(12~14) Development of inspection equipement technology for harbor facilities

Nonlinear / Predictive Control System for Precision Control

1st Year(2012~2013) - Nonlinear Model Linearization Technique of Planar Motion of Underwater Robot

1. System Modeling of Underwater Robots

- Kinematic modeling of underwater robots

- Underwater robot dynamics model considering hydrodynamic forces & moments

- Underwater robot propeller model and ROV control simulation

2nd Year(2013~2014) - Sensor fusion and correction technique for 3-D motion of underwater robot

1. Camera sensor

- Visual odometry development

- Blur Detection for VO

2. Sensor fusion

- Camera vo & AHRS sensor fusion