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http://dx.doi.org/10.5762/KAIS.2010.11.2.414

Development of Hovering AUV 'NOAH' Test-bed for Underwater Explorations  

Byun, Seung-Woo (Department of Ocean System Engineering, Jeju National University)
Kim, Joon-Young (Department of Ocean System Engineering, Jeju National University / Marine and Environmental Research Institute, Jeju National University)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.11, no.2, 2010 , pp. 414-419 More about this Journal
Abstract
This paper describes the design and performance of a hovering AUV 'NOAH' constructed at Jeju National University. We analyse the dynamic performance of NOAH using simulation program and carry out depth control test at small basin. The main purpose of NOAH is to carry out fundamental tests on its attitude control and position control. Its configuration is similar to general ROV appearance for underwater works and dimension is $0.75m{\times}0.5m{\times}0.5m$. It has 4 thrusters of 450watt for longitudinal/lateral/vertical propulsion and is equipped with a pressure sensor for measuring water depth and a magnetic compass for measuring heading angle. The navigation of the vehicle is controlled by an on-board Pentium III-class computer, which runs with the help of the Windows XP operating system. These give us an ideal environment for developing various algorithm which are needed for developing and advanced hovering AUV.
Keywords
AUV(Autonomous Underwater Vehicle); Hovering AUV; Mathematical model; Attitude control; Position control;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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