미내로 해저주행 제어시험을 위한 운용 시스템 구축

Abstract

This paper concerns about the mobilization of hardware system for MineRo path tracking control test in Aug, 2010. The hardware system consists of MineRo and surface ship. To mobilize the hardware system, MineRo was modified for surface ship. The track guide frame and electric-electronic parts of MineRo was upgraded. In this test, SEGERO of KT Submarine is operated as surface ship, since SEGERO is equipped with DP(Dynamic Position) system, umbilical cable, cable winch and A-frame for launch and recovery of MineRo. The stability of MineRo system was verified from this long-term path tracking control test.