Journal of Advanced Marine Engineering and Technology

  • 제41권1호
  • /
  • Pages.62-69
  • /
  • 2017
  • /
  • 2234-7925(pISSN)
  • /
  • 2234-8352(eISSN)
한국마린엔지니어링학회 (The Korean Society of Marine Engineering)
권호 표지
DOI QR코드

DOI QR Code

외벽등반 로봇의 성능평가 방법 및 응용

Performance evaluation method for wall-climbing robots and its application

  • Kim, Jin-Man (Department of Marine Engineering, Mokpo National Maritime University) ;
  • Kim, Heon-Hui (Division of Marine Engineering, Mokpo National Maritime University) ;
  • Nam, Taek-Kun (Division of Marine Engineering, Mokpo National Maritime University)
  • 투고 : 2016.09.30
  • 심사 : 2017.01.18
  • 발행 : 2017.01.31
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

본 논문은 외벽에 부착하여 이동이 가능한 등반로봇의 성능평가 방법을 다룬다. 등반로봇에 관한 기존의 문헌을 토대로 볼 때, 등반로봇의 성능평가에 관해 일관되고 명쾌한 성능지표 및 방법이 제시되고 있지는 않다. 등반로봇은 부착방식 및 이동방식에 따라 다양하게 구현될 수 있으므로, 형태와 상관없이 보다 일반화된 성능평가 방법이 요구된다. 이에 본 논문은 등반로봇의 성능평가를 위한 2가지 평가지표(수직부착하중, 수직등반속도)와 평가방법을 제안한다. 제안된 방법의 효용성을 검증하기 위하여, 본 논문은 자체 개발된 선체외벽 등반로봇을 대상으로 제안된 성능평가 방법을 적용한다. 보다 구체적으로, 수직부착하중은 등반로봇의 슬립측정을 통해 18.5kg으로 평가되었고, 수직등반속도는 등반로봇의 위치제어시스템을 통해 41cm/s으로 평가되었다.

This paper presents a methodology for evaluating the performance of wall-climbing robots. In the literature on wall-climbing robots, there is little information on indices and evaluation methods for consistent and exact performance. Because various types of wall-climbing robots can be developed with regard to adherence and locomotion, a general method of measuring their performance regardless of type is needed. Therefore, we propose two major performance indices-the vertical adhering weight and vertical climbing speed-and their stepwise evaluation procedures. To verify the effectiveness of the proposed method, we applied it to a hull-climbing robot that we previously developed. The target robot was evaluated to have a vertical adhering weight of 18.5 kg through a slip measurement procedure and a vertical climbing speed of 41 cm/s with a position control system.

키워드

참고문헌

  1. K. Tanneberger, A. Grasso. "MINOAS deliverable (D1): Definition of the inspection plan/definition of acceptance criteria," [Online] Available: http://minoasproject.eu/excibition/Publications/PDF/D1.pdf,, Accessed August 26, 2016.
  2. A. Mohammed, E. Markus, and B. Felix, "Design and control of MIRA: A lightweight climbing robot for ship inspection," International Letters of Chemistry, Physics and Astronomy, vol. 55, pp. 128-135, 2015. https://doi.org/10.18052/www.scipress.com/ILCPA.55.128
  3. Y. S. Kim and S. C. Kil, "Latest welding technology for storage and transportation facilities of liquified natural gas," Journal of the Korean Society of Marine Engineering, vol. 40, no.1, pp. 17-27, 2016 (in Korean). https://doi.org/10.5916/jkosme.2016.40.1.17
  4. R. D. Dethe and S. B. Jaju, "Developments in wall climbing robots: A review," International Journal of Engineering Research and General Science, vol. 2, no. 3, pp. 33-42, 2014.
  5. H. Kang and J. S. Oh, "Development of a drive control system of a hull cleaning robot reflecting operator's convenience," Journal of the Korean Society of Marine Engineering, vol. 37, no. 4, pp. 391-398, 2013 (in Korean). https://doi.org/10.5916/jkosme.2013.37.4.391
  6. H. S. Choi, K. Y. Kwon, K. R. Chung, J. N. Seo, and H. S. Kang, "Development of cleaning module and operating system of underwater robot for ship hull cleaning." Journal of the Korean Society of Marine Engineering, vol. 33, no. 4 pp. 553-561, 2009 (in Korean). https://doi.org/10.5916/jkosme.2009.33.4.553
  7. C. H. Jung, T. K. Nam, and J. S. Jeong, "A study on the improvement of salvage procedures through the collision accident of ships," The Journal of Navigation and Port Research, vol. 36, no. 10, pp. 851-856, 2012 (in Korea). https://doi.org/10.5394/KINPR.2012.36.10.851
  8. M. O. F. Howlader and T. P. Sattar, "Development of magnetic adhesion based climbing robot for non-destructive testing," Computer Science and Electronic Engineering Conference (CEEC), 2015 7th. IEEE, pp. 105-110, 2015.
  9. X. Gao, J. Sho, F. Dai, C. Zong, W. Guo, and Y. Bai, "Strong magnetic units for a wind power tower inspection and maintenance robot," International Journal of Advanced Robotic Systems, vol. 9, no. 5, pp. 1-9, 2012. https://doi.org/10.5772/7789
  10. J. C. Grieco, M. Prieto, M. Armada, and P. de Santos, "A six-legged climbing robot for high payloads," Proceedings of the 1998 IEEE International Conference on Control Applications, vol. 1, pp. 446-450, 1998.
  11. M. G. Lee, S. J. Yoo, J. W. Park, and S. H. Kim, "Modular type robot for field moving and tree climbing," Journal of Institute of Control, Robotics and Systems, vol. 18, no. 2, pp. 118-125, 2012 (in Korean). https://doi.org/10.5302/J.ICROS.2012.18.2.118
  12. J. Ryu, and J. W. Jeon, "Research for the standardization technology according to published autonomous navigation/coverage test of IEC 62929," Institute of Control, Robotics and Systems Conference on, pp. 247-248, 2016 (in Korean).
  13. W. S. Lim, S. H. Sakong, J. O. Lee, J. H. Jung, S. S. Byun, and J. H. Oh, "A study of performance test for fire fighting robot," Korean Institute of Fire Science & Engneering Conference on, pp. 361-364, 2012 (in Korean).
  14. T. K. Nam and Y. J. Kim, "A study on the modeling for the control of magnetic levitation stage," Journal of the Korean Society of Marine Engineers, vol. 27, no. 7, pp. 862-871, 2003 (in Korean).
  15. L. Yan, L.Zhang, T. Wang, Z. Jiao, C. Y. Chen, and I. Chen, "Magnetic field of tubular linear machines with dual halbach array," Progress In Electromagnetics Research, vol. 136, pp. 283-299, 2013. https://doi.org/10.2528/PIER12110302
  16. J. E. Hilton and S. M. McMurry, "An adjustable linear Halbach array," Journal of Magnetism and Magnetic Materials vol. 324, no. 13 pp. 2051-2056, 2012. https://doi.org/10.1016/j.jmmm.2012.02.014
  17. Point, Natural, "Optitrack," Natural Point, Inc., 2011, [Online]. Available: http://www.naturalpoint.com/optitrack/, Accessed February 22, 2014.