200 has 6 legs for mechanical contact with seabed and the forward 2 legs also work as robotic arms for underwater manipulation. The CR200 endures the tidal current by controlling the posture of its streamlined body and legs so the hydrodynamic forces on the body and legs work to improve the stability margin. The numerical simulations were performed for the evaluation of current loads acting on the CR200 with a variety of incident angles using ANSYS-CFX package. The Reynolds-averaged Navier-Stokes equations were solved to simulate the fluid flow around the CR200 to calculate forces and moments induced by incoming current with angles.
2014/01/21
Design of the Underwater Link-Joint System for the Multi-Legged Underwater Robot “CR200”
Author
Hangoo Kang, Hyungwon Shim, Bong-Huan Jun, Pan-Mook Lee
OCEANS MTS/IEEE, 2012, Yeosu in Korea
Abstract—This paper presents the design of an underwater linkjoint system for developing of a 200m class six-legged subsea robot. The design includes a process with concept establishment, specific design for joint capability and mechanical drawing. First deals with the definition of degree of freedom which is the linkjoint system. Second is the design with calculation of velocity and torque of joints, selection of motor, reduction gears, sensors, and driver. Final is the mechanical design of configuration of the underwater link-joint system. Especially, the specific design is based on simple static and dynamic force analysis considering the performance requirement. And the mechanical design includes the thickness calculation of joint pressure vessel for satisfying the required pressure-resistant capability, and shows the detailed design using 2D and 3D computer aided design(CAD) software. This paper describes the whole design process of the underwater link-joint system for manufacturing the leg of CR200.
Hangoo Kang, Hyungwon Shim, Bong-Huan Jun, Pan-Mook Lee
OCEANS MTS/IEEE, 2012, Yeosu in Korea
Abstract—This paper presents the design of an underwater linkjoint system for developing of a 200m class six-legged subsea robot. The design includes a process with concept establishment, specific design for joint capability and mechanical drawing. First deals with the definition of degree of freedom which is the linkjoint system. Second is the design with calculation of velocity and torque of joints, selection of motor, reduction gears, sensors, and driver. Final is the mechanical design of configuration of the underwater link-joint system. Especially, the specific design is based on simple static and dynamic force analysis considering the performance requirement. And the mechanical design includes the thickness calculation of joint pressure vessel for satisfying the required pressure-resistant capability, and shows the detailed design using 2D and 3D computer aided design(CAD) software. This paper describes the whole design process of the underwater link-joint system for manufacturing the leg of CR200.
Optimization simulation considering swimming pattern analysis of underwater biology and fluid drag coefficients
Authors
Daehyun Kim, Jihong Lee, Bong-Hwan Jeon
ICROS Annual Conference, 2012, Seoul in Korea
Abstract - In the paper, the swimming method of underwater creatures was optimized by using GA algorithm to apply to the underwater robots. It has Kinematic formula designed by a few kinds of aquatic organisms' swimming patterns and common characteristics of thier legs. The fluid drag coefficient of the robot was estimated by the simulation, and the data from the simulation was applied to the optimized algorithm. Fluid resistance coefficient is fixed at both link1 and link2. The fluid resistance coefficient at link3 that depends on the angle becomes different. As a result of applying to the simulation for optimization by using the fluid drag coefficient, the driving force was greatest when the cross-sectional area of the link3 is the largest as we expected. Furthermore, we were able to see the fact that swimming pattern of the robot was similar to the underwater creature's.
(Pressed in Korean)
Daehyun Kim, Jihong Lee, Bong-Hwan Jeon
ICROS Annual Conference, 2012, Seoul in Korea
Abstract - In the paper, the swimming method of underwater creatures was optimized by using GA algorithm to apply to the underwater robots. It has Kinematic formula designed by a few kinds of aquatic organisms' swimming patterns and common characteristics of thier legs. The fluid drag coefficient of the robot was estimated by the simulation, and the data from the simulation was applied to the optimized algorithm. Fluid resistance coefficient is fixed at both link1 and link2. The fluid resistance coefficient at link3 that depends on the angle becomes different. As a result of applying to the simulation for optimization by using the fluid drag coefficient, the driving force was greatest when the cross-sectional area of the link3 is the largest as we expected. Furthermore, we were able to see the fact that swimming pattern of the robot was similar to the underwater creature's.
(Pressed in Korean)
An Approximation of Generalized Torques by the Hydrodynamic
Author
Bong-Huan Jun, Hyungwon Shim, Pan-Mook Lee
International Journal of Ocean System Engineering Vol.1 No.4 pp.221~228, 2011
Abstract - In this paper, we present a concept of an underwater walking robot Crabster including the main missions of the robot. The main focus is on the modeling of drag and lift forces on the legs of the robot, which makes main deference of dynamic characteristics between the on-land and underwater. Drag and lift forces acting on the underwater link are described as a function of relative velocity of link with respect to the fluid using strip theory. By describing the translational velocity of link as rotational velocity of joint, we describe the drag force as a function of joint variables. Generalized drag torque is successfully derived from the drag force as a function of generalized variables and its first derivative, even though the arm has roll joint and twist angles between joints. To verify the proposed model, we conducted drag torque simulations with simple scara robot example.
Bong-Huan Jun, Hyungwon Shim, Pan-Mook Lee
International Journal of Ocean System Engineering Vol.1 No.4 pp.221~228, 2011
Abstract - In this paper, we present a concept of an underwater walking robot Crabster including the main missions of the robot. The main focus is on the modeling of drag and lift forces on the legs of the robot, which makes main deference of dynamic characteristics between the on-land and underwater. Drag and lift forces acting on the underwater link are described as a function of relative velocity of link with respect to the fluid using strip theory. By describing the translational velocity of link as rotational velocity of joint, we describe the drag force as a function of joint variables. Generalized drag torque is successfully derived from the drag force as a function of generalized variables and its first derivative, even though the arm has roll joint and twist angles between joints. To verify the proposed model, we conducted drag torque simulations with simple scara robot example.
