• 한국군사과학기술학회지
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• 제17권1호
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• pp.33-40
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• 2014

Due to its unmanned feature and some of being matured underwater technologies, UUV(Unmanned Undersea Vehicle) is increasingly considered as a utility player in today's battle-field. The operational benefit of submarine-based UUV operation could be enormous yet the integration challenges are significant, particularly for most of small conventionally-powered submarines. In this paper, we consider UUV operational methodology via the conventional submarine's torpedo tube. Two previous attempts having been done to retrieve the UUV through torpedo tube are reviewed, and their pros and cons are also analyzed. Then, an alternative option is proposed for UUV operation via torpedo tube. In addition, some of practical challenges are also discussed in the paper.

• 한국항해항만학회지
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• 제32권6호
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• pp.447-452
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• 2008

본 연구에서는 만타형 수중운동체의 수평 및 수직 방향에 대한 자동제어 및 충돌회피 시스템을 확립하였다. PID 제어이론, 퍼지 추론 등이 적용되었으며, 시뮬레이션에 사용된 6자유도 운동 방정식은 이론계산과 구속모형 시험에 의하여 확립하였다. PID제어에 의한 심도제어 결과가 제시되었으며, UUV의 충돌 위험도는 가상 소나 시스템을 이용한 퍼지 추론으로 추정하였다. 이를 이용하여 만타형 수중운동체의 심도제어 시스템 및 충돌회피 시뮬레이션 시스템이 개발되었다.

• Journal of Advanced Marine Engineering and Technology
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• 제37권6호
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• pp.644-652
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• 2013

본 논문은 만타형 무인잠수정의 개발과 실해역 성능시험에 관한 내용을 다룬다. 먼저 만타형 무인 잠수정의 운동성능을 예측하기 위한 시뮬레이션을 수행하였다. 시뮬레이션 결과를 통해서 만타형 잠수정의 운동성능을 검증하였으며 결과를 바탕으로 테스트베드인 만타형 무인잠수정을 설계하였다. 만타 잠수정은 자세 및 경로의 계측을 위하여 DVL (Doppler Velocity Log), Gyrocompass, GPS, 압력센서 등을 탑재하였으며 운항제어를 위한 추진기와 1개의 수직타 4개의 수평타를 장착하여 3자유도 운동이 가능하다. 실해역에서 운동성능시험과 자율운항 성능시험을 통해 만타형 무인잠수정 시스템을 검증하였다.

• 한국해양공학회지
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• 제30권1호
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• pp.32-43
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• 2016

A UUV needs to have a robust path following performance because of unpredicted current disturbances. Because the desired path of a UUV is usually designed by considering the locations of obstacles or geographical features of the operation region, the UUV should stay on the desired path to avoid damage or loss of the vehicle. However, conventional path following methods cannot deal with strong countercurrent disturbances. Thus, the UUV may deviate from the desired path. In order to avoid such deviation, a backward path following method is suggested. This paper proposes a path following method that combines pure pursuit guidance and nonlinear guidance for the UUV under an unpredicted strong ocean current. For a stable path following system, this paper suggests that the UUV adjust its heading to the current direction using the pure pursuit guidance method when the system is in an unstable region, or the UUV follows the desired path with nonlinear guidance. By combining the pure pursuit guidance and nonlinear guidance, it was possible to overcome the drawbacks of each path following method in the reverse path following case. The efficiency of the proposed method is shown through simulation results compared to those of the pure pursuit method and nonlinear guidance method.

• 한국해양공학회지
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• 제30권5호
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• pp.400-404
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• 2016

This paper presents experimental results for the vibration characteristics of the small unmanned underwater vehicle (UUV) OPKO 300, which was designed and manufactured by Daewoo ship and Marine Engineering Ltd. The autonomy of UUVs has led to an increase in their use in scientific, military, and commercial areas because their autonomy makes it possible for UUVs to be utilized instead of humans in hazardous missions such as mine countermeasure missions (MCM). Since it is impossible to use devices based on electromagnetic waves to gather information in an underwater environment, only sonar systems, which use sound waves, can be used in underwater environments, and their performance can strongly affect the autonomy of a UUV. Since a thruster system, which combines a motor and propeller in a single structure, is widely used as the propulsion system of a UUV and is mounted on the outside of a UUV’s stern, it can generate vibration, which can be transferred throughout the shell of the UUV from its stern to its bow. The transferred vibration can affect the performance of various sonar systems such as side-scan sonar or forward-looking sonar. Therefore, it is necessary to estimate the effect of the transferred vibration of the UUV on the sonar systems. Even if various numerical methods were used to analyze the vibration problem of a UUV, it would be hard to predict the vibration phenomena of a UUV at the initial design stage. In this work, an experimental study using OKPO 300 and an impact hammer was carried out to analyze the vibration feature of a small real UUV in the air. The frequency response function of the vibration based on the experimental results is presented.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2011년도 추계학술대회
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• pp.3-4
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• 2011

본 연구에서는 Manta type UUV의 비선형 수학모델과 유체력 미계수를 소개하고, 자유항주실험용으로 제작된 Manta type UUV의 슬라이딩 모드 제어기 설계를 다루고 있다. 비선형운동에 대해 강인한 제어기를 설계하기 위해서 슬라이딩 모드 제어 기법을 사용하였고, 조류의 영향을 고려한 6자유도 운동 수학모델을 기반으로 하는 심도 및 방위제어기를 설계하였다. 또한, 설계된 심도 및 방위제어기의 성능을 컴퓨터 시뮬레이션으로 확인하였다.

• 한국정밀공학회지
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• 제26권5호
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• pp.7-13
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• 2009

• International Journal of Ocean System Engineering
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• 제1권2호
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• pp.68-75
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• 2011

This paper addresses an underwater landmark for updating UUV positioning information. A method is proposed in which the landmark's cubic shape and edge are recognized. The reliability, installation load, and management of landmark design were taken into consideration in order to assess practical applications of the landmark. Landmark recognition was based on topological features. The straight line recognition confirmed the landmark's location and enabled an UUV to accurately estimated its underwater position with respect to the landmark. An efficient recognition method is proposed, which provides real-time processing with limited UUV computing power. An underwater experiment was conducted in order to evaluate the proposed method's reliability and accuracy.

• 한국항해항만학회지
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• 제29권8호
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• pp.679-684
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• 2005

본 논문에서는 수중운동체의 운동수학모형 정립 및 최적제어 방안 연구를 위해, 수중운동체의 6자유도 운동 방정식을 유도하고, UUV 모형의 사항시험을 통해 6방향의 유체력을 구하였다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2005년도 추계학술대회 논문집
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• pp.63-68
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• 2005

본 논문에서는 수중운동체의 운동수학모형 정립 및 최적제어 방안 연구를 위해, 수중운동체의 6자유도 운동 방정식을 유도하고, UUV 모형의 사항시험을 통해 6방향의 유체력을 구하였다.