• 동력기계공학회지
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• 제20권1호
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• pp.24-29
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• 2016

Remotely operated vehicles or autonomous underwater vehicles have been used for exploiting seabed natural resources. In this study, the autonomous underwater vehicle of hovering type(HAUV) is developed to observe underwater objects in close distance. A dynamic model with six degrees of freedom is established, capturing the motion characteristics of the HAUV. The equations of motion are generated for the dynamic control simulation of the HAUV. The added mass, drag and lift forces are included in the computer model. Computational fluid dynamics simulation is carried out using this computer model. The drag coefficients are produced from the CFD.

• 한국정보통신학회논문지
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• 제10권2호
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• pp.235-242
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• 2006

본 논문에서는 해저의 이동체 사이의 효과적인 다중 초음파 데이타 통신을 위한 다중 초음파 접속제어 프로토콜을 제안 하였다. 논리계층에서의 프로토콜은 모선과 수중 이동체간에 다중 채널 통신이 가능하고 논리계층간의 peer to peer 통신이 가능함을 확인하였다. 본 논문에서 제안된 접속제어 프로토콜은 수중 통신 시스템의 여러 가지 수중 물리적 환경에서 전파지연 시간에 무관하게 최대 수율을 보장하고 서로 다른 주파수 대역을 사용하는 다중 전송채널을 이용하여 수중에서 고속 데이터 전송의 가능함을 확인하였다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2000년도 추계학술대회 논문집
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• pp.90-95
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• 2000

This paper presents the vergence control of a parallel stereo camera and its application to underwater stereo camera to enhance the working efficiency of underwater vehicles that equips with manipulators in seabed operation. The stereo camera consists of two parallel lenses mounted on a lateral moving base and two CCD cameras mounted on a longitudinal moving base, which is embedded in a small pressure canister for underwater application. Because the lateral shift is related to the backward shift with a nonlinear relation, only one control input is needed to control the vergence and focus of the camera with a special driving device. We can get a clear stereo vision with the camera for all the range of objects in air and in water, especially in short range objects. The control system of the camera is so simple that we are able to realize a small stereo camera system and to apply it to a stereo vision system for underwater vehicles. This paper also shows how to acquire the distance information of an underwater object with this stereo camera. Whenever we focus on an underwater object with the camera, we can obtain the three-dimensional images and the distance information in real-time.

• 한국해양공학회지
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• 제15권1호
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• pp.79-84
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• 2001

This paper present the control of the image disparity of a parallel stereo camera and its application to an underwater stereo camera to enhance the working efficiency of underwater vehicles that are equiped with manipulators in seabed operation. The stereo camera consists of two parallel lenses mounted on a lateral moving base and two CCD cameras mounted on a longitudinal moving base, which is embedded in a small pressure canister for underwater application. Because the lateral shift is related to the backward shift with a nonlinear relation, only one control input is needed to control the vergence and focus of the camera with a special driving device. We can get clear stereo vision with the camera for all the range of objects in air and in water, especially in short range object. The control system of the camera is so simple that we are able to realize a small stereo camera system and apply it to a stereo vision system for underwater vehicles. This paper also shows how to acquire the distance information of an underwater object with this stereo camera. Whenever we focus on an underwater object with the camera, we can obtain three-dimensional images and distance information in real-time.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.333-335
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• 2006

Position of surface objects can be fixed in many ways. The most popular radionavigational systems, including satellite systems, make possible obtaining nearly continuous and very precise ship's position. However, under the water application of radionavigational systems is impossible. Underwater navigation requires other tools and solutions then these encountered in surface and air navigation. In underwater environment vehicles and submarines, operate that have to possess alternative navigational systems. Underwater vehicles, in order to perform their tasks require accurate information about their own, current position. At present, they are equipped with inertial navigational systems (INS). Accuracy of INS is very high but in relatively short periods. Position error is directly proportional to time of working of the system. The basic feature of INS is its autonomy and passivity. This characteristic mainly decides that INS is broadly used on submarines and other underwater vehicles. However, due to previously mentioned shortcoming i.e. gradually increasing position error, periodical calibration of the system is necessary. The simplest calibration method is surface or nearly surface application of GPS system. Another solution, which does not require interruption of performed task and emergence on the surface, is application of comparative navigation technique. Information about surrounding environment of the ship, obtained e.g. by means sonic depth finder or board sonar, and comparing it with accessible pattern can be used in order to fix ship's position. The article presents a structure and a description of working of underwater vehicle navigation system simulator. The simulator works on the basis of comparative navigation methods which exploit in turn digital images of echograms and sonograms. The additional option of the simulator is ability to robust estimation of measurements. One can do it in order to increase accuracy of position fixed with comparative navigation methods application. The simulator can be a basis to build future underwater navigation system.

• 한국해양공학회지
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• 제26권3호
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• pp.6-12
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• 2012

In this paper, addressed is the control problem of generating a formation for a group of unmanned surface and underwater vehicles. The formation control scheme proposed in this work is based on a fusion of theleader-follower and virtual reference approaches. This scheme gives a formation constraint representation that is independent of the number of vehicles in the formation and the resulting control algorithm is scalable. One of the most important features in controller design is the ability of the controller to globally and exponentially stabilize the formation errors defined by the formation constraints. The proposed controller is based on feedback linearization, and the formation errors are shown to be globally and exponentially stable in the sense of Lyapunov.

• 제어로봇시스템학회논문지
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• 제17권6호
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• pp.526-530
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• 2011

This paper presents a new fuzzy model-based design approach for waypoints-tracking control of nonlinear underwater vehicles (UUVs) on a horizontal plane. The waypoints-tracking control problem is converted into the stabilization one for the error model between the given nonlinear UUV and the waypoints. By using the sector nonlinearity, the error model is modeled in Takagi-Sugeno's form. We then derive stabilization conditions for the error model in the format of linear matrix inequality. A numerical simulation is provided to illustrate the effectiveness of the proposed methodology.

• 전기학회논문지
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• 제66권3호
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• pp.563-567
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• 2017

This paper deals with the depth and speed controls of a class of nonlinear large diameter unmanned underwater vehicles (LDUUVs), while maintaining its attitude. The concerned control problem can be viewed as an asymptotic stabilization of the error model in terms of its desired depth, surge speed and attitude. To tackle its nonlinearities, the linear parameter varying (LPV) model is employed. Sufficient linear matrix inequality (LMI) conditions are provided for its asymptotic stabilization. A numerical simulation is provided to demonstrate the effectiveness of the proposed design methodology.

• 전기학회논문지
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• 제66권2호
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• pp.402-408
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• 2017

This paper deals with a robust ${\mathfrak{H}}_{\infty}$ controller design problem for waypoints tracking of large displacement unmanned underwater vehicles (LDUUVs) in Takagi-Sugeno fuzzy form. The LDUUV model uses a rudder to control its horizontal motion. We determine the order of waypoints based on their priorities and consider only surge force. A fuzzy controller in state-feedback form is taken and its design condition of is represented in terms of linear matrix inequalities. A numerical simulation is included to show the effectiveness of the theoretical development.

• 전기학회논문지
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• 제66권2호
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• pp.409-415
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• 2017

This paper addresses on an linear matrix inequality (LMI) formulation of the robust waypoint tracking problem of large diameter unmanned underwater vehicles (LDUUVs) in the horizontal plane. The interested design issue can be reformed as the robust asymptotic stabilization of the provided error dynamics with respect to the desired yaw angle, surge speed and attitude. Sufficient conditions for its robust asymptotic stabilizability against the hydrodynamic uncertainties are derived in the format of LMI. An example is provided to testify the validity of the proposed theoretical claims.