• 한국산업융합학회 논문집
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• 제21권6호
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• pp.389-394
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• 2018

Remotely operated vehicle(ROV) and autonomous underwater vehicle(AUV) have been used for underwater surveys, underwater exploration, resource harvesting, offshore plant maintenance and repair, and underwater construction. It is hard for people to work in the deep sea. Therefore, we need a vision control system of underwater submersible that can replace human eyes. However, many people have difficulty in developing a deep-sea image control system due to the deep sea special environment such as high pressure, brine, waterproofing and communication. In this paper, we will develop an Ethernet based remote image control system that can control the image mounted on ROV.

• Journal of Positioning, Navigation, and Timing
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• 제12권1호
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• pp.67-73
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• 2023

As interest in underwater structures and ocean exploration increases, many researchers are proposing methods for modeling and controlling various remotely operated vehicles (ROVs). Recently, hybrid systems composed of an autonomous underwater vehicle and an ROV capable of remote control and autonomous navigation are being developed. In this study we introduce a method that models Ariari-aROV, an ROV consisting of five thrusters, and performs navigation. The proposed ROV can be controlled manually and by autonomous navigation when given a target point. An extended Kalman filter is utilized for sensor measurement correction for more precise navigation. The proposed method is verified through a simulation.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.460-470
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• 2011

This paper presents a dynamic workspace control method of underwater manipulator considering a floating ROV (Remotely Operated vehicle) motion caused by sea wave. This method is necessary for the underwater work required linear motion control of a manipulator's end-effector mounted on a floating ROV in undersea. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation excluded dynamic elements. For online manipulator control achievement, we develop the position tracking method based on sensor data and EKF (Extended Kalman Filter) and the input velocity compensation method. The dynamic workspace control method is established by applying these methods to differential inverse kinematics solution. For verification of the proposed method, experimental data based test of ROV position tracking and simulation of the proposed control method are performed, which is based on the specification of the KORDI deep-sea ROV Hemire.

• 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.

• 한국산업융합학회 논문집
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• 제23권3호
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• pp.463-471
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• 2020

Recently, various tries to apply ROV (Remotely Operated Vehicle) into underwater are being developed. However, due to underwater environment uniqueness, the additional problem must be taken into account when designing an ROV for the inspection of the underwater structure. This is because a GPS-based information method cannot be applied, and the obtainable image is also dependent on the turbidity. Also, it is necessary to be able to satisfy waterproof and operating speeds in consideration of most practical application environments. This paper describes the design results of the ROV system for underwater structure inspection considering the above problems. The designed system applied INS / DVL for location recognition and was configured to support 3D mapping and stereo camera-based image information using sonar depending on visibility. To satisfy the waterproof, a pressure vessel using a composite material was applied. And over-actuated system using eight thrusters to maintain a stable posture and operating speed was applied also. The designed system was verified by structural analysis and flow analysis also.

• 대한기계학회논문집A
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• 제32권11호
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• pp.997-1002
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• 2008

This paper is mainly concerned with the development of a remotely operated vehicle for investigation of the coastal sea. For this, we have designed and constructed a vehicle entitled KMU-ROV(Korea Maritime University Remotely Operated Vehicle), for purpose of investigation mission under 50(m) of the sea surface. We have designed six independent waterproof actuators and the housing of the controller for underwater operation. For six degree-of-freedom motion, we have analyzed the dynamics of the KMU-ROV and have designed a new composition of six actuators including the driving system. For motion control, we have composed a concurrent velocity control algorithm for controlling the speed of all the actuating motors. The control system for the KMU-ROV is composed of a master DSP controller, DSP controller for the motor control and various sensors. We composed the PID control algorithm and a network system for controlling motors using the CAN communication. The performance of the KMU-ROV was presented by testing the developed control algorithm and control system under the water.

• Journal of information and communication convergence engineering
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• 제19권1호
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• pp.61-66
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• 2021

An underwater remotely operated vehicle (ROV) has been implemented. It can inspect foreign substances through a CCD camera while the ROV is running in water. The maximum thrust of the ROV's running thruster is 139.3 N, allowing the ROV to move forward and backward at a running speed of 1.03 m/s underwater. The structural strength of the guard frame was analyzed when the ROV collided with a wall while traveling at a speed of 1.03 m/s underwater, and found to be safe. The maximum running speed of the ROV is 1.08 m/s and the working speed is 0.2 m/s in a 5.8-m deep-water wave pool, which satisfies the target performance. As the ROV traveled underwater at a speed of 0.2 m/s, the inspection camera was able to read characters that were 3 mm in width at a depth of 1.5 m, which meant it could sufficiently identify foreign objects in the water.

• 한국해양공학회지
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• 제34권3호
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• pp.180-193
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• 2020

In this study, the end-effector tracking performance of a manipulator installed on a remotely operated vehicle (ROV) for autonomous underwater intervention is verified. The underwater manipulator is an ARM 7E MINI model produced by the ECA group, which consists of six joints and one gripper. Of the six joints of the manipulator, two are revolute joints and the other four are prismatic joints. Velocity control is used to control the manipulator with forward and inverse kinematics. When the manipulator approaches a target object, it is difficult for the ROV to maintain its position and posture, owing to various disturbances, such as the variation in both the center of mass and the reaction force resulting from the manipulator motion. Therefore, it is necessary to compensate for the influences and ensure the relative distance to the object. Simulations and experiments are performed to track the trajectory of a virtual object, and the tracking performance is verified from the results.

• 한국음향학회지
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• 제38권2호
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• pp.161-167
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• 2019

본 논문은 트랙기반 중작업용 ROV(Remotely Operated underwater Vehicle)에 적용 가능한 어라운드 뷰 소나 및 굴착깊이 측정 소나의 성능 검증에 대한 내용을 다루고 있다. 현재 국산화 개발 중인 중작업용 ROV에 활용 가능한 어라운드 뷰 소나 및 굴착깊이 측정 소나를 장착하여 수조 및 실해역에서 성능 검증 실험을 수행하였다. 어라운드 뷰 소나의 경우 이미지 소나를 ROV 전후좌우 4방향에 장착하고, 굴착깊이 측정 소나는 멀티 빔 음향측심기(Multi Beam Echo Sounder, MBES) 기술로써 ROV 전방에 장착된다. 본 논문에서 개발한 소나를 장착하고 ROV를 실해역에 진수시켜 소나를 운용한 결과 소나 시스템들은 작업 중 발생하는 침전된 부유물이 발생하거나 탁도가 높은 해역에 영향을 거의 받지 않으며 어라운드 뷰 소나의 경우 ROV 전방 30 m 거리에 있는 암반지형, 자갈, 모래톱 등을 확인할 수 있었다. 그리고 굴착깊이 측정 소나의 경우 ROV가 굴착 작업을 수행 후 굴착 깊이를 측정 가능함을 확인하였다. 본 논문에서 제안한 어라운드 뷰 소나와 굴착깊이 측정 소나를 활용함으로써 작업효율성을 높일 수 있음을 입증하였다.

• 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.