[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.26748/KSOE.2020.036

Study on Unmanned Hybrid Unmanned Surface Vehicle and Unmanned Underwater Vehicle System

Jin, Han-Sol (Department of Mechanical Engineering, Korea Maritime and Ocean University)
Cho, Hyunjoon (Department of Mechanical Engineering, Korea Maritime and Ocean University)
Lee, Ji-Hyeong (Department of Mechanical Engineering, Korea Maritime and Ocean University)
Jiafeng, Huang (Department of Mechanical Engineering, Korea Maritime and Ocean University)
Kim, Myung-Jun (Department of Mechanical Engineering, Korea Maritime and Ocean University)
Oh, Ji-Youn (Maritime ICT R&D Center, Korea Institute of Ocean Science & Technology)
Choi, Hyeung-Sik (Department of Mechanical Engineering, Korea Maritime and Ocean University)

Publication Information

Journal of Ocean Engineering and Technology / v.34, no.6, 2020 , pp. 475-480 More about this Journal

Abstract

Underwater operating platforms face difficulties regarding power supply and communications. To overcome these difficulties, this study proposes a hybrid surface and underwater vehicle (HSUV) and presents the development of the platform, control algorithms, and results of field tests. The HSUV is capable of supplying reliable power to the unmanned underwater vehicle (UUV) and obtaining data in real time by using a tether cable between the UUV and the unmanned surface vehicle (USV). The HSUV uses global positioning system (GPS) and ultra-short base line sensors to determine the relative location of the UUV. Way point (WP) and dynamic positioning (DP) algorithms were developed to enable the HSUV to perform unmanned exploration. After reaching the target point using the WP algorithm, the DP algorithm enables USV to maintain position while withstanding environmental disturbances. To ensure the navigation performance at sea, performance tests of GPS, attitude/heading reference system, and side scan sonar were conducted. Based on these results, manual operation, WP, and DP tests were conducted at sea. WP and DP test results and side scan sonar images during the sea trials are presented.

Keywords

Unmanned surface vehicle; Unmanned underwater vehicle; Autonomy; Autonomous control; Integrated system; Field test;

Citations & Related Records

Reference

1	Bentley, R.W. (2002). Global Oil & Gas Depletion: an Overview. Energy Policy, 30(3), 189-205. https://doi.org/10.1016/S0301-4215(01)00144-6 DOI
2	Cho, H., Jeong, S.-K., Ji, D.-H., Tran, N.-H., Vu, M.T., & Choi, H.-S., (2020). Study on Control System of Integrated Unmanned Surface Vehicle and Underwater Vehicle. Sensors, 20(9), 2633. https://doi.org/10.3390/s20092633 DOI
3	Hou, W. (2013). Ocean Sensing and Monitoring: Optics and Other Methods (1st ed.). Washington, USA: SPIE. https://doi.org/10.1117/3.1002079 DOI
4	Nicholson, J.W., & Healey, A.J. (2008). The Present State of Autonomous Underwater Vegicle (AUV) Applications and Technologies. Marine Technology Society Journal, 42(1), 44-51. https://doi.org/10.4031/002533208786861272 DOI
5	Molland, A.F., Wellicome, J.F., & Couser, P.R. (1994). Resistance Experiments on a Systematic Series of High Speed Displacement Catamaran Forms: Variation of Length-displacement Ratio and Breadth-draught Ratio (Ship Science Reports, 71). Southampton, UK: University of Southampton.
6	Sarda, E.I., & Dhanak, M.R. (2017). A USV-Based Automated Launch and Recovery System for AUVs. IEEE Journal of Oceanic Engineering, 42(1), 37-55. https://doi.org/10.1109/JOE.2016.2554679 DOI
7	Zwolak, K., Simpson, B., Anderon, R., Bazhenowa, E., Falconer, R., Kearns, T., ... & Tinmouth, N. (2017). An Unmanned Seafloor Mapping System: The Concept of an AUV Integrated with the Newly Designed USV SEA-KIT. Proceedings of the OCEANS, Aberdeen, UK. https://doi.org/10.1109/OCEANSE.2017.8084899 DOI
8	Fossen, T.I. (2011). Handbook of Marine Craft Hydrodynamics and Motion Control (1st ed.). New Jersey, USA: Jhon Wiley & Sons.