• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.319-321
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• 2007

This paper introduces a general overview of the 6000m class deep-sea ROV. Hemire and Henuvy. and then describes its motion control system. It is developed by Korea Ocean Research & Development Institute(KORDI) for 6 years since 2001. sponsored by the Ministry of Maritime Affairs and, Fisheries (MOMAF). Hemire is remotely operated by a fiber optic telemetry. where 6 thrusters are controlled by operator in manual mode and by auto depth control and auto heading control in auto mode. In this paper. operational mechanism of manual and automatic mode with some convenient functions for operator is desc.ribed. Finally, results of sea trial conducted at the Philippine sea where a depth is 5.770m are shown.

• Korean Journal of Computational Design and Engineering
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• v.20 no.4
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• pp.412-419
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• 2015

This paper presents the results of the structural analysis and the optimization of a 6,500 m manned submersible. Nonlinear structural analysis for imperfect spheres with the maximum allowable out-of-roundness(OOR) was performed to calculate the thickness of the pressure hull. Dimensions of viewports were determined according to ASME PVHO standard. The design optimization of the spherical hull with openings was divided into two steps - the optimization of the detailed shape of the viewport reinforcements and the optimization of the viewport location in the spherical pressure hull.

• The Journal of Korea Robotics Society
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• v.2 no.2
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• pp.152-160
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• 2007

In this paper, two schemes are introduced for dynamic simulation of underwater robotic systems. One is principle of dynamical balance, which is an easy and powerful tool for formulating dynamic equations of composite systems such as underwater vehicle-manipulator system. In the dynamic modeling, this principle gives us the closed-form of dynamic equations on matrix Lie group. The other is geometric integration algorithm, called 4-th order explicit Munthe-Kaas method. By this method, the derived differential equations can be integrated preserving geometric structure. Adopting these two schemes, dynamic simulation of underwater vehicle- manipulator system can be conducted more easily and more reliably.

• ICROS
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• v.19 no.1
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• pp.19-31
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• 2013

본 고는 국내외의 지형참조항법시스템 관련 기술의 발전 동향을 살펴보고자 한다. 지형참조항법은 국외에서 1940년대부터 그 필요성이 대두된 학문으로 잠수정, 군용 전투기 등 다양한 분야에서 주로 군사목적으로 연구가 진행되었다. 1950년 ATRAN의 개발을 시작으로 1990년대 PTAN 지형참조항법기술까지 발전되어 무인기뿐만 아닌 Tomahawk 같은 유도무기에도 그 활용 범위를 넓혀가고 있다. 하지만 하드웨어적인 제약과 GPS의 발달로 관련 연구가 주춤하였으나 컴퓨터 기술의 발달, 지형측정센서의 정확도 향상과 더불어 GPS 교란 가능성 등이 부각되면서 최근 다시 관성항법시스템(INS)을 보조하는 대체 항법으로서 주목받고 있다. 주로 다중 측정치를 이용하는 방법과 비선형 필터를 이용하여 항법해 성능을 향상시키거나 병렬 다중필터를 이용하여 항법해의 신뢰성을 향상시키는 방향으로 연구가 진행 중이다. 그리고 다양한 지구물리데이터와 통합한 데이터베이스기반 복합항법 기술로 발전하고 있다.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.249-256
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• 2004

KRISO/KORDI is currently developing a deep-sea unmanned underwater vehicle (UUV) system which is composed of a launcher, an ROV, and an AUV. Two USBL acoustic positioning systems will be used for UUV's navigation. One is for the deep sea positioning of all three vehicles and the other is for AUV's guidance to the docking device on the launcher. In order to increase the position accuracy MFSK(Multiple Frequency Shift Keying) broadband signal will be used. As the first step to the implementation of a USBL system, this paper studies USBL positioning algorithm using MFSK signals. Firstly, the characteristics of MFSK signal is described with various MFSK parameters: number of frequencies, frequency step, center frequency, and pulse length. Time and phase delays between two received signals are estimated by using cross-correlation and cross-spectrum methods. Finally an USBL positioning algorithm is derived by converting the delays to difference of distances and applying trigonometry. The simulation results show that the position accuracy is improved highly when both cross-correlation and cross-spectrum of MFSK signals are used simultaneously.

