• Journal of Advanced Navigation Technology
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• v.21 no.1
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• pp.21-29
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• 2017

In this paper, we studied the control of the hybrid underwater glider (HUG), which has the advantage of high precision route search function and long-term mission capability. Dynamic modeling of HUG is based on numerical model of the attitude controller and buoyancy engine, thruster. We designed the control part considering the smooth control and precise sailing of HUG. A buoyancy engine capable of inhaling water is designed to control the buoyancy of HUG. And mass shifter carrying the battery was designed for controlling pitching motion of HUG. A control system for controlling the buoyancy engine and the attitude controller was constructed. In order to verify performance, we performed water tank test using manufactured HUG.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.7
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• pp.709-715
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• 2015

Underwater gliders do not typically have separate propellers for forward motion. They generate propulsive forces based on the difference between their buoyancy and gravity. They can control the volume from the buoyancy engine to adjust the propulsive force. In addition, the attitude of the underwater glider is controlled by a rubberless motion controller. The motion controller can change the mass center and moment of inertia of the inner moving mass. Owing to the change in these parameters, the attitude of the underwater glider is changed. In this study, we derive nonlinear, six degree of freedom (DOF) mathematical models for the motion controller and buoyancy engine. Using these equations, we perform dynamic simulations of the proposed underwater glider, and verify the suitability of the design and dynamic performances of the proposed underwater glider. We then perform the motion control simulation for the pitch and roll angle, and analyze the dynamic performance according to the pitch and roll angles.

• Journal of Advanced Navigation Technology
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• v.21 no.6
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• pp.537-543
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• 2017

Underwater glider is the long-term operating underwater robot that was developed with a purpose of continuous oceanographic observations and explorations. Torpedo-type underwater glider is not efficient from an aspect of maneuverability, because it uses a single buoyancy engine and motion controller for obtaining propulsive forces and moments. This paper introduces a ray-type underwater glider(RUG) with dual buoyancy engine, which improves the control performance of buoyancy and motion compared with torpedo-type underwater glider. Carrying out Computational Fluid Dynamics (CFD) analysis as static pitch drift test, the performance of fluid resistance for gliding motion was identified. Based on the calculated hydrodynamic coefficients, the dynamic simulation compared and analyzed the motion performance of torpedo-type and ray-type while controlling same volume of buoyancy engine. Small-sized model of RUG was developed to perform fundamental performance tests.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.6_2
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• pp.1155-1162
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• 2023

The Korea Research Institute of Ships and Ocean Engineering (KRISO), which is developing the core technology for the buoyancy engine of underwater gliders, has developed a test module that can vertically ascend and descend with a buoyancy engine to verify the performance of the developed buoyancy engine. The independent test module was tested in a 15 metre deep pit in the Ocean Engineering Basin to verify its ability to ascend and descend. In order to test at a shallower depth than the real sea, it was necessary to know the negative buoyancy value during descent and the time at which the buoyancy engine would be activated. To do this, we solved the equation of motion in the vertical direction to obtain these values and applied them to the tank test. To validate the usefulness of solving the equation, we also compared the depth of descent over time measured in the test with the results calculated from the solution.

• Journal of the Korean Society of Industry Convergence
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• v.27 no.3
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• pp.629-634
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• 2024

The Korea Research Institute of Ships and Ocean Engineering (KRISO) has developed a test module that can vertically ascend and descend with a buoyancy engine to verify the performance of the developed buoyancy engine. The independent test module has been tested in the Ocean Engineering Basin(C.M.Lee et al., 2023). After that, more tests were performed in the Deep Ocean Engineering Basin and at sea. In the 50-meter depth pit test of the Deep Ocean Engineering Basin, there were no problems with the ascent and descent operations, but the buoyancy engine was not properly maintained due to various problems in the independent test module, resulting in a difference between the calculated results using the solution of the equations of motion and the actual measurement results. The East Sea test was conducted at a depth of approximately 110 meters north-east of Pohang, with a dive to 100 meters. The difference between the pressure sensor value and the calculated value was observed, but after checking the results of the underwater position tracking device(USBL, Ultra Short Base Line system), it was estimated that the difference was caused by the influence of the current.

• Journal of Ocean Engineering and Technology
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• v.28 no.5
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• pp.466-473
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• 2014

Underwater gliders do not have any external propulsion systems that can generate and control their motion. Generally, underwater gliders would obtain a propulsive force through the lift force generated on the body by a fluid. Underwater gliders should be equipped with mechanisms that can induce heave and pitch motions. In this study, an inner movable and rotatable mass mechanism was proposed to generate the pitch and roll motions of an underwater glider. In addition, a buoyancy control unit was presented to adjust the displacement of the underwater glider. The buoyancy control unit could generate the heave motion of the underwater glider. In order to analyze the underwater dynamic behavior of this system, nonlinear 6-DOF dynamic equations that included mathematical models of the inner movable mass and buoyancy control unit were derived. Only kinematic characteristics such as the location of the inner movable mass and the piston position of the buoyancy control unit were considered because the velocities of these systems are very slow. The effectiveness of the proposed dynamic modeling was verified through sawtooth and spiraling motion simulations.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.34 no.12
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• pp.1035-1042
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• 2010

The thermal stratification effect has been thought as one of the way to avoid dramatically generating the heat from HCCI combustion. We investigate the effect of thermal stratification on HCCI combustion fueled by DME and n-Butane. The thermal stratification occurs in a combustion chamber of a rapid compression machine with premixture by buoyancy effect that is made of fuel and air. The premixture is then adiabatically compressed, and during the process, the in-cylinder gas pressure is measured and two-dimensional chemiluminescence images are prepared and analyzed. Under the thermal stratification, the LTR starting time and the HTR starting time are advanced than that of homogeneous case. Further, the LTR period and the luminosity duration under homogeneous conditions are shorter than the corresponding quantities under stratified conditions. Additionally, under stratified conditions, the brightest luminosity intensity is delayed longer than that of homogeneous condition.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.1
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• pp.345-350
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• 2017

Downsizing is widely applied to diesel engines in order to improve fuel efficiency and reduce exhaust emissions. Engine sizes are becoming smaller but pressure and temperature inside combustion chambers are increasing. Therefore, research for fuel spray under high pressure and temperature conditions is important. A constant volume chamber which simulates high temperature and pressure likely to be found in diesel engines was developed in this study. Pressure and temperature were increased abruptly because of ignition of the pre-mixture in the constant volume chamber. Then pressure and temperature were gradually decreased due to the heat loss through the chamber wall. Fuel spray occurred when temperature and pressure were reached at the target condition. In this experiment, the temperature condition should be exactly defined to understand the relation between fuel evaporation and ambient temperature. A fast response thermocouple was developed and used to measure the temporal and spatial temperature distribution during the combustion process inside the combustion chamber. In the results, the core temperature was slightly higher than the bulk temperature calculated by the gas equation. Ed-note: do you want to say 'ideal gas equation'? This was attributed to the heat transfer loss through the chamber wall. The vertical temperature deviation was higher than the horizontal temperature deviation by 5% which resulted from the buoyancy effect.