• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.10a
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• pp.537-539
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• 2016

Recently, unmanned technologies interest increased. An unmanned boat is not directly on people and radio can be controlled by boat. Used for military unmanned boat was first developed in the United States Navy. In recent years, for hobby, for pesticide application, for water activities, expanding exploration in various ways, including for use. The role of a variety of unmanned boat above, In the case of a variety of unmanned probe of the role of unmanned boat on the boat people who don't be able to come to the vision of the advantage can not be exploring places like blind spot. In this paper, The Blind Spot are explorations of places such as streaming real-time as possible, an unmanned boat using Raspberry Pi that support implementation. Receiver input signals of an unmanned boat to the transmitter under the manipulation of, using smartphones hotspot feature Raspberry Pi and smartphones, network connection. Via Raspberry Pi motion of using real-time streaming using unmanned boat.

• Journal of The Korean Society of Agricultural Engineers
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• v.52 no.6
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• pp.9-17
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• 2010

In this paper, an automatic cruise system of unmanned boat was developed for surveying water depth in reservoir using GIS (geographic information system)-GPS (global positioning system) Technologies. the automatic cruise system consisted of an automatic path generation program (APGP) and an automatic boat control program (ABCP). A grid processing method with $3{\times}3$ roving window in GIS function was used to develop the APGP. For development of the ABCP, GPS and its coordinate calculation technique were introduced. The developed system was tested to verify the applicability for a sample reservoir, Misan reservoir located on Ansan city of Kyunggi province. From the test results, this study found the APGP generated cruise path automatically according to input condition on grid size of 5 m, 10 m, and 20 m, as well as, the ABCP also tracked well the cruise paths with high position accuracy. Another verification result on surveying time for 20 ha of water area also showed that the new system could survey water depth of reservoir quickly, including very high quality of spatial resolution.

• Proceedings of KOSOMES biannual meeting
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• 2017.04a
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• pp.107-107
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• 2017

• Journal of Ship and Ocean Technology
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• v.9 no.2
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• pp.1-10
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• 2005

A light-weight cantilever type towing carriage was devised and installed in the towing tank at Seoul National University. Wireless measurement devices were also provided for appropriate data acquisition during high-speed towing tests. With the new carriage system, a series of model tests were performed to investigate the hydrodynamic characteristics of the racing boat in the towing tank and the resistance test results had sufficient accuracy so that they could be used in the development of a high speed planning hull.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.217-225
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• 2016

Dynamic Positioning (DP) is used to automatically maintain the position and heading of a floating structure subjected to environmental disturbances. A DP control system is composed of a motion controller to compute the desired force and moment and a thrust allocator to distribute the computed force and moment to multiple thrusters considering mechanical and operational constraints. Among various thruster configurations, azimuth thrusters or propeller/rudder pairs tend to make the allocation problem difficult to solve, because these types of propulsion systems include nonlinear constraints. In this paper, a dynamic positioning strategy for a twin-thruster ship that is propelled by two azimuthing thrusters is addressed, and a thrust allocation method which does not require a numerical optimization solver is proposed. The applicability of the proposed method is demonstrated with an experiment using an autonomous boat.

• The Journal of the Korea institute of electronic communication sciences
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• v.15 no.2
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• pp.327-334
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• 2020

In this paper, an automatic cruise system of unmanned boat was developed for surveying water depth in reservoir using accurate location information. Using global satellite navigation system(GNSS) data in real time, this unmanned system, combined with an echo sounder, can simultaneously collect location information and depth information on the reservoir. This automatic navigation system allows the automatic route generation program to automatically generate a cruise route according to the input conditions for grid sizes of 5m, 10m and 20m, and automatically controls the cruise route with high positional accuracy. The developed system was tested to verify the applicability of the selected Yonggok(Geoncheon) reservoir as a test reservoir located in Suncheon, Jeollanam-do.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2010.04a
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• pp.143-144
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• 2010

Nowadays, sounding is done by either manually on a boat or through the use of survey. These existing measures are considered to be very inefficient. they are not only greatly limited by environmental circumstances but also requires much of time, expenses, and manpower. Therefore, there emerges a greater need for a new sounding system which will allow us to measure the depth of water, less affected by financial and environmental restrictions, within a short period of time. This is a base study for developing an automatic sounding system, which will enhance the advantages of manned sounding and unmanned sounding, raise the effectiveness and economic efficiency, and acquire more precise data.

• Journal of the Society of Naval Architects of Korea
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• v.44 no.6
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• pp.572-578
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• 2007

A Rigid Inflatable Boat (RIB) is now widely used for commercial and military purpose. In this paper, it is supposed that seven-meter-class RIB be used as an unmanned target ship for naval training. In order to develop many tactical maneuvering patterns of a target ship, a simple horizontal maneuvering model of a RIB is needed. Therefore, models of speed and yaw rate are constructed as the first-order differential equations based on Lewandowski#s empirical formula for steady turning circle diameter of a conventional planning hull. Some parameters in the models are determined using the results of sea trial tests. Finally, proposed models are validated through the comparison of the simulation result with the sea trial result for a specific scenario. Even though a simple model does not represent the horizontal motion of a RIB precisely, however, it can be used enough to develop tactical trajectory patterns.

• Journal of the Society of Naval Architects of Korea
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• v.48 no.1
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• pp.8-14
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• 2011

RIB(Rigid Inflatable Boat) is widely used for coastal transportation in the commercial use and for ISR(Intelligence, Surveillance, Reconnaissance) in the military use. Since RIB is around 10 meters in length and over 30 knots in speed, its motion characteristics in waves is quite different from a large scale ship. When it turns, large roll occurs and heeling direction is opposite to the large ship's case. Currently, many countries are developing USV(Unmanned Surface Vehicle) of which type is RIB. In order to develop high performance autopilot and way point controller, it is very important to identify RIB's motion characteristics. In this paper, sea trial test results of a 7-meter RIB such as speed, turning, zig-zag, and way point control tests were represented and its resistance and propulsion model was identified by using sea trial data and Savitsky's formula. In addition, the state space model which will be used in the identification of the four-degree-of-freedom dynamics in the next step was formulated and the identification procedure was proposed.

• Journal of Navigation and Port Research
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• v.33 no.1
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• pp.35-41
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• 2009

A waypoint tracking algorithm(WTA) is designed for Unmanned Surface Vehicle(USV) in which water-jet system is installed for propulsion To control the heading of USV for waypoint tracking, the steering nozzle of water-jet need, to be controlled. Firstly, target heading is calculated by using the position information of waypoints input from the land control center. Secondly, the command for the steering nozzle of water-jet is calculated in real time by using the heading and the rate-of-turn( ROT) from magnetic compass, In this study, in order to consider the drift angle due to external disturbance such as wind and wave, the course of ground( COG) can be used instead of heading at higher speed than a certain value, To test the performance of newly-designed WTA, the tests were carried out in actual sea area near Gwang-an bridge of Busan. In this paper, the sea trial test results from WTA are analyzed and compared with those from manual control and those from commercial controller.