• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.331-334
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• 2006

This paper deals with the ways how the AUV is composed of sub-modules to be fault-tolerant during the mission. The emergency situations can be classified into several parts according to the zones where the situations take place - sensor zone, actuator zone, interpreter zone, and communication zone. This paper explains how each element of emergency situation is detected, contained and treated, and as a result, introduce the modular structured AUV controller for the autonomous cruising.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.1 no.1
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• pp.95-104
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• 1997

This paper deals with an analysis of multipath which affect a transmission performance in underwater acoustic channel. For the test of autonomous underwater vehicle(AUV), underwater acoustic channel with multipath structure is introduced to mathmatical modelling for a basin environment. In this paper, SMR(Signal to Multipath Ratio) which is defined as a parameter of mulipath's effect is presented as a mathmatical equation, and the equation or SMR is simulated by MATLAB program.

• Journal of Advanced Marine Engineering and Technology
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• v.34 no.8
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• pp.1107-1114
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• 2010

In this paper, a development of a new 5 d.o.f. underwater manipulator which is actuated by electric motors capable of carrying over 20kg payload and of various operation under the water has been studied. The manipulator for applying to midium-sized AUV or ROV has been designed small and light but to handle a heavy 25kg payload. The joint actuator for the manipulator is designed and builted as a new modular typed double oil jacket for waterproofness. Also, superior joint torque performance of the developed joint actuator has been varified through tests in the air. And, a 5 d.o.f. highly perfomable underwater manipulator has been builted applying the developed underwater joint actuators.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.10
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• pp.2088-2096
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• 2009

This paper deals with hybrid MAC protocol design for underwater acoustic networks. The proposed MAC protocol has the cluster structure with a master node and slave nodes, and the hybrid network structure that combines a contention free period based on TDMA(Time Division Multiple Access) with a contention period. The suggested MAC protocol has a beacon packet for supervising network, a guard period between time slots for packet collision, time tag for estimation of propagation delay with a master node, the time synchronization of nodes, entering and leaving of network, and the communication method among nodes. In this paper, we adapt the proposed hybrid MAC protocol to AUV network, that is the representative mobile device of underwater acoustic network, and verify this protocol is applicable in real underwater acoustic network environment.

• Geophysics and Geophysical Exploration
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• v.14 no.1
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• pp.80-87
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• 2011

Autonomous underwater vehicles (AUVs) present the important advantage of being able to approach the seafloor more closely than surface vessel surveys can. To collect bathymetric data, bottom material information, and sub-surface images, multibeam echosounder, sidescan sonar (SSS) and subbottom profiler (SBP) equipment mounted on an AUV are powerful tools. The 3000m class AUV URASHIMA was developed by the Japan Agency for Marine-Earth Science and Technology (JAMSTEC). After finishing the engineering development and examination phase of a fuel-cell system used for the vehicle's power supply system, a renovated lithium-ion battery power system was installed in URASHIMA. The AUV was redeployed from its prior engineering tasks to scientific use. Various scientific instruments were loaded on the vehicle, and experimental dives for science-oriented missions conducted from 2006. During the experimental cruise of 2007, high-resolution acoustic images were obtained by SSS and SBP on the URASHIMA around the northern Kumano Basin off Japan's Kii Peninsula. The map of backscatter intensity data revealed many debris objects, and SBP images revealed the subsurface structure around the north-eastern end of our study area. These features suggest a structure related to the formation of the latest submarine fan. However, a strong reflection layer exists below ~20 ms below the seafloor in the south-western area, which we interpret as a denudation feature, now covered with younger surface sediments. We continue to improve the vehicle's performance, and expect that many fruitful results will be obtained using URASHIMA.

• Journal of the Society of Naval Architects of Korea
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• v.41 no.3
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• pp.28-34
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• 2004

This paper presents the results of the structural analysis and optimal design of the ROV to be operated at 6000m depth in the ocean. This will be the first domestic deep-sea ROV operating with an AUV and a launcher equipped with robot arms and the current weight is about 3 ton. initial optimal dimension of the frame is determined based on the stress analysis using FEA code ANSYS and design sensitivity and optimization results. The current design is the initial design and there is a possibility to change the design according to the modification of material, equipments and array of structure.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.5
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• pp.442-449
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• 2004

As underwater robotic vehicles (URVs) become attractive for more sophisticated underwater tasks, the demand of high performance in terms of accuracy and dexterity has been increased. An autonomous underwater robotic vehicle, ODIN (Omni-Directional Intelligent Navigator) was designed and built at the Autonomous Systems Laboratory of the University of Hawaii in 1991. Since 1991, various studies were conducted on ODIN and have contributed to the advancement in underwater robotics. Its refurbished model ODIN II was based on VxWorks in VMEbus. Recently, ODIN was born again as a PC based system, ODIN III with unique features such as new vehicle system software architecture with an objective-oriented concept, a graphical user interface, and an independent and modular structure using a Dynamic Linking Library (DLL) based on the Windows operating system. ODIN III software architecture offers an ideal environment where various studies for advanced URV technology can be conducted. This paper describes software architecture of ODIN III and presents initial experimental results of fine motion control on ODIN III.