디버깅 효율성을 고려한 자율 수중 로봇 설계

Abstract

This paper proposes a design method for an autonomous underwater robot considering debugging efficiency. An autonomous underwater robot definitely needs to be waterproof even in testing simple functions. This makes difficulties to access internal system when it is under development or system faults. Typically, an autonomous underwater robot communicates with a ground station in order to transfer commands and/or gathered data, where this communication link provides additional capability for trouble shooting and testing new functions. But, when this communication link has a problem, an underwater robot should be recovered to take apart and check the systems which might causes cancellation of whole testing or exploration. In this paper, an underwater robot design method considering allowing multiple access based on levels of fault or procedure of developing is proposed. It's external and internal links provides efficiency in debugging and monitoring system with minimizing efforts. The proposed scheme is applied to IRiS (Intelligent Robot in Sea) developed by Korea Ocean Research & Development Institute (KORDI), and shown its effectiveness.