• 한국항해항만학회지
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• 제32권8호
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• pp.603-609
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• 2008

Manta형 무인잠수정(Manta-type Unmanned Undersea Test Vehicle, 이하 MUUTV라 함)은 Naval Undersea Warfare Center의 Manta Test Vehicle의 설계 및 운용 개념을 기초로 하여 제안되었다(손 등, 2006). 본 연구에서는 Feldman(1979)과 손 등(2006)의 6자유도 운동 수학모델을 이용하여 MUUTV의 조종운동 특성에 미치는 유체력미계수의 민감도 해석을 수행하였다. 민감도 해석 기법으로는 Sen(2000)이 제안한 방법을 채택하였다. 본 연구를 통하여 각각의 유체력미계수가 MUUTV의 조종운동 특성에 미치는 영향을 정량적으로 파악할 수 있었으며, 상대적으로 영향을 작게 미치는 유체력미계수가 포함된 항을 제거하여 조종운동 수치 시뮬레이션을 수행하여도 운동 추정이 가능함을 알 수 있었다.

• 한국산학기술학회:학술대회논문집
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• 한국산학기술학회 2009년도 추계학술발표논문집
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• pp.152-155
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• 2009

본 논문에서는 Manta 형상 무인잠수정의 자유항주모델을 설계하였고 이를 이용하여 제어실험을 실시하였다. 제작된 MUUTV모형은 직진방향으로 1개의 추진기를 가지고 있으며, 승강타와 방향타를 이용하여 수심 및 방향 제어를 실시하게된다. MUUTV는 수심제어시 사용되는 수심을 측정하기 위한 압력센서, 방향제어를 위해 방향각 측정을 위한 마그네틱 컴파스가 설치되어있으며, 잠수정의 전체적인 운용을 위한 Windows XP기반의 소형 On-board PC104가 장착되어있다. 시뮬레이션에 사용된 6자유도 운동모델은 PMM실험과 이론적 추정을 통해 얻어진 유체동역학계수와 파라미터를 이용하여 구성된다. 잠수정의 운동성능과 제어응답을 비교하기 위해 PID, 슬라이딩모드, 퍼지, 제어기가 설계되었으며, 이를 통해 제어 성능을 비교하고자 하였다. 또한 제작된 모델을 이용하여 수심 및 방향제어 실험을 수조에서 실시하였다.

• 대한조선학회논문집
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• 제43권4호
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• pp.399-413
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• 2006

Mathematical model for coupled motions of Manta-type Unmanned Undersea Vehicle(UUV) moving with six degrees of freedom, is formulated. Furthermore, a calculation method for estimating the linear hydrodynamic derivatives acting on UUV, is proposed, and some of the estimated linear hydrodynamic derivatives are compared with results of captive model experiment. Based on linear dynamic model of UUV, a study was made to examine dynamic stability and turning ability in horizontal plane. And directional stability and required elevation rudder angles for neutrally operating in vertical plane, are also discussed.

• 대한조선학회논문집
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• 제47권3호
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• pp.328-341
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• 2010

The authors adopt the Unmanned Undersea Vehicle(UUV), which has taken the shape of manta(Sohn et al. 2006). They call here it Manta-type Unmanned Undersea Test Vehicle(MUUTV). MUUTV is designed with the similar concept of UUV called Manta Test Vehicle(MTV), which was originally built by the Naval Undersea Warfare Center, USA(Lisiewicz and French 2000, Sirmalis et al. 2001, U.S. Navy 2004). The present study deals with evaluation of extreme motion of MUUTV at large attack angles. Extreme motion contains, for example, rising and depth change due to operation of hovering thrusters attached to MUUTV, lateral motion due to ocean current applied to MUUTV at low advance velocity, and so on. Numerical simulation technique has been utilized. The previous mathematical model on manoeuvring motion of MUUTV(Bae et al. 2009a) is basically adopted. Based on the results of present model experiment on extreme motion, the mathematical model is revised and supplemented in order to describe extreme motion. The hydrodynamic derivatives related to extreme motion are obtained from present model experiment and the other derivatives are referred to previous work(Bae et al. 2009a).

• Ocean and Polar Research
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• 제39권4호
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• pp.293-300
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• 2017

Various approaches have been tried in an effort to improve the power performance of a flapping tidal stream turbine after it was introduced as an alternative to conventional rotary turbines. Among the different approaches, researches on mimicking the morphology and behavior of animals have been conducted. In this study, we utilized a flapper to mimic the multi-joint pectoral fin of a Manta-ray and investigated its effect on power generation. Experiments were conducted by a dual flapping apparatus with rigid and flexible flappers in a towing tank facility. First, in order to determine the conditions that can produce high power generation, the performances of the dual rigid flappers were compared when input arm angles and frequencies are changed, and the two conditions $40^{\circ}$, 0.2 Hz and $40^{\circ}$, 0.3 Hz for the input arm angle, frequency were selected. When the mimicked flexible flapper was used instead of the front rigid flapper and the rear one, the power was improved by an average of 22% and 38% in the experimental conditions, respectively. Moreover, it was recognized from the apparent camber observed during the experiment that the flexible flapper had been successfully applied. If the feasibility of the Manta-Ray mimicked flapper is improved through subsequent researches, the flapping tidal turbine can be a viable alternative to rotary turbines in the near future.

