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AUV의 운동계측을 위한 스트랩-다운형 관성계측장치(IMU)의 개발
이판묵(P.M. Lee),전봉환(B.H. Jeon),이종식(J.S. Lee),오준호(J.H. Oh),김도현(D.H. Kim) 한국해양공학회 1997 韓國海洋工學會誌 Vol.11 No.1
This paper presents a Inertial Measuring Unit(IMU) for motion measurement of an AUV. The IMU is composed of three parts: inertial sensors with three servo accelerometers and three rate gyros, an analog/digital interface board, and a digital signal processing board with TMS320C31 DSP processor. The IMU is a class of strap-down inertial navigation system, but this system does not applicable directly to the navigation system in consequence of the low qualities of the inertial sensors. This system will be available for motion references of the AUV and itegrated sensors for an integrated navigation system of the AUV. Fast calculation of direction cosine matrix for the coordinate transformation body to reference is obtained through the DSP processor. A switching algorithm is used to lessen the low frequency drift effect of the gyros in the vertical plane with use of low pass filtering of the signal of the accelerometers.
자율 무인 잠수정(AUV)의 모의 실험을 위한 테스트베드의 개발-하드웨어와 소프트웨어
이판묵(P.M. Lee),전봉환(B.H. Jeon),정성욱(S.W. Jeong) 한국해양공학회 1997 韓國海洋工學會誌 Vol.11 No.1
This paper describes the development of a test-bed vehicle named TAUV which can be a tool to evaluate the performance of a new control algorithm, operating softwares and the characteristics of sensors for an AUV. The test-bed AUV is designed to operate at depth of ten meters. It is 19.5㎏ in air and neutral buoyancy in water and the dimension is 535×400×102㎜. TAUV is equipped with a magnetic compass, a biaxial inclinometer, a rate gyro, a pressure sensor and an altitude sonar for measuring the motion of the vehicle. Two horizontal thrusters and two elevators are installed in order to propel and control the AUV. This paper presents the control system of TAUV which is based on a 16 bit single-chip microprocessor, 80c196kc, and the software architecture for the operating system. Experimental results are included to verify the performance of the TAUV.
최현택(H. T. Choi),류승철(S. C. Ryu),이판묵(P. M. Lee),이종무(C. M. Lee),전봉환(B. H. Jun),이계홍(J. H. Li),김기훈(K. Kim) 대한전기학회 2007 대한전기학회 학술대회 논문집 Vol.2007 No.4
This paper introduces a general overview of the 6000m class deep-sea ROV. Hemire and Henuvy, and then describes its motion control system. It is developed by Korea Ocean Research & Development Institute(KORDI) for 6 years since 2001. sponsored by the Ministry of Maritime Affairs and Fisheries (MOMAF). Hemire is remotely operated by a fiber optic telemetry, where 6 thrusters are controlled by operator in manual mode and by auto depth control and auto heading control in auto mode. In this paper, operational mechanism of manual and automatic mode with some convenient functions for operator is described. Finally, results of sea trial conducted at the Philippine sea where a depth is 5.770m are shown.
홍도천(D.C. Hong),이판묵(P.M. Lee),홍석원(S.W. Hong),이종식(J.S. Lee),이종무(C.M. Lee),공도식(D.S. Gong),손영수(Y.S. Son),최학선(H.S. Choi),현범수(B.S. Hyun) 한국해양공학회 1993 韓國海洋工學會誌 Vol.7 No.1
This paper describes the results of 3 years project on the design and development of a 500 meter class ocean survery ROV model. The design concept and the design procedure are given for each component of the ROV. Special emphasis is laid on the development of the position control system together with the development of the performance evaluation technique.