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Redundant Architectural Design of Hydraulic Control System for Reliability Improvement of Underwater Construction Robot

수중건설로봇의 유압 제어 안정성 향상을 위한 이중화 설계

Lee, Jung-Woo;Park, Jeong-Woo;Suh, Jin-Ho;Choi, Young-Ho
이정우;박정우;서진호;최영호

  • Received : 2015.07.09
  • Accepted : 2015.10.22
  • Published : 2015.10.31

Abstract

In the development of an underwater construction robot, the reliability of the operating system is the most important issue because of its huge maintenance cost, especially in a deep sea application. In this paper, we propose a new redundant architectural design for the hydraulic control system of an underwater construction robot. The proposed architecture consists of dual independent modular redundancy management systems linked with a commercial profibus network. A cold standby redundancy management system consisting of a preprocessing switch circuit is applied to the signal network, and a hot standby redundancy management system is adapted to utilize two main controllers.

Keywords

Redundancy design;Standby redundancy;Profibus DP;Hydraulic control;Underwater construction robot

References

  1. Gohil, S., Basavalingarajaiah, A., Ramachandran, V., 2011. Redundancy Management and Synchronization in Avionics Communication Products. Proceedings of Integrated Communications, Navigation and Surveillance Conference, C3-1-C3-8.
  2. Jang, I.S., Min, J.T., Do, H.J., Kim, M.J., 2014. Development Trends of Underwater Construction Robotics and R&D Strategies for Practical Use. Proceedings of the Annual Autumn Meeting of the Society of Unmanned Underwater Vehicle of Korea, 55-58.
  3. Lee, J.W., Park, J.W., Choi, Y.H., Suh, J.H., Kim, J.G., Lee, J.D., 2014. Load Prediction using Simultaneous Evaluation and Decision Method on the Track-based Underwater Robot Platform. Proceedings of the Annual Autumn Meeting of the Society of Unmanned Underwater Vehicle of Korea, 73-77.
  4. Moreno, J.C., Laloya, E.J., Navarro, J., 2006. Line Redundancy in MVB-TCN Devices: A Control Unit Design. Proceedings of Electrotechnical Conference, 789-794.
  5. Singh, S., Chary, V.M., Rahman, P.A., 2014. Dual Redundant Profibus Network Architecture in Hot Standby Fault Tolerant Control Systems. Proceedings of Advances in Engineering and Technology Research, 1-5.

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