• 제어로봇시스템학회논문지
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• 제16권5호
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• pp.489-497
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• 2010

This paper presents the design of hardware platform, which is a test bed for the navigation system and hovering type AUV (Autonomous Underwater Vehicle) under the OCP (Open Control Platform). The developed AUV test bed consists of two hulls, four thrusters, and the navigation system which uses a SBC2440II with IMU (Inertial Measurement Unit). And the SMC (Sliding Mode Control) is chosen for the diving and steering control of the AUV. This paper uses ACE/TAO RTEC (Real-Time Event Channel) as a middleware platform in order to control and communicate in the developed AUV test bed. In this paper, two computers are used and each of them is dedicated for the specific purpose, the first computer is used as the SMC module and the middleware platform for the ACE/TAO RTEC and the second computer is used for the sensor controller. We analyze the performance of the AUV test bed under the OCP.

• 대한영양사협회학술지
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• 제20권3호
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• pp.212-226
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• 2014

The purpose of this study was to determine the optimal composite recipe of rice muffin using three different amounts of Chinese artichoke (Stachys sieboldii MIQ) powder, brown sugar, and egg. Response surface methodology (RSM) was used to obtain 16 experimental points (including three replicates of Chinese artichoke powder, brown sugar, and egg), and the Chinese artichoke rice muffin formulation was optimized using rheology. The results of the sensory evaluation showed very significant values for color, texture, sweetness, and overall quality (P<0.05). The results of the color, texture, and chemical analyses showed significant values for crumb redness (P<0.01), crumb yellowness (P<0.05), crust redness (P<0.05), crust yellowness (P<0.001), crust lightness (P<0.05), adhesiveness (P<0.01), springiness (P<0.001), gumminess (P<0.01), cohesiveness (P<0.05), moisture content (P<0.05), and sweetness (P<0.05). As a result, optimum formulations obtained by numerical and graphical methods were found to be 8.28 g of Chinese artichoke powder, 66.20 g of brown sugar, 111.72 g of sticky rice powder, 30 g of rice powder, and 59.37 g of egg.

• 한국해안해양공학회지
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• 제11권2호
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• pp.95-106
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• 1999

마찰의 효과가 고려된 유한 진폭 천수방정식을 이용하여 잠제 주변의 파랑장, 잠제에 의하여 발생되는 반사파와 투과파 뿐만 아니라 시간과 공간에 따른 자유수면 및 흐름의 동수역학적인 거동 특성을 해석할 수 있는 Lax-Wendroff 유한차분 수치모형이 수립되었다. 비선형 규칙파와 고립파가 입사하는 경우에 대한 해석 결과를 기존의 수치해 및 실험자료와 비교하여 수치모형이 만족스럽게 검증되었다. 규칙파에 대한 해석에서 잠제 전면에서 발생되는 반사파와 관련된 시간과 공간에 따른 자유수면의 변화나 흐름특성이 투과파의 그것보다 강하게 발생되는 것으로 나타나, 본 연구에서 해석된 제한적인 조건하에서는 잠제가 외해에서 내습하는 파랑에너지를 효율적으로 차단하는 것으로 밝혀졌다. 그러나 고립파의경우는 대부분의 파랑에너지가 잠제에 의하여 차단되지 않고 투과되는 것으로 나타났다. 마지막으로 파랑장의 동수역학적인 거동특성으로부터 잠제를 피복하고 있는 피복재의 안전성과 관련된 해석이 간접적으로 수행되었다.

• 대한조선학회논문집
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• 제46권2호
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• pp.114-126
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• 2009

The authors adopt the Unmanned Undersea Vehicle(UUV), which has taken the shape of manta(Sohn et al. 2006). They call here it Manta-type Unmanned Undersea Test Vehicle(MUUTV). MUUTV is based on the same design concept as UUV called Manta Test Vehicle, which was originally built and operated by the Naval Undersea Warfare Center(Lisiewicz and French 2000, Sirmalis et al. 2001). In order to evaluate manoeuvring motion characteristics of MUUTV, numerical simulation technique has been utilized. Previous mathematical model on manoeuvring motion of MUUTV(Sohn et al. 2006) is basically adopted. Result of static experiment carried out in circulating water channel and a part of NSRDC standard model(Feldman 1979) on rotational mode are supplemented. Some of the hydrodynamic derivatives are obtained from model experiment in circulating water channel and the rest of them are estimated.

