• The Science & Technology
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• no.12 s.427
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• pp.36-41
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• 2004

• Journal of Korea Ship Safrty Technology Authority
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• v.10
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• pp.43-46
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• 2003

• Journal of Ocean Engineering and Technology
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• v.19 no.1 s.62
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• pp.95-99
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• 2005

This paper presents the optimum design of cylindrical shell under external pressure loading. Two kinds of material, Al7075-T6, Ti-6Al-4V, are considered. For each material, the design variable is a thickness of the unstiffened parallel middle body shell, and the state variable, constraint, is hoop stress and the object .function is total weight of the cylindrical shell. Optimization is performed by conventional FE Program, ANSYS. In addition, buckling analysis is performed for the middle body of the cylindrical shell. Finally, we calculates the payload of the cylindrical shell to keep neutral buoyancy with optimized thickness in deep-sea applications.

• Journal of the Society of Naval Architects of Korea
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• v.41 no.3
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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.

• Journal of Advanced Navigation Technology
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• v.23 no.5
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• pp.352-360
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• 2019

This paper proposes a docking assessment algorithm for an autonomous underwater vehicles (AUVs) with sensor uncertainties. The proposed algorithm consists of two assessments, state assessment and probability assessment. The state assessment verifies the reachability by comparing forward distance to the docking station with expected distance to reach same depth as the docking station and necessity for correcting its route by comparing calculated inaccessible areas based on turning radius of the AUV to position of the docking station. When the AUV and the docking station is close enough and the state assessment is satisfied, the probability assessment is conducted by computing success probability of docking based on the direction angle, relative position to the docking station, and sensor uncertainties of the AUV. The final output of the algorithm is decided by comparing the success probability to threshold whether to try docking or to correct its route. To verify the validation of the suggested algorithm, the scenario that the AUV approaches to the docking station is implemented through Matlab simulation.

• 전기의세계
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• v.55 no.3
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• pp.25-31
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• 2006

• The Science & Technology
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• no.6 s.445
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• pp.51-55
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• 2006

• The Science & Technology
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• no.7 s.458
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• pp.74-79
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• 2007

• The Science & Technology
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• no.7 s.458
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• pp.80-83
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• 2007

• Journal of the Korea Institute of Information and Communication Engineering
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• v.12 no.7
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• pp.1202-1208
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• 2008

This paper represents the multiple sensor fusion algorithm for the deep-sea unmanned underwater vehicles (UUV), composed of a remotely operated vehicle (ROV) 'Hemire' and a depressor 'Henuvy'. The performance of underwater positioning system usually highly depend on that of acoustic sensors such as ultra short base line(USBL), long base line(LBL) and altimeter. A practical sensor fusion algorithm is proposed in the sense of a moving window concept. The performance of the proposed algorithm can be observed by applying the algorithm to the Hemire sea trial data which was measured at the East Sea.