• Journal of the Korea Society for Simulation
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• v.16 no.3
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• pp.11-18
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• 2007

Recently, as weapon systems have been more diverse and complicated, the factors of risk increase in development. Consequently, demanding reduction of acquired costs and period increase. Under the acquisition environment, more efficiently to develop weapon system, the necessity of application of defense M&S from requirement phase is on the rise. As the importance of M&S is stressed under distributed environment, so the standard of M&S(HLA, SEDRIS, etc.) and the system engineering process, namely FEDEP(Federation Development & Execution Process) have been developed. In this paper using the 5 phase expression, we constructed underwater engagement simulation(UNES) that prototype to develop naval weapon system test bed which take up integrated architecture in HLA. we developed simulators according to FEDEP for expandability and described process applying FEDEP fur UNES development.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.335-335
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• 2000

Applications such as unmanned aerial vehicles (UAVs), autonomous underwater vehicles (AUVs) and the time varying nature of their navigation, guidance and control systems motivate an integrated approach to trajectory general ion and trajectory tracking for autonomous vehicles. In this paper, an experimental testbed was designed for studying this integrated trajectory control approach. In this paper we apply the separating approach to an autonomous nonlinear vehicle system. A new linear matrix inequality based H$_{\infty}$ control technique for periodic time-varying systems is applied to the role of trajectory tracking. Trajectory general ion is accomplished by exploit ing the differential flatness property of the vehicle system; this at lows product ion of desired feasible nominal or reference trajectories from certain ″flat'system outputs. Simulation and experimental results are presented showing stable tracking of a periodic circular trajectory.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.11
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• pp.2751-2757
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• 2015

To obtain the system requirement specification in the beginning of the precision guidance and control system development, the effectiveness and reliability analysis for the system are necessary. The main purpose of this research is to obtain the system requirement specification by carrying out the effectiveness analysis using the modeling and simulation(M&S) scheme. M&S model is constructed using 6-DOF dynamic model, environment model, guidanc -navigation & control model. Assume that the navigation sensor is consist of inertial navigation sensor(INS) and doppler velocity log(DVL), and the speed and direction of current is environment parameter. The effectiveness analysis is carried out using circular error probability(CEP) and variance analyze scheme. Also, the effectiveness analysis is utilized for cost-performance analysis considering the cost of commercial INS and DVL sensor. This paper shows the high-level INS and the low-level DVL configure a high price-performance integrated navigation system.

• Economic and Environmental Geology
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• v.49 no.5
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• pp.381-388
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• 2016

The purpose of this study is to integrate and visualize using mapping techniques based on precise seabed geomorphology, seafloor backscattering images and high-resolution underwater images of the nearshore area around the Dokdo, in the East Sea. We have been obtained the precise topography map using multibeam echosounder system around the nearshore area(~50 m) of the southern part of the Seodo. Side scan sonar survey for analysis seafloor backscattering images was carried out in the same area of topography data. High-resolution underwater images(zone(a), zone(b), zone(c)) were taken in significant habitat scope of the nearshore area of the southern part of the Seodo. Using the results of bathymetry, seafloor backscattering images, high-resolution underwater images, we performed an integrated visualization about the nearshore area of the Dokdo. The integrated visualizing techniques are possible to make the seabed characteristic mapping results of the nearshore area of the Dokdo. The integrated visualization results present more complex and reliable information than separate geological products for seabed environmental mapping study and it is useful to understand the relation between seafloor characteristics and topographic environments of the study area. The integrated visualizing techniques and mapping analysis need to study sustainably and periodically, for effective monitoring of the nearshore ecosystem of the Dokdo.

• Korean Journal of Computational Design and Engineering
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• v.13 no.1
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• pp.45-57
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• 2008

A submarine good military weapon because of its confidentiality and intimidating power. Therefore, training warfighters how to maneuver submarine is very important. Because submarine is very expensive and has regional and temporal limitations, M&S(Modeling and Simulation) can be a good alternative. However, as the existing M&S systems of submarine generally use expensive commercial software and dedicated hardware, which cause the warfighters to take troubles to visit the secured places, and then to train themselves during limited time slots. Also, many M&S systems have only one-channel display system which reduces the sense of immersiveness. Another problem is that many heterogeneous simulators can hardly be used as an integrated system. To solve these problems, X3D, a platform-independent and open standard graphic file format, is used with the general-purpose PCs. To increase immersiveness, multi-channel display system and a motion chair are used. Finally, HLA/RTI is used to integrate individual components of the simulator. All of these are verified through experiments.

