• Journal of Ocean Engineering and Technology
• /
• v.22 no.6
• /
• pp.64-74
• /
• 2008

The flaw around a ROV (Remotely Operated Vehicle) has been numerically investigated to improve resistance performance by modifying the hull form of the ROV. For the base hull form considered in this study, the form drag rather than the friction drag is dominant to the total drag Subsequently, the surfaces on which the local pressure highly acts have been modified to produce the streamlined-shape. Based on the surface modification, seven different hull forms have been chosen as candidates for drag reduction. Among the candidates, the semi-sphericalized housing and the streamlined-bow achieved greatest drag reduction comparing with the others. Consequently, the hull form combined with the semi-sphericalized housing and the streamlined-bow gave approximately 17% drag reduction at the design velocity of 3 knots.

• Journal of Ocean Engineering and Technology
• /
• v.31 no.1
• /
• pp.28-35
• /
• 2017

This paper introduces a GPS-aided dead reckoning algorithm that asymptotically estimates the heading bias error of a magnetic compass based on geodetic north, improves the position error accumulated by dead reckoning, and helps the estimated position of an AUV to represent a position in the NED coordinate system, by receiving GPS position information when surfaced. Based on the results of a simulation, the locational error was bounded with a modest distance, after estimating the AUV position and heading bias error of the magnetic compass when surfaced. In other words, it was verified that proposed algorithm improves the position error in the NED coordinate system.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.49 no.11
• /
• pp.103-109
• /
• 2012

Samsung Thales has developed a small-sized autonomous underwater vehicle "BOTO" verified by a mathematical model simulation. The hydrodynamic coefficients and drag force were experimented at circulating water channel for validating cruising performance of the AUV. Based on the mathematical model, we simulated turning radius and way-point tracking on horizontal plane using way-point tracking algorithm. In this paper we introduce the vehicle system and the sea trial test results will be shown.

• Journal of Power System Engineering
• /
• v.14 no.6
• /
• pp.75-82
• /
• 2010

In this study, the topics for free-surface wave simulation, nonlinear hydrodynamic force, and the critical resonance frequency of so-called ${\tau}=U{\omega}/g$=1/4 are discussed. A high-order spectral/boundary element method is newly adapted as an efficient numerical tool. This method is one of the most efficient numerical methods by which the nonlinear gravity waves can be simulated and hydrodynamic forces also can be calculated in time domain. In this method, the velocity potential is expressed as the sum of surface potential and body potential. Then, surface potential is solved by using the high-order spectral method and body potential is solved by using the high-order boundary element method. By the combination of these two methods, the wave-making problems by a submerged sphere oscillating with forward speed under the free-surface are solved in time domain.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.13 no.2
• /
• pp.65-71
• /
• 2018

In order to make the underwater vehicle carry out the mission in a submarine environment, it is needed to plan a safe and efficient route to a given destination and prevent the autonomous submersible from colliding with obstacles while moving along the planned route. The function of collision avoidance makes the travel distance of the autonomous submersible longer. Moreover, it should move slowly near to obstacles against their moving disturbance. As a result, this invokes the degradation of the navigation efficiency in the process of collision avoidance. The side effect of the collision avoidance is not ignorable in the case of high congested environments such as the coast with many obstacles. In this paper, we suggest a path planning method which provides the route with minimum travel time considering collision avoidance in congested environment. For the purpose, we define environmental congestion map related to geometric information and obstacles. And we propose a method to consider the moving cost in the RRT scheme that provides the existing minimum distance path. We verified that the efficiency of our algorithm with simulation experiments.

