• 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.

• Journal of the Korea Institute of Military Science and Technology
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• v.26 no.5
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• pp.400-408
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• 2023

The tracking accuracy of buoy-based LBL(Long Base Line) systems can be significantly influenced by sea environmental conditions. Particularly, the position of buoys that may have drifted due to sea currents. Therefore it is necessary to predict and optimize the drifted-buoy positions in the deploying step. This research introduces a free-drift simulation model using ocean data from the European CMEMS. The simulation model's predictions are validated by comparing them to actual sea buoy drift tracks, showing a substantial match in averaged drift speed and direction. Using this drift model, we optimize the initial buoy layout and compare the tracking performance between the center hexagonal layout and close track layout. Our results verify that the optimized layout achieves lower tracking errors compared to the other two layout.

• Geophysics and Geophysical Exploration
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• v.22 no.2
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• pp.72-79
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• 2019

Underwater object detection method adopting electrical resistivity technique was proposed recently, and the need of advanced data processing algorithm development counteracting various marine environmental conditions was required. In this paper, we present an improved water tank experiment system and its operation results, which can provide efficient test and verification. The main features of the system are as follows: 1) All the processes enabling real time process for not only simultaneous gathering of object images but also the electrical field measurement and visualization are carried out at 5 Hz refresh rates. 2) Data acquisition and processing for two detection lines are performed in real time to distinguish the moving direction of a target object. 3) Playback and retest functions for the saved data are equipped. 4) Through the monitoring screen, the movement of the target object and the measurement status of two detection lines can be intuitively identified. We confirmed that the enhanced physical modeling system works properly and facilitates efficient experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2036-2041
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• 2005

The underwater multi-agent technology has many potential for the various activities related to ocean development/conservation in the near future. For example, in such fields as water pollution investigation, aquaculture control, or coral reef research, we feel a growing need for a system that realizes underwater continuous monitoring in the wide rang e. In this case, the target monitoring area will be sliced planar hierarchically toward the depth as monitoring layers, and many AUVs arranged on each layer track the given trajectory and gather various environmental information continuously, with communicating each other in the layer or with other layers. To realize those systems we need to develop AUV multi-agent technologies. So we are now building basic systems for basin experiment for the development of AUV multi-agent behavior. We must experience many situations and problems to be solved for the development of its elemental technologies by using real systems as well as our computer simulations. In this paper we introduce our concept of the experiment in the near future and the hardware/software design of our two types of handy AUVs and ultrasound ranging/communication system for that experiment. One AUV is designed using a 17inches-diameter glass sphere with DOS/V and RT-Linux based subsystems, which is intended to use not only in the basin but also in the calm real sea. The other AUV is designed for the basin experiment using a 7inches-diameter acrylic sphere with low-cost embedded system with SH-2 based subsystems. The basin experiment to verify the basic AUV facilities and ultrasound ranging for position detection was carried out.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.3
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• pp.312-318
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• 2012

Recently, although the need of marine robots being raised in extreme areas, the basis is very deficient. Fortunately, as the robot competition is vitalizing and the need of the robot education is increasing, it is desirable to establish the basis of the R&D and industrialization of marine robots and to train professionals through the development and diffusion of marine robot kits. However, in conventional case, there is no underwater-type autonomous marine robot kit for the marine robot competition, which has the abilities of the underwater locomotion and target detection and avoidance. To solve this problem, a marine robot kit which has the abilities of the underwater locomotion, the waterproof and the weight adjustment, is developed. To verify the performance of the developed kit, test and evaluation such as surge, pitch, yaw, obstacle avoidance is performed. The test and evaluation results show that the possibility of the real applications of the developed kit.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.285-294
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• 2012

Using bearing measurement only, target motion state is not directly obtained so that TMA (Target Motion Analysis) is needed for this situation. TMA is a nonlinear estimation technique used in passive SONAR systems. Also it is the one of important techniques for underwater combat management systems. TMA can be divided to two parts: batch estimation and sequential estimation. It is preferable to use sequential estimation for reducing computational load as well as adaptively to target maneuvers, batch estimation is still required to attain target initial state vector for convergence of sequential estimation. Selection of batch time interval which depends on observability is critical in TMA performance. Batch estimation in general utilizes predetermined batch time interval. In this paper, we propose a new method called the BTIS (Batch Time Interval and Initial State Estimation). The proposed BTIS estimates target initial status and determines the batch time interval sequentially by using a bank of GMM-TS (Gaussian Mixture Measurement-Track Splitting) filters. The performance of the proposal method is verified by a Monte Carlo simulation study.

• The Journal of the Acoustical Society of Korea
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• v.42 no.1
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• pp.25-31
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• 2023

In order to estimate the radial speed of an underwater object so-called target with active sonar, Continuous Wave (CW) pulse is generally used, but if a target is slow and at near distance, it is not easy to estimate the radial velocity of the target due to acoustic reverberation in the ocean. In 2017, Wang et al. utilized broadband signal of two Hyperbolic Frequency Modulation (HFM) pulses, which is known as a doppler-invariant pulse, with equal frequency band and in opposite sweep directions to overcome this problem and successfully estimate the radial speed of slow-moving nearby target. They demonstrated the estimation of the radial velocity with computer simulation using the parameters of two HFM starting time differences and receiving times. However, for it uses two HFM pulses with equal frequency, cross-correlation between the two pulses negatively affect the detection performance. To mitigate this cross-correlation effect, we suggest using two different band HFM with the opposite sweep directions. In this paper, a method of radial velocity estimation is derived and simulated using two HFM pulses with the pulse length of 1 second and bandwidth of 400 Hz. Applying the suggested method, the radial velocity was estimated with approximately 6 % of relative error in the simulation.

• 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.

• Journal of the Korea Institute of Military Science and Technology
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• v.7 no.4 s.19
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• pp.13-19
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• 2004

A system for detecting underwater target demands a high operational reliability because of the difficulty of maintenance and repair when the system has a few troubles during long operating period. Therefore, in this paper, we have proposed a signal transport system with a high reliability in an underwater sensor array system composed of magnetic and acoustic sensors. In this system, the nodes for signal transport are connected dually each other with single-hop construction and a magnetic sensor is connected to a couple of neighboring nodes. This enables the output signal to transport from a node to the next node and the next but one node. Also, the signal from a magnetic sensor can be transported to two nodes at the same time. Thus, the system with this construction makes possible to transport sensor data to another node which works normally when a transport node or cable have some faults and will operate normally although it happens some problems in a few signal transport nodes and connection cables.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.8
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• pp.3758-3765
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• 2011

The operators' visibility of underwater construction equipments plays a key role for safe and efficient construction. The visibility can be limited within 30cm in the West Sea of South Korea where water is considerably turbid. This paper investigates the appropriate location and projection angle of light to be used for construction equipments using model tests. It was discovered that visibility was obtained when the light was located near the target objects with a projection angle of $45^{\circ}$.