• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
• /
• 2004.05a
• /
• pp.249-256
• /
• 2004

KRISO/KORDI is currently developing a deep-sea unmanned underwater vehicle (UUV) system which is composed of a launcher, an ROV, and an AUV. Two USBL acoustic positioning systems will be used for UUV's navigation. One is for the deep sea positioning of all three vehicles and the other is for AUV's guidance to the docking device on the launcher. In order to increase the position accuracy MFSK(Multiple Frequency Shift Keying) broadband signal will be used. As the first step to the implementation of a USBL system, this paper studies USBL positioning algorithm using MFSK signals. Firstly, the characteristics of MFSK signal is described with various MFSK parameters: number of frequencies, frequency step, center frequency, and pulse length. Time and phase delays between two received signals are estimated by using cross-correlation and cross-spectrum methods. Finally an USBL positioning algorithm is derived by converting the delays to difference of distances and applying trigonometry. The simulation results show that the position accuracy is improved highly when both cross-correlation and cross-spectrum of MFSK signals are used simultaneously.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.17 no.9
• /
• pp.2227-2232
• /
• 2013

To obtain the system requirement specification in the beginning of the precision guidance system development, the effectiveness and reliability analysis for the system are necessary. The main purpose of this research is to obtain the system requirement specification for the high speed unmanned underwater vehicles by carrying out the effectiveness analysis using the modeling and simulation scheme. The effectiveness is position error for target position. Reaching accuracy is expected to be affected by the navigation sensor parameter. Assume that the navigation sensors that is consist of inertial navigation system(INS) and doppler velocity log(DVL) is the parameter. To analyze the effectiveness of each parameter, Monte-Carlo numerical simulation is performed in this research. The effectiveness analysis is carried out using circular error probability(CEP) and variance analyze scheme. Considering the cost function, the specification of the navigation sensor is provided. The cost function is consist of the INS and DVL specification and the price of those sensors.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1060-1065
• /
• 2005

An Independent Administrative Corporation Japan Agency for Marine-Earth Science and Technology (JAMSTEC) is developing light-and-small Autonomous Underwater Vehicles (AUV)$^{1)}$, named 'MR-X1' (Marine Robot Experimental 1), which can cruise, investigate and observe by itself without human's help. In this paper, we consider the motion control problem of 'MR-X1' and derive a controller. Since the dynamic property of 'MR-X1' is changed by the influence of the speed, the mathematical model of 'MR-X1' becomes the nonlinear model. In order to design a controller for 'MR-X1', we generally apply nonlinear control theories or linear control theories with some constant speed situation. If we design a controller by applying Linear Quadratic (LQ) optimal control theory, the obtained controller only compensates t e optimality at the designed speed situation, and does not compensate the stability at another speed situations. This paper proposes a controller design method using Linear Matrix Inequalities (LMIs)$^{2),3),4)}$, which can adapt the speed variation of 'MR-X1'. And examples of numerical analysis using our designed controller are shown.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.19 no.2
• /
• pp.168-173
• /
• 2009

This paper investigates the estimation problem of vehicle velocity and propeller angular velocity on the underwater vehicle. Inspired by but different from a high-gain observer, the cascade observer features a cascade structure and adaptive observer gains. In doing so the cascade observer attempts to overcome some of the typical problems that may pose to a high-gain observer. As in the case of a high-gain observer, the cascade observer structure is simple and universal in the sense that it is independent of the system dynamics and parameters. A cascade observer is used for the estimation of velocity from measured position. In the 1st step of the observer, the output is estimated, and the 1st order derivative of measured output is estimated via the 2nd step of the observer. Also, nth order derivative of the output is estimated in the (n+1)th step of the observer. It is shown that the proposed observer guarantees globally asymptotical stability. By simulation results, the proposed observer scheme for the estimations of vehicle velocity and propeller angular velocity shows better performance than the scheme based on the existing observer.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.27 no.2
• /
• pp.170-178
• /
• 2017

This paper proposes an improved path-planning technique based on the $A^*$ algorithm. The conventional $A^*$ algorithm only considers the optimality of the planned path and sometimes produces a path that an unmanned underwater vehicle (UUV) cannot navigate due to its dynamic constraint such as the limit of the radius of gyration. It is because that the previous method evaluate the moving cost based on the straight distance between nodes. We enhance the conventional method by evaluating the moving cost on the basis of the practically navigable trajectory, which is generated by the waypoint-tracking control of the UUV dynamics. The simulation examples indeed show the effectiveness of the proposed technique.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.20 no.4
• /
• pp.528-535
• /
• 2017