• Proceedings of the KIEE Conference
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• summer
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• pp.597-601
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• 2004

HVDC(High Voltage Direct Current) is an underwater cable between Jeju Island and Haenam in main land and supplies approximately $50\%$ of electrical usage in Jeju Island. If there is any power failure due to HVDC, it will cost approximately 50,000 US dollars per day including Thermal Electrical Generation. Therefore it is absolutely necessary to recover the problem in rapid timely basis. Present survey method in Korea is done by scuba diver with air cylinder resulting very poor visual inspection. Other option is by only visual camera attached on miniature ROV for solely suey Purpose. This method does not includeburial depth of cable, cable position, cable condition & etc??‥‥.??? In result, current method does not generate any scientific or sophisticated data which does not allow any intelligent management decision. In conclusion, new method and new systems are needed urgently to upgrade current HVDC underwater cable survey technique in Korea to minimize the cost and time factors.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.351-354
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• 2006

In underwater environment, the control of AUV is difficult, because of the existence of parameter uncertainties and disturbances as well as highly nonlinear and coupled system dynamics. The requirement for the simple and robust controller which works satisfactorily in those dynamical uncertainties, call for a design using the PD or sliding mode controller. The PD controller is very popular controller in the industrial field and the sliding mode controller has been used successfully for the AUV controller design. In this paper, the two controllers arc designed for ISiMI(Integrated Submergible Intelligent Mission Implementation) AUV and the performances are compared by numerical simulation under the modeling uncertainty and disturbances. The design process of PD and sliding mode controller for ISiMI AUV and simulation results are included to compare the performances of the two controllers.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.5
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• pp.559-566
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• 2016

Cables for Towed Array Sonar System(TASS) were developed. In order to verify the performance of cables, environmental and operational conditions as well as functional requirements were investigated during design stage. Double armored high and low voltage integrated cable for towed body and two kinds of cables, armored and light weight power and optic hybrid cables for towed array sensor system were developed by modeling and simulation. Customized manufacturing process and test method, such as foam extrusion and dynamic fatigue test were applied to this development. In conclusion, underwater towed hybrid cable with high tensile strength and compact structure were developed.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.1
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• pp.76-83
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• 2016

State-of-the-art design S/W and other 3D systems are used for design and development of weapon system. It is possible to detect problems of design through 3D or VR(Virtual Reality) in advance, and then reduce the development cost by finding solutions before prototype production. Therefore, we can increase efficiency for supportability of weapon system. In this study, we first propose a design verification procedure. Then we verify design of weapon system, underwater guided weapon, as a case study. Finally, we suggest alternatives for underwater guided weapon under development with DMS(Digital Maintenance System) and ICIDO from the point of view of ILS(Integrated Logistics Support). Developed S/W, DMS, draws maintenance procedures for components. Commercial S/W, ICIDO, verifies cable maintainability.

• Journal of the Society of Naval Architects of Korea
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• v.60 no.4
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• pp.256-265
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• 2023

This paper describes the results of the development of the submarine Free Running Model (FRM). First, the goal of development was set based on the test conditions and the test environment, and the system was obtained accordingly. The target submarine, Joubert BB2 submarine, was selected with a scale of 18.35 in accordance with the development goal. In order to conduct a submarine FRM test underwater, where communication is impossible, the FRM must operate at least semi-autonomously. For this purpose, an Extended Kalman Filter (EKF) based underwater integrated navigation system and control system using a sailplane and an X-shaped sternplane were designed respectively. In addition, a ballast system was designed to enable the model to float to the water surface in case of an emergency. To verify its propulsion, navigation, and control performance, the FRM tests were conducted in both indoor and outdoor basins. As a result, the relationship between propeller RPM and vehicle speed was derived, and it was confirmed that the navigation and control performance met the target value.