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MEMS형 자세측정장치를 이용한 고속 기동 무인 잠수정 자율 조종 제어기에 대한 HILS
황아롬(Arom Hwang),윤선일(Seon-Il Yoon),송지훈(Jee-Hun Song) 한국해양공학회 2012 韓國海洋工學會誌 Vol.26 No.5
Unmanned underwater vehicle have many applications in scientific, military, and commercial areas because of their autonomy. In my 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.
AHP를 이용한 감시정찰용 무인잠수정 요구성능 평가기준 분석
박귀현,이태현,이충환,이진호 광운대학교 방위사업연구소 2021 선진국방연구 Vol.4 No.1
The need for unmanned underwater vehicles (UUVs) has received significant attention given the current security situation in the Korean Peninsula. UUVs are used in the military to perform five key missions: intelligence, surveillance, and reconnaissance (ISR), mine countermeasures, anti-submarine warfare, inspection/identification, and oceanography. In this study, we analyze the standards of evaluation of the characteristics and capabilities of UUVs that are necessary for ISR missions, which are most important from among the above mentioned ones. First, we establish 5 main criteria and 15 sub-criteria by consulting a group of experts. Next, we use the analytic hierarchy process (AHP) for these criteria. It computes the relative weights of the criteria based on pairwise comparisons, in order to evaluate the relative importance and priorities of the criteria we established, by selecting another group of 51 experts for the evaluation of the pairwise comparisons among the criteria. Consequentially, the importance associated with performance and ability of the ISR tends to be relatively high while the one associated with cost and economy for operating the UUVs appears to be low. These results may be useful in analyzing required capabilities in a more objective and concrete manner while procuring UUVs in the future. 현재 한반도의 안보상황에서 무인잠수정의 필요성은 점차 부각되고 있으며, 군사 분야의 무인잠수정이 수행할 핵심임무로서 감시 및 정찰, 대기뢰전, 대잠전, 조사 및 식별, 해양탐사 등 5가지가 제시되고 있다. 본 연구에서는 무인잠수정의 핵심 임무 중에서도 가장 중요도가 높은 것으로 평가되는 감시 및 정찰 임무를 수행함에 있어 우선적으로 고려되어야 할 특성 및 요구성능에 대한 평가기준을 분석한다. 먼저 해당분야 전문가의 자문을 통해 5가지의 대기준과 15가지의 소기준을 정립하였다. 다음으로 정립된 평가기준에 대한 상대적 중요도와 우선순위를 도출하기 위하여 쌍대비교를 통해 가중치를 도출하는 AHP 기법을 활용하였으며, 별도의 전문가 집단 51명으로부터 쌍대비교 설문조사를 수행하였다. 분석결과, 감시 및 정찰에 요구되는 무인잠수정의 성능과 능력에 관한 중요도는 매우 높게 나타난 반면, 운용적 측면에서 고려되는 비용 및 경제성 등의 중요도는 상대적으로 낮게 나타났다. 이러한 결과는 향후 무인잠수정 도입 시, 보다 객관적이며 구체적인 요구성능에 대한 평가기준을 마련하는데 유용하게 활용될 것으로 기대된다.
유인플랫폼에서의 수중로봇 운용을 위한 진수 및 회수 체계 고찰
이기영(Ki-Young Lee) 한국해양공학회 2016 韓國海洋工學會誌 Vol.30 No.2
In this technical note, the issues and challenges for the launch and recovery systems (LARS) and related techniques for the operation of an underwater robot from a manned platform are considered. Various types of LARS fitted to specific manned platforms, surface or sub-surface, are surveyed and categorized. The current UUV launch and recovery systems from surface ships and submarines utilize time consuming processes. As underwater robot technologies evolve and their roles are defined, safe and effective launch and recovery methods should be developed capable of reliable and efficient operations, particularly at a high sea state. To improve the existing underwater robot capabilities, LARS technology maturation is required in the near term, leading to the ability to incorporate autonomous LARS for an underwater robot on a manned platform. In the near term, particular emphasis should be placed on UUV LARS, which are surface ship based, with submarine based systems in the long term. Furthermore, for a dedicated LARS ship, independent of the existing host ship type, particular emphasis should be given to fully utilizing the capabilities of underwater robots.
