• 한국해양공학회지
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• 제19권2호
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• pp.74-81
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• 2005

A 3-D localization method of an autonomous underwater vehicle (AUV) has been developed, which can solve the limitations oj the conventional localization, such as LBL or SBL that reduces the flexibility and availability of the AUV. The system is composed of a mother ship (small unmanned marine prober) on the surface of the water and an unmanned underwater vehicle in the water. The mother ship is equipped with a digital compass and a GPS for position information, and an extended Kalman filter is used for position estimation. For the localization of the AUV, we used only non-inertial sensors, such as a digital compass, a pressure sensor, a clinometer, and ultrasonic sensors. From the orientation and velocity information, a priori position of the AUV is estimated by applying the dead reckoning method. Based on the extended Kalman filter algorithm, a posteriori position of the AUV is, then, updated by using the distance between the AUV and a mother ship on the surface of the water, together with the depth information from the pressure sensor.

• 한국정보통신학회논문지
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• 제24권11호
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• pp.1417-1423
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• 2020

본 논문에서는 수중에서 운동하는 무인잠수정의 경로점 유도법칙을 제안한다. 시선각 유도법칙과 수선경로 오차를 줄여가는 경로추종 유도법칙을 조합하여 효과적인 경로점 유도법칙을 설계하였고, 수선경로 오차의 거리에 따라 제어이득을 변화시켜 시스템의 안정성을 증가시켰다. 또한, 관성항법장치와 도플러속도계를 이용한 복합항법 시스템의 성능을 확인할 수 있는 HILS를 구성하였다. 같은 경로점 및 목표점을 입력 후 HILS 수행결과와 실해역 주행시험 결과를 비교하여, 제안한 유도법칙 및 HILS가 올바르게 구성되어 있음을 확인하였다.

• Journal of Positioning, Navigation, and Timing
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• 제12권1호
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• pp.67-73
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• 2023

As interest in underwater structures and ocean exploration increases, many researchers are proposing methods for modeling and controlling various remotely operated vehicles (ROVs). Recently, hybrid systems composed of an autonomous underwater vehicle and an ROV capable of remote control and autonomous navigation are being developed. In this study we introduce a method that models Ariari-aROV, an ROV consisting of five thrusters, and performs navigation. The proposed ROV can be controlled manually and by autonomous navigation when given a target point. An extended Kalman filter is utilized for sensor measurement correction for more precise navigation. The proposed method is verified through a simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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• pp.1832-1833
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• 2006

This paper presents a design method of the wavelet neural network(WNN) controller based on a direct adaptive control scheme for the intelligent control of Autonomous Underwater Vehicle(AUV) steering systems. The neural network is constructed by the wavelet orthogonal decomposition to form a wavelet neural network that can overcome nonlinearities and uncertainty. In our control method, the control signals are directly obtained by minimizing the difference between the reference track and original signal of AUV model that is controlled through a wavelet neural network. The control process is a dynamic on-line process that uses the wavelet neural network trained by gradient-descent method. Through computer simulations, we demonstrate the effectiveness of the proposed control method.

• 한국해양공학회지
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• 제20권6호
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• pp.7-17
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• 2006

Depth and heading control of an AUV are considered to follow the predetermined depth and heading angle. The proposed control algorithm is designed. based on a sliding mode control using estimated hydrodynamic coefficients. The hydrodynamic coefficients are estimated with conventional nonlinear observer techniques, such as sliding mode observer and extended Kalman filter. By using the estimated coefficients, a sliding mode controller is constructed for the combined diving and steering maneuver. The simulation results of the proposed control system are compared with those of control system with true coefficients. This paper demonstrates the proposed control system, discusses the mechanisms that make the system stable and follows the desired depth and heading angle, accurately, in the presence of parameter uncertainty.

• 한국해양공학회지
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• 제19권1호
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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.

