• Journal of the Institute of Convergence Signal Processing
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• v.24 no.4
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• pp.241-248
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• 2023

Despite the recent short history of drones, the applying field of drones has been used for various purposes in a wide variety of areas and fields. As such, with the emergence of various types of drones over the years, in a broad sense, a remote controlled mobile object that can be controlled by wired and wireless control may be a suitable definition for drone because of various types of drones in recent years. This paper aims to help readers who want to research, develop, and use drones by examining the history, application fields, and future prospects of drones, including Unmanned Surface Vehicle(USV) and Unmanned Underwater Vehicles(UUV), as well as aerial type drones. Through this paper, it is expected that these drones will continue to be used in various fields in the future, and the prospect of future development will continue constantly. However, for the development of domestic drone technology and industry, the government's improvement in drone-related regulations should be supported.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.355-358
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• 2006

An underwater mooing target position tracking system using image tracking system of CPMC is developed to use in a test basin. Generally the performance tests of Autonomous Underwater Vehicles(AUVs) are conducted in the sea. Some efforts to perform the test in a test basin are exist, because the real sea tests need much time and manpower. And also the real sea tests are high cost. There is a restriction to acquire the position of AUVs using sonar sensor system in the test tank, because many sound reflecters are exist in a test basin. In this paper a position tracking system for underwater mooing target developed to break though this restriction. A Tank-test is conducted to examine the performance of the position tracking system.

• Journal of Navigation and Port Research
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• v.35 no.3
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• pp.197-204
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• 2011

The authors adopt the Unmanned Undersea Vehicle(UUV), the shape of which is like a manta. They call here it Manta UUV. Manta UUV has been designed from the similar concept of the UUV called Manta Test Vehicle(MTV), which was originally built by the Naval Undersea Warfare Center of USA(Lisiewicz and French, 2000; Simalis et al., 2001; U.S. Navy, 2004). The present study deals with the effect of Reynolds numbers on hydrodynamic forces acting on Manta UUV at large angles of attack. The large angles of attack cover the whole range of 0 to ${\pm}$ 180 degrees in horizontal plane and in vertical plane respectively. Static test at large attack angles has been carried out with two Manta UUV models in circulating water channel. The authors assume that the experimental results of hydrodynamic forces (lateral force, yaw moment, vertical force and pitch moment) are analyzed into two components, which are lift force component and cross-flow drag component. First of all, Based on two dimensional cross-flow drag coefficient at 90 degrees of attack angle, the cross-flow drag component at whole range of attack angles is calculated. Then the remainder is assumed to be the lift force component. The only cross-flow drag component is assumed to be subject to Reynolds number.entstly the authors suggest the methodology to predict hydrodynamic derivertives acting on the full-scale Manta UUV.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.05a
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• pp.548-549
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• 2015

무인 잠수정은 자율 무인잠수정(이하 'AUV' 또는 '자율무인잠수정'을 혼용)과 원격조정잠수정(이하 'ROV'로 지칭)으로 분류를 할 수 있다. ROV는 테더 게이블로 인한 작업 범위의 한계와 운동성능 효율이 떨어지는 단점을 지니고 있어, 테더 케이블이 필요 없는 AUV에 대한 필요성이 증대되고 있다. 추측 항법 시스템인 관성 항법 시스템(inertial navigation system, 이하 'INS'로 지칭)은 외부 도움없이 관성측정 장치(inertial measurement unit, 이하 'IMU'로 지칭)를 활용하여 구성된 시스템을 말한다. IMU는 자이로 스코프(gyroscope), 가속도계(accelerometer), 지자기(magnetic)센서로 구성된 측정 장치로 3개의 센서를 사용하여 상호 보정을 통한 기동 체의 위치, 속도 및 자세 정보를 제공한다. 복합항법시스템은 추측항법시스템이 가지는 누적오차와 측위 항법시스템이 가지는 외부환경에 대한 단점을 상호 보완하는 방법으로 연구가 진행 중이다. 하지만 심해서 또는 해양의 특성에 따라 측위 시스템이 사용되지 못하기 때문에 추측 항법시스템의 다양한 관성 센서를 활용한 상로 보완과 신호처리 방법을 통한 연구 개발이 진행 중이다. 다양한 센서 정보를 통합하는 목적으로 칼만 필터와 같은 최적 필터기법이 보편적으로 사용되고 있다. 칼만 필터는 확률 선형 시스템에 대하여 공정잡음 및 측정 잡음이 가우시안 확률 분포를 따를 때 최적의 추정자가 된다. 또한 가우시안 조건을 만족하지 않는 경우에도 선형 추정자 중에 추정 오차의 분산이 가장 작은 추정자이다. 칼만 필터가 최상의 성능을 발휘 하려면 공정잡음과 측정 잡음의 실제 값을 정확히 알아내는 것이 중요하다. 잡음 수준에 대한 정보가 부정확 할 경우 칼만 필터는 발산 할 수 있기 때문에 시스템에서 잡음 수준의 공산은 칼만 필터의 최적 이득을 결정하는 중요한 요소로 추정치에 큰 영향을 준다. 따라서 칼만 필터를 추측항법시스템에 적용 시킬 경우 실제 모텔의 잡음 공분산을 정확히 추정할 수 있는 기법이 요구된다. 추측항법시스템은 다양한 센서를 활용하기 때문에 움직이는 기동 표적에 적용시 잡음공분상이 변하기 때문에 항법시스템이 저하 될 수 있다. 본 연구에서는 다양한 센서를 융합하여 해양 생체 로봇의 정밀 자세 제어가 가능한 시스템을 제안하고자 한다.

• Journal of the Society of Naval Architects of Korea
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• v.59 no.4
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• pp.214-224
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• 2022

It is necessary to estimate manoeuvring characteristics of submerged bodies at the design stage in order to ensure the safe operations. In this study, added mass coefficients in the mathematical model of submerged bodies are estimated by captive model tests and numerical calculations. Two kinds of models, MARIN 'BB2'submarine model and AUV (Autonomous unmanned vehicle) model are utilized in the forced oscillation tests. Compared to BB2 submarine, AUV with cylindrical type hull form shows relatively small added masses in roll, pitch, and yaw directions. Next, numerical calculations based on potential theory are performed under the assumption that viscous effects on inertia forces are negligible. Added masses obtained by numerical calculations are in good agreements with forced oscillation test results. And if slow manoeuvres of submerged bodies are presumed, some of velocity coupled terms can be approximated by combinations of added mass coefficients.