이판묵(PAN-MOOK LEE),여준구(JUNKU YUH) 한국해양공학회 2000 韓國海洋工學會誌 Vol.14 No.2
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 is the upper bound and lower 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.
심해무인잠수정 운용사례 분석을 통한 해미래의 운용 전략 수립
백혁(Hyuk Baek),전봉환(Bong-Huan Jun),최고(Go Choi),이판묵(Pan-Mook Lee) 한국해양환경·에너지학회 2012 한국해양환경·에너지학회 학술대회논문집 Vol.2012 No.5
In this paper, we analyze the operating methods of the KOVs( Remotely Operated Vehicle ) and conduct a study on haw to apply these methods to our self-developed 6,000 meter class ROV HEMIRE. The used data in this paper were collected from the expedition of JASON ROV of USA to retrieve a junction box installed on seabed 5,000 meter between Hawaii and California for maintenance during June 20th ~ July 11th 2004 and ROPOS ROV of Canada to explore the hydrothermal deposit located Tonga, southpacific, on January 12th ~ February 1st 2012. Through the analysis, we could arrange the applicable skills with HEMIRE system and strategy to carry out as an independent mode by itself.
권현웅(Kwon, Hyun-Wung),홍석윤(Hong, Suk-Yoon),이상영(Lee, Sang-Young),황아롬(Hwang, A-Rom),송지훈(Song, Jee-Hun) 한국소음진동공학회 2012 한국소음진동공학회 논문집 Vol.22 No.4
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.
해양무인체계 테스트 베드(Test Bed) 확보 필요성 및 군 활용방안
유승희(Seung-Hee Yoo),김정규(Jeong-Gyu Kim) 한국해군과학기술학회 2020 Journal of the KNST Vol.3 No.2
Major marine advanced countries have developed, deployed, and operated various unmanned marine systems. When developing a marine unmanned system, a test bed is used to evaluate the stability and autonomy of the unmanned marine system. In Korea, the importance of unmanned marine systems is increasing, but there is no test bed to evaluate them. Therefore, the necessity of building a test bed in Korea, major measurement equipment in the test bed, and effective military use plan are suggested.
주성현(Sung-Hyeon Joo),양선제(Seon-Je Yang),국태용(Tae-Yong Kuc),박종구(Jong-Koo Park),김용석(Yong-Serk Kim),고낙용(Nak-Yong Ko),문용선(Yong-Seon Moon) 한국해양공학회 2018 韓國海洋工學會誌 Vol.32 No.2
In this paper, we propose an adaptive backstepping controller to control the exact position and orientation of a remotely operated underwater vehicle with parametric model uncertainty. To further improve the angular velocity control precision of each thruster, a phase locked loop (PLL) controller has been added to the backstepping controller. A comparison of two backstepping controllers with and without the PLL control loop has been performed using simulations and experiments. The test results showed that the tracking performance could be improved by using the PLL control loop in the proposed adaptive backstepping controller.
주변국 해양무인체계(UMVs) 개발 동향과 한국 해군에 주는 함의
이홍정(Hong Jeong Lee),김필현(Pil Hyun Kim),임경한(Kyung Han Lim) 한국해군과학기술학회 2023 Journal of the KNST Vol.6 No.3
This study examines the movements of major neighboring countries surrounding the Korean Peninsula, such as the United States, China, Japan, and Russia, regarding the development and operation of advanced science and technology-based Unmanned Maritime Vehicles(UMVs). In particular, the level of development of unmanned maritime systems in the four countries (US, China, Japan, and Russia) will be roughly confirmed, and the military strategy and direction of force management will be focused on promoting the development of unmanned maritime systems. Through this, we ultimately derive implications for the Republic of Korea Navy and suggest necessary preparations.