• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.1
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• pp.33-39
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• 2017

A top priority in the design of underwater vehicle is to guarantee the dependability of the electric system because failure of the electrical power supply system is directly related to the life of the passengers. In this paper, we present four kinds of alternative designs to improve reliability of electrical system in underwater vehicle. To reduce the risk and to increase availability of the electrical system, we use the redundancy of the grid structure and power converter. For all design alternatives, we carry out Fault Tree Analysis. Based on the FTA result, we implement RAM simulation to compare the risk and availability for the proposed design alternatives.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.3
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• pp.323-328
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• 2011

In real system application, the 3-D obstacle avoidance system for the autonomous control of the underwater flight vehicle (UFV) operates with the following problems: the sonar offers the range/bearing information of obstacles in a local detection area, it requires the system that has reduced acoustic noise and power consumption in terms of the autonomous underwater vehicle (AUV), it has the UFV operation constraints such as maximum pitch and depth, and it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent 3-D obstacle avoidance algorithm using the evolution strategy (ES) and the fuzzy logic controller (FLC), is proposed. To verify the performance of the proposed algorithm, the 3-D obstacle avoidance of UFV is performed. Simulation results show that the proposed algorithm effectively solves the problems in the real system application.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.7
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• pp.578-585
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• 2000

This paper presents a robust and systematic bilateral controller design method for a teleoperation of an underwater manipulator. Disturbance observer is used as a local controller of the master and underwater slave manipulator to set up the teleoperation system as a nominal model by compensating coupled nonlinear terms model uncertainties and external disturbances in the water. Using the linearized master/slave model a $H_{\infty}$ optimal control scheme is applied to systematically construct a force reflecting bilateral controller.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.4
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• pp.341-348
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• 2013

A location estimation algorithm based on the sea-surface beacon is proposed in this paper. The beacon is utilized to provide ultrasonic signals to the underwater vehicles around the beacon to estimate precise position of underwater vehicles (ROV, AUV, Diver robot), which is named as USBL (Ultra Short Baseline) system. It utilizes GPS and INS data for estimating its position and adopts DWT (Discrete Wavelet Transform) de-noising filter and UKF (Unscented KALMAN Filter) elaborating the position estimation. The beacon system aims at estimating the precise position of underwater vehicle by using USBL to receive the tracking signals. The most important one for the precise position estimation of underwater vehicle is estimating the position of the beacon system precisely. Since the beacon is on the sea-waves, the received GPS signals are noisy and unstable most of times. Therefore, the INS data (gyroscope sensor, accelerometer, magnetic compass) are obtained at the beacon on the sea-surface to compensate for the inaccuracy of the GPS data. The noises in the acceleration data from INS data are reduced by using DWT de-noising filter in this research. Finally the UKF localization system is proposed in this paper and the system performance is verified by real experiments.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.516-521
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• 1993

In order to hold a underwater vehicle at a depth, we can modulate buoyancy that acts on the underwater vehicle. In this research, by using a ballon, we was able to generate buoyancy that could control depth in which vehicle was operate. And in order to control flux of air that was flowed in balloon, we used solenoid valve, relief valve and so on. We derived differential equations of volume of balloon, pressure of inside of balloon, dynamic of underwater vehicle, and air flux for the simulation and linearized these differential equation. So we designed LQG/LTR controller, and applied the controller to nonlinear system. Through the simulation, we compares the nonlinear system with the linear system and investigated the operation of solenoid valve.

• Journal of Ocean Engineering and Technology
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• v.8 no.2
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• pp.131-140
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• 1994

Dynamics of AUV has heavy nonlinearities and many unknown parameters due to its bluff shape and low cruising speed. Intelligent algorithms, therefore, are required to overcome these nonlinearities and unknown system dynamics. Several identification techniques have been suggested for the application of control of underwater vehicles during last decade. This paper applies the neural network to identification and motion control problem of AUVs. Nonlinear dynamic systems of an AUV are identified using feedforward neural network. Simulation results show that the learned neural network can generate the motion of AUV. This paper, also, suggest an adaptive control scheme up-dates the controller weights with reference model and feedforward neural network using error back propagation.

• Journal of Ocean Engineering and Technology
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• v.28 no.5
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• pp.466-473
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• 2014

Underwater gliders do not have any external propulsion systems that can generate and control their motion. Generally, underwater gliders would obtain a propulsive force through the lift force generated on the body by a fluid. Underwater gliders should be equipped with mechanisms that can induce heave and pitch motions. In this study, an inner movable and rotatable mass mechanism was proposed to generate the pitch and roll motions of an underwater glider. In addition, a buoyancy control unit was presented to adjust the displacement of the underwater glider. The buoyancy control unit could generate the heave motion of the underwater glider. In order to analyze the underwater dynamic behavior of this system, nonlinear 6-DOF dynamic equations that included mathematical models of the inner movable mass and buoyancy control unit were derived. Only kinematic characteristics such as the location of the inner movable mass and the piston position of the buoyancy control unit were considered because the velocities of these systems are very slow. The effectiveness of the proposed dynamic modeling was verified through sawtooth and spiraling motion simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.2
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• pp.121-126
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• 1996

The hydrodynamic coefficients estimation (HCE) is important to design the autopilot and to predict the maneuverability of an underwater vehicle. In this paper, a system identification is proposed for an HCE of an underwater vehicle. First, we attempt to design the HCE algorithm which is insensitive to initial conditions and has good convergence, and which enables the estimation of the coefficents by using measured displacements only. Second, the sensor and measurement system which gauges the data from the full scale trials is constructed and the data smoothing algorithm is also designed to filter the noise due to irregular fluid flow without changing the data characteristics itself. Lastly the hydrodynamic coefficients are estimated by applying the measured data of full scale trials to the developed algorithm, and the estimated coefficients are verified by full scale trials.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2643-2645
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• 2004

The underwater system autonomously is navigated by using the wireless communication system, which receives the control signal from surface ship. The study proposes the new media access control protocol for underwater vehicles network in the view of communication distance and as CSMA(Carrier Sense Multiple Access) for the existing networks is intended to communication network using the high speed media such as electric signal or microwave signal, and thus it may introduce the reduction in throughput when applying the protocols to underwater communication network.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.9
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• pp.830-836
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• 2012

According to increasing the importance of underwater environments, the needs of UUV are growing. This paper represents the mechanism and algorithm of UUV docking system with 21-inch torpedo tubes for military submarines as a docking station. To improve the reliability of the docking, torpedo tubes launch a wired ROV and next the ROV combined with UUV is retrieved. For estimating the relative position between the ROV and UUV, in this paper, combining RF sensors and vision system is proposed. The RSSI method of RF sensors is used to estimate the distance and the optical image is combined for the directional information.