Yeongjun Lee

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…

Autonomous Underwater Vehicle Navigation in Structured Environment

With the increase in developments in underwater infrastructure, the demand for development of autonomous vehicle navigation system in structured environment is also increased. However, the localization in a structured environment is a challenging problem due to signal uncertainties and distortions.…