• International Journal of Naval Architecture and Ocean Engineering
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• v.6 no.2
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• pp.269-281
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• 2014

This paper examines the suitability of using the Computational Fluid Dynamics (CFD) tools, ANSYS-CFX, as an initial analysis tool for predicting the drag and propulsion performance (thrust and torque) of a concept underwater vehicle design. In order to select an appropriate thruster that will achieve the required speed of the Underwater Disk Robot (UDR), the ANSYS-CFX tools were used to predict the drag force of the UDR. Vertical Planar Motion Mechanism (VPMM) test simulations (i.e. pure heaving and pure pitching motion) by CFD motion analysis were carried out with the CFD software. The CFD results reveal the distribution of hydrodynamic values (velocity, pressure, etc.) of the UDR for these motion studies. Finally, CFD bollard pull test simulations were performed and compared with the experimental bollard pull test results conducted in a model basin. The experimental results confirm the suitability of using the ANSYS-CFX tools for predicting the behavior of concept vehicles early on in their design process.

• Journal of Ocean Engineering and Technology
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• v.23 no.6
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• pp.146-155
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• 2009

This paper considers the path tracking problem in a horizontal plane for underactuated (or non-holonomic) autonomous underwater vehicles (AUVs). Underwater mapping has been an important mission for AUVs. Recently, underwater docking has also become a main research field of AUVs. These kinds of missions basically require accurate attitude and trajectory control performance. However, the non-holonomic problem should be solved to achieve accurate path tracking for the torpedo-type of AUVs. In this paper, resolved motion and acceleration control (RMAC) is considered as a path tracking controller for an underactuated torpedo-shaped AUV, ISiMi. A set of numerical simulations is carried out to illustrate the effectiveness of the proposed RMAC scheme, and experimental data with ISiMi100 and discussions are presented.

• Journal of Ocean Engineering and Technology
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• v.30 no.3
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• pp.194-200
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• 2016

Recently, UUVs (unmanned underwater vehicles) have increasingly been applied in various science and engineering applications. In-water inspection, which used to be performed by human divers, is a potential application for UUVs. In particular, the operational safety and performance of in-water inspection missions can be greatly improved by using an underwater robotic vehicle. The capabilities of hovering maneuvers and automatic image mosaicking are essential for autonomous underwater visual inspection. This paper presents the development of a hover-capable autonomous underwater vehicle system for autonomous in-water inspection, which includes both a hardware platform and operational software algorithms. Some results from an experiment in a model basin are presented to demonstrate the feasibility of the developed system and algorithms.

• The Journal of Korea Robotics Society
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• v.2 no.2
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• pp.109-118
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• 2007

The thruster is the crucial factor of an underwater vehicle system, because it is the lowest layer in the control loop of the system. In this paper, we propose an accurate and practical thrust modeling for underwater vehicles which considers the effects of ambient flow velocity and angle. In this model, the axial flow velocity of the thruster, which is non-measurable, is represented by ambient flow velocity and propeller shaft velocity. Hence, contrary to previous models, the proposed model is practical since it uses only measurable states. Next, the whole thrust map is divided into three states according to the state of ambient flow and propeller shaft velocity, and one of the borders of the states is defined as Critical Advance Ratio (CAR). This classification explains the physical phenomenon of conventional experimental thrust maps. In addition, the effect of the incoming angle of ambient flow is analyzed, and Critical Incoming Angle (CIA) is also defined to describe the thrust force states. The proposed model is evaluated by comparing experimental data with numerical model simulation data, and it accurately covers overall flow conditions within 2N force error. The comparison results show that the new model's matching performance is significantly better than conventional models'.

• Journal of Ocean Engineering and Technology
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• v.20 no.3 s.70
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• pp.7-14
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• 2006

This paper discusses the structural design and analysis of a 6,000 meters depth-rated capable deep-sea unmanned underwater vehicle (UUV) system. The UUV system is currently under development by Maritime and Ocean Engineering Research Institute(MOERI), Korea Ocean Research and Development Institute (KORDI). The UUV system is composed of three vehicles - a Remotely Operated Vehicle (ROV), an Autonomous Underwater Vehicle (AUV) and a Launcher - which include underwater equipment. The dry weight of the system exceeds 3 tons hence it is necessary to carry out the optimal design of structural system to ensure the minimum weight and sufficient space within the frame for the convenient use of the embedded equipments. In this paper, therefore, the structural design and analysis of the ROV and launcher frame system were carried out, using the optimizing process. The cylindrical pressure vessels for the ROV were designed to resist the extreme pressure of 600 bars, based on the finite element analysis. The collapse pressure for the cylindrical pressure vessels was also checked through a theoretical analysis.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.51 no.3
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• pp.461-473
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• 2015

