• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.228-238
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• 2017

The CALEB10 is a multi-legged biomimetic underwater robot. In the last research, we developed a swimming pattern named ESPG (Extended Swimming Pattern Generator) by observing diving beetle's swimming actions and experimented with a positive buoyancy state in which CALEB10 floats on the water. In this paper, however, we have experimented with CALEB10 in a neutral buoyancy state where it is completely immersed in water for pitch motion control experiment. And we found that CALEB10 was unstably swimming in the pitch direction in the neutral buoyancy state and analyzed that the reason was due to the weight proportion of the legs. In this paper, we propose a pitch motion control method to mimic the pitch motion of diving beetles and to solve the problem of CALEB10 unstably swimming in the pitch direction. To control the pitch motion, we use the method of controlling additional joints while swimming with the ESPG. The method of obtaining propulsive force by the motion of the leg has a problem of giving propulsive force in the reverse direction when swimming in the surge direction, but this new control method has an advantage that a propulsive moment generated by a swimming action only on a target pitch value. To demonstrate validity this new control method, we designed a dynamics-based simulator environment. And the control performance to the target pitch value was verified through simulation and underwater experiments.

• International Journal of Control, Automation, and Systems
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• v.2 no.3
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• pp.374-383
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• 2004

This paper presents a neural network adaptive controller for autonomous diving control of an autonomous underwater vehicle (AUV) using adaptive backstepping method. In general, the dynamics of underwater robotics vehicles (URVs) are highly nonlinear and the hydrodynamic coefficients of vehicles are difficult to be accurately determined a priori because of variations of these coefficients with different operating conditions. In this paper, the smooth unknown dynamics of a vehicle is approximated by a neural network, and the remaining unstructured uncertainties, such as disturbances and unmodeled dynamics, are assumed to be unbounded, although they still satisfy certain growth conditions characterized by 'bounding functions' composed of known functions multiplied by unknown constants. Under certain relaxed assumptions pertaining to the control gain functions, the proposed control scheme can guarantee that all the signals in the closed-loop system satisfy to be uniformly ultimately bounded (UUB). Simulation studies are included to illustrate the effectiveness of the proposed control scheme, and some practical features of the control laws are also discussed.

• Journal of the Society of Naval Architects of Korea
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• v.38 no.4
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• pp.23-29
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• 2001

An Obstacle Avoidance System(OAS) of Underwater Vehicle(UV) in diving and steering plane is investigated. The concept of Imaginary Reference Line(IRL), which acts as the seabed in the diving plane, is introduced to apply the diving plane avoidance algorithm to the steering plane algorithm. Furthermore, the distance to the obstacle and the slope information of the obstacle are used for more efficient and safer avoidance. As for the control algorithm, the sliding mode controller is adopted to consider the nonlinearity of the equations of motion and to get the robustness of the designed system. To verify the obstacle avoidance ability of the designed system, numerical simulations are carried out on the cases of some presumed three-dimensional obstacles. The effects of the sonar and the clearance factor used in avoidance algorithm are also investigated. Through these, it is found that the designed avoidance system can successfully cope with various obstacles and the detection range of sonar is proven to bea significant parameter to the performance of the avoidance.

• Journal of Ocean Engineering and Technology
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• v.19 no.2 s.63
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• pp.67-73
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• 2005

This paper describes depth, heading and speed control of an underwater vehicle that has four stern thrusters of which forces are coupled in the diving and, steering motion, as well as the speed of the vehicle. The optimal linear quadratic controller is designed based on a linearized- state space model, developed by combining the dynamic equations of speed, steering and diving motion. The designed controller gives provides an optimal thrust distribution, minimizing the given performance index to control speed, depth and heading simultaneously. To validate the performance of the controller, a simulation and tank-test are carried out with DUSAUV (Dual Use Semi-Autonomous Underwater Vehicle), developed by KORDI as a test-bed for testing new underwater technologies. Optimal gains of the controller are tuned, using a computer simulation environment with a nonlinear 6-DOF numerical DUSAUV model, developed by PMM (Planner Motion Mechanism) test. To verify the performance of the presented controller in experiment, a tank-test with DUSAUV is carried out in the ocean engineering basin in KORDI. The experimental results are also compared with the simulation results to investigate the accordance of the numerical and the real mode.