PASENS: Parallel Sensor Network Simulator
Authors
Banghyun Kim, Jonghyun Kim
Asis Simulation Conference, 2011, Seoul in Korea
Abstract - This paper presents a Parallel Sensor Network Simulator (PASENS) to shorten the time in a large-scale wireless sensor network simulation. The degree of details of the simulation must be high to verify the behavior of the network and to estimate its power consumption and execution time of an application program as accurately as possible. Instruction-level simulation can provide those functions. But, when the degree of details is higher, the simulation time becomes longer. We propose an optimal-synchronous parallel discrete-event simulation method to shorten the simulation time. In this method, sensor nodes are partitioned into subsets, and PCs interconnected through a network are in charge of simulating one of the subsets. Results of experiments using PASENS show, in the case that the number of sensor nodes is large, the speedup tends to approach the square of the number of PCs participating in a simulation. We verified that the simulator provides high speedup and scalability enough to simulate maximum 20,000 sensor nodes.
Banghyun Kim, Jonghyun Kim
Asis Simulation Conference, 2011, Seoul in Korea
Abstract - This paper presents a Parallel Sensor Network Simulator (PASENS) to shorten the time in a large-scale wireless sensor network simulation. The degree of details of the simulation must be high to verify the behavior of the network and to estimate its power consumption and execution time of an application program as accurately as possible. Instruction-level simulation can provide those functions. But, when the degree of details is higher, the simulation time becomes longer. We propose an optimal-synchronous parallel discrete-event simulation method to shorten the simulation time. In this method, sensor nodes are partitioned into subsets, and PCs interconnected through a network are in charge of simulating one of the subsets. Results of experiments using PASENS show, in the case that the number of sensor nodes is large, the speedup tends to approach the square of the number of PCs participating in a simulation. We verified that the simulator provides high speedup and scalability enough to simulate maximum 20,000 sensor nodes.
Underwater robot-leg design based on analysis for the swimming pattern of underwater biology
Author
Daehyun Kim, Jihong Lee, Jong-Hwa Lee, Bong-Hwan Jeon
CICS, 2011, Gyeongju in Korea
Abstract - 본 논문에서는 몇 종류의 수중 생물들을 선택하여 각각의 유영 패턴을 확인하고 공통 영역을 분석하여 실제 로봇 설계에 적용 하였다. 수중 생물들의 유영 패턴을 확인 한 결과 대부분이 뒷다리가 발달이 되어 있었으며, 다리 한 개를 놓고 분석하면 다리의 마지막 Link 형태가 변하면서 단면적의 변화가 상당히 심하게 나타났다. 이를 바탕으로 마지막 Link의 단면적이 변하는 Roll-Joint를 가진 3축 로봇을 기구학적으로 설계 하여 추진력 비교 시뮬레이션을 수행 하였고, 그 결과는 예상 한 것과 같이 단면적이 일정한 패턴보다 더 큰 추진력을 얻을 수 있었다. 또 이 결과를 토대로 3축 로봇을 설계하고 제작 하였다.
(Pressed in Korean)
Daehyun Kim, Jihong Lee, Jong-Hwa Lee, Bong-Hwan Jeon
CICS, 2011, Gyeongju in Korea
Abstract - 본 논문에서는 몇 종류의 수중 생물들을 선택하여 각각의 유영 패턴을 확인하고 공통 영역을 분석하여 실제 로봇 설계에 적용 하였다. 수중 생물들의 유영 패턴을 확인 한 결과 대부분이 뒷다리가 발달이 되어 있었으며, 다리 한 개를 놓고 분석하면 다리의 마지막 Link 형태가 변하면서 단면적의 변화가 상당히 심하게 나타났다. 이를 바탕으로 마지막 Link의 단면적이 변하는 Roll-Joint를 가진 3축 로봇을 기구학적으로 설계 하여 추진력 비교 시뮬레이션을 수행 하였고, 그 결과는 예상 한 것과 같이 단면적이 일정한 패턴보다 더 큰 추진력을 얻을 수 있었다. 또 이 결과를 토대로 3축 로봇을 설계하고 제작 하였다.
(Pressed in Korean)
Dynamic Workspace Control Method of Underwater Mnipulator based on Motion Compensation of an ROV
Authors
Hyungwon Shim, Bong-Huan Jun, Pan-Mook Lee
UT11 & SSC11, 2011, Tyoko in Japan
Abstract - This paper presents a dynamic workspace control method of underwater manipulator mounted on a floating ROV(Remotely Operated vehicle) in undersea. This method is developed for precise linear motion control of a manipulator’s end-effector considering the motion of a floating ROV caused by sea wave. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation. For online manipulator control achievement, the position tracking technique based on extended Kalman filter(EKF) and the input velocity compensation technique for differential inverse kinematics solution are applied. In addition, for precise workspace control, the third-order differential inverse kinematics is utilized. In this paper, the proposed method is verified by both experimental data based test of ROV position tracking and simulations of the proposed control method. In these tests, the specification of the KORDI deep-sea ROV Hemire is utilized.
Hyungwon Shim, Bong-Huan Jun, Pan-Mook Lee
UT11 & SSC11, 2011, Tyoko in Japan
Abstract - This paper presents a dynamic workspace control method of underwater manipulator mounted on a floating ROV(Remotely Operated vehicle) in undersea. This method is developed for precise linear motion control of a manipulator’s end-effector considering the motion of a floating ROV caused by sea wave. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation. For online manipulator control achievement, the position tracking technique based on extended Kalman filter(EKF) and the input velocity compensation technique for differential inverse kinematics solution are applied. In addition, for precise workspace control, the third-order differential inverse kinematics is utilized. In this paper, the proposed method is verified by both experimental data based test of ROV position tracking and simulations of the proposed control method. In these tests, the specification of the KORDI deep-sea ROV Hemire is utilized.
A New Concept and Technologies of Multi-Legged Underwater Robot for High Tidal Current Environment
Authors
Bong-Huan Jun, Hyungwon Shim, Jin-Yeong Park, Banghyun Kim, Pan-Mook Lee
UT11 & SSC11 2011
Abstract - In this paper, we present a new concept of multi-legged seabed robot for high tidal current environment. The robot moves on seabed by walking with 4 or 6 legs which is different moving mechanism from the existing underwater thrust system such as screw or Caterpillar. The main concept to endure the high current is utilization of hydrodynamic forces acting on the body and legs. The advantage of this concept is that the robot is able to have high stability in positioning as well as that the robot is less disturbs the seabed environment than other thrust system. In order to optimize the configuration of the leg with respect to tidal current, an optimization problem is formulated. And a simplified model of hydrostatic and hydrodynamic forces acting on the legs is presented. Presented model can be used for optimization of body and leg configurations and for drag-optimal path planning of legs. Because the shape of leg is a main factor to the hydro dynamic forces, a design of sledner leg is also presented in this paper.