• 한국해양공학회지
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• 제15권1호
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• pp.79-84
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• 2001

This paper present the control of the image disparity of a parallel stereo camera and its application to an underwater stereo camera to enhance the working efficiency of underwater vehicles that are equiped with manipulators in seabed operation. The stereo camera consists of two parallel lenses mounted on a lateral moving base and two CCD cameras mounted on a longitudinal moving base, which is embedded in a small pressure canister for underwater application. Because the lateral shift is related to the backward shift with a nonlinear relation, only one control input is needed to control the vergence and focus of the camera with a special driving device. We can get clear stereo vision with the camera for all the range of objects in air and in water, especially in short range object. The control system of the camera is so simple that we are able to realize a small stereo camera system and apply it to a stereo vision system for underwater vehicles. This paper also shows how to acquire the distance information of an underwater object with this stereo camera. Whenever we focus on an underwater object with the camera, we can obtain three-dimensional images and distance information in real-time.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2002년도 추계학술대회 논문집
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• pp.34-39
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• 2002

A Semi-Autonomous Underwater Vehicle (SAUV) capable of simple work at sea bed is under development in KRISO-KORDI. A pressure vessel of SAUV which is composed of FRP was manufactured to load electronic equipments. The objective of this paper is to verify the safety of the pressure vessel through conducting the structural analysis and test in pressure tank. Strain and stress under unit load were obtained by using ANSYS in the linear structural analysis. And local buckling analysis was performed with NASTRAN for the middle cylindrical hull. For the pressure test, strains were measured at three point. We found that the results by linear structural analysis and experiment are coincide well at the points where buckling does not occur. Maximum depth was estimated to be 250m by the local buckling analysis.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.57-62
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• 2003

This paper describes the design and simulation of a multivariable optimal control system for the combined speed, heading and depth control of a Semi-Autonomous Underwater Vehicle (SAUV) developed in Korea Ocean Research and Development Institute (KRODI). The SAUV is a test-bed for the evaluation of the navigation and manipulator technologies developed for a mine disposal vehicle (MDV) in military use and for a light working underwater vehicle in scientific use. The vehicle was designed to control its cruising speed, heading and depth with 4 horizontal thrusters installed at the rear of the hull. Therefore, the decoupled control methods are limited to apply to the SAUV because the thrust forces are highly coupled with the surging, yawing, and pitching motion of the vehicle. The multivariable Linear Quadratic (LQ) control method is chosen to control steering and diving in variable speed motion automatically. A series of simulation is carried out with fully nonlinear six degree of freedom dynamic model to validate the controller.

• 한국해양공학회지
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• 제19권5호
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• pp.71-77
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• 2005

This paper presents an integrated underwater navigational algorithm for unmanned underwater vehicles, using additional two-range transducers. This paper proposes a measurement model, using two range measurements, to improve the performance of an IMU-DVL (inertial measurement unit - Doppler velocity log) navigation system for long-time operation of underwater vehicles, excluding DVL measurement. Extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation when the external measurements are available. Simulation was conducted with the 6-d.o.f nonlinear numerical model of an AUV in lawn-mowing survey mode, at current flaw, where the velocity information is unavailable. Simulations illustrate the effectiveness of the integrated navigation system, assisted by the additional range measurements without DVL sensing.

• 한국해양공학회지
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• 제26권5호
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• pp.81-86
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• 2012

Unmanned underwater vehicles have many applications in scientific, military, and commercial areas because of their autonomy. In many cases, an underwater vehicle adopts a control algorithm based on a tactical inertial sensor for precise control. However, a control algorithm that uses a tactical inertial sensor is unsuitable for some underwater vehicle missions such as torpedo decoys. This paper proposes a control algorithm for an unmanned underwater vehicle that does not require precise control. The control algorithm proposed for an unmanned underwater vehicle adopts a low cost MEMS inertial sensor, and simulations using the specifications of the MEMS inertial sensor under development are performed to verify the control algorithm under a real environment. The results of these simulations are presented.

• 한국해양공학회지
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• 제23권4호
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• pp.47-51
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• 2009

Thrust is one of the important performance characteristics of an AUV. At the design stage, the resistance of an AUV at its maximum speed is estimated and then the thrust system is designed, including the propeller diameter, propeller rpm, driving system, and required power. However, it is not possible to be certain that the thrust system has been correctly designed until the AUV is launched and its speed is measured. If data from a propeller open-water test is available, the thrust and torque of the propeller at a certain speed can be estimated. In addition, if the motor's torque characteristics are available, the maximum speed saturated by the induced propeller torque can be estimated. In this paper, an easy technique for estimating the maximum speed of an AUV will be shown, even in a case where additional resistance is gained from appendages not considered at the design stage. Furthermore, the thrust performance changes by adjusting the diameter of the propeller can be easily investigated.