• Title/Summary/Keyword: 심해무인잠수정

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심해무인잠수정 해미래의 고도정보 추정을 위한 다중센서융합 알고리즘 (Multiple Sensor Fusion Algorithm for the Altitude Estimation of Deep-Sea UUV, HEMIRE)

  • 김덕진;김기훈;이판묵;조성권;박연식
    • 한국정보통신학회논문지
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    • 제12권7호
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    • pp.1202-1208
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    • 2008
  • 본 논문에서는 유삭식 심해무인잠수정인 해미래와 진수장치인 해누비로 이루어지는 심해무인잠수정 시스템의 항법 알고리즘에 사용되는 다중 센서 융합 기법에 대하여 소개하고 있다. 수중 위치 추적 시스템의 성능은 초단기선, 장기선, 고도계와 같은 수중 음향 센서의 성능에 의해 결정되는데 수중음향 신호는 다양한 형태의 노이즈를 가지고 있어 특별한 주의가 요망된다. 본 논문에서는 이동 관측창 개념을 이용한 실용적인 다중 센서 융합 알고리즘을 제안하였다. 해미래의 동해 실해역 시험을 통해 획득된 계측치에 본 알고리즘을 적용하여 그 성능을 고찰한 결과 우수한 성능을 보임을 알 수 있었다.

심해용 무인잠수정 구조의 민감도해석에 의한 최적설계 (Optimal Design of the Deep-sea Unmanned Vehicle Frame Design Sensitivity)

  • 이재환;허유정;정태환;이종무
    • 대한조선학회논문집
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    • 제41권3호
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    • pp.28-34
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    • 2004
  • This paper presents the results of the structural analysis and optimal design of the ROV to be operated at 6000m depth in the ocean. This will be the first domestic deep-sea ROV operating with an AUV and a launcher equipped with robot arms and the current weight is about 3 ton. initial optimal dimension of the frame is determined based on the stress analysis using FEA code ANSYS and design sensitivity and optimization results. The current design is the initial design and there is a possibility to change the design according to the modification of material, equipments and array of structure.

심해무인잠수정 1차 케이블의 비선형 동적 해석 (Non-Liner Dynamic Analysis of First Cable of Deep-Sea Unmanned Underwater Vehicle)

  • 권도영;박한일;정동호
    • 한국해양공학회:학술대회논문집
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    • 한국해양공학회 2004년도 학술대회지
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    • pp.123-130
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    • 2004
  • Ocean developments gradually move to deep-sea in the 21 century. A deep-sea unmanned underwater vehicle is one of important tools for ocean resource survey. A marine cable plays an important role for the safe operation of a deep-sea unmanned underwater vehicle. The first cable of a deep-sea unmanned underwater vehicle is excited by surface vessel motion and shows non-linear dynamic behaviors. A numerical method is necessary for analysing the dynamic behaviour of the first marine cable. In this study, a numerical program is estabilished based on a finite difference method. The program is appled to a 6000m long cable for a deep-sea unmanned underwater vehicle and shows good reasonable results.

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심해 무인잠수정 1차 케이블의 동적거동 수치해석 (A Numerical Analysis for the Dynamic Behavior of the Umbilical Cable of a Deep-sea Unmanned Underwater Vehicle)

  • 권도영;박한일;정동호
    • 한국해양공학회지
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    • 제19권3호
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    • pp.31-38
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    • 2005
  • Ocean developments gradually move to deep-sea in the 21 century. A deep-sea unmanned underwater vehicle is one of important tools for ocean resource survey. A marine cable plays an important role for the safe operation and signal transmission of a deep-sea unmanned underwater vehicle. The umbilical cable of a deep-sea unmanned underwater vehicle is excited by surface vessel motion and shows non-linear dynamic behaviors. A numerical method is necessary for analysing the dynamic behavior of a marine cable. In this study, a numerical program is established based on a finite difference method. The program is appled to 6000m long cable for a deep-sea unmanned underwater vehicle and shows good reasonable results.