Bong-Huan Jun, Hyungwon Shim, Jin-Yeong Park, Banghyun Kim, Pan-Mook Lee
UT11 & SSC11 2011
Abstract - In this paper, we present a new concept of multi-legged seabed robot for high tidal current environment. The robot moves on seabed by walking with 4 or 6 legs which is different moving mechanism from the existing underwater thrust system such as screw or Caterpillar. The main concept to endure the high current is utilization of hydrodynamic forces acting on the body and legs. The advantage of this concept is that the robot is able to have high stability in positioning as well as that the robot is less disturbs the seabed environment than other thrust system. In order to optimize the configuration of the leg with respect to tidal current, an optimization problem is formulated. And a simplified model of hydrostatic and hydrodynamic forces acting on the legs is presented. Presented model can be used for optimization of body and leg configurations and for drag-optimal path planning of legs. Because the shape of leg is a main factor to the hydro dynamic forces, a design of sledner leg is also presented in this paper.
R&D Activities on UUVs in KORDI
Authors
Pan-Mook Lee
International Workshop on Robotic Amphibious Vehicle, 2011, Pohang in Korea
Abstract - This paper presents the research activities on the unmanned underwater vehicles(UUVs) in KORDI. KORDI has develpoed the key technologies on underwater navigation, guidance, control and docking for UUVs, and KORDI has developed several prototype UUVs; ROVs, AUVs and a multi-legged underwater walking robot that are named as HEMIRE, HENUVY, Min Disposal Vehiclem ISINI, ISNIM100 and CRABSTER. We will introduce the key technologies and the vehicles and discuss with the attendee of the workshop.
Pan-Mook Lee
International Workshop on Robotic Amphibious Vehicle, 2011, Pohang in Korea
Abstract - This paper presents the research activities on the unmanned underwater vehicles(UUVs) in KORDI. KORDI has develpoed the key technologies on underwater navigation, guidance, control and docking for UUVs, and KORDI has developed several prototype UUVs; ROVs, AUVs and a multi-legged underwater walking robot that are named as HEMIRE, HENUVY, Min Disposal Vehiclem ISINI, ISNIM100 and CRABSTER. We will introduce the key technologies and the vehicles and discuss with the attendee of the workshop.
Design of Communication Protocol for the Subsea Walking Robot
Author
Banghyun Kim, Sung-Woo Park, Pan-Mook Le, Bong-Huan Jun
Korea Computer Congress 2011 Vol.38 No.1 pp.403~406, 2011
Abstract - 한국해양연구원에서는 국토해양부의 지원을 받아 2010년 7월부터 새로운 개념의 해저로봇 개발에 착수하였다, 새로이 개발되는 해저로봇은 프로펠러 방식으로 추력을 얻는 기존의 해저로봇과는 달리 여러 개의 관절로 이루어진 6개의 다리를 이용하여 해저면에 근접해서 보행과 유영으로 이동하는 해저로봇으로 강조류와 악시계의 환경에서도 운용이 가능한 로봇이다. 이 해저보행로봇 시스템은 선상시스템과 완충기, 그리고 해저보행로봇으로 구성되며, 이들 사이에는 광변환기를 통해서 광케이블로 연결된다. 선상시스템에는 해저로봇의 제어 및 모니터링을 위하여 10대의 컴퓨터가 설치되어 있고, 완충기와 해저로봇에 각각 1대의 입출력 컴퓨터가 내장되어 장착된 센서와 모터의 인터페이스를 담당한다.
본 논문에서는 해저보행로봇의 통신 시스템을 소개하고, 이 통신 시스템에서 사용되기 위하여 설계된 메시지의 통신 프로토콜을 설명한다. 해저보행로봇 시스템의 주 네트워크는 기가비트 이더넷이며, 안정된 통신 환경의 소규모 독립 네트워크이다. 완충기와 해저보행로봇에는 최대 100Hz로 동작하는 다양한 직렬 통신방식을 갖는 다수의 센서와 모터가 장착되어 있는데, 입출력 컴퓨터가 이더넷 네트워크와의 인터페이스 역할을 수행하여 계층적 네트워크를 구성한다. 로봇 제어에서는 실시간성이 중요하기 때문에 이더넷에서 통신 메시지는 한 번의 전송으로 여러 컴퓨터에 전달할 수 있도록 멀티캐스팅을 사용하여 전송된다. 설계된 통신 프로토콜은 이러한 해저로봇 시스템의 특성에 적합한 간결한 구조로 설계되었으며, 최대 255개의 주소를 지정할 수 있고 255 종류의 메시지 형태를 설정할 수 있다.
(Pressed in Korean)
Banghyun Kim, Sung-Woo Park, Pan-Mook Le, Bong-Huan Jun
Korea Computer Congress 2011 Vol.38 No.1 pp.403~406, 2011
Abstract - 한국해양연구원에서는 국토해양부의 지원을 받아 2010년 7월부터 새로운 개념의 해저로봇 개발에 착수하였다, 새로이 개발되는 해저로봇은 프로펠러 방식으로 추력을 얻는 기존의 해저로봇과는 달리 여러 개의 관절로 이루어진 6개의 다리를 이용하여 해저면에 근접해서 보행과 유영으로 이동하는 해저로봇으로 강조류와 악시계의 환경에서도 운용이 가능한 로봇이다. 이 해저보행로봇 시스템은 선상시스템과 완충기, 그리고 해저보행로봇으로 구성되며, 이들 사이에는 광변환기를 통해서 광케이블로 연결된다. 선상시스템에는 해저로봇의 제어 및 모니터링을 위하여 10대의 컴퓨터가 설치되어 있고, 완충기와 해저로봇에 각각 1대의 입출력 컴퓨터가 내장되어 장착된 센서와 모터의 인터페이스를 담당한다.
