• 제어로봇시스템학회논문지
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• 제14권12호
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• pp.1197-1204
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• 2008

This paper presents an asymptotic formation control scheme for a group of underactuated autonomous underwater vehicles (AUVs) where only three control inputs - surge force, yaw moment and pitch moment are available for each vehicle's six degree of freedom (DOF) underwater motion. Usually, the dynamics agents applied in most of the formation algorithms presented so far have been modeled as particle systems, which is a simple double-integrator system. Therefore, these algorithms cannot be directly applicable to the practical systems, especially to the underwater vehicles whose dynamics are highly nonlinear. Moreover, the vehicles considered in this paper are underactuated. The formation control is derived using general potential function method, and the corresponding potential function consists of two parts: interactions between vehicles and virtual-leader following. Proposed formation scheme guarantees asymptotic local stability of closed-loop system. Numerical simulations are carried out to illustrate the effectiveness of proposed formation scheme.

• 로봇학회논문지
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• 제15권1호
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• pp.39-47
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• 2020

This paper presents a control and operation system for a remotely operated vehicle (ROV). The ROV used in the study was equipped with a manipulator and is being developed for underwater exploration and autonomous underwater working. Precision position and attitude control ability is essential for underwater operation using a manipulator. For propulsion, the ROV is equipped with eight thrusters, the number of those are more than six degrees-of-freedom. Four of them are in charge of surge, sway, and yaw motion, and the other four are responsible for heave, roll, and pitch motion. Therefore, it is more efficient to integrate the management of the thrusters rather than control them individually. In this paper, a thrust allocation method for thruster management is presented, and the design of a feedback controller using sensor data is described. The software for the ROV operation consists of a robot operating system that can efficiently process data between multiple hardware platforms. Through experimental analysis, the validity of the control system performance was verified.

• 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.

• 시스템엔지니어링학술지
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• 제20권spc1호
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• pp.90-96
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• 2024

In this paper, we propose a technique to model high resolution seafloor topography with 1m intervals using actual water depth data near the east coast of the Korea with 1.6km distance intervals. Using a feature point extraction algorithm that harris corner based on deep learning, the location of the center of seafloor mountain was calculated and the surrounding topology was modeled. The modeled high-resolution seafloor topography based on deep learning was verified within 1.1m mean error between the actual warder dept data. And average error that result of calculating based on deep learning was reduced by 54.4% compared to the case that deep learning was not applied. The proposed algorithm is expected to generate high resolution underwater topology for the entire Korean peninsula and be used to establish a path plan for autonomous navigation of underwater vehicle.

• 한국해양공학회지
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• 제36권5호
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• pp.340-352
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• 2022

This article presents a modeling method for the uncorrelated measurement error of the ultra-short baseline (USBL) acoustic positioning system for aiding navigation of underwater vehicles. The Mahalanobis distance (MD) and principal component analysis are applied to decorrelate the errors of USBL measurements, which are correlated in the x- and y-directions and vary according to the relative direction and distance between a reference station and the underwater vehicles. The proposed method can decouple the radial-direction error and angular direction error from each USBL measurement, where the former and latter are independent and dependent, respectively, of the distance between the reference station and the vehicle. With the decorrelation of the USBL errors along the trajectory of the vehicles in every time step, the proposed method can reduce the threshold of the outlier decision level. To demonstrate the effectiveness of the proposed method, simulation studies were performed with motion data obtained from a field experiment involving an autonomous underwater vehicle and USBL signals generated numerically by matching the specifications of a specific USBL with the data of a global positioning system. The simulations indicated that the navigation system is more robust in rejecting outliers of the USBL measurements than conventional ones. In addition, it was shown that the erroneous estimation of the navigation system after a long USBL blackout can converge to the true states using the MD of the USBL measurements. The navigation systems using the uncorrelated error model of the USBL, therefore, can effectively eliminate USBL outliers without loss of uncontaminated signals.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.335-335
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• 2000

Applications such as unmanned aerial vehicles (UAVs), autonomous underwater vehicles (AUVs) and the time varying nature of their navigation, guidance and control systems motivate an integrated approach to trajectory general ion and trajectory tracking for autonomous vehicles. In this paper, an experimental testbed was designed for studying this integrated trajectory control approach. In this paper we apply the separating approach to an autonomous nonlinear vehicle system. A new linear matrix inequality based H$_{\infty}$ control technique for periodic time-varying systems is applied to the role of trajectory tracking. Trajectory general ion is accomplished by exploit ing the differential flatness property of the vehicle system; this at lows product ion of desired feasible nominal or reference trajectories from certain ″flat'system outputs. Simulation and experimental results are presented showing stable tracking of a periodic circular trajectory.

