DocumentCode :
3059024
Title :
Design of communication and video system for a multi-legged subsea robot
Author :
Kim, Banghyun ; Park, Sung-Woo ; Lee, Pan-Mook ; Jun, Bong-Huan
Author_Institution :
Ocean Eng. Res. Dept., MOERI-KORDI, Daejeon, South Korea
fYear :
2011
fDate :
6-9 June 2011
Firstpage :
1
Lastpage :
6
Abstract :
The MOERI-KORDI has launched a new project to develop multi-legged subsea robot technologies. The objective of 1st stage is to develop a multi-legged robot walking in high tidal current and high turbidity environment while the objective of 2nd stage is to develop a walking and flying robot with 6 legs in deep sea where is calm and clear environment. This paper presents the design of communication and video system for the multi-legged subsea robot and its test bed. The basic design concept of communication system is simple connectivity based on Gigabit Ethernet network. Several serial networks for sensors and motors in the robot are grouped into one Ethernet line using a small I/O computer. The focus of video system design is on compressed digital transmission using network cameras and video encoder for analog cameras. This approach can minimize electronic and magnetic interference in analog data transmission and decrease the amount of transmission data. We constructed the test bed to verify the designed system. The results of performance evaluation using the test bed show that the network throughput is enough to connect all designed devices and the optimal method of video encoding is the H.264/MPEG-4 AVC format with 30% compression rate.
Keywords :
data communication; input-output programs; legged locomotion; local area networks; marine systems; robot vision; sensors; turbidity; underwater vehicles; video cameras; video coding; Gigabit Ethernet network; H.264-MPEG-4 AVC format; I-O computer; MOERI-KORDI; analog camera; analog data transmission; communication design; compressed digital transmission; electronic interference; flying robot; magnetic interference; multilegged subsea robot technology; network camera; turbidity environment; video encoder; video system; walking robot; Cameras; Computers; Legged locomotion; Optical fibers; Streaming media; Transform coding;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
OCEANS, 2011 IEEE - Spain
Conference_Location :
Santander
Print_ISBN :
978-1-4577-0086-6
Type :
conf
DOI :
10.1109/Oceans-Spain.2011.6003500
Filename :
6003500
Link To Document :
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