• Title/Summary/Keyword: Marine Technology

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The design method research of the control system for Autonomous Underwater Vehicle (AUV) using Linear Matrix Inequality (LMI)

  • Nasuno, Youhei;Shimizu, Etsuro;Aoki, Taro;Yomamoto, Ikuo;Hyakudome, Tadahiro;Tsukioka, Satoshi;Yoshida, Hiroshi;Ishibashi, Shojiro;Ito, Masanori;Sasamoto, Ryoko
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.1060-1065
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    • 2005

  • An Independent Administrative Corporation Japan Agency for Marine-Earth Science and Technology (JAMSTEC) is developing light-and-small Autonomous Underwater Vehicles (AUV)$^{1)}$, named 'MR-X1' (Marine Robot Experimental 1), which can cruise, investigate and observe by itself without human's help. In this paper, we consider the motion control problem of 'MR-X1' and derive a controller. Since the dynamic property of 'MR-X1' is changed by the influence of the speed, the mathematical model of 'MR-X1' becomes the nonlinear model. In order to design a controller for 'MR-X1', we generally apply nonlinear control theories or linear control theories with some constant speed situation. If we design a controller by applying Linear Quadratic (LQ) optimal control theory, the obtained controller only compensates t e optimality at the designed speed situation, and does not compensate the stability at another speed situations. This paper proposes a controller design method using Linear Matrix Inequalities (LMIs)$^{2),3),4)}$, which can adapt the speed variation of 'MR-X1'. And examples of numerical analysis using our designed controller are shown.

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The prospect and the State of the Art for Marine Environmental Science and Technology from a Point of view of Marine Biotechnology (해양생명공학관점에서의 해양환경공학 현황분석과 전망)

  • Kim Sang-Jin
    • Journal of the Korean Society for Marine Environment & Energy
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    • v.7 no.3
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    • pp.111-115
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    • 2004

  • In this manuscript the characteristics of marine environmental sciences and technology was depicted in the aspect of marine biotechnology, and the prospect of Korean society of Marine Environmental Engineering were suggested. Firstly definitions and main features of marine biotechnology and marine environmental sciences and technology were mentioned, and the long-term trends of environmental sciences and technology and the role of marine biotechnology to contribute for the development of marine environmental science and technology were described. The present state of the art for domestic research activities in the fields of marine environmental science and technology was reviewed and future directions for developing the Korean Society of Marine Environmental Engineering were suggested and discussed through understanding the present problems and solving those problems.

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Demands to Develop Marine Science Technology to Reduce Damage of Disasters Caused by Marine Accidents (선박기인 해양재난 피해축소를 위한 해양과학기술 개발수요 도출)

  • Jang, Duckhee;Kang, Gil-Mo;Kim, Jin-Young
    • Ocean and Polar Research
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    • v.37 no.4
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    • pp.369-383
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    • 2015

  • The purpose of this study is to ascertain the demands for developing marine science technology to reduce fatalities caused by marine accidents. For this purpose, we analyzed the contents of about 77,000 news articles posted for a month after the tragedy of the Sewol (April 16~May 15) to identify keywords and then we used the Social Network Analysis (SNA) for each keyword. The findings of the analysis show that there are five networks and that each one reveals different aspects about technology development to prepare for marine accidents. Based on these findings, we categorized three kinds of demands for technology development from the perspective of marine science technology: provision of the information about the marine environment, development of equipment and technology to overcome extreme environments, and the establishment of a field support system.

  • https://doi.org/10.4217/OPR.2015.37.4.369 인용 PDF KSCI

On the characteristics of the motion and the mooring force of a mid-layer type floating structure in waves

  • Miyahara, Rie;Shoji, Kuniaki;Mita, Sigeo;Nagase, Risa
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 2004.08a
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    • pp.226-234
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    • 2004

  • In this study experiments are conducted with a mid-layer type structure. This structure can operate not only at water surface but also in water. Six degrees of freedom oscillations of the structure and mooring force were measured by model experiments. From these experiments, it was shown that the lattice model has two peaks in the surge response curve and the oscillation amplitude and mooring forces increase according to the distance of separation between water level and upper deck.

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