지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2020.12
- 수록면
- 475 - 480 (6page)
이용수
초록· 키워드
오류제보하기
Underwater operating platforms face difficulties regarding power supply and communications. To overcome these difficulties, this study proposes a hybrid surface and underwater vehicle (HSUV) and presents the development of the platform, control algorithms, and results of field tests. The HSUV is capable of supplying reliable power to the unmanned underwater vehicle (UUV) and obtaining data in real time by using a tether cable between the UUV and the unmanned surface vehicle (USV). The HSUV uses global positioning system (GPS) and ultra-short base line sensors to determine the relative location of the UUV. Way point (WP) and dynamic positioning (DP) algorithms were developed to enable the HSUV to perform unmanned exploration. After reaching the target point using the WP algorithm, the DP algorithm enables USV to maintain position while withstanding environmental disturbances. To ensure the navigation performance at sea, performance tests of GPS, attitude/heading reference system, and side scan sonar were conducted. Based on these results, manual operation, WP, and DP tests were conducted at sea. WP and DP test results and side scan sonar images during the sea trials are presented.
목차
ABSTRACT
1. Introduction
2. System Structure of Hybrid Surface & Underwater Vehicle
3. Kinetics of Hybrid Surface and Underwater Vehicle
4. Control Algorithm of Hybrid Surface and Underwater Vehicle
5. Offshore Tests
6. Conclusions
References
참고문헌 (8)
참고문헌 신청
Bentley, R.W. (2002). Global Oil & Gas Depletion: an Overview. Energy Policy, 30(3), 189-205. https://doi.org/10.1016/S0301-4215(01)00144-6
Cho, H., Jeong, S.-K., Ji, D.-H., Tran, N.-H., Vu, M.T., & Choi, H.-S., (2020). Study on Control System of Integrated Unmanned Surface Vehicle and Underwater Vehicle. Sensors, 20(9), 2633. https://doi.org/10.3390/s20092633
Fossen, T.I. (2011). Handbook of Marine Craft Hydrodynamics and Motion Control (1st ed.). New Jersey, USA: Jhon Wiley & Sons.
Hou, W. (2013). Ocean Sensing and Monitoring: Optics and Other Methods (1st ed.). Washington, USA: SPIE. https://doi.org/10.1117/3.1002079
Nicholson, J.W., & Healey, A.J. (2008). The Present State of Autonomous Underwater Vegicle (AUV) Applications and Technologies. Marine Technology Society Journal, 42(1), 44-51. https://doi.org/10.4031/002533208786861272
Cho, H., Jeong, S.-K., Ji, D.-H., Tran, N.-H., Vu, M.T., & Choi, H.-S., (2020). Study on Control System of Integrated Unmanned Surface Vehicle and Underwater Vehicle. Sensors, 20(9), 2633. https://doi.org/10.3390/s20092633
Fossen, T.I. (2011). Handbook of Marine Craft Hydrodynamics and Motion Control (1st ed.). New Jersey, USA: Jhon Wiley & Sons.
Hou, W. (2013). Ocean Sensing and Monitoring: Optics and Other Methods (1st ed.). Washington, USA: SPIE. https://doi.org/10.1117/3.1002079
Nicholson, J.W., & Healey, A.J. (2008). The Present State of Autonomous Underwater Vegicle (AUV) Applications and Technologies. Marine Technology Society Journal, 42(1), 44-51. https://doi.org/10.4031/002533208786861272
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