• Title, Summary, Keyword: Unmanned underwater vehicle (UUV)

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Study on AHRS Sensor for Unmanned Underwater Vehicle

  • Kim, Ho-Sung;Choi, Hyeung-Sik;Yoon, Jong-Su;Ro, P.I.
    • International Journal of Ocean System Engineering
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    • v.1 no.3
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    • pp.165-170
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    • 2011
  • In this paper, for the accurate estimation of the position and orientation of the UUV (unmanned underwater vehicle), an AHRS (Attitude Heading Reference System) was developed using the IMU (inertial measurement unit) sensor which provides information on acceleration and orientation in the object coordinate and the initial alignment algorithm and the E-KF (extended Kalman Filter). The initial position and orientation of the UUV are estimated using the initial alignment algorithm with 3-axis acceleration and geomagnetic information of the IMU sensor. The position and orientation of the UUV are estimated using the AHRS composed of 3-axis acceleration, velocity, and geomagnetic information and the E-KF. For the performance test of the orientation estimation of the AHRS, a testbed using IMU sensor(ADIS16405) and DSP28335 coded with an E-KF algorithm was developed and its performance was verified through tests.

Decentralized Observer-Based Output-Feedback Formation Control of Multiple Unmanned Underwater Vehicles

  • Moon, Ji Hyun;Lee, Ho Jae
    • Journal of Electrical Engineering and Technology
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    • v.13 no.1
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    • pp.493-500
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    • 2018
  • This paper addresses a decentralized observer-based output-feedback formation control problem for multiple unmanned underwater vehicles (UUVs). The complex nonlinear model for a UUV is feedback-linearized. It is assumed that each UUV in the formation exploits only the information regarding itself and the immediate predecessor, which imposes structural constraints on the formation controller gain matrices. The design condition is presented as a two-stage linear matrix inequalities problem. The synthesized controller demonstrates its own advantages through a numerical example.

Docking System for Unmanned Underwater Vehicle using Reduced Signal Strength Indicator (전자기파의 감쇄신호를 이용한 무인 잠수정의 도킹시스템 개발)

  • Lee, Gi-Hyeon;Kim, Jin-Hyun
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.9
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    • pp.830-836
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    • 2012
  • According to increasing the importance of underwater environments, the needs of UUV are growing. This paper represents the mechanism and algorithm of UUV docking system with 21-inch torpedo tubes for military submarines as a docking station. To improve the reliability of the docking, torpedo tubes launch a wired ROV and next the ROV combined with UUV is retrieved. For estimating the relative position between the ROV and UUV, in this paper, combining RF sensors and vision system is proposed. The RSSI method of RF sensors is used to estimate the distance and the optical image is combined for the directional information.

An Analysis of Required Technologies for Developing Unmanned Mine Countermeasure System Based on the Unmanned Underwater Vehicle (무인잠수정 기반 기뢰대항전체계 개발을 위한 소요기술 분석)

  • Lee, Ki-Young
    • Journal of the Korea Institute of Military Science and Technology
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    • v.14 no.4
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    • pp.579-589
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    • 2011
  • One of the most significant UUV(Unmanned Underwater Vehicle) applications is MCM(Mine Countermeasure), which makes good use of UUV characteristics to provide covert, rapid, controlled and efficient survey of a potential minefield without risking a human operator. In this paper, a survey of the today's MCM missions where UUVs will play a role, the vehicle systems that are either under development or planned in the future are presented. And examines principal technical challenges and outline new enabling technologies. Particularly, this paper analyses current approaches to tacking these technologies and technological limitation of UUVs as a MCM platform, and research efforts to develop the technology necessary to meet the domestic MCM mission needs.

Underwater Radiated Noise Analysis for An Unmanned Underwater Vehicle Using Power Flow Analysis (파워흐름해석법을 이용한 무인잠수정의 수중방사소음해석)

  • Kwon, Hyun-Wung;Hong, Suk-Yoon;Lee, Sang-Young;Hwang, A-Rom;Song, Jee-Hun
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.22 no.4
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    • pp.328-334
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    • 2012
  • Power flow finite element method(PFFEM) combining power flow analysis(PFA) with finite element method is efficient for vibration analysis of a built-up structure, and power flow boundary element method(PFBEM) combining PFA with boundary element method is useful for predicting the noise level of a vibrating complex structure. In this paper, the coupled PFFE/PFBE method is used to investigate the vibration and radiated noise of the unmanned underwater vehicle(UUV) in water. PFFEM is employed to analyze the vibrational responses of the UUV, and PFBEM is applied to analyze the underwater radiation noise. The vibrational energy of the structure is treated as an acoustic intensity boundary condition of PFBEM to calculate underwater radiation noise. Numerical simulations are presented for the UUV in water, and reliable results have been obtained.

