• Proceedings of the Korea Information Processing Society Conference
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• 2017.11a
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• pp.1250-1253
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• 2017

본 논문은 드론 산업이 발전함에 따라 하천, 호수, 바다 상공에서 활용하는 드론이 수중에 빠졌을 때, 물에 빠진 드론을 모선(Mothership)과 집게팔이 달린 ROV(Remotely Operated Vehicle)를 이용하여 인양하는 시스템을 제안한다. 제안한 시스템의 구성 요소는 세 가지로 첫 번째는 실시간으로 GCS(Ground Control Station)에 영상을 전송하며 ROV와 전력선 모뎀을 이용하여 통신을 하는 모선, 두 번째는 수중에 들어가 수중 카메라를 이용하여 육안으로 드론을 탐색하고 장착된 집게팔로 드론을 몸체에 고정시키는 ROV, 세 번째는 모선, ROV와 실시간으로 영상 데이터와 명령 신호를 주고 받는 GCS 이다.

• Journal of Advanced Research in Ocean Engineering
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• v.3 no.3
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• pp.136-148
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• 2017

The paper presents dual arm ROV manipulation using deep reinforcement learning. The purpose of this underwater manipulator is to investigate and excavate natural resources in ocean, finding lost aircraft blackboxes and for performing other extremely dangerous tasks without endangering humans. This research work emphasizes on a self-learning approach using Deep Reinforcement Learning (DRL). DRL technique allows ROV to learn the policy of performing manipulation task directly, from raw image data. Our proposed architecture maps the visual inputs (images) to control actions (output) and get reward after each action, which allows an agent to learn manipulation skill through trial and error method. We have trained our network in simulation. The raw images and rewards are directly provided by our simple Lua simulator. Our simulator achieve accuracy by considering underwater dynamic environmental conditions. Major goal of this research is to provide a smart self-learning way to achieve manipulation in highly dynamic underwater environment. The results showed that a dual robotic arm trained for a 3DOF movement successfully achieved target reaching task in a 2D space by considering real environmental factor.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2002.05a
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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.

• International Journal of Computer Science & Network Security
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• v.21 no.4
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• pp.277-283
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• 2021

The objective of this project is to conduct an underwater survey. The primary goal is to develop a device that can achieve the desired output under test conditions. For this reason, certain practical considerations must be taken into account, and the implementation is then developed to be carried out to obtain stable performance with the available hardware based on that experiment. The experiment was performed via BlueROV2 (Remotely Operated Vehicle) using RaspberryPi and softwares such as QGC (QGroundControl) and ArduPilot. This paper explains the work, the results with the collected data and how we implemented the work is presented in the end. The intention of this experiment is to connect two PCs using RaspberryPi with MAVLink communication using a Commercial-Off-The-Shelf device.

• Journal of the Korea Institute of Military Science and Technology
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• v.17 no.1
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• pp.33-40
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• 2014

Due to its unmanned feature and some of being matured underwater technologies, UUV(Unmanned Undersea Vehicle) is increasingly considered as a utility player in today's battle-field. The operational benefit of submarine-based UUV operation could be enormous yet the integration challenges are significant, particularly for most of small conventionally-powered submarines. In this paper, we consider UUV operational methodology via the conventional submarine's torpedo tube. Two previous attempts having been done to retrieve the UUV through torpedo tube are reviewed, and their pros and cons are also analyzed. Then, an alternative option is proposed for UUV operation via torpedo tube. In addition, some of practical challenges are also discussed in the paper.

• Journal of Ocean Engineering and Technology
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• v.33 no.3
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• pp.289-299
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• 2019

Various sizes of ROVs are being utilized in offshore industrial, scientific, and military applications all around the world. Because of innovative developments in science and technology, image acquisition devices such as sonar devices and cameras have been reduced in size and their performance has been improved. Thus, we can expect better accuracy and higher resolution even in the case of exploration using a small ROV. The purpose of this paper is to prepare a standard procedure for the identification of unidentified hazardous materials found during the National Oceanographic Survey. In this paper, we propose an IDEF (Integrated DEFinition) method modeling technique to identify unidentified targets using a small ROV. In accordance with the proposed procedure, an ROV survey was carried out on target No.16 with a four-ton-class fishing boat as a support vessel on September 18th of 2018 in the sea near Daebu Island. Unidentified targets, which were not known by the multi-beam data obtained from the ship, could be identified as concrete pipes by analyzing the HD camera and high-resolution sonar images acquired by the ROV. The whole proposed procedure could be verified, and the survey with the small ROV required about 10 days to identify the target in one place.

