• 한국해양공학회지
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• 제30권3호
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• pp.221-226
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• 2016

An attitude controller for a 6-DOF hovering autonomous underwater vehicle (HAUV) is implemented. We add a vertical thruster, an underwater camera, a wireless communication device, and a DVL to the HAUV that was developed a year ago. The HAUV is composed of 5 thrusters, 2 servo-motors, and 4 apparatus parts. Two rotating thrusters control the surge, heave, and roll of the vehicle. The vertical thruster controls the pitch, and two horizontal thrusters control the sway and yaw of the vehicle. The HAUV’s movement in each direction is controlled by 6 PID controllers. Each PID controller controls the propulsive force and angle of a thruster. In a horizontal and vertical movement experiment, we showed the feasibility of the proposed controller by maintaining a given depth and heading angle of the HAUV.

• 대한임베디드공학회논문지
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• 제10권4호
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• pp.257-264
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• 2015

For the tracking of the way-points of hovering AUV (HAUV), we suggest a simple PID controller. The way-points are designed to approach to a virtual underwater structure and the heading angles at each way-point are set to look at the structure in the face. The proposed controller consists of a vertical controller to maintain the depth and pitch angle, and a horizontal controller to move to the desired position as well as to adjust the heading angle of the HAUV. In the simulation using Matlab/Simulink, the HAUV with the proposed PID controller is shown to track all the way-points within 1 m range while maintaining proper heading angle at each way-point.

• 제어로봇시스템학회논문지
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• 제19권9호
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• pp.797-804
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• 2013

In this paper, a study of a new hovering six dof underwater robot with redundant horizontal thrusters, titled HAUV (hovering AUV), is presented. The results of study on the structure design, deployment of thrusters, and development of the developed control system of the AUV was presented. For the HAUV structure, a structure design and an analysis of the thrusting system was performed. For navigation, a sensor fusion board which can proceed various sensor signals to identify correct positions and speeds was developed and a total control system including EKF (Extended Kalman Filter) was designed. Rolling, pitching and depth control tests of the HAUV have been performed, and relatively small angle error and depth tracking error results were shown.

• 동력기계공학회지
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• 제20권1호
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• pp.24-29
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• 2016

Remotely operated vehicles or autonomous underwater vehicles have been used for exploiting seabed natural resources. In this study, the autonomous underwater vehicle of hovering type(HAUV) is developed to observe underwater objects in close distance. A dynamic model with six degrees of freedom is established, capturing the motion characteristics of the HAUV. The equations of motion are generated for the dynamic control simulation of the HAUV. The added mass, drag and lift forces are included in the computer model. Computational fluid dynamics simulation is carried out using this computer model. The drag coefficients are produced from the CFD.

• 대한토목학회논문집
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• 제12권2호
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• pp.123-130
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• 1992

Geogakakos와 Bras의 일차원 지점 강수량 모형이 전주지점 호우모형으로 적합한지를 검토하였다. 구름 물리학을 토대로 한 이 모형의 기본변수는 운정의 압력, 평균 상승 기류 속도, 운저의 평균 운적직경의 역수값 등인데, 입력변수에 의하여 매개상수화 된다. 매개상수는 Hooke와 Jeeves의 직접 탐색 알고리즘에 의하여 평가되었다. 그 결과 계산 강우량과 실측 강우량과의 평균 자승 오차를 최소화 하는데 평균 상승 기류 속도와 운저 운적직경에 관계된 매개상수가 크게 기여하였다. 이러한 수치실험에서, 계산 총강우량과 실측 총강우량의 편차는 크지 않았으나 시간분포는 상당한 차이를 보였다.

• 대한임베디드공학회논문지
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• 제9권3호
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• pp.165-171
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• 2014

In this paper, we propose the hardware and software of a test-bed of a hovering AUV (autonomous underwater vehicle). Test-bed to develop as the underwater robot for the hovering -type is planning to apply for marine resource development and exploration for deep sea. The RTU that controls a azimuth thruster and a vertical thruster of test-bed is a intergrated-type thruster. The main control unit that collects sensor's data and performs high-speed processing and controls a movement of test-bed is a underwater hybrid navigation system. Also it transfers position, posture, state information of test-bed to the host PC of user using a wireless communication. The host PC checks a test-bed in real time by using a realtime monitoring system that is implemented by LabVIEW.