• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.123-130
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• 2004

Ocean developments gradually move to deep-sea in the 21 century. A deep-sea unmanned underwater vehicle is one of important tools for ocean resource survey. A marine cable plays an important role for the safe operation of a deep-sea unmanned underwater vehicle. The first cable of a deep-sea unmanned underwater vehicle is excited by surface vessel motion and shows non-linear dynamic behaviors. A numerical method is necessary for analysing the dynamic behaviour of the first marine cable. In this study, a numerical program is estabilished based on a finite difference method. The program is appled to a 6000m long cable for a deep-sea unmanned underwater vehicle and shows good reasonable results.

• 한국해양공학회지
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• 제19권3호
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• pp.31-38
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• 2005

Ocean developments gradually move to deep-sea in the 21 century. A deep-sea unmanned underwater vehicle is one of important tools for ocean resource survey. A marine cable plays an important role for the safe operation and signal transmission of a deep-sea unmanned underwater vehicle. The umbilical cable of a deep-sea unmanned underwater vehicle is excited by surface vessel motion and shows non-linear dynamic behaviors. A numerical method is necessary for analysing the dynamic behavior of a marine cable. In this study, a numerical program is established based on a finite difference method. The program is appled to 6000m long cable for a deep-sea unmanned underwater vehicle and shows good reasonable results.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.198-203
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• 2004

Ocean developments gradually move to deep-sea in the 21 century. A deep-sea unmanned underwater vehicle is one of important tools for ocean resource survey. A marine cable plays an important role for the safe operation and signal transmission of a deep-sea unmanned underwater vehicle. The first cable of a deep-sea unmanned underwater vehicle is excited by surface vessel motion and shows non-linear dynamic behaviors. A ROV launcher is also excited by the 1st cable motion. A numerical method is necessary for analysing the dynamic behaviour of the first marine cable and the ROV launcher. In this study, a numerival program is appled to a 6,000m long cable for a deep-sea unmanned underwater vehicle to shaw shows the dynamic behaviour of the cable and the ROV launcher under combined excitations.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2002년도 춘계학술대회 논문집
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• pp.243-250
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• 2002

According to Ocean Korea 21, a basic plan established by the Ministry of Maritime Affairs and Fisheries (MOMAF) of Korea in May 2000, Korea Research Institute of Ships and Ocean Engineering (KRISO) proposed a program for the development of a deep-sea unmanned underwater vehicle (UUV) to explore deep sea for scientific purpose. KRISO has launched a project in May 2001 under the support of MOMAF. The deep-sea unmanned underwater vehicle will be applied to scientific researches in deep-sea as well as in shallow water. For operation of underwater vehicles in shallow water near the Korean Peninsula, a special design is required because of strong tidal current. In addition, MOMAF requires the vehicle to be designed for the purpose of long range survey, a long-term observation, and precise works in a specific area. Thus, KRISO has planned to design the system with the functional combination of both ROV and AUV. This paper presents the design of the deep-sea unmanned underwater vehicle.

• 한국해양공학회지
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• 제20권3호
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• pp.7-14
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• 2006

This paper discusses the structural design and analysis of a 6,000 meters depth-rated capable deep-sea unmanned underwater vehicle (UUV) system. The UUV system is currently under development by Maritime and Ocean Engineering Research Institute(MOERI), Korea Ocean Research and Development Institute (KORDI). The UUV system is composed of three vehicles - a Remotely Operated Vehicle (ROV), an Autonomous Underwater Vehicle (AUV) and a Launcher - which include underwater equipment. The dry weight of the system exceeds 3 tons hence it is necessary to carry out the optimal design of structural system to ensure the minimum weight and sufficient space within the frame for the convenient use of the embedded equipments. In this paper, therefore, the structural design and analysis of the ROV and launcher frame system were carried out, using the optimizing process. The cylindrical pressure vessels for the ROV were designed to resist the extreme pressure of 600 bars, based on the finite element analysis. The collapse pressure for the cylindrical pressure vessels was also checked through a theoretical analysis.