Evaluation of the added mass for a spheroid-type unmanned underwater vehicle by vertical planar motion mechanism test

  • Lee, Seong-Keon;Joung, Tae-Hwan;Cheon, Se-Jong;Jang, Taek-Soo;Lee, Jeong-Hee
    • International Journal of Naval Architecture and Ocean Engineering
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    • v.3 no.3
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    • pp.174-180
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    • 2011
  • This paper shows added mass and inertia can be acquired from the pure heaving motion and pure pitching motion respectively. A Vertical Planar Motion Mechanism (VPMM) test for the spheroid-type Unmanned Underwater Vehicle (UUV) was compared with a theoretical calculation and Computational Fluid Dynamics (CFD) analysis in this paper. The VPMM test has been carried out at a towing tank with specially manufactured equipment. The linear equations of motion on the vertical plane were considered for theoretical calculation, and CFD results were obtained by commercial CFD package. The VPMM test results show good agreement with theoretical calculations and the CFD results, so that the applicability of the VPMM equipment for an underwater vehicle can be verified with a sufficient accuracy.

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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Implementation and field test for autonomous navigation of manta UUV (만타형 무인 잠수정의 개발과 실해역 성능시험)

  • Ko, Sung-Hyub;Kim, Dong-Hee;Kim, Joon-Young
    • Journal of the Korean Society of Marine Engineering
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    • v.37 no.6
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    • pp.644-652
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    • 2013
  • This paper describes the development and field experiments of Manta-type Unmanned Underwater Vehicle (UUV). Various simulations for Manta UUV are performed by using the nonlinear 6-DOF motion of equations. Through this simulation we verified the motion performances of Manta UUV. To acquire the blueprint of Manta UUV, it was designed with the simulation results. The Manta UUV uses a Doppler Velocity Log (DVL), gyrocompass, GPS, pressure sensor and other minor sensors, applied to measure the motion, position and path of Manta UUV. For its propulsion and changing a direction in the underwater, one vertical fin and four horizontal fins are installed at the hull of UUV. The Manta UUV system was verified with motion and autonomous navigation test at field.

A Study on Attitude Heading Reference System Based Micro Machined Electro Mechanical System for Small Military Unmanned Underwater Vehicle

  • Hwang, A-Rom;Yoon, Seon-Il
    • Journal of the Korean Society of Marine Engineering
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    • v.39 no.5
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    • pp.522-526
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    • 2015
  • Generally, underwater unmanned vehicle have adopted an inertial navigation system (INS), dead reckoning (DR), acoustic navigation and geophysical navigation techniques as the navigation method because GPS does not work in deep underwater environment. Even if the tactical inertial sensor can provide very detail measurement during long operation time, it is not suitable to use the tactical inertial sensor for small size and low cost UUV because the tactical inertial sensor is expensive and large. One alternative to INS is attitude heading reference system (AHRS) with the micro-machined electro mechanical system (MEMS) inertial sensor because of MEMS inertial sensor's small size and low power requirement. A cost effective and small size attitude heading reference system (AHRS) which incorporates measurements from 3-axis micro-machined electro mechanical system (MEMS) gyroscopes, accelerometers, and 3-axis magnetometers has been developed to provide a complete attitude solution for UUV. The AHRS based MEMS overcome many problems that have inhibited the adoption of inertial system for small UUV such as cost, size and power consumption. Several evaluation experiments were carried out for the validation of the developed AHRS's function and these experiments results are presented. Experiments results prove the fact that the developed MEMS AHRS satisfied the required specification.

Concept research of fuel cell system for the UUV (무인잠수정용 연료전지 시스템 개념 연구)

  • Kim, Hyeong-Dong
    • Journal of the Korean Society of Marine Engineering
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    • v.38 no.6
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    • pp.751-760
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    • 2014
  • The unmanned underwater vehicle(UUV) requires the highly dense energy source because of its limited space. Especially, for the UUV designed for long-term operation, it should be reviewed first whether it is possible to install the energy source against required total power. Therefore, this study identifies whether it is possible to install the energy source for the energy requirement of the UUV. And fuel and oxidizer requirement for the fuel cell system are calculated to determine its location and layout inside of the vehicle. Finally, we design the closed type 1kW polymer-electrolytic fuel cell system and check the applicability to underwater operations with UUV.