본 논문에서는 해저보행로봇의 통신 시스템을 소개하고, 이 통신 시스템에서 사용되기 위하여 설계된 메시지의 통신 프로토콜을 설명한다. 해저보행로봇 시스템의 주 네트워크는 기가비트 이더넷이며, 안정된 통신 환경의 소규모 독립 네트워크이다. 완충기와 해저보행로봇에는 최대 100Hz로 동작하는 다양한 직렬 통신방식을 갖는 다수의 센서와 모터가 장착되어 있는데, 입출력 컴퓨터가 이더넷 네트워크와의 인터페이스 역할을 수행하여 계층적 네트워크를 구성한다. 로봇 제어에서는 실시간성이 중요하기 때문에 이더넷에서 통신 메시지는 한 번의 전송으로 여러 컴퓨터에 전달할 수 있도록 멀티캐스팅을 사용하여 전송된다. 설계된 통신 프로토콜은 이러한 해저로봇 시스템의 특성에 적합한 간결한 구조로 설계되었으며, 최대 255개의 주소를 지정할 수 있고 255 종류의 메시지 형태를 설정할 수 있다.
(Pressed in Korean)
Mobility and Agility of a Multi-legged Subsea Robot
Authors
Hyungwon Shim, Bong-Huan Jun, Pan-Mook Lee, and Yong-Kon Lim
OCEANS IEEE/OES, 2011, Santander in Spain
Abstract - This paper presents a unified method for analysis of a mobility and agility of a multi-legged subsea robot in consideration of the tidal current and frictional ground contact. The aim of this research is to analyze an influence of tidal current on the multi-legged robot by utilization of hydrodynamic forces acting on its body and legs. This method derives the region of both linear acceleration (mobility) and angular acceleration (agility) that ensures no slip at each foot with given torque bound of each joint and hydrodynamic force due to underwater environment. After deriving a differential equation including joint actuator torques and body acceleration from subsea robot dynamics and frictional contact condition, we have derived a joint torque constraint equation for ensuring no slip at the contact point. Under the torque limits in infinite norm-sense, the resultant accelerations are represented as a polytope. The proposed method is verified by simulations of a simplified 6-legged subsea robot.
Hyungwon Shim, Bong-Huan Jun, Pan-Mook Lee, and Yong-Kon Lim
OCEANS IEEE/OES, 2011, Santander in Spain
Abstract - This paper presents a unified method for analysis of a mobility and agility of a multi-legged subsea robot in consideration of the tidal current and frictional ground contact. The aim of this research is to analyze an influence of tidal current on the multi-legged robot by utilization of hydrodynamic forces acting on its body and legs. This method derives the region of both linear acceleration (mobility) and angular acceleration (agility) that ensures no slip at each foot with given torque bound of each joint and hydrodynamic force due to underwater environment. After deriving a differential equation including joint actuator torques and body acceleration from subsea robot dynamics and frictional contact condition, we have derived a joint torque constraint equation for ensuring no slip at the contact point. Under the torque limits in infinite norm-sense, the resultant accelerations are represented as a polytope. The proposed method is verified by simulations of a simplified 6-legged subsea robot.
Approximated Modeling of Hydrodynamic Forces
Authors
Bong-Huan Jun, Pan-Mook Lee, Hyuk Baek, Yong-Kon Lim
OCEANS IEEE/OES, 2011, Santander in Spain
Abstract - In this paper, we present the concept of Crabster including the main missions of the robot. The main focus is on the modeling of drag and lift forces on the legs of the robot, which makes main deference of dynamic characteristics between the on-land and underwater. Presented model is described as closed-form dynamic equations based on L-E formulation. Since the closed-form equations of motion are advantageous to apply easily in analysis and controller design purpose, the presented model guarantees the same advantages in underwater legs. Generalized drag torque is successfully derived as a function of generalized variables and its first derivative, even though the arm has roll joint and twist angles between joints. To verify the proposed model, we conducted drag torque simulations with simple scara robot example.
Bong-Huan Jun, Pan-Mook Lee, Hyuk Baek, Yong-Kon Lim
OCEANS IEEE/OES, 2011, Santander in Spain
Abstract - In this paper, we present the concept of Crabster including the main missions of the robot. The main focus is on the modeling of drag and lift forces on the legs of the robot, which makes main deference of dynamic characteristics between the on-land and underwater. Presented model is described as closed-form dynamic equations based on L-E formulation. Since the closed-form equations of motion are advantageous to apply easily in analysis and controller design purpose, the presented model guarantees the same advantages in underwater legs. Generalized drag torque is successfully derived as a function of generalized variables and its first derivative, even though the arm has roll joint and twist angles between joints. To verify the proposed model, we conducted drag torque simulations with simple scara robot example.
Design of Communication and Video System
Authors
Banghyun Kim, Sung-Woo Park, Pan-Mook Lee, Bong-Huan Jun
OCEANS IEEE/OES, 2011, Santander in Spain
Abstract - The MOERI-KORDI has launched a new project to develop multi-legged subsea robot technologies. The objective of 1st stage is to develop a multi-legged robot walking in high tidal current and high turbidity environment while the objective of 2nd stage is to develop a walking and flying robot with 6 legs in deep sea where is calm and clear environment. This paper presents the design of communication and video system for the multi-legged subsea robot and its test bed. The basic design concept of communication system is simple connectivity based on Gigabit Ethernet network. Several serial networks for sensors and motors in the robot are grouped into one Ethernet line using a small I/O computer. The focus of video system design is on compressed digital transmission using network cameras and video encoder for analog cameras. This approach can minimize electronic and magnetic interference in analog data transmission and decrease the amount of transmission data. We constructed the test bed to verify the designed system. The results of performance evaluation using the test bed show that the network throughput is enough to connect all designed devices and the optimal method of video encoding is the H.264/MPEG-4 AVC format with 30% compression rate.