• 한국산학기술학회논문지
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• 제11권1호
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• pp.21-28
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• 2010

본 논문에서는 만타형상 무인잠수정(Manta-type unmanned underwater test vehicle)의 운동성능과 제어기설계에 대한 성능을 해석하기 위한 수학모델을 정립하여 시뮬레이션 프로그램을 개발하였다. 6자유도 운동방정식을 이용하여 Matlab/Simulink로 시뮬레이션 프로그램을 구성하였다. 개발된 시뮬레이션 프로그램을 이용하여 만타형상 무인잠수정의 동역학적 운동성능을 해석하였으며, 무인잠수정의 제어성능을 해석하기 위하여 PID(비례-미분-적분)제어기와 슬라이딩모드(Sliding mode)제어기를 설계하여 만타형상 무인잠수정의 제어성능을 해석하였다. 설계된 제어기는 무인잠수정의 수심제어(Depth control)와 방향제어(Heading control)에 사용되었다. 설계된 제어기의 성능을 확인하기 위하여 미해군 대학원의 AUV II와 비교하였다. 설계된 수심제어기와 방향제어기를 이용하여 만타형 무인잠수정의 설계목표에 부합하는 항해제어 시뮬레이션을 실시하였다.

• International Journal of Ocean System Engineering
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• 제1권4호
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• pp.192-197
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• 2011

This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log for measuring position and angle. The vehicle is controlled by an on-board PC, which runs with the Windows XP operating system. The dynamic model of 6DOF is derived including the hydrodynamic forces and moments acting on the vehicle, while the hydrodynamic coefficients related to the forces and moments are obtained from experiments or estimated numerically. We also utilized the values obtained from PMM (Planar Motion Mechanism) tests found in the previous publications for numerical simulations. Various controllers such as PID, Sliding mode, Fuzzy and $H{\infty}$ are designed for depth and heading angle control in order to compare the performance of each controller based on simulation. In addition, experimental tests are carried out in a towing tank for depth keeping and heading angle tracking.

• 한국항해항만학회지
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• 제33권5호
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• pp.309-314
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• 2009

Manta형 무인잠수정(MUUTV)을 대상으로 회류수조에서의 모형실험을 통해 동일한 동체 모형에 대해 형상이 서로 다른 부가물을 부착했을 때의 동유체력 특성을 실험적으로 검토하였으며, 동유체력 측정 결과를 이론계산치와 비교하였다. 아울러 이를 바탕으로 운동안정성을 검토하여 최적의 부가물 형상 결정의 이론적 근거를 확립하였다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2009년도 공동학술대회
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• pp.5-6
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• 2009

Manta형 무인잠수정(MUUTV)을 대상으로 회류수조에서의 모형실험을 통해 동일한 동체 모형에 대해 형상이 서로 다른 부가물을 부착했을 때의 동유체력 특성을 실험적으로 검토하였으며, 동유체력 측정 결과를 이론계산치와 비교하였다. 아울러 이를 바탕으로 운동안정성을 검토하여 최적의 부가물 형상 결정의 이론적 근거를 확립하였다.

• 한국잠사곤충학회지
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• 제20권2호
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• pp.20-25
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• 1978

Research on the hormones of insect has followed by the special opportunities and problems arising from pollution. Since then, the main frame of it has been energetically exploited by ligation, decapitation and so on. In the meanwhile, knowledge of the biochemistry of hormone action as well as other aspects of biochemistry in insects has been gradually disclosed. Since 1966, practical use of active analogs of the hormones has been also worked out as an insecticide and brought the features of it to the light. On the other hand, it is expected to afford the increase of silk productivity resulted from control of the fifth larval period by delaying normal development. With these regards, some of analogs have been tried to apply practically to the silkworm. One of them is "Manta" produced by Zoecon Chemical Company and it is presently used for the increase of silk productivity in Japan. Another one is "R-20458", not registered one, issued by Stuffer Chemical Company. It is still pending for the silkworm growth regulator For the possibility of practical use, two chemicals are tested on the increase of silk productivity by topical application and the obtained results are summarized as follows. 1. It is evident that the fifth larval period was extended by topical application of the tested chemicals "Manta"and "R-20458"at the fifth instar after 51 hours of the last ecdysis, ranging from 12 hours to one day, as compared to. the control 2. In survival rates, there is no significance at 5% level between control and treatments. It proved that there was no toxity to silkworm by topical aprication. 3. There is an increase of cocoon yield in both chemical treatments. It was resulted from increase of weight of single cocoon. "Manta"2.5ppm produced 22.2kg of cocoon. It is equal to 9% increase in index, as compared to that of control. In case of R-20458, the increasing rates were varied at the different concentration; 21.4kg of cocoon production with 5% increase at 5ppm, 20.9kg of it with 2% increase at 2.5ppm and 20.6kg of it with 1% increase at 1. 25ppm in index, respectively, as compared with that of control. 4. Percentage of cocoon shell was increased by topical application. In case of "Manta" 2.5ppm, it is 25.6% which is equal to 6% increase in index, as compared with that of control. For "R-20458", the increasing rates of percentage of cocoon shell were varied with the different level of chemical concentration. They are 25.0% of 4% increase at 2.5ppm, 24.9% of 3% increase at 1.25ppm and 24.7% of 3% increase at 5ppm. 15% increase was attained at "Manta" 2.5ppm in the weight of cocoon layer based on cocoon yield and percentage of cocoon shell in index, as compared with that of control. The rates for "R-20458"are 5% increase at 2.5ppm and 4% increase at 1. 25ppm in index.