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Development of a hovering-type AUV `Cyclop'
Development of a hovering-type AUV `Cyclop'
The precision hovering type AUV with 6 DoF had developed at POSTECH. It was designed and developed for intelligent monitoring purposes with sensor-fusions. My work included the development of platform, control and sonar-sensing systems. For the hardware platform, my contribution included as follows: sensor configuration including USBL, DVL, profiling sonar, and DIDSON; electrical device configuration including control PC and ADC board; hardware design and fabrication including pressure cylinders (battery, camera, laser), frames (mainframe, thrust guard), brackets and sensor mounts. For the control system, 2-SMC was designed and implemented. Besides, I implemented ISMC, TDC, and dual-loop PID in the AUV system and tested its performance. For the operating system of AUV, I developed MFC based server, processor manager, and mission planner, and currently, the robot system is porting to ROS.
Related paper
J. Pyo, H. Cho, H. Joe, T. Ura, S.-C. Yu, Development of hovering type AUV "Cyclops" and its performance evaluation using image mosaicing Ocean Engineering,109, 517-530, 2015.
AUV Control in the presence of unkown disturbnaces
AUV Control in the presence of unkown disturbnaces
•AUVs often control the position and the attitude under unexpected disturbances such as oceanic current and tides to accomplish the tasks. I have studied reliable AUV control systems to overcome unknown disturbances.
Related paper
M. Kim, H. Joe, and S.-C. Yu, Dual-loop robust controller design for autonomous underwater vehicle under unknown environmental disturbances, Electron. Lett., 52(5):350–352, 2016.
J. Kim, H. Joe, S.-C. Yu, J. Lee, M. Kim, Time-delay controller design for position control of autonomous underwater vehicle under disturbances. IEEE Transactions on Industrial Electronics, 63(2), 1052-1061, 2015.
M. Kim, H. Joe, S.-C. Yu, Integral sliding mode controller for precise manoeuvring of autonomous underwater vehicle in the presence of unknown environmental disturbances. International Journal of Control, 88(10), 2055-2065, 2015.
H. Joe, M. Kim, and S.-C. Yu, Second-order sliding-mode controller for autonomous underwater vehicle in the presence of unknown disturbances. Nonlinear Dynamics, 78(1), 183-196, 2014.
Wave energy-harvesting unmanned surface vehicle (supported by ONR Global)
Wave energy-harvesting unmanned surface vehicle (supported by ONR Global)
•This work includs the development of a wave energy converter called Wave turbine system (WTS), which is capable of harvesting wave energy on a mobile platform on the sea surface. To verify the proposed mechanism and identify the system parameters, I conducted hydrodynamic modeling and optimization work through quantitative simulation. Furthermore, system integration and demonstration were conducted through sea trials.
Related paper
H. Joe, and S.-C. Yu, Study on Mobile Wave Energy Harvesting System Utilizing Wave Glider Mechanism., Journal of Ocean Engineering and Technology, 32(5), 393-401, 2018.
H. Joe, H. Roh, H. Cho, and S.-C. Yu, Development of a flap-type mooring-less wave energy harvesting system for sensor buoy., Energy, 133, 851-863, 2017.
Sensor fusion based 3D mapping and localization using heterogeneous sonar (on-going)
Sensor fusion based 3D mapping and localization using heterogeneous sonar (on-going)
•This work includs 3D reconstruction and mapping using sensor fusion of complementary characteristics of DIDSON and Profiling sonar for AUV sensing. To overcome the low quality and loss of elevation information sonar data, I proposed to use a specialized installation: cross installation of sonars. The proposed method is straightforward and easy to implement, thus now I am expanding this work to SLAM framework.
Related paper
H. Joe, H. Cho, M. Sung, J. Kim, and S.-C. Yu, Sensor Fusion of Two Sonar Devices for Underwater 3D Mapping with an AUV, Autonomous Robots, —-, 2020, (Minor revision).
H. Joe, J. Kim, and S.-C. Yu, 3D Reconstruction using Two Sonar Devices in a Montecarlo Approach for AUV Application, International Journal of Control, Autonomous and System,—-, 2019, (Accepted).
H. Cho, J. Gu, H. Joe, A. Asada, and S.-C. Yu, Acoustic beam profile-based rapid underwater object detection for an imaging sonar., Journal of Marine Science and Technology,20(1), 180-197, 2015.
Development of underwater camera system for fishery (on-going)
Development of underwater camera system for fishery (on-going)
This work includes the development of a wireless underwater camera system which provides underwater fishery information for sea farming. The camera system provides real time underwater scene, and a fishery man can watch the video at home any time. The wireless range is 10km from coastal area, and video quality is Full HD video. Solar charging battery system guarantees long operation more than 1 month.
Robotic System for NPP (on-going)
Robotic System for NPP (on-going)
•I am currently participating in the project of development of NPP’s dome inspection robot which was introduced in the 1st workshop on Safety and Maintenance of Nuclear Engineering and Hazardous and Extreme Environment Robots and Sensing Systems 2019 at the University of Tokyo. The dome inspection robot consists of three robots: a Wall-climbing agent, a lifting drone, and a multi-purpose amphibious vehicle. From the amphibious vehicle, the lifting drone makes the wall-climbing agent attached to the ceiling of the dome, and then the agent inspects the holes and cracks on the ceiling. Hardware prototype was constructed, and I am studying the localization of the agent on the ceiling of the dome.
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