수중 고르기 로봇의 유압서보제어를 위한 실린더 길이 옵서버 개발

This research is about the development a observer to estimate cylinder length of underwater rubble leveling robot. The underwater rubble leveling is the foundation work of harbor construction. This work is difficult and dangerous for divers because muddy water blurs the objective under the water. The diver can't see but recognize the objective unclearly by touching, which causes the occasional accidents. We're developing a prototype robot to solve the problem and to gain the efficiency. The robot needs a displacement sensor to control the hydraulic cylinder. The typical displacement sensors are mounted on the outside of cylinder, it causes poor durability in a construction site where shock and dust usually come out. However, the pressure sensor is mounted the inside of a hydraulic valve box or can be indirectly mounted on the body of cylinder so that it is protected by the shock and easy to waterproof. We will develop a observer to measure the cylinder length and apply it to the control of the underwater rubble leveling robot.