Banghyun Kim, Sung-Woo Park, Pan-Mook Lee, Bong-Huan Jun
OCEANS IEEE/OES, 2011, Santander in Spain
Abstract - The MOERI-KORDI has launched a new project to develop multi-legged subsea robot technologies. The objective of 1st stage is to develop a multi-legged robot walking in high tidal current and high turbidity environment while the objective of 2nd stage is to develop a walking and flying robot with 6 legs in deep sea where is calm and clear environment. This paper presents the design of communication and video system for the multi-legged subsea robot and its test bed. The basic design concept of communication system is simple connectivity based on Gigabit Ethernet network. Several serial networks for sensors and motors in the robot are grouped into one Ethernet line using a small I/O computer. The focus of video system design is on compressed digital transmission using network cameras and video encoder for analog cameras. This approach can minimize electronic and magnetic interference in analog data transmission and decrease the amount of transmission data. We constructed the test bed to verify the designed system. The results of performance evaluation using the test bed show that the network throughput is enough to connect all designed devices and the optimal method of video encoding is the H.264/MPEG-4 AVC format with 30% compression rate.
On the Experimental Study Seabed Image Mosaicking Using Single
Authors
Hyuk Baek, Bong-Huan Jun, Pan-Mook Lee
한국해양과학기술협의회 공동학술대회, 2011, Busan in Korea
Abstract - In this paper, we present an experimental results of seabed mapping using single beam scanning sonar. We have established the image mosaicking process on the multiple sonar images. Sonar image acquisition using MS-1000 was conducted on 20th Jan 2011 at four different target positions of the pier area of South Sea Research Institute of KORDI. Besides, the images were taken at two different range distances as 25m and 50m. This mosaicking process is plan to apply to multi-legged seabed walking robot with clear identification capability of objects in highly turbid environment. The result of mosaic task was superimposed on the local map provided by Google Earth.
(Pressed in Korean)
Hyuk Baek, Bong-Huan Jun, Pan-Mook Lee
한국해양과학기술협의회 공동학술대회, 2011, Busan in Korea
Abstract - In this paper, we present an experimental results of seabed mapping using single beam scanning sonar. We have established the image mosaicking process on the multiple sonar images. Sonar image acquisition using MS-1000 was conducted on 20th Jan 2011 at four different target positions of the pier area of South Sea Research Institute of KORDI. Besides, the images were taken at two different range distances as 25m and 50m. This mosaicking process is plan to apply to multi-legged seabed walking robot with clear identification capability of objects in highly turbid environment. The result of mosaic task was superimposed on the local map provided by Google Earth.
(Pressed in Korean)
Mobility and Agility Analysis of Underwater Walking Robot
Author
Hyung-Won Shim, Bong-Huan Jun, Pan-Mook Lee
한국해양과학기술협의회 공동학술대회, 2011, Busan in Korea
Asbtract - This paper presents a mathematical framework for analysis of a mobility and agility of underwater walking robot in consideration of tidal current and frictional ground contact. The proposed method is the base study for influence analysis of tidal current on multi-legged robot, in which the hydrodynamic forces acting on its body and legs are considered. For this work, a dynamic equations for subsea legged robot and a torque constraint equation are derived. Also the mathematical framework is established to calculate the linear acceleration(mobility) and angular acceleration(agility) bounds of the robot's body center from the dynamic and constraint equations. To verify the proposed method, the simplified model of 4-legged robot is utilized and the simulations considering tidal current are performed. The acceleration bounds obtained from simulations are depicted as polytopes showing the validity of this study.
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Hyung-Won Shim, Bong-Huan Jun, Pan-Mook Lee
한국해양과학기술협의회 공동학술대회, 2011, Busan in Korea
Asbtract - This paper presents a mathematical framework for analysis of a mobility and agility of underwater walking robot in consideration of tidal current and frictional ground contact. The proposed method is the base study for influence analysis of tidal current on multi-legged robot, in which the hydrodynamic forces acting on its body and legs are considered. For this work, a dynamic equations for subsea legged robot and a torque constraint equation are derived. Also the mathematical framework is established to calculate the linear acceleration(mobility) and angular acceleration(agility) bounds of the robot's body center from the dynamic and constraint equations. To verify the proposed method, the simplified model of 4-legged robot is utilized and the simulations considering tidal current are performed. The acceleration bounds obtained from simulations are depicted as polytopes showing the validity of this study.
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An Approximated Modeling and Analysis of Hydrodynamic forces
Authors
Bong-Huan Jun, Pan-Mook Lee, Jin-Yeong Park
한국해양과학기술협의회 공동학술대회, 2011, Busan in Korea
Abstract - In this paper, we present an approximated numerical model of drag and lift forces acting on the articulated legs moving in fluid. Generalized drag torque is successfully derived as a function of generalized variables and its first derivative, even though the arm has roll joint and twist angles between joints. Since the model is described as closed-form dynamic equations based on L-E formulation, it is advantageous to apply in the analysis and controller design of underwater articulated legs. To verify the proposed model, we conducted drag torque simulations with simple scara robot and presented the results in this paper.
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Bong-Huan Jun, Pan-Mook Lee, Jin-Yeong Park
한국해양과학기술협의회 공동학술대회, 2011, Busan in Korea
Abstract - In this paper, we present an approximated numerical model of drag and lift forces acting on the articulated legs moving in fluid. Generalized drag torque is successfully derived as a function of generalized variables and its first derivative, even though the arm has roll joint and twist angles between joints. Since the model is described as closed-form dynamic equations based on L-E formulation, it is advantageous to apply in the analysis and controller design of underwater articulated legs. To verify the proposed model, we conducted drag torque simulations with simple scara robot and presented the results in this paper.
