• Title/Summary/Keyword: Underwater docking system

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The Underwater UUV Docking with 3D RF Signal Attenuation based Localization (UUV의 수중 도킹을 위한 전자기파 신호 기반의 위치인식 센서 개발)

  • Kwak, Kyungmin;Park, Daegil;Chung, Wan Kyun;Kim, Jinhyun
    • Journal of Sensor Science and Technology
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    • v.26 no.3
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    • pp.199-203
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    • 2017
  • In this paper, we developed an underwater localization system for underwater robot docking using the electromagnetic wave attenuation model. Electromagnetic waves are generally known to be impossible to use in water environment. However, according to the conclusions of the previous studies on the attenuation characteristics in underwater, the attenuation pattern is uniform and its model was accurately proposed and verified in 3-dimensional space via the omnidirectional antenna. In this paper, a docking structure and localization sensor system are developed for a widely used cone type docking mechanism. First, we fabricated electromagnetic wave range sensor transmit modules. And a mobile sensor node is equipped with unmanned underwater vehicle(UUV)s. The mobile node senses the four different signal strength (RSS: Received Signal Strength) from fixed nodes, and the obtained RSS data are transformed to each distance information using the 3-Dimensional EM wave attenuation model. Then, the relative localization between the docking area and underwater robot can be achieved according to optimization algorithm. Finally, experimental results show the feasibility of the proposed localization system for the docking induction by comparing the errors in the actual position of the mobile node and the theoretical position through the model.

Docking System for Unmanned Underwater Vehicle using Reduced Signal Strength Indicator (전자기파의 감쇄신호를 이용한 무인 잠수정의 도킹시스템 개발)

  • Lee, Gi-Hyeon;Kim, Jin-Hyun
    • 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.

Underwater Docking of a Visual Servoing Autonomous Underwater Vehicle Using a Single Camera (단일 카메라를 이용한 비쥬얼 서보 자율무인잠수정의 수중 도킹)

  • 이판묵;전봉환;홍영화;오준호;김시문;이계홍
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2003.06a
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    • pp.316-320
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    • 2003
  • This paper introduces an autonomous underwater vehicle (AUV) model, ASUM, equipped with a visual servo control system to dock into an underwater station with a camera and motion sensors. To make a visual servoing AUV, this paper implemented the visual servo control system designed with an augmented state equation, which was composed of the optical flow model of a camera and the equation of the AUV's motion. The system design and the hardware configuration of ASUM are presented in this paper. ASUM recognizes the target position by processing the captured image for the lights, which are installed around the end of the cone-type entrance of the duct. Unfortunately, experiments are not yet conducted when we write this article. The authors will present the results for the AUV docking test.

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A Visual Servo Algorithm for Underwater Docking of an Autonomous Underwater Vehicle (AUV) (자율무인잠수정의 수중 도킹을 위한 비쥬얼 서보 제어 알고리즘)

  • 이판묵;전봉환;이종무
    • Journal of Ocean Engineering and Technology
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    • v.17 no.1
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    • pp.1-7
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    • 2003
  • Autonomous underwater vehicles (AUVs) are unmanned, underwater vessels that are used to investigate sea environments in the study of oceanography. Docking systems are required to increase the capability of the AUVs, to recharge the batteries, and to transmit data in real time for specific underwater works, such as repented jobs at sea bed. This paper presents a visual :em control system used to dock an AUV into an underwater station. A camera mounted at the now center of the AUV is used to guide the AUV into dock. To create the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and deriver a state equation for the visual servo AUV. Further, this paper proposes a discrete-time MIMO controller, minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servo AUV simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

Visual Servoing Control of a Docking System for an Autonomous Underwater Vehicle (AUV)

  • Lee, Pan-Mook;Jeon, Bong-Hwan;Lee, Chong-Moo;Hong, Young-Hwa;Oh, Jun-Ho
    • 제어로봇시스템학회:학술대회논문집
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    • 2002.10a
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    • pp.109.5-109
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    • 2002
  • Autonomous underwater vehicles (AUVs) are unmanned underwater vessels to investigate sea environments, oceanography and deep-sea resources autonomously. Docking systems are required to increase the capability of the AUVs to recharge the batteries and to transmit data in real time in underwater. This paper presents a visual servo control system for an AUV to dock into an underwater station with a camera. To make the visual servo control system , this paper derives an optical flow model of a camera mounted on an AUV, where a CCD camera is installed at the nose center of the AUV to monitor the docking condition. This paper combines the optical flow equation of the camera with the AUV's equation o...

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Experimental Study on Underwater Docking of a Visual Servoing Autonomous Underwater Vehicle (비쥬얼 서보 자율무인잠수정의 수중 도킹에 관한 실험적 연구)

  • Lee, Pan-Mook;Jeon, Bong-Hwan;Lee, Ji-Hong;Kim, Sea-Moon;Hong, Young-Hwan
    • Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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    • 2003.05a
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    • pp.89-93
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    • 2003
  • The Korea Research Institute of Ships and Ocean Engineering (KRISO), the ocean engineering branch of KORDI, has designed and manufactured a model of an autonomous underwater vehicle (AUV) to test underwater docking. This paper introduces the AUV model, ASUM, equipped with a visual servo control system to dock into an underwater station with a camera and motion sensors. To make a visual servoing AUV, this paper implemented the visual servo control system designed with an augmented state equation, which was composed of the optical flow model of a camera and the equation of the AUV's motion. The system design and the hardware configuration of ASUM are presented in this paper. A small long baseline acoustic positioning system was developed to monitor and record the AUV's position for the experiment in the Ocean Engineering Basin of KRISO, KORDI. ASUM recognizes the target position by processing the captured image for the lights, which are installed around the end of the cone-type entrance of the duct. Unfortunately, experiments are not yet conducted when we write this article. The authors will present the results for the docking test of the AUV in near future.

