작업용 수중무인로봇 가상물리운용시스템(CPOS) 프레임워크 개발 - 감각 지각 관점

Abstract

This study presents a framework for smart operational technology applied to unmanned underwater robots based on the principle of a cyber-physical system. This technology is designed to enhance operators' ability to accurately perceive underwater situations. It enables them to make informed decisions and effectively control the robots for safe and efficient operations. Situation awareness in underwater operations includes recognizing the robot's performance, status, changes in the environment, and the ongoing operational context. The primary objective is to deliver real-time, high-quality sensory information to operators, compensating for the limited sensory obtained from underwater environments. Visual cues involve real-time processing of point cloud data acquired from multi-beam echo sounders to generate 3D visualizations. Haptic cues leverage rendering technology to convey reaction forces from external interactions, and motion cues focus on translating the robot's dynamic states into meaningful motion information that can be perceived by humans. To effectively convey these cues of vision, haptic, and motion, a cockpit equipped with interface devices, such as multi-displays, six degrees of freedom motion platform, and haptic feedback device, is being developed. To experimentally validate the core technologies in the physical environment, a hydraulic underwater unmanned robot designed for excavation tasks is currently under development.