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Digital Video Transmission of the Subsea Walking Robot using the AXIS Encoder
Authors
Sung-Wooo Park, Banghyun Kim, Pan-Mook Lee, Bong-Hun Jun
한국해양과학기술협의회 공동학술대회, 2011, Busan in Korea
Abstract - 현재 한국해양연구원은 국토해양부의 지원을 받아 2010년 7월부터 새로운 개념의 해저보행로봇 개발에 착수하였다. 새로이 개발되는 해저보행로봇은프로펠러 방식으로 추력을 얻는 기존의 수중로봇과는 달리 여러 개의 관절로 이루어진 다리를 이용하여 해저면에 근접해서 보행과 유영으로 이동하는 새로운 개념의 수중로봇이다. 대부분의 수중카메라는 비디오 전송이 아날로그 형태로 이루어지는데, 아날로그 비디오 전송은 전자기 간섭에 취약하고 중간에 광통신을 사용할 경우에는 변환 장치에 의해서 화질 손상 및 노이즈가 발생할 가능성이 높아지는 문제점이 있다. 이러한 문제점을 개선하기 위하여 해저보행로봇 시스템에서는 디지털 비디오 전송을 기반으로 하는 비디오 시스템을 설계하였다. 이 비디오 시스템에서는 아날로그 카메라의 영상 데이터가 비디오 인코더를 이용하여 디지털로 변환된 후에 압축되어 선상시스템으로 전송되고 네트워크 카메라의 비디오 데이터는 이더넷에 직접 연결되어 압축된 디지털 형태로 전송된다. 광케이블을 통하여 선상시스템으로 전송된 영상 데이터는 비디오 서버에 일괄적으로 저장되는 동시에 모니터링 모니터에 출력된다. 설계된 시스템을 검증하기 위해 구축한 테스트베드로 실험한 결과에 따르면, 영상압축방식으로 h.264/MPEG-4를 사용하고 압축률이 30%일 경우에 최적의 성능을 나타내었다. 테스트베드는 AXIS사의 Q7404 비디오 인코터, Kongsberg사의 oe 15-109 아날로그 모노 카메라, AXIS사의 M1114 네트워크 카메라, 3COM사의 3CGSU08 기가비트 스위칭허브, 그리고 Soltek사의 SFC2000-TL10 기가비트 광컨버터를 사용하였다.
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Sung-Wooo Park, Banghyun Kim, Pan-Mook Lee, Bong-Hun Jun
한국해양과학기술협의회 공동학술대회, 2011, Busan in Korea
Abstract - 현재 한국해양연구원은 국토해양부의 지원을 받아 2010년 7월부터 새로운 개념의 해저보행로봇 개발에 착수하였다. 새로이 개발되는 해저보행로봇은프로펠러 방식으로 추력을 얻는 기존의 수중로봇과는 달리 여러 개의 관절로 이루어진 다리를 이용하여 해저면에 근접해서 보행과 유영으로 이동하는 새로운 개념의 수중로봇이다. 대부분의 수중카메라는 비디오 전송이 아날로그 형태로 이루어지는데, 아날로그 비디오 전송은 전자기 간섭에 취약하고 중간에 광통신을 사용할 경우에는 변환 장치에 의해서 화질 손상 및 노이즈가 발생할 가능성이 높아지는 문제점이 있다. 이러한 문제점을 개선하기 위하여 해저보행로봇 시스템에서는 디지털 비디오 전송을 기반으로 하는 비디오 시스템을 설계하였다. 이 비디오 시스템에서는 아날로그 카메라의 영상 데이터가 비디오 인코더를 이용하여 디지털로 변환된 후에 압축되어 선상시스템으로 전송되고 네트워크 카메라의 비디오 데이터는 이더넷에 직접 연결되어 압축된 디지털 형태로 전송된다. 광케이블을 통하여 선상시스템으로 전송된 영상 데이터는 비디오 서버에 일괄적으로 저장되는 동시에 모니터링 모니터에 출력된다. 설계된 시스템을 검증하기 위해 구축한 테스트베드로 실험한 결과에 따르면, 영상압축방식으로 h.264/MPEG-4를 사용하고 압축률이 30%일 경우에 최적의 성능을 나타내었다. 테스트베드는 AXIS사의 Q7404 비디오 인코터, Kongsberg사의 oe 15-109 아날로그 모노 카메라, AXIS사의 M1114 네트워크 카메라, 3COM사의 3CGSU08 기가비트 스위칭허브, 그리고 Soltek사의 SFC2000-TL10 기가비트 광컨버터를 사용하였다.
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Design of Communication System for the Subsea Walking Robot
Authors
Banghun Kim, Sung-Woo Park, Jin-Yeong Park, Pan-Mook Lee, Bong-Huan Jun
한국해양과학기술협의회 공동 학술대회, 2011, Busan in Korea
Abstract - 현재 한국해양연구원에서 개발 중인 해저보행로봇은 프로펠러 방식으로 추력을 얻는 기존의 해저로봇과는 달리 여러개의 관절로 이루어진 다리를 이용하여 해저면에 근접해서 보행과 유영으로 이동하는 새로운개념의 해저로봇이다. 본 논문에서는 Crabster라고 불리는 해저로봇과 이를 보조하는 완충기, 그리고 선상시스템으로 구성되는 다관절 해저로봇 시스템을 위해 설계된 통신 시스템을 소개한다. 구성 요소 사이의 통신은 기가비트 이더넷 광변환기에 연결된 광케이블을 통하여 이루어지며, 내부 통신은 기가비트 이더넷을 주 네트워크로 사용한다. 이더넷 이외의 통신 방식을 갖는 장비들은 입출력 컴퓨터나 이더넷 컨버터를 통하여 주 네트워크에 연결되며, 특히 아날로그 카메라의 경우에는 비디오 인코더를 통하여 연결된다. 이러한 구조의 장점은 전체 통신 시스템의 구조가 간단해지기 때문에 통신 하드웨어와 소프트웨어의 구현이 쉽다는 것이다. 또한 저가의 소형 상용 강변환기를 그대로 사용할 수 있으며, 탑재 장비가 변경되거나 추가될 경우에는 통신 시스템의 변경을 최소화할 수 있는 이점이 있다. 설계된 통신 시스템의 핵심 부분만으로 구축된 테스트베드로 실험한 결과는 본 연구에서 제안한 통신 시스템 구조가 설계된 모든 장비가 연결되었을 경우에도 충분한 네트워크 대역폭과 100Hz의 제어 주기 이내의 네트워크 지연을 보여주었다.
