• Title, Summary, Keyword: Underwater Vehicle

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Statics variation analysis due to spatially moving of a full ocean depth autonomous underwater vehicle

  • Jiang, Yanqing;Li, Ye;Su, Yumin;Cao, Jian;Li, Yueming;Wang, Youkang;Sun, Yeyi
    • International Journal of Naval Architecture and Ocean Engineering
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    • v.11 no.1
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    • pp.448-461
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    • 2019
  • Changes in gravity and buoyancy of a Full Ocean Depth Autonomous Underwater Vehicle (FOD-AUV) during its descending and ascending process must be considered very carefully compared with a Human Occupied Vehicle (HOV) or a Remotely Pperated Vehicle (ROV) whose activities rely on human decision. We firstly designed a two-step weight dropping pattern to achieve a high descending and ascending efficiency and a gravity-buoyancy balance at designed depth. The static equations showed that gravity acceleration, seawater density and displacement are three key aspects affecting the balance. Secondly, we try our best to analysis the gravity and buoyancy changing according to the previous known scientific information, such as anomaly of gravity acceleration, changing of seawater states. Finally, we drew conclusion that gravity changes little (no more than 0.1kgf, it is impossible to give a accurate value). A density-depth relationship at the Challenger Deep was acquired and the displacement changing of the FOD-AUV was calculated preciously.

Thruster fault diagnosis method based on Gaussian particle filter for autonomous underwater vehicles

  • Sun, Yu-shan;Ran, Xiang-rui;Li, Yue-ming;Zhang, Guo-cheng;Zhang, Ying-hao
    • International Journal of Naval Architecture and Ocean Engineering
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    • v.8 no.3
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    • pp.243-251
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    • 2016
  • Autonomous Underwater Vehicles (AUVs) generally work in complex marine environments. Any fault in AUVs may cause significant losses. Thus, system reliability and automatic fault diagnosis are important. To address the actuator failure of AUVs, a fault diagnosis method based on the Gaussian particle filter is proposed in this study. Six free-space motion equation mathematical models are established in accordance with the actuator configuration of AUVs. The value of the control (moment) loss parameter is adopted on the basis of these models to represent underwater vehicle malfunction, and an actuator failure model is established. An improved Gaussian particle filtering algorithm is proposed and is used to estimate the AUV failure model and motion state. Bayes algorithm is employed to perform robot fault detection. The sliding window method is adopted for fault magnitude estimation. The feasibility and validity of the proposed method are verified through simulation experiments and experimental data.

Distributed control system architecture for deep submergence rescue vehicles

  • Sun, Yushan;Ran, Xiangrui;Zhang, Guocheng;Wu, Fanyu;Du, Chengrong
    • International Journal of Naval Architecture and Ocean Engineering
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    • v.11 no.1
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    • pp.274-284
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    • 2019
  • The control architectures of Chuan Suo (CS) deep submergence rescue vehicle are introduced. The hardware and software architectures are also discussed. The hardware part adopts a distributed control system composed of surface and underwater nodes. A computer is used as a surface control machine. Underwater equipment is based on a multi-board-embedded industrial computer with PC104 BUS, which contains IO, A/D, D/A, eight-channel serial, and power boards. The hardware and software parts complete data transmission through optical fibers. The software part involves an IPC of embedded Vxworks real-time operating system, upon which the operation of I/O, A/D, and D/A boards and serial ports is based on; this setup improves the real-time manipulation. The information flow is controlled by the software part, and the thrust distribution is introduced. A submergence vehicle heeling control method based on ballast water tank regulation is introduced to meet the special heeling requirements of the submergence rescue vehicle during docking. Finally, the feasibility and reliability of the entire system are verified by a pool test.

Autonomous swimming technology for an AUV operating in the underwater jacket structure environment

  • Li, Ji-Hong;Park, Daegil;Ki, Geonhui
    • International Journal of Naval Architecture and Ocean Engineering
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    • v.11 no.2
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    • pp.679-687
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    • 2019
  • This paper presents the autonomous swimming technology developed for an Autonomous Underwater Vehicle (AUV) operating in the underwater jacket structure environment. To prevent the position divergence of the inertial navigation system constructed for the primary navigation solution for the vehicle, we've developed kinds of marker-recognition based underwater localization methods using both of optical and acoustic cameras. However, these two methods all require the artificial markers to be located near to the cameras mounted on the vehicle. Therefore, in the case of the vehicle far away from the structure where the markers are usually mounted on, we may need alternative position-aiding solution to guarantee the navigation accuracy. For this purpose, we develop a sonar image processing based underwater localization method using a Forward Looking Sonar (FLS) mounted in front of the vehicle. The primary purpose of this FLS is to detect the obstacles in front of the vehicle. According to the detected obstacle(s), we apply an Occupancy Grid Map (OGM) based path planning algorithm to derive an obstacle collision-free reference path. Experimental studies are carried out in the water tank and also in the Pohang Yeongilman port sea environment to demonstrate the effectiveness of the proposed autonomous swimming technology.

