• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.94-98
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• 2003

Remotely Operated Vehicle. ROV is a new concept equipment being made to replace the manned systems for investigating the deep sea environment. This paper presents the dynamic cable response during ROV launching considering the coupling effects of ship motion. By the harmonic response analysis, the variations of cable tensions were obtained. Harmonic forces in head/beam sea states were calculated by the concept of relative acceleration which obtained by ship motion analysis.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.57-62
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• 2003

This paper describes the design and simulation of a multivariable optimal control system for the combined speed, heading and depth control of a Semi-Autonomous Underwater Vehicle (SAUV) developed in Korea Ocean Research and Development Institute (KRODI). The SAUV is a test-bed for the evaluation of the navigation and manipulator technologies developed for a mine disposal vehicle (MDV) in military use and for a light working underwater vehicle in scientific use. The vehicle was designed to control its cruising speed, heading and depth with 4 horizontal thrusters installed at the rear of the hull. Therefore, the decoupled control methods are limited to apply to the SAUV because the thrust forces are highly coupled with the surging, yawing, and pitching motion of the vehicle. The multivariable Linear Quadratic (LQ) control method is chosen to control steering and diving in variable speed motion automatically. A series of simulation is carried out with fully nonlinear six degree of freedom dynamic model to validate the controller.

• The Journal of the Acoustical Society of Korea
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• 제38권3호
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• pp.247-255
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• 2019

In this study, to predict the noise of a submarine propeller which is going to become bigger and faster, the non - cavitating propeller noise was predicted based on the numerical analysis which considering the interaction of the hull - appendages - propeller. In order to predict the radiated noise of the propeller, the flow field for the entire region of hull-appendages-propeller was computed by CFD (Computational Fluid Dynamics). And the noise for the thickness noise and the load noise was numerically predicted using FW-H (Ffwocs Williams-Hawkings) acoustic analogy. Numerical noise prediction results were verified by model tests and showed good agreement with the measurement results in predicting total noise level and low frequency noise.

• Journal of the Institute of Electronics and Information Engineers
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• 제53권11호
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• pp.89-96
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• 2016

The performance of anti-submarine sonar detection is required to improve by the development of submarine noise reduction technology. because of the need of an anti-submarine detection ability, known for superior beamforming performance, adaptive beamforming algorithms have been considered as an alternative beamforming algorithm of a conventional beamforming algorithm. In order to achieve improved performance by applying an adaptive beamforming algorithm to the sonar system, the adaptive beamforming algorithm applicability of system must be verified, To do this, the performance index for the system applicability must be established. In this paper, a tracking initiation probability of the adaptive beamforming algorithm and the conventional beamforming algorithm was calculated and the performance of both techniques was quantified, a system applicability of the adaptive beamforming algorithm was reviewed.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• 제22권4호
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• pp.328-334
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• 2012

Power flow finite element method(PFFEM) combining power flow analysis(PFA) with finite element method is efficient for vibration analysis of a built-up structure, and power flow boundary element method(PFBEM) combining PFA with boundary element method is useful for predicting the noise level of a vibrating complex structure. In this paper, the coupled PFFE/PFBE method is used to investigate the vibration and radiated noise of the unmanned underwater vehicle(UUV) in water. PFFEM is employed to analyze the vibrational responses of the UUV, and PFBEM is applied to analyze the underwater radiation noise. The vibrational energy of the structure is treated as an acoustic intensity boundary condition of PFBEM to calculate underwater radiation noise. Numerical simulations are presented for the UUV in water, and reliable results have been obtained.