• Journal of the Korean Society of Marine Environment & Safety
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• v.21 no.6
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• pp.790-797
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• 2015

This study tried to evaluate the safety and economical benefit of Nitrox-diving by comparing with Air diving. We used actual diving data which was recorded in construction site of the Busan-Geoje fixed link immersed tunnel in 2010. The study method was to assort and analyze the diving data by divers, depth, breathing air, and diving table. Furthermore, the study examined the possibility of outbreak decompression sickness by comparing Nitrox diving and Air diving in no-decompression limit time, decompression time, working time. As a result, this study confirms that if certain diver breathe Nitrox for diving and oxygen for decompression, not only the risk of decompression sickness could be minimized, but also duration of decompression could be shortened. Moreover, it was estimated that a remarkable difference(more than 3 times) between actual duration of underwater construction period and virtual construction period by using air. As a result, the study confirmed that Nitrox diving is more efficient and economical than Air diving in physically limited and hazardous diving environment.

• Journal of the Korea Institute of Military Science and Technology
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• v.8 no.3 s.22
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• pp.11-17
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• 2005

In this paper, the mathematical model of the underwater discharge system using a linear pump is derived and the suitable opening pattern of a flow control valve which satisfies the discharge performance requirements is obtained through the underwater discharge simulations. The simulation results show that the dynamic characteristics of a projectile are greatly affected by the opening pattern of the flow control valve, however, hardly by the diving depth. It is anticipated that the simulation model can be used to derive the design parameters and analyze the performance of the designed underwater discharge system using a linear pump.

• Journal of Advanced Marine Engineering and Technology
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• v.37 no.8
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• pp.969-976
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• 2013

This study suggests the improvement of ROK Navy salvage and rescue diving system. ROK Navy system experiences characteristic restrictions for the environmental loading. These restrictions are known to deteriorate the efficiency of Navy salvage and rescue diving activity. In this study, the measurements were suggested to improve the efficiency. To achieve the goal, a comprehensive analysis is conducted using the published data including those of USN, NOAA and IANTD. Based on the analysis, suggestions were made. The technical diving techniques may be introduced to improve current ROK Navy diving system in limited areas. By adopting that technique, decompression procedures and underwater operation can be improved.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2005.11a
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• pp.216-217
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• 2005

This paper presents an integrated navagation control concept for underwater vehicles under high speed navigation circumstance. First of all, in order to control an underwater vehicle with respect to automatic navigation, an integrated navigation control method is suggested in view of synchronous control for course keeping, diving and depth control. An exact nonlinear model equation with six-degree-of-freedom is derived for control algorithm. To identify various hydrodynamic coefficients of the equation, an experimental approach is introduced and results are demonstrated for MANTA type model.

• Journal of the Korean Society of Safety
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• v.26 no.2
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• pp.42-47
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• 2011

Going underwater is supposed to begin with the history of human beings. At first it was confined to relatively shallow level, less than several meters by holding breath. Recently, deep level diving has been necessary for such purpose as construction, maritime salvage, military operations, research and sports by using SCUBA(self-contained underwater breathing apparatus) equipment. As one goes down into water, the pressure on the diver is increased due to water pressure with depth, usually 1 atm for each 10 m water level. In deep water, mixed gas or nitrox(EAN, enriched air nitrox) could be applied for the divers lest they should get disease due to high pressure. Of these, the former is usually composed of oxygen and inert gas like helium or hydrogen, the latter contains higher oxygen content than that in normal air in which the oxygen concentration is designated by the character "EAN" followed by vol. % of oxygen, for example, "EAN 40" contains 40% of oxygen. In this case, a victim was found at the 39 m below the sea surface breathing air and nitrox in cylinder wrongly marked as EAN 36, which was analyzed to contain 63% of oxygen by GC/TCD. The cause of death could not be exactly related with the oxygen content in the nitrox cylinder, because the accurate depth for the victim to dive was not known, even though the victim was just found at the depth of 39 m. However, the wrongly marked nitrox could be believed to be the main cause of the death at the depth unless there happened any other accident except that during diving.

• International Journal of Ocean System Engineering
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• v.1 no.1
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• pp.16-27
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• 2011

The depth and heading control of an autonomous underwater vehicle (AUV) are considered to follow the predetermined depth and heading angle. The proposed control algorithm was based on a sliding mode control, using estimated hydrodynamic coefficients. The hydrodynamic coefficients were estimated employing conventional nonlinear observer techniques, such as sliding mode observer and extended Kalman filter. Using the estimated coefficients, a sliding mode controller was constructed for a combined diving and steering maneuver. The simulated results of the proposed control system were compared with those of a control system that employed true coefficients. This paper demonstrated the proposed control system, and discusses the mechanisms that make the system stable and accurately follow the desired depth and heading angle in the presence of parameter uncertainty.