지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2014.10
- 수록면
- 1,657 - 1,661 (5page)
이용수
초록· 키워드
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This research develops an underwater construction robot to level rubbles on the seabed for port construction. The rubble leveling is carried out by an underwater robot equipped with imaging sonars and underwater cameras, LBL and gyroscope sensors. A virtual reality system is developed to visualize the robot"s figure and the topography over the working environment; hence, the robot is virtually tele-operated by an operator.
This paper presents the robot’s system and control, and it describes the working process of the rubble leveling carried out by the robot. In addition, the performance of the robot is demonstrated through the experimental results in subsea. The working speed of the robot is faster than that of a human diver, and the robot can work longer than the diver who can work for a limited time to prevent submarine sickness. The robot is expected to have much higher efficiency in deep water where a human diver is unable to work.
This paper presents the robot’s system and control, and it describes the working process of the rubble leveling carried out by the robot. In addition, the performance of the robot is demonstrated through the experimental results in subsea. The working speed of the robot is faster than that of a human diver, and the robot can work longer than the diver who can work for a limited time to prevent submarine sickness. The robot is expected to have much higher efficiency in deep water where a human diver is unable to work.
목차
Abstract
1. INTRODUCTION
2. MECHANISM AND CONTROL OF UCR
3. RUBBLE LEVELING PROCESS CARRIED OUT BY UCR
4. TELE-OPERATED SYSTEM BASED ON VIRTUAL REALITY
5. EXPERIMENTAL TEST OF UCR
6. CONCLUSION
REFERENCES
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