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
- 1,652 - 1,656 (5page)
이용수
초록· 키워드
오류제보하기
This research develops two types of heavy robots to cover breakwater with armour stones. The robots assemble the armour stones weighing over two tons on the surface of the breakwater to protect it from storming waves. For construction above sea level, a robot named Stone Man is developed, whereas for construction below sea level, a robot named Stone Diver is built. In addition, Underwater Filming Device (UFD) is designed to film objects in turbid water. Stone Man is designed by a parallel mechanism which enables to handle heavy armour stones dexterously. Stone Diver is developed to work in subsea by waterproofing Stone Man. UFD films objects through the clean water in a transparent box. Stone Diver works with UFD to assemble armour stones in turbid water. Its efficiency depends on the operator’s skill but Stone Diver is expected to have much higher efficiency in deep water where human divers are unable to work. Furthermore, while the work is being carried out, UFD is capturing a live video of working process which is recorded for supervisory data so that the work quality can be easily managed.
목차
Abstract
1. INTRODUCTION
2. DESIGN OF STONE MAN
3. DESIGN OF STONE DIVER
4. DESIGN OF UNDERWATER FILMING DEVICE
5. ROBOT CONTROLLER
6. EXPERIMENTAL RESULTS
7. CONCLUSTION
REFERENCES
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