Preliminary Study on Development of CPOS(Cyber Physical Operation System) for underwater robots

摘要

This study introduces about the development of advanced operation technology based on CPS (Cyber-Physical System) for underwater robots. In cyber space, 3D visualization of underwater environment, real-time dynamic analysis and HILS (Human-In-the-Loop System) based control have been developed as core technologies. In the physical space, the basic test model with sensors and hydraulic manipulator and the cockpit system as human-robot interface are designed and developed. Also, on the basin bottom, the artificial terrain as a representative underwater environment is set-up. Through the various experiments, the performance of core technologies is checked and verified.