Jinhae Bay located in the southern of Korean Peninsular is an important spawning area in Korea. By some preliminary studies it was measured several times that adult Pacific codes (Gadus microcephalus) were passed (swimming layer: 15 to 18 m) over a submerged sea tunnel (sea bottom: about 30 m) rather than another immigration route when the Pacific codes were tagged surgically with an acoustic transmitters and released inside of the Bay. There is a possibility that the Pacific codes and the other fishes use the route on the sea tunnel as an immigration route are affected by a human-generated underwater noise around the sea tunnel due to the sea tunnel traffic. On this study the 25-hour measurements of the underwater noise level by water layer were conducted with a hydrophone attached on a portable CTD and an underwater noise level meter during four seasons, and the acoustical characteristics of the underwater noise was analyzed. The mean traffic volume for one hour at the sea tunnel on the spring was shown the largest value of 1,408 [standard deviation (SD): 855] vehicles among four seasons measurement. The next one was ordered on the autumn [1,145 (SD: 764)], winter [947 (SD: 598)] and summer [931 (SD: 558)] vehicles. Small size vehicle was formed 84.3% of the traffic volume, and ultra-small size, medium size, large size and extra-large size of the vehicle were taken possession of 8.7%, 3.2%, 2.0% and 1.8%, respectively. On the daily change of the noise level in vertical during four seasons the noise level of 5 m-layer was shown the highest value of 121.2 (SD: 3.6) dB (re $1{\mu}Pa$), the next one was 10 m-layer [120.7 (SD: 3.5)], 2 m- and 15 m-layer [120.3 (SD: 3.5 to 3.7)] and 1 m-layer [119.2 (SD: 3.6)] dB (re $1{\mu}Pa$). In relation with the seasonal change of the noise level the average noise level measured during autumn was shown the highest value of 123.9 (SD: 2.6) dB (re $1{\mu}Pa$), the next was during summer [121.4 (SD: 3.2)], spring [118.0 (SD: 3.4)] and winter [116.5 (SD: 5.1)] dB (re $1{\mu}Pa$). In results of eigenray computation when the real bathymetry data (complicate shape of sea bed) was applied the average number of eigenray was 2.68 times (eigenrays: 11.03 rays) higher than those of model bathymetry (flat and slightly sloped sea bottom). When the real bathymetric data toward inside (water depth becomes shallow according to a distance between the source of noise and hydrophone) of the Bay was applied on the eigenrays calculation the number of the eigenray was 1.31 times (eigenrays: 12.49 rays) larger than the real bathymetric data toward outside (water depth becomes deep with respect to the distance). But when the model bathymetric data toward inside of the Bay was applied the number of the eigenray was 1.05 times (eigenrays: 4.21 rays) larger than the model bathymetric data toward outside.

• Journal of Navigation and Port Research
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• v.46 no.3
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• pp.168-178
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• 2022

In this study, the resistance test, the vertical static angle of the attack test and VPMM test will be conducted to estimate the maneuverability of underwater vehicles with ahead propeller. The vertical static test will be conducted within the range of -40deg to 40deg, to investigate the cross-flow drag at high incidence angles. The tests will be conducted by dividing the propeller rotation into a case in which the propeller rotates at a specific rpm, and a case in which the propeller rotates naturally, according to the towing speed. Hydrodynamic coefficients of vertical direction will be estimated by the captive model tests. Additionally, the vertical dynamic stability index based on estimated hydrodynamic coefficients will be calculated and the impact of the propeller revolution state on the index will be investigated. The results are expected to be used as reference test data for underwater vehicles with ahead propeller.

• Journal of the Institute of Convergence Signal Processing
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• v.23 no.4
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• pp.228-233
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• 2022

This study is an experimental study on how to use phase change materials(PCM) to generate electrical energy for long-term operation of underwater unmanned vehicles. The electrical energy generation method is a volume change and a pressure change that occur as a phase change material changes to a solid or liquid state according to temperature, and the change in pressure creates a flow of fluid to create electrical energy. Polyethylene glycol was used as a phase change material considering the temperature of the ocean. In addition, an electrical energy generating device that converts volume change into pressure at low temperature (1℃~2℃) in solid state and high temperature (21℃~25℃) in liquid state was fabricated. As a result of the experiment, the pressure change according to the phase change rapidly changed between 1 hour and 2 hours, and maintained a pressure of about 24MPa after 4 hours. Through this, it was confirmed that it can be used as a power source for underwater unmanned vehicles using phase change materials and temperature differences. In addition, it was found that a more improved design should be made in order to apply the phase change material to an underwater unmanned vehicle.

• International Journal of Naval Architecture and Ocean Engineering
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• v.8 no.5
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• pp.475-486
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• 2016

Four-rotor dish-shaped unmanned underwater vehicles (FRDS UUVs) are new type underwater vehicles. The main goal of this paper is to develop a quick method to optimize the design of hydraulic support landing platform for the new UUV. In this paper, the geometry configuration and instability type of the platform are defined. Computational investigations are carried out to study the hydrodynamic performance of the landing platform using the Computational Fluid Dynamics (CFD) method. Then, the response surface model of the optimization objective is established. The intelligent particle swarm optimization (PSO) is applied to finding the optimal solution. The result demonstrates that the stability of landing platform is significantly improved with the global objective index increasing from 1.045 to 1.158 (10.86% higher) after the optimization process.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.335-335
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• 2000

Applications such as unmanned aerial vehicles (UAVs), autonomous underwater vehicles (AUVs) and the time varying nature of their navigation, guidance and control systems motivate an integrated approach to trajectory general ion and trajectory tracking for autonomous vehicles. In this paper, an experimental testbed was designed for studying this integrated trajectory control approach. In this paper we apply the separating approach to an autonomous nonlinear vehicle system. A new linear matrix inequality based H$_{\infty}$ control technique for periodic time-varying systems is applied to the role of trajectory tracking. Trajectory general ion is accomplished by exploit ing the differential flatness property of the vehicle system; this at lows product ion of desired feasible nominal or reference trajectories from certain ″flat'system outputs. Simulation and experimental results are presented showing stable tracking of a periodic circular trajectory.