(Pressed in Korean)
Banghun Kim, Sung-Woo Park, Jin-Yeong Park, Pan-Mook Lee, Bong-Huan Jun
한국해양과학기술협의회 공동 학술대회, 2011, Busan in Korea
Abstract - 현재 한국해양연구원에서 개발 중인 해저보행로봇은 프로펠러 방식으로 추력을 얻는 기존의 해저로봇과는 달리 여러개의 관절로 이루어진 다리를 이용하여 해저면에 근접해서 보행과 유영으로 이동하는 새로운개념의 해저로봇이다. 본 논문에서는 Crabster라고 불리는 해저로봇과 이를 보조하는 완충기, 그리고 선상시스템으로 구성되는 다관절 해저로봇 시스템을 위해 설계된 통신 시스템을 소개한다. 구성 요소 사이의 통신은 기가비트 이더넷 광변환기에 연결된 광케이블을 통하여 이루어지며, 내부 통신은 기가비트 이더넷을 주 네트워크로 사용한다. 이더넷 이외의 통신 방식을 갖는 장비들은 입출력 컴퓨터나 이더넷 컨버터를 통하여 주 네트워크에 연결되며, 특히 아날로그 카메라의 경우에는 비디오 인코더를 통하여 연결된다. 이러한 구조의 장점은 전체 통신 시스템의 구조가 간단해지기 때문에 통신 하드웨어와 소프트웨어의 구현이 쉽다는 것이다. 또한 저가의 소형 상용 강변환기를 그대로 사용할 수 있으며, 탑재 장비가 변경되거나 추가될 경우에는 통신 시스템의 변경을 최소화할 수 있는 이점이 있다. 설계된 통신 시스템의 핵심 부분만으로 구축된 테스트베드로 실험한 결과는 본 연구에서 제안한 통신 시스템 구조가 설계된 모든 장비가 연결되었을 경우에도 충분한 네트워크 대역폭과 100Hz의 제어 주기 이내의 네트워크 지연을 보여주었다.
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CFD Application for Flow Analysis around a Multi-Legged Underwater Robot 'Crabster' to Evaluate Current Forces
Authors
Yeon-Seok Park, Wu-Joan Kim, Boung-Huan Jun,
한국수중로봇기술연구회 춘계학술대회, 2011, Busan in Korea
Abstract - In this study, numerical simulations were performed for the evaluation of current loads acting on a multi-legged underwater robot 'crabster' with a variety of incident angles using ANSYS-CFX package. The Reynold-averaged Navier-Stokes equations were solved to simulate the fluid flow around the Crabster to calculate forces and moments induced by incoming current with angles. In the first, for the assessment of posture stability of the body, forces and moments were calculated with various incident angles when the current acts for vertical and horizontal direction. In the next, two leg forms(box and foil types) were evaluated for the comparison of the hydrodynamic force variation. Finally, the current forces and moments acting on the Crabster body with the legs attached were estimated.
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Yeon-Seok Park, Wu-Joan Kim, Boung-Huan Jun,
한국수중로봇기술연구회 춘계학술대회, 2011, Busan in Korea
Abstract - In this study, numerical simulations were performed for the evaluation of current loads acting on a multi-legged underwater robot 'crabster' with a variety of incident angles using ANSYS-CFX package. The Reynold-averaged Navier-Stokes equations were solved to simulate the fluid flow around the Crabster to calculate forces and moments induced by incoming current with angles. In the first, for the assessment of posture stability of the body, forces and moments were calculated with various incident angles when the current acts for vertical and horizontal direction. In the next, two leg forms(box and foil types) were evaluated for the comparison of the hydrodynamic force variation. Finally, the current forces and moments acting on the Crabster body with the legs attached were estimated.
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Dynamic Workspace Control of Underwater Manipulator Considering ROV Motion
Authors
Hyungwon Shim, Bong-Huan Jun, Pan-Mook Lee
Journal of Institute of Control, Robotics and Systems Vol.17 No.5 pp.460~470, 2010
Abstract - This paper presents a dynamic workspace control method of underwater manipulator considering a floating ROV (Remotely Operated vehicle) motion caused by sea wave. This method is necessary for the underwater work required linear motion control of a manipulator’s end-effector mounted on a floating ROV in undersea. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation excluded dynamic elements. For online manipulator control achievement, we develop the position tracking method based on sensor data and EKF (Extended Kalman Filter) and the input velocity compensation method. The dynamic workspace control method is established by applying these methods to differential inverse kinematics solution. For verification of the proposed method, experimental data based test of ROV position tracking and simulation of the proposed control method are performed, which is based on the specification of the KORDI deep-sea ROV Hemire.
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Hyungwon Shim, Bong-Huan Jun, Pan-Mook Lee
Journal of Institute of Control, Robotics and Systems Vol.17 No.5 pp.460~470, 2010
Abstract - This paper presents a dynamic workspace control method of underwater manipulator considering a floating ROV (Remotely Operated vehicle) motion caused by sea wave. This method is necessary for the underwater work required linear motion control of a manipulator’s end-effector mounted on a floating ROV in undersea. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation excluded dynamic elements. For online manipulator control achievement, we develop the position tracking method based on sensor data and EKF (Extended Kalman Filter) and the input velocity compensation method. The dynamic workspace control method is established by applying these methods to differential inverse kinematics solution. For verification of the proposed method, experimental data based test of ROV position tracking and simulation of the proposed control method are performed, which is based on the specification of the KORDI deep-sea ROV Hemire.
(Pressed in Korean)
Activities of AUV Development in MOERI-KORDI
Authors
Pan-Mook Lee, Bong-Huan Jun, Yong-Kon Lim
AUV Systems & Sensors Workshop, 2010,
Abstract - This paper presents the activities on unmanned underwater vehicle development and sensors for underwater communication in the Maritime & Ocean Engineering Research Institute (MOERI), an ocean engineering institute of KORDI. After briefly reviewing the UUV development in Korea including other Korean academic societies and industry side, this paper introduces the development of AUV ISIMI in terms of docking and autonomous control, and an MDV to depose mines in shallow water, and an underwater communication system and network system developed in MOERI-KORDI. The future plan on the development of a walking and flying underwater robot is briefly introduced in the paper. Finally, the techniques in need for the AUV are summarized in the points of good maneuverability of a high speed AUV, precise navigation with high reliability and moderate costs, and autonomy & real-time automated CAD/CAC with underwater communication system.