• 전자공학회논문지
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• 제54권4호
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• pp.3-9
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• 2017

수중환경에서는 전력 공급이 어렵기 때문에 통신 프로토콜 설계에 있어서 전력 효율은 중요한 고려사항들 중 하나이다. 본 논문에서는 UUV(Unmanned Underwater Vehicle)와 AUV(Autonomous Underwater Vehicle) 같은 이동 노드를 갖는 수중통신망에 대해 에너지 효율적인 매체접속제어(MAC : Medium Access Control) 프로토콜을 연구하였다. 이동 노드간의 통신에서는 데이터 교환 중에 노드 이동으로 인해 서로의 전파 반경을 벗어나 전송 중인 데이터를 완료하지 못하고 에너지만 낭비하는 경우가 발생할 수 있다. 특히, 수중 통신 채널 환경에서는 지상보다 약 $10^5$ 배의 느린 전파 지연을 가지므로 데이터의 전송 완료 전에 서로의 전파 반경을 벗어날 확률이 지상보다 커서 이로 인한 에너지 낭비가 더 많게 된다. 제안한 mobility-MAC 프로토콜은 수신노드의 위치와 노드의 이동 속도를 고려하여 Dropping Zone을 정의하고 데이터 전송 시도를 제어한다. 데이터 전송시도는 Dropping Zone에서 무조건 데이터 전송을 드롭(drop)을 하는 것이 아니라, 데이터 전송 중 노드가 전파 반경을 이탈할 확률을 예측하여 드롭하는 방법이다. 결과적으로, 조건적 드롭을 통해 잘못된 드롭을 감소시켜 전송지연과 통신수율의 향상을 가져왔고 유효한 데이터 드롭으로 에너지 낭비를 방지하여 에너지 효율도 증가되었다.

• 한국해양공학회지
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• 제23권6호
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• pp.146-155
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• 2009

This paper considers the path tracking problem in a horizontal plane for underactuated (or non-holonomic) autonomous underwater vehicles (AUVs). Underwater mapping has been an important mission for AUVs. Recently, underwater docking has also become a main research field of AUVs. These kinds of missions basically require accurate attitude and trajectory control performance. However, the non-holonomic problem should be solved to achieve accurate path tracking for the torpedo-type of AUVs. In this paper, resolved motion and acceleration control (RMAC) is considered as a path tracking controller for an underactuated torpedo-shaped AUV, ISiMi. A set of numerical simulations is carried out to illustrate the effectiveness of the proposed RMAC scheme, and experimental data with ISiMi100 and discussions are presented.

• 한국정보통신학회논문지
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• 제1권1호
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• pp.95-104
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• 1997

본 논문은 수중에서 초음파를 이용하여 데이터를 전송할 때, 전체 성능에 영향을 주는 Multipath를 수학적으로 분석하였고, 분석된 결과를 이용하여 Multipath의 영향을 고려한 수중 초음파 통신시스템을 구현하였다. 표면이나 해저면, 반사물 등에 의한 신호의 반사로 인한 Multipath를 이상적인 채널을 가정하여 각 신호에 대하여 수학적으로 모델링 하였으며, multipath에 의한 영향을 살펴보기 위해 SMR(Signal to Multipath Ratio) 파라미터를 도입하였으며 MATLAB을 이용하여 모의 실험하였다. 주파수 대역폭의 심한 제약을 가지고 있는 수중 초음파 환경에서 보다 효율적인 데이터 전송을 위하여 ${\pi}/4$ QPSK(Quadrature Phase Shift Keying) 변복조 방식을 도입하였고, 이 변복조 방식을 이용하여 수중 초음파 환경에서 보다 효율적인 시스템을 구현하였다.

• 한국해양공학회지
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• 제11권4호
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• pp.169-179
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• 1997

This paper presents a discrete-time sliding mode control of an autonomous underwater vehicle with parameter uncertainties and long sample interval based on discrete variable structure system. Although conventional sliding mode montrol techniques are robust to system uncertainties, in the case of the system with long sample interval, the sliding control system reveals chattering phenomenon and even makes the system unstable. This paper considers the AUV which acquires position informations from a surface ship through an acoustic telemetry system with a certain discrete interval. The control system is designed on the basis of a Lyapunov function and a sufficient condition of the switching gain to make the system stable is give. Each component of the switching gain can be determined separately one another. The controller is robust to the uncertainties, and reaching condition of the control system is satisfied for any initial condition. This control law is a generalized form of the discrete sliding mode control and reduce the chattering problem considerably. Motion control of the AUV in the vertical plane shows the effectiveness of the proposed technique.