Research

Recently Research

Control System of Integrated USV and UUV

In order to overcome certain limitations of previously commercialized platforms,  we developed a new integrated unmanned surface vehicle (USV) and unmanned underwater vehicle (UUV) platform connected via underwater cable capable of acquiring real-time underwater data and long-time operation. A catamaran-type USV was designed to overcome the limitations of an ocean environment and to play the rope as the hub of power supply and communication for the integrated platform.

  • Length : 2.2 m
  • Diameter : 0.26 m
  • HUG Weight : 78.32 kg (dry)
  • Mass of piston : 1.36 kg
  • Mas of movable mass : 9.4 kg 
  • Battery Endurance : 24V 10 Ah (3.2V 8 cell, 10 Ah)
  • Thruster :  24 V, 200 W 2ea
  • Components : Attitude controller, Battery, AHRS, Thruster, DVL, RF module, Depth sensor

HUG (Hybrid Underwater Glider)

Net buoyancy, as the main power source for the motion of an underwater glider (UG), is affected by the pump or bladder that the gilder adopts to change its buoyancy force in water. We developed a new UG that can dive to a depth of 400 m at a cruising speed of 2 knots, which is faster than conventional UG. For this UG, its steady-state attitude was studied according to the variance of the buoyancy center and the center of gravity with the buoyancy engine influenced by the displacement of the movable mass block. In motion simulation of the UG, the attitude of the UG under different displacement conditions was simulated in Simulink according to the displacements of the piston and the movable mass block. To validate the simulation performance, a UG was constructed and experiments were conducted.

  • Length : 2.2 m
  • Diameter : 0.26 m
  • HUG Weight : 78.32 kg (dry)
  • Mass of piston : 1.36 kg
  • Mas of movable mass : 9.4 kg 
  • Battery Endurance : 24V 10 Ah (3.2V 8 cell, 10 Ah)
  • Thruster :  24 V, 200 W 2ea
  • Components : Attitude controller, Battery, AHRS, Thruster, DVL, RF module, Depth sensor

UTR (Underwater Track Robot)

An underwater navigation algorithm was developed to apply the underwater navigation system to the underwater track robot. Generally, underwater navigation uses a Doppler Velocity Log (DVL) to measure the velocity of underwater vehicles. However, undersea platforms, such as UTR, cannot use DVL due to the distance limitations of sensor operation. As a result, Dead Reckoning (DR) navigation is inevitably used, and which results in severe errors in attitude and position values over long periods of platform operation. To overcome this problem, we developed an underwater navigation system composed of coupled Inertial Navigation System(INS) composed Ultra Short Base Line (USBL) and additional track information. Based on this, we developed an underwater navigation algorithm for a prototype underwater track robot which we developed at the lab and confirmed the effectiveness of the navigation algorithm through experiments.

Specifications of UTR

  • Dimension : 600mm X 500mm X 250mm (L X W X H)
  • Weight : 35 kg (dry), 10 kg (water)
  • Standard components : Ethernet Hub, 200W BLDC moter, Moter drive, Batterry

Specifications of underwater navigation system

  • Dimension : 420mm X 300mm X 300mm (L X W X H)
  • Weight : 8 kg (dry), 2 kg (water)
  • Standard components : RLG, Depth, USBL, GPS, TCM, Altimeter, Leakage sensor, Ethernet Hub

UDB (Unmanned Dynamic Buys)

UDB is a buy without mooring. It is composed of multiple unmanned surface vehicles. UDB is performing reference systems on the sea, which has a dynamic positioning system. which has dynamic positioning system. Also, UDB can be used as a moving target

RHUG (Ray-type HUG)

We presents the modeling of a new ray-type hybrid underwater gilder (RHUG) and an experimental approach used to robustly and adaptively control heading motion. The motions of the proposed RHUG are divided into vertical-plane motions and heading motion. Due to the difficulty of obtaining accurate parameter values for the heading dynamics, a robust adaptive control algorithm was designed containing an adaptation law for the unknown parameters and robust action for minimizing environmental disturbances. For robust action against bounded disturbances, such as waves and ocean currents, sliding mode control was applied under the assumption that the bounds of the external disturbances are known. To verify the performance of the proposed controller for heading dynamics, several heading control experiments were conducted in a water tank and in the sea.