• Journal of Ocean Engineering and Technology
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• v.21 no.3 s.76
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• pp.33-39
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• 2007

The more deeply the researches make progress in ocean researches including the seabed resource investigation or the oceanic ecosystem investigation, the more important the role of UUV gets. In case of study on the deep sea, there are difficulties in telecommunications between AUV and ships, and in data communication and recharging. Therefore, docking is required. In AUV docking system, the AUV should identify the position of docking device and make contact with a certain point of docking device. MOERI (Maritime & Ocean Engineering Research Institute), KORDI has conducted the docking testing on AUV ISIMI in KORDI ocean engineering water tank. As AUV ISIMI approachs the docking device, there is some cases of showing an unstable attitude, because the lights which is on Image Frame are disappeared. So we propose the docking algorithm that is fixing the rudder and stem, if the lights on image frame are reaching the specific area in the Image Frame. Also we propose the new docking device, which has a variety of position and light number. In this paper, we intend to solve the some cases of showing an unstable attitude that were found in the testing, which, first, will be identified the validity via simulation.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.335-338
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• 2006

The more deeply the researches make progress in ocean researches including the seabed resource investigation or the oceanic ecosystem investigation, the more important the role of UUV gets. In case of study on the deep sea, there are difficulties in telecommunications between AUV and ships, and in data communication and recharging. Therefore, docking is required. In AUV docking system, the AUV should identify the position of docking and make contact with a certain point of docking device. MOERI (Maritime & Ocean Engineering Research Institute), KORDI has conducted the docking testing on AUV ISIMI in KORDI Ocean Engineering Water Tank. As AUV ISIMI approachs the docking device, it is presented that attitude is unstable, because the lights Which is on Image Frame are disappeared. So we fix the rudder and stem, if the lights on Image Frame are reaching the specific area in the Image Frame. In this paper, we intend to solve the problems that were found in the testing, which, first, will be identified via simulation.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.70-76
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• 2007

Hemire is a 6000m class deep-sea ROV, which is recently developed by Maritime & Ocean Engineering Research Institute (MOERI) of Korea Ocean Research & Development Institute (KORDI) for 6 years since 2001, sponsored by the Ministry of Maritime Affairs and Fisheries (MOMAF). Hemire dove upto 1,065m for the first east sea trial last April, and touched a 2,026m bottom of the east sea last September. Finally, last November, Hemire reached a 5,775m bottom of the pacific ocean successfully. This showed our own technologies for design and development of a deep-sea ROV as 4th nation in the world, and we made a great step forward for deep-sea exploration. This paper describes a general overview of a 6000m class deep-sea ROV, and briefly explains development procedure of Hemire and Henuvy. Finally, results of sea trial are summarized.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.172-177
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• 2004

This paper presents the results of the structural analysis and optimal design of frames of the UUV(Unmanned Underwater vehicle) to be operated at 6000m depth in the ocean. The structure of the UUV system can be classified into two structure, Launcher ana ROV. Frame of the launcher will be made by Galvanized Steel which has high strength and corrosion-resistant but this material has high specific gravity for tile object to be weight in the water Similarly, ROV will be made by AI6061-T6, and frame of the ROV will be fix many instruments and syntactic buoyancy materials. Before fabrication of tile frame, we performed sensitivity analysis - change in weight due to $\pm1\%$ change in design variables, for easy choice by change of dimension of the frame.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.5
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• pp.442-449
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• 2004

As underwater robotic vehicles (URVs) become attractive for more sophisticated underwater tasks, the demand of high performance in terms of accuracy and dexterity has been increased. An autonomous underwater robotic vehicle, ODIN (Omni-Directional Intelligent Navigator) was designed and built at the Autonomous Systems Laboratory of the University of Hawaii in 1991. Since 1991, various studies were conducted on ODIN and have contributed to the advancement in underwater robotics. Its refurbished model ODIN II was based on VxWorks in VMEbus. Recently, ODIN was born again as a PC based system, ODIN III with unique features such as new vehicle system software architecture with an objective-oriented concept, a graphical user interface, and an independent and modular structure using a Dynamic Linking Library (DLL) based on the Windows operating system. ODIN III software architecture offers an ideal environment where various studies for advanced URV technology can be conducted. This paper describes software architecture of ODIN III and presents initial experimental results of fine motion control on ODIN III.