• Journal of Ocean Engineering and Technology
• /
• v.26 no.6
• /
• pp.86-92
• /
• 2012

An exploration well is drilled where oil or gas potential is shown by a seismic survey and interpretation. With the advance of drilling technology, most of the easily accessible oil had been developed by the end of the 20th century. To satisfy the ever increasing demand for oil, and bolstered by high oil prices, the major oil companies started to drill in deep water, which requires a deep offshore drilling unit. Offshore drilling units are generally classified by their maximum operating water depth. Many semi-submersible rigs have been purpose-designed for the drilling industry as the allowable drilling water depth has become deeper by the developed technics since the first semi-submersible was launched in 1963. Semi-submersible rigs are commonly used for shallow to deep water up to 3,000 m. Drilling equipment such as a top drive, blowout preventer, drawworks and power system, mud circulation system, and subsea wellhead system are explained to help with an understanding of offshore drilling procedures in the oil and gas fields. The objective of this paper is to introduce the main components of a semi-submersible rig and, by doing so, to raise the awareness of offshore drilling, which accounts for over 30% of the total oil production and will continue to increase.

• Journal of Ocean Engineering and Technology
• /
• v.15 no.1
• /
• pp.19-25
• /
• 2001

Unlike structures in the air, the vibration analysis of a submerged or floating structure such as offshore structures or ships is possible only when the fluid-structure interaction is understood, as the whole or part of the structure is in contact with water. This paper introduces two methods to find natural frequency in consideration of fluid-structure interaction, direct coupled vibration analysis and fluid-structure modal coupled vibration analysis. The purpose of this study is to analyze the vibration characteristic of a submerged vehicle to obtain the anti-vibration design data, which could be used in the preliminary design stage. The underwater pressure hull of submerged vehicle is used as the model of this study. The F.E.M. model is meshed by shell and beam elements. Also, considering the inner hull weight, the mass element is distributed in the direction of hull length. Numerical calculations are accomplished by using the commercial B.E.M. code. The characteristics of natural frequency, mode shape and frequency-displacement response are analyzed.

• Journal of Ocean Engineering and Technology
• /
• v.11 no.3
• /
• pp.170-179
• /
• 1997

This paper presents a hybrid navigation system for AUV to locate its position precisely in rough sea. The tracking system is composed of various sensors such as an inclinometer, a tri-axis magnetometer, a flow meter, and a super short baseline(SSBL) acoustic position tracking system. Due to the inaccuracy of the attitude sensors, the heading sensor and the flowmeter, the predicted position slowly drifts and the estimation error of position becomes larger. On the other hand, the measured position is liable to change abruptly due to the corrupted data of the SSBL system in the case of low signal to noise ratio or large ship motions. By introducing a sensor fusion technique with the position data of the SSBL system and those of the attitude heading flowmeter reference system (AHFRS), the hybrid navigation system updates the three-dimensional position robustly. A Kalman filter algorithm is derived on the basis of the error models for the flowmeter dynamics with the use of the external measurement from the SSBL. A failure detection algorithm decides the confidence degree of external measurement signals by using a fuzzy inference. Simulation is included to demonstrate the validity of the hybrid navigation system.

• Journal of Ocean Engineering and Technology
• /
• v.26 no.5
• /
• pp.81-86
• /
• 2012

Unmanned underwater vehicles have many applications in scientific, military, and commercial areas because of their autonomy. In many cases, an underwater vehicle adopts a control algorithm based on a tactical inertial sensor for precise control. However, a control algorithm that uses a tactical inertial sensor is unsuitable for some underwater vehicle missions such as torpedo decoys. This paper proposes a control algorithm for an unmanned underwater vehicle that does not require precise control. The control algorithm proposed for an unmanned underwater vehicle adopts a low cost MEMS inertial sensor, and simulations using the specifications of the MEMS inertial sensor under development are performed to verify the control algorithm under a real environment. The results of these simulations are presented.

• Journal of the Korean Society of Propulsion Engineers
• /
• v.25 no.6
• /
• pp.53-59
• /
• 2021

The ROK Navy operates many war ships despite its short history. Various types of war ships, such as submarines, destroyers, frigates, corvette etc., use suitable propulsion systems for the operational requirements of each war ship. A hybrid propulsion system was introduced to change from the current mechanical propulsion system to an electric propulsion system according to the changing patterns of naval warfare, and it is expected that an integrated electric propulsion system will also be introduced. Therefore, this paper investigates the propulsion system of major ships operated by the Korean Navy, predicts the changes in future naval warfare, and proposes a propulsion system for future ships.