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Underwater Docking of an AUV Using a Visual Servo Controller (비쥬얼 서보 제어기를 이용한 자율무인잠수정의 도킹)

  • Lee, Pan-Mook;Jeon, Bong-Hwan;Lee, Chong-Moo
    • Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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    • 2002.10a
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    • pp.142-148
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    • 2002
  • Autonomous underwater vehicles (AUVs) are unmanned underwater vessels to investigate sea environments, oceanography and deep-sea resources autonomously. Docking systems are required to increase the capability of the AUVs to recharge the batteries and to transmit data in real time for specific underwater works, such as repeated jobs at sea bed. This paper presents a visual servo control system for an AUV to dock into an underwater station with a camera mounted at the nose center of the AUV. To make the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and derives a state equation for the visual servoing AUV. This paper proposes a discrete-time MIMO controller minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servoing AUV, simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

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Study on the Docking Algorithm for Underwater-Docking of an AUV Using Visual Guidance Device (광학식 유도장치를 이용한 자율 무인잠수정의 수중 도킹 알고리즘에 관한 연구)

  • Choi, Dong-Hyun;Jun, Bong-Huan;Lee, Pan-Mook;Kim, Sang-Hyun;Lim, Geun-Nam
    • Journal of Ocean Engineering and Technology
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    • v.21 no.3 s.76
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    • pp.33-39
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    • 2007
  • The more deeply the researches make progress in ocean researches including the seabed resource investigation or the oceanic ecosystem investigation, the more important the role of UUV gets. In case of study on the deep sea, there are difficulties in telecommunications between AUV and ships, and in data communication and recharging. Therefore, docking is required. In AUV docking system, the AUV should identify the position of docking device and make contact with a certain point of docking device. MOERI (Maritime & Ocean Engineering Research Institute), KORDI has conducted the docking testing on AUV ISIMI in KORDI ocean engineering water tank. As AUV ISIMI approachs the docking device, there is some cases of showing an unstable attitude, because the lights which is on Image Frame are disappeared. So we propose the docking algorithm that is fixing the rudder and stem, if the lights on image frame are reaching the specific area in the Image Frame. Also we propose the new docking device, which has a variety of position and light number. In this paper, we intend to solve the some cases of showing an unstable attitude that were found in the testing, which, first, will be identified the validity via simulation.

Mission Management Technique for Multi-sensor-based AUV Docking

  • Kang, Hyungjoo;Cho, Gun Rae;Kim, Min-Gyu;Lee, Mun-Jik;Li, Ji-Hong;Kim, Ho Sung;Lee, Hansol;Lee, Gwonsoo
    • Journal of Ocean Engineering and Technology
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    • v.36 no.3
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    • pp.181-193
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    • 2022
  • This study presents a mission management technique that is a key component of underwater docking system used to expand the operating range of autonomous underwater vehicle (AUV). We analyzed the docking scenario and AUV operating environment, defining the feasible initial area (FIA) level, event level, and global path (GP) command to improve the rate of docking success and AUV safety. Non-holonomic constraints, mounted sensor characteristic, AUV and mission state, and AUV behavior were considered. Using AUV and docking station, we conducted experiments on land and at sea. The first test was conducted on land to prevent loss and damage of the AUV and verify stability and interconnection with other algorithms; it performed well in normal and abnormal situations. Subsequently, we attempted to dock under the sea and verified its performance; it also worked well in a sea environment. In this study, we presented the mission management technique and showed its performance. We demonstrated AUV docking with this algorithm and verified that the rate of docking success was higher compared to those obtained in other studies.

Terminal Guidance Control for Underwater-Docking of an AUV Using Visual Guidance Device (광학식 유도장치를 이용한 자율 무인잠수정의 수중 도킹 종단 유도 제어)

  • Choi, Dong-Hyun;Jun, Bong-Huan;Park, Jin-Yeong;Lee, Pan-Mook;Kim, Sang-Hyun;Oh, Jun-Ho
    • Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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    • 2006.11a
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    • pp.335-338
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    • 2006
  • The more deeply the researches make progress in ocean researches including the seabed resource investigation or the oceanic ecosystem investigation, the more important the role of UUV gets. In case of study on the deep sea, there are difficulties in telecommunications between AUV and ships, and in data communication and recharging. Therefore, docking is required. In AUV docking system, the AUV should identify the position of docking and make contact with a certain point of docking device. MOERI (Maritime & Ocean Engineering Research Institute), KORDI has conducted the docking testing on AUV ISIMI in KORDI Ocean Engineering Water Tank. As AUV ISIMI approachs the docking device, it is presented that attitude is unstable, because the lights Which is on Image Frame are disappeared. So we fix the rudder and stem, if the lights on Image Frame are reaching the specific area in the Image Frame. In this paper, we intend to solve the problems that were found in the testing, which, first, will be identified via simulation.

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