  • Dimension : 2,440mm X 1,510mm X 180mm (L X W X H)
  • Weight : 107.5 kg (dry)
  • Dual Buoyancy Engine : 2,000 cc (L : 130 mm)
  • Mass Shifter : 3.62 kg (L : 220 mm)
  • Battery : 26.6 V – 10 Ah, 14 V – 20 Ah
  • Max. Operating Depth : 70 m
  • Communication : RF module (Resurface interval)

Underwater LED Communication

– 화상 및 멀티 빔 소나 데이터 전송을 위한 수중 가시광통신 시스템 설계

– 멀티 빔 소나 데이터 전송시험 통한 수중 가시관 통신 시스템 성능 검증

  • Communication Length : More then 100 m (in fresh water)
  • General Communication speed : 5 Mbps
  • LED Transceiver Power : 85 W, 6,500 K
  • Receiver Sensor Type : Normal PIN Photo-diode

Underwater Manipulator

A new 6 D.O.F underwater manipulator which is actuated by electric motors capable of carrying over 20kg payload and of various operation under the water is introduced. The manipulator for applying to medium-sized AUV or ROV has been designed small and light but to handle a heavy 25kg payload. The joint actuator for the manipulator is designed and built as a new modular typed double oil jacket for waterproofness. Also, superior joint torque performance of the developed joint actuator has been verified through tests in the air.

  • Manipulator Type : Electrically powered
  • Construction : Anodized aluminum & stainless steel
  • Horizontal Reach : 1,010 mm
  • Vertical Reach : 685 mm
  • Maximum Lift Capacity : 20 kg
  • Efficiency : 65%
  • Rotation speed : No load – 19 rpm
  • Degrees Freedom of Motion : 6 plus gripper
  • Weight in Air : 27 kg
  • Operating Depth : 200 m
  • Mode of Operation : Speed control
  • Communication : RS-232, RS-485 

HUG (Hybrid Underwater Glider)

A hybrid underwater glider (HUG) which can perform long-term mission and navigate fast with an equipped thruster was developed. The highest speed of HUG is three knots with the aid of the thruster and can perform horizontal motion due to a specific design of the buoyancy engine and mass transfer system in it. The HUG is capable of operating at 200m depth. The HUG can mount various types of sensors(pH/ORP, oxygen, CTD, DVL, USBL) selectively depending on the purpose.

  • Length : 1.9 m
  • Diameter : 0.22 m
  • Weight : 50.5 kg (dry)
  • Wing Span : 0.41 m
  • Operating Depth : 10 ~ 200 m
  • Battery Endurance : LiFePo4 secondary batteries, with 24V and 36V packs, 5MJ for 20days
  • Typical Speed : 0.5 m/s (gliding) and 1.5 m/s (thruster)
  • Glide Angle : 15 ~ 45º
  • Standard Components : Wings, rudder, isopycnal pressrue hull, LiFePo4 batteries, RF modem, Wi-Fi 2.4Ghz, AHRS or IMU(Ring Laser Gyro), altimeter, Depth sensor
  • Payload Components : pH/ORP meter, Oxygen sensor, CTD, DVL, USBL

CRUV (Convertible Remotely Operated Vehicle)

CAUV is a new convertible six D.O.F. underwater Robot which can be a ROV or AUV according to the purpose of the underwater mission. The structure design and development was made specially for a modular control system for the ROV mode or the AUV mode. The AUV structure was made through the structure design and an analysis on thrusting system. For navigation, a sensor fusion board which can proceed various sensor signals to identify correct positions and speeds has been developed and total control system including EKF(Extened Kalman Filter) has been designed and installed. 

  • AUV Body Size : 560mm X 750mm X 280mm
  • ROV Body Size : 600 mm X 1,000 mm X 900 mm
  • Weight : 70 kg (AUV), 100kg (ROV)
  • Max Depth Range : 200 m
  • Communication : RS-485
  • AUV Navigation : Inertial Navigation System, Ultra Short Base LIne(USBL)
  • Degree of Freedom : 6 D.O.F
  •  Manipulator(ROV type) ; Electric Moter-based 7 D.O.F Underwater Manipulator(with gripper)
  • Added Equipment : Underwater Camera and Light
  • Operating System : Linux OS
  • Standard Sensors : DVL, IMU, Depth sensor, USBL

KAUV (KMOU Autonomous Underwater Vehicle)

KAUV is a small and light AUV with only 22.5kg designed specially for developing navigation system. It is shaped like a torpedo with light weight and small size, used for marine exploration and monitoring. The vehicle has a unique ducted propeller located at aft end with yawing actuation acting as a rudder. For depth control, the vehicle uses a mass shifter mechanism to change its center of gravity, and consequently, can control its pitch angle and depth.

  • Length : 1.6 m
  • Diameter : 0.18 m
  • Weight : 22.5 kg (dry)
  • Wing Span : 0.13 m
  • Battery Endurance : 24V 5A 2ea, 24V 10A 1ea
  • Thruster :  2,833 rpm (Max RPM), 19.08 Nm (Max Torque)
  • Rudder Angle Range : 60º
  • Navigation : GPS on surface and Inertial Navigation underwater
  • Components : Attitude controller, Battery, AHRS, Thruster, Rudder, PSD module, DVL, Wi-fi, Depth sensor

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