Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Motion Control System of a Deep-sea Remotely Operated Vehicle, Hemire

심해 무인 잠수정 해미래의 운동 제어 시스템

  • 최현택 (한국해양연구원 해양시스템안전연구소) ;
  • 류승철 (한국해양연구원 해양시스템안전연구소) ;
  • 이판묵 (한국해양연구원 해양시스템안전연구소) ;
  • 이종무 (한국해양연구원 해양시스템안전연구소) ;
  • 전봉환 (한국해양연구원 해양시스템안전연구소) ;
  • 이계홍 (한국해양연구원 해양시스템안전연구소) ;
  • 김기훈 (한국해양연구원 해양시스템안전연구소)
  • Published : 2007.04.27
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Abstract

This paper introduces a general overview of the 6000m class deep-sea ROV. Hemire and Henuvy. and then describes its motion control system. It is developed by Korea Ocean Research & Development Institute(KORDI) for 6 years since 2001. sponsored by the Ministry of Maritime Affairs and, Fisheries (MOMAF). Hemire is remotely operated by a fiber optic telemetry. where 6 thrusters are controlled by operator in manual mode and by auto depth control and auto heading control in auto mode. In this paper. operational mechanism of manual and automatic mode with some convenient functions for operator is desc.ribed. Finally, results of sea trial conducted at the Philippine sea where a depth is 5.770m are shown.

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