• International Journal of Ocean System Engineering
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• 제1권2호
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• pp.60-67
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• 2011

This paper presents an in-situ correction method to compensate for the position error of an autonomous underwater vehicle (AUV) near the sea floor. AUVs generally have an inertial navigation system assisted with auxiliary navigational sensors. Since the inertial navigation system shows drift in position without the bottom reflection of a Doppler velocity log, external acoustic positioning systems, such as an ultra short baseline (USBL), are needed to set the position without surfacing the AUV. The main concept of the correction method is as follows: when the AUV arrives near the sea floor, the vehicle moves around horizontally in a circular mode, while the USBL transceiver installed on a surface vessel measures the AUV's position. After acquiring one data set, a least-square curve fitting method is adopted to find the center of the AUV's circular motion, which is transferred to the AUV via an acoustic telemetry modem (ATM). The proposed method is robust for the outlier of USBL, and it is independent of the time delay for the data transfer of the USBL position with the ATM. The proposed method also reduces the intrinsic position error of the USBL, and is applicable to the in-situ calibration as well as the initialization of the AUVs' position. Monte Carlo simulation was conducted to verify the effectiveness of the method.

• 한국지능시스템학회논문지
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• 제22권2호
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• pp.225-231
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• 2012

본 논문에서는 접근 각도 개념을 이용하여 과소작동기 형태의 무인 수중 잠수정의 경로 추적 제어기 설계 방법을 제안한 다. 과소 작동기 형태를 가지는 무인 수중 잠수정은 종 방향 추진력과 회전력에 의해 속도와 방향을 조절하나, 횡 방향 추 진기가 없기 때문에 횡 방향에 대한 움직임을 제어 할 수 없다. 이러한 무인 수중 잠수정의 과소 작동기 문제를 해결하기 위하여 본 논문에서는 기준 경로에 대한 접근 각도 개념을 제안하고, 제안한 접근 각도를 이용하여 경로 추적 제어기를 설 계한다. 이를 위해 동체 고정 좌표계에서 새로운 오차 방정식을 구하고, 리아푸노프 방법을 기반으로 경로 추적 제어기를 설계한다. 본 논문에서는 컴퓨터 시뮬레이션 통해 제안한 방법에 의해 설계된 제어기의 성능을 검증한다.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 1998년도 춘계종합학술대회
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• pp.351-358
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• 1998

This paper deals with the underwater image transmission system which includes in AUV(Autonomous Underwater Vehicle) Project(that is VORAM(Vehicle for Ocean Research And Monitoring)), developed by KIMM for survey and investigation of a sea-bed through transmitting the underwater image to the mother ship. The system presented in this paper consists of a transducer which has a 136KHz center frequency and it's 10KHz bandwidth, pre-amplifier, $\pi$/4 QPSK(Quadreature Phase Shift Keying) modulation/demodulation method, image compressing method using JPEG technique and modified Stop & protocol. The experimental results of the system is verified to a high performance with 9600 bps for transmitting the underwater image through the basin test. The results of test are also verified which allows to desirable transmission performance compared with the existing developed system and the possibility to put the practical use of survey and investigation. And, the viterbi coding and adaptive equalizer for cancelling the multipath effect are developing for more effective image transmission system. Also, these technique will very effectively adapt to realtime image transmission system.

• 한국항행학회논문지
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• 제26권6호
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• pp.464-473
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• 2022

본 논문에서는 자율무인잠수정에 사용되는 UHF-GPS 안테나의 성능을 만족하는 경량화 설계에 대해 제안하였다. 설계 프로세스에 사용된 구조해석, 수밀외압시험 그리고 비파괴 검사는 수중운용 환경에서 발생하는 외력에 대한 구조 안전성을 고려하여 결정하였다. 먼저 수상에서 모함과 통신을 위한 UHF-GPS 안테나 성능과 수중 운용 시 발생하는 20 bar 압력을 고려한 레이돔 재질을 선정하였으며, 전자기장해석 및 구조해석을 수행하여 무게 대비 강도 및 강성이 높고 유전율이 우수한 PA-GF 소재를 선정하였다. 그리고 UHF-GPS 안테나의 요구 중량을 만족하기 위한 레이돔 두께별 전자기장해석 및 구조해석을 추가 수행하였으며, 최종 모델 선정 후 수밀외압시험 및 비파괴 검사를 통해 구조 안전성을 검증하였다.