IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
권호 표지
DOI QR코드

DOI QR Code

Design and Implementation of A Hovering AUV with A Rotatable-Arm Thruster

회전팔 추진기를 가진 시험용 HAUV의 설계 및 구현

  • Received : 2014.01.08
  • Accepted : 2014.02.12
  • Published : 2014.06.30
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we propose the hardware and software of a test-bed of a hovering AUV (autonomous underwater vehicle). Test-bed to develop as the underwater robot for the hovering -type is planning to apply for marine resource development and exploration for deep sea. The RTU that controls a azimuth thruster and a vertical thruster of test-bed is a intergrated-type thruster. The main control unit that collects sensor's data and performs high-speed processing and controls a movement of test-bed is a underwater hybrid navigation system. Also it transfers position, posture, state information of test-bed to the host PC of user using a wireless communication. The host PC checks a test-bed in real time by using a realtime monitoring system that is implemented by LabVIEW.

Keywords

References

  1. K.M. Han, H.T. Choi, "Research trends in intelligent underwater robot and technology introduction of underwater image processing," The Magazine of the IEEK, Vol. 38, No. 7, pp.37-41, 2012 (in Korean).
  2. D.H. Shin, S.B. Bae, W.K. Baek, M.G Joo, "Way-Point Tracking of AUV using Fuzzy PD controller," Journal of Korean Institute of Information Technology, Vol. 11, No. 5, pp.1-7, 2013 (in Korean).
  3. J.N. Seo, D.W. Kim, H.J. Lee, "Trends in the navigation technology of AUV," Institute of Control, Robotics, and Systems, Vol. 17, No. 2, pp.36-46, 2011 (in Korean).
  4. L.A. Cooney, "Dynamic Response Maneuvering Strategies of a Hybrid Autonomous Underwater Vehicle in Hovering," Massachusetts Institute of Technology, 2009.
  5. S.T. Kwon., W.K. Baek, M.G. Joo, "Implementation of AUV Test-Bed," Future Information Technology Communications in Computer and Information Science, Vol. 184, pp.280-284, 2011. https://doi.org/10.1007/978-3-642-22333-4_36
  6. H.T. Choi, B.H. Jun, P.M. Lee, B.C. Jung, B.M. Goo, C.S. Park. S.C. Han, "Design Power, Elcectronics and Communication of Hemire and Henuvy," The Korean Institute of Electroncal Engineering, Vol. 44, No. 3, pp.25-31, 2006 (in Korean).
  7. S.B. Bae, D.H. Shin, S.H. Park, M.G. Joo, "A Study on an Integral State Feedback Controller for Way-point Tracking of an AUV," Journal of Institute of Control, Robotics and System, Vol. 19, No. 8, pp.661-666, 2013 (in Korean). https://doi.org/10.5302/J.ICROS.2013.13.9011
  8. I.S. Yang, S.Y. Kang, D.I. Lee, "Compensating Transmission Delay and Packet Loss in Networked Control System for Unmanned Underwater Vehicle," Journal of Institute of Embedded Engineering of Korea, Vol. 6, No. 3, pp. 149-156, 2011 (in Korean).
  9. D.H. Kim, S.H. Jo, Y.M. Yang, "On the Design of an Efficient Mobile Robot Framework by Using Collaborative Sensor Fusion," Journal of Institute of Embedded Engineering of Korea, Vol. 6, No. 3, pp. 124-131, 2011 (in Korean).
  10. T.I. Fossen, "Marine Control System," Marine Cybernetics, Trondheim, pp.100-110, 2002.
  11. T.I. Fossen, "Guidance and control of ocean vehicle," Jone Wiley & Sons, pp.84-89, 1994
  12. S.T. Kwon, W.K. Baek, I.P. Kang, H.S. Choi, M.G. Joo, "A Study on Way-Point Tracking of AUV using State Feedback," Journal of Institute of Control. Robotics and System, Vol. 17, No. 12, pp.1266-1272, 2011 (in Korean). https://doi.org/10.5302/J.ICROS.2011.17.12.1266