다관절 해저로봇 CR200의 통신 및 비디오 시스템 성능 평가

Abstract

This paper presents the design and performance evaluation of communication and video system for a multi-legged subsea robot which can work in shallow and strong tidal current and high turbidity environment by crawling sea floor. The design keys are hierarchical network structure based on Gigabit Ethernet and full digital video transmission. Especially, the digital video transmission can minimize electronic and magnetic interference of video image. The results of performance evaluation show that compressed digital video transmission can decrease the amount of video data without image quality loss, and the round-trip time of communication message is enough to control the subsea robot.ign keys are hierarchical network structure based on Gigabit Ethernet and full digital video transmission. Especially, the digital video transmission can minimize electronic and magnetic interference of video image. The results of performance evaluation show that compressed digital video transmission can decrease the amount of video data without image quality loss, and the round-trip time of communication message is enough to control the subsea robot.