• 한국전자통신학회논문지
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• 제8권1호
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• pp.27-40
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• 2013

본 연구는 미래예측방법으로 많이 활용되고 있는 시나리오플래닝 방법론을 적용하여 2006년에 개발된 한국형 수중로봇시스템(심해무인잠수정시스템)의 바람직한 미래상을 도출하였다. 한국이 개발한 이 심해무인잠수정의 설계심도는 6000미터이며, 그 구성을 보면, '해미래'는 실질적인 심해탐사작업을 실행하고, 이 '해미래'를 지원하는 '해누비'는 심해에서 시료채취나 탐사가 가능하다. 한편 이 한국형 심해무인잠수정시스템은 수중복합항법시스템을 사용하고 있지만, 6000m심해에서 5m이내의 항법오차가 있고 50cm이내의 상대 위치오차를 가지고 있다. 따라서 본고는 이를 보완하여 관련 분야에서 기술 선도국이 될 수 있는 한국정부가 추진해야 할 바람직한 미래전략방향을 고찰했다. 그 결과 인디케이터와 가상벽을 갖춘 외부장치를 구비한 심해무인잠수정 시스템 개발이 한국에 있어 미래지향적인 정책추진방안이었다.

• 한국정보통신학회논문지
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• 제10권11호
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• pp.1973-1977
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• 2006

본 논문에서는 IMU(Inertial Motion Unit), DVL(Doppler Velocity Log), USBL(Ultra Short Base Line) DGPS(Differential Global Positioning System) 등의 센서로부터 취득된 데이터를'융합하여 ROV(Remotely Operated Vehicle)와 AUV(Autonomous Underwater Vehicle)와 같은 수중체의 위치를 지구 전체영역에서 추정하기 위한 기본적인 알고리즘을 다루고 있다. 본 논문에 소개된 알고리즘은 6,000m급 과학 조사용 심해무인잠수정인 해미래[1]의 수중 위치추적에 사용될 예정이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.109.5-109
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• 2002

Autonomous underwater vehicles (AUVs) are unmanned underwater vessels to investigate sea environments, oceanography and deep-sea resources autonomously. Docking systems are required to increase the capability of the AUVs to recharge the batteries and to transmit data in real time in underwater. This paper presents a visual servo control system for an AUV to dock into an underwater station with a camera. To make the visual servo control system , this paper derives an optical flow model of a camera mounted on an AUV, where a CCD camera is installed at the nose center of the AUV to monitor the docking condition. This paper combines the optical flow equation of the camera with the AUV's equation o...

• 한국해양공학회지
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• 제23권5호
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• pp.61-70
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• 2009

An AUV (Autonomous Underwater Vehicle) is an unmanned underwater vessel to investigate sea environments and deep sea resource. To be completely autonomous, AUV must have the ability to home and dock to the launcher. In this paper, we consider a class of homing trajectory planning problem for an AUV with kinematic and tactical constraints in horizontal plane. Since the AUV under consideration has underactuated characteristics, trajectory for this kind of AUV must be designed considering the underactuated characteristics. Otherwise, the AUV cannot follow the trajectory. Proposed homing trajectory panning method that called VGM (Virtual Goal Method) based on visibility graph takes the underactated characteristics into consideration. And it guarantees shortest collision free trajectory. For tracking control, we propose a PD controller by simple guidance law. Finally, we validate the trajectory planning algorithm and tracking controller by numerical simulation and ocean engineering basin experiment in KORDI.

• 한국정보통신학회논문지
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• 제12권7호
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• pp.1202-1208
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• 2008

본 논문에서는 유삭식 심해무인잠수정인 해미래와 진수장치인 해누비로 이루어지는 심해무인잠수정 시스템의 항법 알고리즘에 사용되는 다중 센서 융합 기법에 대하여 소개하고 있다. 수중 위치 추적 시스템의 성능은 초단기선, 장기선, 고도계와 같은 수중 음향 센서의 성능에 의해 결정되는데 수중음향 신호는 다양한 형태의 노이즈를 가지고 있어 특별한 주의가 요망된다. 본 논문에서는 이동 관측창 개념을 이용한 실용적인 다중 센서 융합 알고리즘을 제안하였다. 해미래의 동해 실해역 시험을 통해 획득된 계측치에 본 알고리즘을 적용하여 그 성능을 고찰한 결과 우수한 성능을 보임을 알 수 있었다.