• Journal of Ocean Engineering and Technology
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• v.34 no.5
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• pp.361-370
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• 2020

We developed a heavy-duty work class ROV trencher named URI-T (Underwater robot it's trencher) that can conduct burial and maintenance tasks for underwater cables and small diameter pipelines. It requires various supporting systems, including a dynamic positioning (DP) vessel, launch and recovery system (LARS), A-frame, and winch in order to perform burial tasks because of its dimensions (6.5 m × 5.0 m × 4.5 m, 20 t) and the tough working environment. However, operating a DP vessel has disadvantages as it is expensive to rent and operate and it is difficult to adjust the working schedule for some domestic coast construction cases. In this paper, we propose a method using a barge instead of a DP vessel to avoid the above disadvantages. Although burying the cable and pipeline using a barge has lower working efficiency than a DP vessel, it can save construction expenses and does not require a large crew. The proposed method was applied over two months at the construction of the water supply in Yokji-do, and the results were verified.

• Journal of Advanced Marine Engineering and Technology
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• v.32 no.7
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• pp.1068-1079
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• 2008

Tilt and heading angles information of a remotely operated vehicle (ROV) are very important in underwater navigation. This paper presents a low.cost tilt and heading estimation system. Three single.axis rate gyros, a tri-axis accelerometer, and a tri-axis magnetometer are used. Output signals coming from these sensors are fused by two Kalman filters. The first Kalman filter is used to estimate roll and pitch angles and the other is for heading angle estimation. By using this method, we have obtained tilt (roll and pitch angles) and heading information which are reliable over long period of time. Results from experiments have shown the performance of the presented system.

• Journal of Ocean Engineering and Technology
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• v.35 no.6
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• pp.434-445
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• 2021

This paper proposes an optimal design method for an unmanned underwater vehicle (UUV) platform to overcome strong current. First, to minimize the hydrodynamic drag components in water, the vehicle is designed to have a streamlined disc shape, which help maintaining horizontal motion (zero roll and pitch angles posture) while overcoming external current. To this end, four vertical thrusters are symmetrically mounted outside of the platform to stabilize the vehicle's horizontal motion. In the horizontal plane, four horizontal thrusters are symmetrically mounted outside of the disc, and each of them has the same forward and reverse thrust performances. With these four thrusters, a specific thrust vector control (TVC) method is proposed, and for external current in any direction, four horizontal thrusters are controlled to generate a vectored thrust force to encounter the current while minimizing the vehicle's rotation and maintaining its heading. However, for the numerical simulations, the vehicle's hydrodynamic coefficients related to the horizontal plane are derived based on both theoretical and empirically derived formulas. In addition to the simulation, experimental studies in both the water tank and circulating water channel are performed to verify the vehicle's various final performances, including its ability to overcome strong current.

• The Journal of Korea Robotics Society
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• v.7 no.4
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• pp.259-266
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• 2012

In these days, researches about underwater robots have been actively in progress for the purposes of ocean detection and resource exploration. Unlike general underwater robots such as ROV(Remotely Operated Vehicle) and AUV(Autonomous Underwater Vehicle) which have propellers, an articulated underwater robot which is called Crabster has been being developed in KORDI(Korea Ocean Research & Development Institute) with many cooperation organizations since 2010. The robot is expected to be able to walk and swim under the sea with its legs. Among many researching fields of this project, we are focusing on a swimming section. In order to find effective swimming locomotion for the robot, we approached this subject in terms of Biomimetics. As a model of optimized swimming organism in nature, diving beetles were chosen. In the paper, swimming motions of diving beetles were analyzed in viewpoint of robotics for applying them into the swimming motion of the robot. After modeling the kinematics of diving beetle through robotics engineering technique, we obtained swimming patterns of the one of living diving beetles, and then compared them with calculated optimal swimming patterns of a robot leg. As the first trial to compare the locomotion data of legs of the diving beetle with a robot leg, we have sorted two representative swimming patterns such as forwarding and turning. Experimental environment has been set up to get the motion data of diving beetles. The experimental equipment consists of a transparent aquarium and a high speed camera. Various swimming motions of diving beetles were recorded with the camera. After classifying swimming patterns of the diving beetle, we can get angular data of each joint on hind legs by image processing software, Image J. The data were applied to an optimized algorithm for swimming of a robot leg which was designed by robotics engineering technique. Through this procedure, simulated results which show trajectories of a robot leg were compared with trajectories of a leg of a diving beetle in desired directions. As a result, we confirmed considerable similarity in the result of trajectory and joint angles comparison.