System Design of a Deep-sea Unmanned Underwater Vehicle for Scientific Research (심해 과학조사용 무인잠수정의 시스템 설계)

  • Lee, Pan-Mook;Lee, Choong-Moo;JEON, Bong-Hwan;Hong, Seok-Won;Lim, Yong-Kon
    • Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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    • pp.243-250
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    • 2002
  • According to Ocean Korea 21, a basic plan established by the Ministry of Maritime Affairs and Fisheries (MOMAF) of Korea in May 2000, Korea Research Institute of Ships and Ocean Engineering (KRISO) proposed a program for the development of a deep-sea unmanned underwater vehicle (UUV) to explore deep sea for scientific purpose. KRISO has launched a project in May 2001 under the support of MOMAF. The deep-sea unmanned underwater vehicle will be applied to scientific researches in deep-sea as well as in shallow water. For operation of underwater vehicles in shallow water near the Korean Peninsula, a special design is required because of strong tidal current. In addition, MOMAF requires the vehicle to be designed for the purpose of long range survey, a long-term observation, and precise works in a specific area. Thus, KRISO has planned to design the system with the functional combination of both ROV and AUV. This paper presents the design of the deep-sea unmanned underwater vehicle.

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A Study on Implementation of an Underwater Vehicle HILS/MILS System in Synthetic Environment (합성환경 하에서의 수중운동체 HILS/MILS 구현 기법 연구)

  • 남경원
    • Journal of the Korea Institute of Military Science and Technology
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    • v.5 no.2
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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.

Hardware in Loop Simulation on Autopilot Controller with MEMS AHRS for High Speed Unmanned Underwater Vehicle (MEMS형 자세측정장치를 이용한 고속 기동 무인 잠수정 자율 조종 제어기에 대한 HILS)

  • Hwang, Arom;Yoon, Seon-Il;Song, Jee-Hun
    • Journal of Ocean Engineering and Technology
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    • v.26 no.5
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    • pp.81-86
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    • 2012
  • Unmanned underwater vehicles have many applications in scientific, military, and commercial areas because of their autonomy. In many cases, an underwater vehicle adopts a control algorithm based on a tactical inertial sensor for precise control. However, a control algorithm that uses a tactical inertial sensor is unsuitable for some underwater vehicle missions such as torpedo decoys. This paper proposes a control algorithm for an unmanned underwater vehicle that does not require precise control. The control algorithm proposed for an unmanned underwater vehicle adopts a low cost MEMS inertial sensor, and simulations using the specifications of the MEMS inertial sensor under development are performed to verify the control algorithm under a real environment. The results of these simulations are presented.

Non-regressor Based Adaptive Tracking Control of an Underwater Vehicle-mounted Manipulator (수중 선체에 장착된 로봇팔 궤적의 비귀환형 적응제어)

  • 여준구
    • Journal of Ocean Engineering and Technology
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    • v.14 no.2
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    • pp.7-12
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    • 2000
  • This paper presents a non-regressor based adaptive control scheme for the trajectory tracking of underwater vehicle-mounted manipulator systems(UVMS). The adaptive control system includes a class of unmodeled effects is applied to the trajectory control of an UVMS. The only information required to implement this scheme ios the upper bound and lowe bound of the system parameter matrices the upper bound of unmodeled effects the number of joints the position and attitude of the vehicle and trajectory commands. The adaptive control law estimates control gains defined by the combinations of the bounded constants of system parameter matrices and of a filtered error equation. To evaluate the performance of the non-regressor based adaptive controller computer simulation was performed with a two-link planar robot model mounted on an underwater vehicle. The hydrodynamic effects acting on the manipulator are included. It is assumed that the vehicle's motion is slow and can be predicted with a proper compensator.

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Evaluation of Tractive Performance of an Underwater Tracked Vehicle Based on Soil-track Interaction Theory (궤도-지반 상호작용 이론을 활용한 해저궤도차량의 구동성능 평가)

  • Baek, Sung-Ha;Shin, Gyu-Beom;Kwon, Osoon;Chung, Choong-Ki
    • Journal of the Korean Geotechnical Society
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    • v.34 no.2
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    • pp.43-54
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    • 2018
  • Underwater tracked vehicle is employed to perform underwater heavy works on saturated seafloor. When an underwater tracked vehicle travels on the seafloor, shearing action and ground settlement take place on the soil-track interface, which develops the soil thrust and soil resistance, respectively, and they restrict the tractive performance of an underwater tracked vehicle. Thus, unlike the paved road, underwater tracked vehicle performance does not solely rely on its engine thrust, but also on the soil-track interaction. This paper aimed at evaluating the tractive performance of an underwater tracked vehicle with respect to ground conditions (soil type, and relative density or consistency) and vehicle conditions (weight of vehicle, and geometry of track system), based on the soil-track interaction theory. The results showed that sandy ground and silty sandy ground generally provide sufficient tractions for an underwater tracked vehicle whereas tractive performance is very much restricted on clayey ground, especially for a heavy-weighted underwater tracked vehicle. Thus, it is concluded that an underwater tracked vehicle needs additional equipment to enhance the tractive performance on the clayey ground.

Motion Analysis of an Underwater Vehicle Running near Wave Surface (파랑수면 근처에서 항주하는 수중운동체의 운동해석)

  • Yoon, Hyeon Kyu;Ann, Seong Phil;Jung, Chulmin;Kim, Chan-Ki
    • Journal of the Korea Institute of Military Science and Technology
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    • v.19 no.3
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    • pp.395-403
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    • 2016
  • A cylinder-type underwater vehicle for military use that is running near the free surface at the final homing stage to hit a surface ship target is affected by wave force and moment. Since wave can affect an underwater vehicle running at the depth less than half of the modal wave length, it is important to confirm that the underwater vehicle can work well in such a situation. In this paper, wave force and moment per unit wave amplitude depending on wave frequency, wave direction, and vehicle's running depth were calculated by 3-Dimensional panel method, and the numerical results were modeled in external force terms of six degrees of freedom equations of motion. Motion simulation of the underwater vehicle running in various speed, depth, and sea state were performed.