Pan-Mook Lee, Bong-Huan Jun, Yong-Kon Lim
AUV Systems & Sensors Workshop, 2010,
Abstract - This paper presents the activities on unmanned underwater vehicle development and sensors for underwater communication in the Maritime & Ocean Engineering Research Institute (MOERI), an ocean engineering institute of KORDI. After briefly reviewing the UUV development in Korea including other Korean academic societies and industry side, this paper introduces the development of AUV ISIMI in terms of docking and autonomous control, and an MDV to depose mines in shallow water, and an underwater communication system and network system developed in MOERI-KORDI. The future plan on the development of a walking and flying underwater robot is briefly introduced in the paper. Finally, the techniques in need for the AUV are summarized in the points of good maneuverability of a high speed AUV, precise navigation with high reliability and moderate costs, and autonomy & real-time automated CAD/CAC with underwater communication system.
Development Plan of Multi-legged Seabed Robot “CRABSTER”
Author
Bong-Huan Jun
International Technical Conference on Advanced Engineering, 2010, Busan in Korea
Abstracts - This presentation introduces the development project for the multi-legged seabed robot named CRABSTER. The main design concept of the robot is focused on the endurance and working capability in the high turbidity and high tidal current. The geometric shape and attitude control are considered as design object to overcome the hydrodynamic forces in high tidal current environment. The detailed development agenda and plan including development strategies are presented in this presentation.
Development Plan of a New Concept Seabed Robot 'CR200'
Authors
Bong-Huan Jun, Hyung-Won Shim, Banghyun Kim, Jin-Yeong Park, Jeong-Hong Park, Hyuk Baek, Pan-Mook Lee, Yong-Kon Lim
한국해양공학회 추계학술대회, 2010, Mokpo in Korea
Abstract - The Korea Ocean Research and Development Institute (KORDI) has launched a new project for development of a new concept seabed walking robot. Newly developing robot will move underwater by walking and flying on the seabed with multiple articulated legs. The seabed robot was named 'crabster' as the concept of the robot is similar to the crab and lobster. The crabster-development-project consists of two stages each of which has three years. The aim of first stage is to develop a 200m-class coastal-seabed-robot the missions of which are survey of shipwreck and scientific research in coastal area. The focus of development is on the working technologies in high tidal current and low visibility environment. This paper enumerates the limitations of existing works in high current and turbidity environment, and presents the requirement analysis and development strategy of seabed robot CR200.
(Pressed in Korean)
Seabed Survey and Unmanned Underwater Vehicle
Authors
Pan-Mook Lee, Bong-Huan Jun
부산 IT 컨버젼스 포럼, 2010, Busan in Korea
Abstract - 본 논문은 해저탐사를 위하여 왜 무인잠수정이 필요한가에 대하여 설명하고, 무인잠수정의 종류를 소개하였다. 무인잠수정은 원격제어 무인 잠수정(ROV, Remotely Operated Vehicle), 자율 무인 잠수정(AUV, Autonomous Underwater Vehicle), 수중 보행 로봇(Underwater Walking Robot), 수중 주행 로봇(Underwater Glider), 물고기 모사 로봇(BIo-Mimetic Underwater Robot), 수중 보행 로봇(Underwater Walking Robot), 수중 주행 로봇(Underwater Crawling Vehicle) 등으로 구분할 수 있으며, 본 논문은 이들 각각의 활용분야에 대하여 개략적으로 설명하였다. 본 논문은 지금까지 한국해양연구원에서 개발한 무인잠수정에 대하여 소개하고, 향후 개발 계획을 설명하였다. 해양공학을 비롯하여 조선공학, 기계공학, 전기전자공학, 로봇공학에 정보통신 기술을 융합하여 보다 효과적으로 해양을 탐사할 수 있는 무인잠수정 기술발전에 대하여 논하고자 한다.
Pan-Mook Lee, Bong-Huan Jun
부산 IT 컨버젼스 포럼, 2010, Busan in Korea
Abstract - 본 논문은 해저탐사를 위하여 왜 무인잠수정이 필요한가에 대하여 설명하고, 무인잠수정의 종류를 소개하였다. 무인잠수정은 원격제어 무인 잠수정(ROV, Remotely Operated Vehicle), 자율 무인 잠수정(AUV, Autonomous Underwater Vehicle), 수중 보행 로봇(Underwater Walking Robot), 수중 주행 로봇(Underwater Glider), 물고기 모사 로봇(BIo-Mimetic Underwater Robot), 수중 보행 로봇(Underwater Walking Robot), 수중 주행 로봇(Underwater Crawling Vehicle) 등으로 구분할 수 있으며, 본 논문은 이들 각각의 활용분야에 대하여 개략적으로 설명하였다. 본 논문은 지금까지 한국해양연구원에서 개발한 무인잠수정에 대하여 소개하고, 향후 개발 계획을 설명하였다. 해양공학을 비롯하여 조선공학, 기계공학, 전기전자공학, 로봇공학에 정보통신 기술을 융합하여 보다 효과적으로 해양을 탐사할 수 있는 무인잠수정 기술발전에 대하여 논하고자 한다.
(Pressed in Korean)
Applications of Underwater Robot for the Seabed Survey
Authors
Bong-Huan Jun, Pan-Mook Lee
해양 IT융합 기술 워크샵, 2010, Dajeon in Korea
Abstract - 본 논문에서는 해저탐사와 수중로봇의 관계로부터 왜 수중로봇을 이용한 해저탐사가 필요한가에 대해 설명하는 것을 시작으로 수중로봇 기술의 제약과 도전적 분야에 대하여 논한다. 한국해양연구원에서 개발중인 수중로봇 기술과 최근 이루어지고 있는 수중로봇 이용 해저탐사에 대해 소개한 후 향후 수중로봇 기술의 발전 전망을 예측해 본다. 마지막으로는 요약과 결론을 언급한다.
Bong-Huan Jun, Pan-Mook Lee
해양 IT융합 기술 워크샵, 2010, Dajeon in Korea
Abstract - 본 논문에서는 해저탐사와 수중로봇의 관계로부터 왜 수중로봇을 이용한 해저탐사가 필요한가에 대해 설명하는 것을 시작으로 수중로봇 기술의 제약과 도전적 분야에 대하여 논한다. 한국해양연구원에서 개발중인 수중로봇 기술과 최근 이루어지고 있는 수중로봇 이용 해저탐사에 대해 소개한 후 향후 수중로봇 기술의 발전 전망을 예측해 본다. 마지막으로는 요약과 결론을 언급한다.
(Pressed in Korean)
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