Fuel cells have been spotlighted in the world for being highly efficient and environmentally friendly. A hydrogen which is the fuel of fuel cell can be obtained from a number of sources. Hydrogen source for operating the polymer electrolyte membrane fuel cell(PEMFC) in the current underwater environment, such as a submarine and unmanned underwater vehicles are currently from the metal hydride cylinder. However, metal hydride has many limitations for using hydrogen carrier, such as large volume, long charging time, limited storage capacity. To solve these problems, we suggest diesel reformer for hydrogen supply source. Diesel fuel has many advantages, such as high hydrogen storage density, easy to transport and also well-infra structure. However, conventional diesel reforming system for PEMFC requires a large volume and complex CO removal system for lowering the CO level to less than 10 ppm. In addition, because the preferential oxidation(PROX) reaction is the strong exothermic reaction, cooling load is required. By changing this PROX reactor to hydrogen separation membrane, the problem from PROX reactor can be solved. This is because hydrogen separation membranes are small and permeable to pure hydrogen. In this study, we conducted the pressurized diesel reforming and water-gas shift reaction experiment for the hydrogen separation membrane application. Then, the hydrogen permeation experiments were performed using a Pd alloy membrane for the reformate gas.

• Journal of Ocean Engineering and Technology
• /
• v.30 no.4
• /
• pp.243-252
• /
• 2016

Conventionally, the static angle of attack and static elevator tests are carried out separately to estimate hydrodynamic stability derivatives of underwater vehicles. However, it is difficult to verify the interaction between the angle of attack and elevator angle in such cases. In this study, we perform a static elevator with angle of attack test where both the angle of attack and elevator angle are varied simultaneously. The experimental results show that the angle of attack has an influence on the elevator control force and that this tendency is dependent on the sense in which the angle of attack and elevator angle are varied. We predict level flight performance using hydrodynamic derivatives estimated through this experiment. The predictions considering the effect of angle of attack show good agreement with trials conducted in the open sea.

• Journal of the Society of Naval Architects of Korea
• /
• v.51 no.2
• /
• pp.148-153
• /
• 2014

Submerged bodies such as autonomous underwater vehicles (AUV) or remotely operated vehicles (ROV) are widely used in various fields of exploring underseas. Those bodies keep ballasting and deballasting for stable navigation and operation. Identifying the internal volumetric spaces of the bodies is a primary step for such an operation. Unfortunately, most CAD models given to the engineer do not properly represent the compartments since each face of a compartment exists as an independent entity rather than as a face that belongs to the compartment. In this paper, an algorithm that automatically identify the faces as a group that forms a closed volumetric space, i.e., a compartment is presented. A submerged body is sliced into a number of cross sections. Each sliced section is analyzed to yield closed loops that are sections of the compartment. Then, the associated closed loops are gathered along the longitudinal direction to form a compartment. The algorithm presented is shown to provide a practical and reasonable solution that can readily be used in various applications.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.24 no.11
• /
• pp.876-882
• /
• 2014

This study investigates an efficient method to estimate the total acoustic radiation power of submerged circular cylindrical structures. Since the acoustic radiation power of submerged vehicles can be changed during the operation, the estimation for its monitoring onboard is required to accomplish the missions. The total acoustic radiation power is estimated using the measured velocity and the calculated radiation efficiency of the surface which consists of submerged rectangular plate elements. Experiments are carried out to validate the estimation approach. Comparisons of the estimation results with the measurements show that they are in a good agreement for the mid-high frequency range and match well for the cases of different excitation locations which correspond to the different operation modes of underwater vehicles as well. Therefore, this estimation method can be applied effectively to the development of the radiated noise monitoring-system.

• Structural Monitoring and Maintenance
• /
• v.8 no.4
• /
• pp.345-360
• /
• 2021

This paper presents an analytical approach to calculate the buckling load of the cylindrical ring structures subjected to both hydrostatic and hydrodynamic pressures. Based on the conservative law of energy and Timoshenko beam theory, a theoretical formula, which can be used to evaluate the critical pressure of buckling, is first derived for the simplified cylindrical ring structures. It is assumed that the hydrodynamic pressure can be treated as an equivalent hydrostatic pressure as a cosine function along the perimeter while the thickness ratio is limited to 0.2. Note that this paper limits the deformed shape of the cylindrical ring structures to an elliptical shape. The proposed analytical solutions are then compared with the numerical simulations. The critical pressure is evaluated in this study considering two possible failure modes: ultimate failure and buckling failure. The results show that the proposed analytical solutions can correctly predict the critical pressure for both failure modes. However, it is not recommended to be used when the hydrostatic pressure is low or medium (less than 80% of the critical pressure) as the analytical solutions underestimate the critical pressure especially when the ultimate failure mode occurs. This implies that the proposed solutions can still be used properly when the subsea vehicles are located in the deep parts of the ocean where the hydrostatic pressure is high. The finding will further help improve the geometric design of subsea vehicles against both hydrostatic and hydrodynamic pressures to enhance its strength and stability when it moves underwater. It will also help to control the speed of the subsea vehicles especially they move close to the sea bottom to prevent a catastrophic failure.