• Journal of Advanced Marine Engineering and Technology
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• v.33 no.8
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• pp.1203-1211
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• 2009

The dynamics of underwater vehicles can be greatly influenced by the dynamics of the vehicle thrusters. The control of the state of the hovering or very slow motion of the underwater vehicle is most important for automatic docking or control of the manipulator of the vehicle. The dynamics of the thruster based on the electric motor is nonlinear and has uncertain parameters. Since the dynamics of the vehicle coupled with the dynamics of the thruster is nonlinear and has uncertain parameters, a robust control is very effective for a desired motion tracking of the uncertain and nonlinear vehicle. In this paper a study was performed on the robust control scheme of the very slow motion or hovering motion of the underwater vehicle actuated by the electric motor. Also, a concurrent control on the state of the vehicle with nonlinearity and uncertain parameters was performed. A sliding mode control algorithm out of robust controllers was designed and applied, which compensates the nonlinear forces and uncertain parameters of the vehicle and actuator. Through a computer simulation, the proposed control scheme was compared with a linear PD controller and its superior performance was validated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.9
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• pp.871-877
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• 2015

Deep-sea equipment such as underwater robots and unmanned submersible vehicles, include various machine components and sensors, and it is important that their reliabilities be tested before use in the fields. This is necessary because they are affected by complex extreme-environment conditions, such as high pressures, extreme temperatures, and tidal forces that are present in the deep sea. We require test equipment that can conduct empirical tests in conditions that mimic these complex oceanic environments. In this study, we propose specifications that should be met, and a design plan for the primary components, which should limit their use to a maximum water pressure of 2.0 MPa, water temperature of $5{\sim}60^{\circ}C$, and a maximum flow velocity of 2 m/s. in work-in type underwater combined environment test equipment and. We present test system development procedures to verify the reliability of products and systems used in deep-sea environments.

• The Journal of the Acoustical Society of Korea
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• v.38 no.2
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• pp.161-167
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• 2019

In this paper, the performance verification of an around-view sonar and an excavation depth measuring sonar applicable to track-based ROVs (Remotely Operated underwater Vehicles) for heavy duty work is studied. For the performance verification, an experiment is carried out in a water tank and at sea by attaching the around-view sonar and the excavation depth measuring sonar for a heavy work ROV. In the case of the around-view sonar, image sonars are mounted on ROV in four directions (front, back, left and right) and in the case of the excavation depth measuring sonar, the same kind of MBES (Multi Beam Echo Sounder) is mounted on the front of the ROV. The result of an operation test of the ROV equipped with these sonars shows that the sonar systems are rarely affected by high turbidity due to sedimentation during the operation. In the case of the around-view sonar, it is possible to see rock formation, gravel and sandbank 30 m ahead of the ROV. It is confirmed that the excavation depth can be measured after the ROV has performed the excavation. This experiment demonstrates that the ROV can improve the efficiency of the work by utilizing the around-view sonar and the excavation depth measuring sonar.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.4
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• pp.575-582
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• 2014

In this paper, a simulation model for 7-phase BLDC motor drives for an Autonomous Underwater Vehicles (AUV) is proposed. A 7-phase BLDC motor is designed and the electrical characteristics are analyzed using FEA program and the power electronics drives for the 7-phase BLDC motor are theoretically analyzed and the actual implementation has been accomplished using Matlab Simulink. PI controller is used for verifying the validity of the proposed model and the informative results are described in detail.

• Steel and Composite Structures
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• v.19 no.1
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• pp.75-92
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• 2015

In this paper, optimization of cylindrical shells under external pressure to minimize its weight has been studied. Buckling equations are based on standard of ABS underwater vehicles. Dimension and type of circumferential stiffeners, and its distance from each other are assumed as variables of optimization problem. Considering the extent of these variables, genetic algorithms have been used for optimization. To study the effect of hydrostatic pressure on the shell and its fabrication according to the existing standards, geometrical and construction as well as stress and buckling constraints have been used in optimization algorithm and also penalty functions are applied to eliminate weak model. Finally, the best model which has the minimum weight considering the applied pressure has been presented.

• Journal of the Korea Institute of Military Science and Technology
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• v.3 no.1
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• pp.38-46
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• 2000

In this paper, robust depth and course controllers of AUV(autonomous underwater vehicles) using LMI-based H$_{\infty}$ servo control are proposed. The $H_{\infty}$ servo problem is modified to an $H_{\infty}$ control problem for the generalized plant that includes a reference input mode, and then a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach. The robust depth and course controllers are designed to be satisfied the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under sea wave and tide disturbances. The performances of the designed controllers are evaluated by computer simulations, and these simulation results show the applicability of the proposed robust depth and course controller.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.21 no.5
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• pp.468-474
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• 2011

Underwater radiated noises from marine vehicles are mostly due to the propulsion systems. Recently, the propeller noise problems are becoming crucial issues in terms of habitability of passenger ships. Especially in military area, propeller noise is directly related to the survivability of submarines and warships, and thus propeller noise analysis and reductions are very important. Generally, propeller noise can be classified into non-cavitating noise and cavitating noise which is dominant. In this paper the methodology of propeller noise analysis is announced and new approach to consider scattering effect is proposed. Unsteady blade surface pressure and sheet cavity volume analyzed with potential based panel method are used as noise source.

• Journal of Industrial Technology
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• v.19
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• pp.173-178
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• 1999

In many areas of technology there are machines and systems controllable in up to six degrees of freedom. Helicopters and underwater vehicles, industrial robots are among the first representatives of this category. They need six degrees of freedom in order to move and orient within their workspace. An even broader and more explosively growing area is 3D computer graphics and virtual environment. In this work, functions of 3D input device are described and two types of commercial 3D input device are presented. Then, a preliminary experiment of a low cost 6 axis force/moment sensor is presented that can also be sued as a 3D input device. A low cost force/moment sensor and its application in robot teaching experiment is described. It computes the direction of 3 components of the force and 3 components of the moment applied by human holding the sensor by hand. The concept is shown by an experiment where the tool position and orientation of a robot in 3 dimensional space is controlled by the proposed sensor.

• Ocean Systems Engineering
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• v.3 no.1
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• pp.71-77
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• 2013

The effective tracking area of ultra short baseline (USBL) systems strongly relates to the safety of autonomous underwater vehicles (AUVs). This problem has not been studied previously. A method for determining the effective tracking area using acoustic theory is proposed. Ray acoustic equations are used to draw rays which ascertain the effective space. The sonar equation is established in order to discover the available range of the USBL system and the background noise level using sonar characteristics. The available range defines a hemisphere like enclosure. The overlap of the effective space with the hemisphere is the effective area for USBL systems tracking AUVs. Lake and sea trials show the proposed method's validity.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2011.04a
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• pp.475-481
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• 2011

Underwater radiated noises from marine vehicles are mostly due to the propulsion systems. Recently, the propeller noise problems are becoming crucial issues in terms of habitability of passenger ships. Especially in military area, propeller noise is directly related to the survivability of submarines and warships, and thus propeller noise analysis and reductions are very important. Generally, propeller noise can be classified into non-cavitating noise and cavitating noise which is dominant. In this paper the methodology of propeller noise analysis is announced and new approach to consider scattering effect is proposed. Unsteady blade surface pressure and sheet cavity volume analyzed with potential based panel method are used as noise source.