Jong-Boo Han

Development of the Saemangeum Digital Test-Bed (K-URSim) for Unmanned Marine Vehicles

Development of the Saemangeum Digital Test-Bed (K-URSim) for Unmanned Underwater Vehicles

This paper presents K-URSim (KRISO Underwater Robot Simulator), a ROS2-based modular simulation platform that serves as the backbone of the Saemangeum Digital Marine Testbed for unmanned marine systems (UMS). Unlike conventional simulators, K-URSim is tightly coupled with the real inshore test site,…

Experimental Validations of a Digital Twin Model for Underwater Tracked Vehicle

This paper presents the experimental validation of a digital twin model for the Cyber Physics Opertation System(CPOS) ROVER, a tracked underwater robotic platform designed for seabed operations. Based on a high-fidelity multibody dynamics model, the digital twin incorporates trackground interactions…