• 한국군사과학기술학회지
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• 제15권4호
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• pp.410-416
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• 2012

In recent years, unmanned underwater vehicles(UUVs) have emerged as viable technical solution for conducting underwater search, surveillance, and clearance operations in support of mine countermeasure missions(MCMs) because of her autonomy and long time endurance capability. It is necessary for UUV for MCM system design to define system specification from various configuration alternatives. This paper introduces a simulation model for mine countermeasure mission effectiveness analysis and presents some simulation results under various tide conditions for validation of the proposed simulation model.

• 전자공학회논문지
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• 제52권10호
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• pp.148-158
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• 2015

수중음향 채널환경에서 운영되는 검파시스템 성능분석은 실험의 제약으로 인해 모의 도구를 활용하여 시스템 성능을 결정한다. 본 논문은 수중음향 채널에 대한 탐지 효과도 분석을 위하여 수중환경 데이터베이스를 기반 수중음향 탐지 효과도 분석 모의 도구를 제안한다. 먼저, HYCOM 수중환경 데이터베이스 기반으로 수중 환경을 구축하고, 음선이론을 이용하여 수중음향 전달 경로/음압 계산을 통한 다중경로 지연 특성을 고려하였다. 또한, 실 환경에서 발생하는 수중 잡음 특성을 반영하기 위해 운용 주파수에 따른 수중청음기/수중음향 채널 잡음 특성인 열잡음/수중 주변 잡음을 적용하였다.

• 한국군사과학기술학회지
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• 제5권2호
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• pp.132-148
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• 2002

In this paper, development procedures of an Underwater Vehicle HILS/MILS System in SE(Synthetic Environment) are described. As this System is developed, we can obtain the more powerful tool which can be used to test and verify operational logics and algorithms of an Underwater Vehicle as well as its hardware in various tactical situations.

• 한국시뮬레이션학회논문지
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• 제22권4호
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• pp.1-9
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• 2013

국방과학연구소는 해군 전투실험을 위한 시뮬레이션 통합개발환경(QUEST)을 개발하였으며 본 논문은 QUEST의 수중교전 시뮬레이션을 응용을 위한 해군무기체계 모델 라이브러리 개발에 대하여 기술한다. 모델은 기본적으로 함정 및 무장체계 간의 수중교전 효과도 및 전술 개발 목적으로 개발되었다. 수중교전 임무공간과 기존 운용모델 기능 분석을 통하여 표준 모델구조를 정립하고 구성 컴포넌트를 개발하였다. 각각의 컴포넌트는 무기체계 구성부의 기능을 잘 정의한 표준화된 체계, 부체계, 알고리듬 모델이며 모델간 표준 인터페이스를 정의하였다. 모델 라이브러리를 이용하여 사용자는 최소한의 도메인지식으로 기존 모델을 재사용하고 새로운 모델을 효율적으로 조립가능하며 사용자간에 모델을 공유하고 협업할 수 있다.

• 동력기계공학회지
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• 제21권3호
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• pp.51-59
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• 2017

In the early design stage of underwater vehicles, it is important to estimate the vehicle's underwater motion performance. The key design elements for the motion are propellers, battery power, and underwater resistance of the vehicle. Small thrusters with motor and propeller are usually used for the UUV(unmanned underwater vehicles). In this study, a multiphysics thruster model combining electro-mechanical and hydrodynamics characteristics was proposed to estimate the thruster performance. To show the applicability of the mathematical model, an sample thruster was used for the derive the unknown parameters of thruster. Hydrodynamic parameters were calculated for a 3D geometry model of the propeller by ANSYS/CFX program. Finally, Matlab/simulink program was used for the numerical simulation to predict the thruster performance from the given voltage/current input to the motor. Also, proved validity of simulation model by experiment test. Test were done by 2 mode(middle/high speed, reverse). The thruster performance curves obtained from this simulation were confirmed to be similar with experiment results.

