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URI-T, 해저 케이블 매설용 ROV의 선수각 제어 및 실해역 검증
조건래,강형주,이문직,이계홍 한국해양공학회 2019 韓國海洋工學會誌 Vol.33 No.2
When burying underwater cables using robots, heading control is one of the key functions for the robots to improve task efficiency. This paper addresses the heading control issue for URI-T, an ROV for underwater construction tasks, including the burial and maintenance of cables or small diameter pipelines. Through modeling and identifying the heading motion of URI-T, the dynamic characteristics and input limitation are analyzed. Based on the identification results, a PD type controller with appropriate input treatment is designed for the heading control of URI-T. The performance of the heading controller was verified in water tank experiments. The field applicability of the proposed controller was also evaluated through the sea trial of URI-T at the East Sea, with a water depth of 500 m.
Touch Screen Based Assistance Technique for Underwater Manipulation of Cable Burying ROV
조건래(Gun Rae Cho),기건희(Geonhui Ki),이계홍(Ji-Hong Li) Korean Society for Precision Engineering 2019 한국정밀공학회지 Vol.36 No.4
URI-T can perform various underwater construction tasks such as cable burial and maintenance. Successful sea trial results show that URI-T could be used in underwater construction fields. To improve the efficiency of URI-T, an assisted teleoperation scheme for underwater manipulations was also proposed. For the proposed scheme, by touching several points on the touch screen, one can move the manipulator to the target; it can reduce the burden of teleoperation of every degree-of-freedom (DOF) of the manipulators. The scheme also has a position estimation technique that can estimate six DOF position of the objects using 2D positions on the two images from cameras deployed in stereo. Via touch screen, the 2D positions are fed to guarantee reliability of the estimated results, which is one of the most important points in the underwater interventions. A control structure for the assisted teleoperation was investigated using the position estimation technique. The structure involved an inverse kinematics scheme based on the weighted damped least squares, which can resolve the kinematical limitations: workspace limit and singularity, and joint limits on position and velocity. This study established that the proposed assistance technique could significantly reduce operation time in comparison with the conventional teleoperation.
정의정,박성호,강진규,손소은,조건래,이영호 한국로봇학회 2022 로봇학회 논문지 Vol.17 No.4
In this paper, the developed trunk cargo unloading automation system is introduced, and the RGB-D sensor-based box loading situation recognition method and unloading plan applied to this system are suggested. First of all, it is necessary to recognize the position of the box in a truck. To do this, we first apply CNN-based YOLO, which can recognize objects in RGB images in real-time. Then, the normal vector of the center of the box is obtained using the depth image to reduce misrecognition in parts other than the box, and the inner wall of the truck in an image is removed. And a method of classifying the layers of the boxes according to the distance using the recognized depth information of the boxes is suggested. Given the coordinates of the boxes on the nearest layer, a method of generating the optimal path to take out the boxes the fastest using this information is introduced. In addition, kinematic analysis is performed to move the conveyor to the position of the box to be taken out of the truck, and kinematic analysis is also performed to control the robot arm that takes out the boxes. Finally, the effectiveness of the developed system and algorithm through a test bed is proved.
URI-T, 해저 케이블 매설용 ROV 트렌처 개발 및 실해역 성능 검증
강형주(Hyungjoo Kang),이문직(Mun-Jik Lee),조건래(Gun Rae Cho),기건희(Geonhui Ki),김민규(Min-Gyu Kim),이계홍(Ji-Hong Li) 한국해양공학회 2019 韓國海洋工學會誌 Vol.33 No.3
An ROV trencher is a type of heavy-duty work class ROV equipped with high-pressure water jet tools for cutting into the sea floor and burying cables. This kind of trencher is mostly used for PLIB operations. This paper introduces the development of this kind of ROV trencher, which has a 698 kW power system, with a 250 kW hydraulic system and two 224 kW water jet systems. The project was launched in January 2014. After four years of design, manufacturing, and system integration, we carried out two sea trials near the Yeongilman port (about 20–30 m in depth) in Pohang to evaluate the system performance in November 2017 and August 2018. Through tests, we found that most of specifications were satisfied, including a maximum bury depth of 3 m, maximum bury speed of 2 km/h, and maximum forward speed of 1.54 m/s.