• Journal of Ocean Engineering and Technology
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• 제25권1호
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• pp.27-31
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• 2011

The previously developed method of estimating the propulsion performance of a UUV was applied to the high speed UUV, which is propelled by commercial thrusters. The thrusters were selected with an overdesign mentality; in other words, their capacities were excessive. At that point, the designer's concern was focused on a question regarding at what rpm the UUV could reach the design speed. Because the developed method required thrust coefficient curve data, the researchers asked for the POW data of the thrusters from the manufacturer. From the data, the researchers extracted the thrust coefficient and estimated the rpm value of design speed for the UUV. Finally, the researchers compared the estimated value and the result from a self-propulsion test using a VPMM (Vertical planar motion mechanism) test at a towing tank in MOERI.

• IE interfaces
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• 제23권3호
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• pp.221-228
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• 2010

With the development of science and technology, modern submarines are equipped with high technology devices and multi-functioned precise armaments, consequently, acquisition cost as well as maintenance cost of the submarines are getting higher and higher. However, tight defense budget forces navy to significantly reduce military operating and maintenance costs. In this study, the maintenance and operating costs of submarine Jangbogo-II are estimated through M&S (Modeling and simulation) methodologies in order to reasonably and consistently work out the requirement verification system of Jangbogo-II. The maintenance and operating costs of Jangbogo-II along the next 25 years are estimated as 312.65 billion won via engineering analysis methods while 312.69 billion won from PRICE Model, which shows only 0.04 billion won differences as a whole. This study is expected to be able to provide meaningful decision making data for not only short and/or mid term operating planning but military budgeting.

• Journal of Ocean Engineering and Technology
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• 제17권1호
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• pp.1-7
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• 2003

Autonomous underwater vehicles (AUVs) are unmanned, underwater vessels that are used to investigate sea environments in the study of oceanography. Docking systems are required to increase the capability of the AUVs, to recharge the batteries, and to transmit data in real time for specific underwater works, such as repented jobs at sea bed. This paper presents a visual :em control system used to dock an AUV into an underwater station. A camera mounted at the now center of the AUV is used to guide the AUV into dock. To create the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and deriver a state equation for the visual servo AUV. Further, this paper proposes a discrete-time MIMO controller, minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servo AUV simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

• Journal of Ocean Engineering and Technology
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• 제17권2호
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• pp.72-76
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• 2003

This paper presents the design concept and operation results of float-off for FSO (340,000 DWT Class, ELF AMENAM KPONO Project) built on the ground, without dry dock facilities. It was the first attempt to build FSO, completely, on the ground and launch it using DBU (Double Barge Unit, which was connected by rigid frame structure.) The major characteristics of FSO, which are similar to general VLCC type hull, including topside structure, weigh 51,000 metric ton. In order to have sufficient stability during the deck immersion of DBU, while passing through a minimum water plane area zone, proper trim control was completed with LMC (Load Master Computer). The major features of the monitoring system include calculation for transverse bending moment, shear force, local strength check of each connector, based on component stress, and deformation check during the load-out and float-off. Another major concern during the operation was to avoid damages at the bottom and sides of FSO, due to motion & movement after free-floating; therefore, adequate clearances between DBU and FSO were to be provided, and guide posts were installed to prevent side damage of the DBU casings. This paper also presents various measures that indecate the connector bending moment, damage stability analysis, and mooring of DBU during float off.

• Journal of Ocean Engineering and Technology
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• 제30권3호
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• pp.221-226
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• 2016

An attitude controller for a 6-DOF hovering autonomous underwater vehicle (HAUV) is implemented. We add a vertical thruster, an underwater camera, a wireless communication device, and a DVL to the HAUV that was developed a year ago. The HAUV is composed of 5 thrusters, 2 servo-motors, and 4 apparatus parts. Two rotating thrusters control the surge, heave, and roll of the vehicle. The vertical thruster controls the pitch, and two horizontal thrusters control the sway and yaw of the vehicle. The HAUV’s movement in each direction is controlled by 6 PID controllers. Each PID controller controls the propulsive force and angle of a thruster. In a horizontal and vertical movement experiment, we showed the feasibility of the proposed controller by maintaining a given depth and heading angle of the HAUV.