• 제어로봇시스템학회논문지
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• 제19권8호
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• pp.702-708
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• 2013

Underwater TRN (Underwater Terrain Referenced Navigation) estimates an underwater vehicle state by measuring a distance between the vehicle and undersea terrain, and comparing it with the known terrain database. TRN belongs to absolute navigation methods, which are used to compensate a drift error of dead reckoning measurements such as IMU (Inertial Measurement Unit) or DVL (Doppler Velocity Log). However, underwater TRN is different to other absolute methods such as USBL (Ultra-Short Baseline) and LBL (Long Baseline), because TRN is independent of the external environment. As a magnetic-field-based navigation, TRN is a kind of geophysical navigation. This paper develops an EKF (Extended Kalman Filter) formulation for underwater TRN. A filter propagation part is composed by an inertial navigation system, and a filter update is executed with echo-sounder measurement. For large-initial-error cases, an adaptive EKF approach is also presented, to keep the filter be stable. At the end, simulation studies are given to verify the performance of the proposed TRN filter. With simplified sensor and terrain database models, the simulation results show that the underwater TRN could support conventional underwater navigation methods.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.1174-1179
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• 2000

In recent years, the structural shock response to underwater explosion has been studied as much, or more, through numerical simulations than through testing for several reasons. Very high costs and sensitive environmental concerns have kept destructive underwater explosion testing to a minimum. Increase of simulation capabilities and sophisticated simulation tools has made numerical simulations more efficient analysis methods as well as more reliable testing aids. For the simulation of underwater explosions against, surface ships or submerged structures one has to include the effects of the explosive shock wave, the motion of the gaseous reactive products, the local cavitation collapse, the different nonlinear structural properties and the complex fluid-structure interaction phenomena. In this study, as benchmark step for the validation of hydrocode LS/DYNA3D and of technology of fluid-structure interaction problems, two kinds of cavitation problems are analyzed and structural shock response of floating ship model are compared with experimental result.

• 한국해양공학회지
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• 제35권2호
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• pp.99-112
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• 2021

The prediction of maneuverability is very important in the design process of an underwater vehicle. In this study, we predicted the steady turning ability of a symmetrical underwater vehicle while considering interactions between the yaw rate and drift/rudder angle through a simulation-based methodology. First, the hydrodynamic force and moment, including coupled derivatives, were obtained by computational fluid dynamics (CFD) simulations. The feasibility of CFD results were verified by comparing static drift/rudder simulations to vertical planar motion mechanism (VPMM) tests. Turning motion simulations were then performed by solving 2-degree-of-freedom (DOF) equations with CFD data. The turning radius, drift angle, advance, and tactical diameter were calculated. The results show good agreement with sea trial data and the effects on the turning characteristics of coupled interaction terms, especially between the yaw rate and drift angle.

• 한국멀티미디어학회논문지
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• 제17권1호
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• pp.104-112
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• 2014

가상현실 기술의 발전과 해양개발 산업의 급성장으로 해양 산업 분야에서 데이터 분석, 가상 체험, 교육 및 모의 훈련 등의 목적에 활용할 수 있는 가상 해저 시뮬레이션에 대한 연구가 다양하게 진행되고 있다. 가상 해저 시뮬레이션 시스템은 3차원 그래픽 기술을 통한 시각적인 체험을 위주로 개발되고 있어 체험자가 현실감을 경험하기에는 한계가 있다. 가상현실을 이용한 해저 시뮬레이션을 구현하는데 있어서 현실감 향상을 위해서는 모의적으로 생성된 가상환경에서 시청각적인 요소 이외의 감각적인 부분을 통해 사실적인 체험이 가능한 요소가 필요하다. 본 논문에서는 해저환경의 물리적 현상에 따라 다감각 효과를 제공할 수 있는 가상 해저 체험 시뮬레이션 시스템을 개발 하였다. 또한 제안 시스템의 유효성을 검증하기 위하여 참가자 실험을 통하여 현실감에 대하여 평가 하였다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 하계종합학술대회논문집
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• pp.215-218
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• 1998

In this paper, we design the $H_{\infty}$ controllers satisfying robust stability and performance for underwater vehicle. The underwater vehicle has computations delay time and input delay. In addition, there exist parameter uncertainties by the roll motion coefficient error, buoyance error, and gravity error. We design the $H_{\infty}$ controllers using model-matching method and check the performance of the proposed controller by nonlinear simulation which includes time delay model, sensor error model, and actuator model.