Development and Tank Test of an AutonomousUnderwater Vehicle 'ISiMI'

Maritime and Ocean Engineering Research Institute (MOERI), a branch of KORDI, has designed and manufactured a model of an autonomous underwater vehicle (AUV) named ISiMI (Integrated Submergible for Intelligent Mission Implementation). ISiMI is an AUV platform to satisfy the various needs of experimental test required for development of challenging technologies newly investigated in the field of underwater robot; control and navigational algorithms and software architectures. The main design goal of ISiMI AUV is downsizing which will reduce substantially the operating cost compared to other vehicles previously developed in KORDI such as VORAM or DUSAUV. As a result of design and manufacturing process, ISiMI is implemented to be 1.2 m in length, 0.17 m in diameter and weigh 20 kg in air. A series of tank test is conducted to verify the basic functions of ISiMI in the Ocean Engineering Basin of MOERI, which includes manual control with R/F link, auto depth, auto heading control and a final approach control for underwater docking. This paper describes the implementation of ISiMI system and the experimental results to verify the function of ISiMI as a test-bed AUV platform

Underwater Docking of a Visual Servoing Autonomous Underwater Vehicle Using a Single Camera

This paper introduces an autonomous underwater vehicle (AUV) model, ASUM, equipped with a visual servo control system to dock into an underwater station with a camera and motion sensors. To make a visual servoing AUV, this paper implemented the visual servo control system designed with an augmented state equation, which was composed of the optical flow model of a camera and the equation of the AUV's motion. The system design and the hardware configuration of ASUM are presented in this paper. ASUM recognizes the target position by processing the captured image for the lights, which are installed around the end of the cone-type entrance of the duct. Unfortunately, experiments are not yet conducted when we write this article. The authors will present the results for the AUV docking test

(수중드론이라 불리는) 자율 무인 잠수정

1장 수중세계와 로봇 1.1 수중로봇(UUV)의 정의 1.2 수중드론 자율무인잠수정(AUV) 1.3 물속의 환경 2장 잠수정은 어디에 사용하는가? 2.1 자연과학용 2.2 군사용 2.3 해양산업용 2.4 기타 활용분야 3장 수중드론 AUV의 구성과 주요 기술 3.1 몸체 형상과 주요 구성품 3.2 몸체의 재료 3.3 추진 및 에너지원 3.4 정보와 자료의 취득 3.5 항법의 원리 3.6 자율제어의 원리 3.7 수중통신의 원리 3.8 AUV의 운용과 관리 3.9 잠수정 활용 관련 국내외 법령 4장 국내외 개발 동향 4.1 해외 4.2 국내 5장 미래의 수중로봇 5.1 생체 모방형 수중로봇 5.2 장기 운용 AUV 5.3 융합형 운용 시스템 5.4 AI 기반 수중드

Explorations of Hydrothermal Vents in Southern Mariana Arc Submarine Volcanoes using ROV Hemire

This paper presents the explorations of hydrothermal vents located in the Marina Arc and Back Arc Basin using the deep-sea ROV Hemire. These explorations were conducted by KRISO and KIOST to demonstrate the capability of Hemire in various applications for deep-sea scientific research. The missions included the following: (1) to search the reported vents, (2) conduct visual inspections, (3) deploy/recover a sediment trap and bait traps, (4) sample sediment/water/rock, (5) measure the magnetic field at the vent site, and (6) acquire a detailed map using multi-beam sonar near the bottom. We installed three HD cameras for precise visual inspection, a high-temperature thermometer, a three-component magnetometer, and a multi-beam sonar to acquire details of the bottom contour or identify vents in the survey area. The explorations were performed in an expedition from March 23 to April 5, 2016, and the missions were successfully completed. This paper discusses the operational process, navigation, and control of Hemire, as well as the exploration results.22Nkc

해양시스템연구부 NAP 기획연구 심해탐사를 위한 독도 복합 시험기지 구축 기획연구

한국해양연구