심해 과학조사용 ROV 해미래의 수중작업 시스템

Abstract

KORDI(Korea Ocean Research and Development Institute) has been developing a deep-sea scientific ROV named HEMIRE. HEMIRE was manufactured in February 2006. The shop test and tank test have been carried out successfully in March 2006, and the first and second sea trials of HEMIRE are planned at South Sea in April 2006. The launching and recovery procedure and basic function test will be performed in the first and second sea trials. The 6,000m sea trial will be carried out at the East Sea in October 2006. In the sea trials of HEMIRE, the performance of navigation, control and manipulation system will be tested. In this paper, the design concept and implementation of the manipulation system built in HEMIRE are described. While the thrusters of HEMIRE is powered from electric motors, the manipulation system is powered from hydraulic system. Therefore, hydraulic system is described as a part of manipulation system. The video and light system to support the underwater manipulation is also described in this paper.