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Fusion of Multiple Sensor Measurements for Navigation of an Unmanned Marine Surface Vehicle |
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Nak Yong Ko(Chosun University, Korea), Seokki Jeong(Chosun Univ, Korea), Hyun Taek Choi, Chong-Moo Lee(Korea Research Institute of Ships and Ocean Engineering, Korea), Yong Seon Moon(Sunchon National University, Korea) |
| This paper proposes a method for fused navigation of an unmanned marine surface vehicle (UMSV). The method also detects the outlier and interference of global positioning system (GPS) simultaneously. The method fuses available sensor measurements through extended Kalman filter (EKF) to find the location and attitude of the vehicle.The method is tested through simulated data and measurement data produced through navigation of a vehicle. The results show that the method detects GPS outlier and interference as well as the GPS recovery. |
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Visual Tracking of Objects for Unmanned Surface Vehicle Navigation |
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Kyunghwa Chae(Hanyang University, Korea), Yong Seon Moon(Sunchon National University, Korea), Nak Yong Ko(Chosun University, Korea) |
| This paper presents a method which detects and tracks objects for navigation of a maritime surface vehicle. The method uses stereo vision system which finds saliency map, calculates disparity and distance from the stereo vision image. The method adopts frequency-tuned saliency map and finds dissimilar area in the image with the template which is found by the salient region detection. The algorithm works in real time and the performance is tested through experiments surface of maritime environment. |
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Underground pipline tracking robot development based on magnetic inductive sensor |
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Dong Jin Seo(Geo1004 Co., Ltd, Korea) |
| This paper describes pipelines tracking robot on ground which detects magnetic filed from underground pipelines. This system has the advantage that can ensure a more objective data as compared with the measuring method by a person. The pipeline tracking robot has differential drive type base and one passive wheel which has suspension function. The robot has two magnetic strength detect sensors and an electrically controlled spray at the front of the
robot. Proposed method can be a way to have the advantage of helping human exploration work to create a more
detailed map information. |
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An adaptive Dynamics Control of Underwater Vehicle Based on Velocity Servo Loop |
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Seon-je Yang, Hee-jun Lee, Tae-yong Kuc, Jong-gu Park(SungKyunKwan University, Korea), Nak Yong Ko(Chosun University, Korea), Yong Seon Moon(Sunchon National University, Korea) |
| This paper presents dynamics control of underwater vehicle based on motor velocity servo. For control of robot‘s location, pose, velocity in complicated underwater environment, this study estimates hydrodynamic coefficients by using backstepping technique. Estimated hydrodynamic coefficients are to be used for controlling of robot‘s exact location, pose, and velocity, within the framework of adaptive dynamics control. Also this study suggests a unified control method which combines motor control loop for velocity servo and torque control for dynamics control. |
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