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재래식 잠수함 어뢰발사관을 활용한 UUV 운용기법에 대한 연구
이계홍,Li, Ji-Hong 한국군사과학기술학회 2014 한국군사과학기술학회지 Vol.17 No.1
Due to its unmanned feature and some of being matured underwater technologies, UUV(Unmanned Undersea Vehicle) is increasingly considered as a utility player in today's battle-field. The operational benefit of submarine-based UUV operation could be enormous yet the integration challenges are significant, particularly for most of small conventionally-powered submarines. In this paper, we consider UUV operational methodology via the conventional submarine's torpedo tube. Two previous attempts having been done to retrieve the UUV through torpedo tube are reviewed, and their pros and cons are also analyzed. Then, an alternative option is proposed for UUV operation via torpedo tube. In addition, some of practical challenges are also discussed in the paper.
이계홍(Ji-Hong Li),전봉환(Bong-Huan Jun),이판묵(Pan-Mook Lee),임용곤(Yong-Kon Lim) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.12
This paper presents an asymptotic formation control scheme for a group of underactuated autonomous underwater vehicles (AUVs) where only three control inputs - surge force, yaw moment and pitch moment are available for each vehicle’s six degree of freedom (DOF) underwater motion. Usually, the dynamics agents applied in most of the formation algorithms presented so far have been modeled as particle systems, which is a simple double-integrator system. Therefore, these algorithms cannot be directly applicable to the practical systems, especially to the underwater vehicles whose dynamics are highly nonlinear. Moreover, the vehicles considered in this paper are underactuated. The formation control is derived using general potential function method, and the corresponding potential function consists of two parts: interactions between vehicles and virtual-leader following. Proposed formation scheme guarantees asymptotic local stability of closed-loop system. Numerical simulations are carried out to illustrate the effectiveness of proposed formation scheme.
신경회로망 기반의 적응제어기를 이용한 AUV의 운동 제어
이계홍(JI-HONG LI),이판묵(PAN-MOOK LEE),이상정(SANG-JEONG LEE) 한국해양공학회 2002 韓國海洋工學會誌 Vol.16 No.1
This paper presents a neural net based nonlinear adaptive controller for an autonomous underwater vehicle (AUV). AUV's dynamics are highly nonlinear and their hydrodynamic coefficients vary with different operational conditions, so it is necessary for the high performance control system of an AUV to have the capacities of learning and adapting to the change of the AUV's dynamics. In this paper a linearly parameterized neural network is used to approximate the uncertainties of the AUV's dynamics, and the basis function vector of network is constructed according to the AUV's physical properties. A sliding mode control scheme is introduced to attenuate the effects of the neural network's reconstruction errors and the disturbances in AUV's dynamics. Using Lyapunov theory, the stability of the presented control system is guaranteed as well as the uniformly boundedness of tracking errors and neural network's weights estimation errors. Finally, numerical simulations for motion control of an AUV are performed to illustrate the effectiveness of the proposed techniques.
P-SURO II 하이브리드 자율무인잠수정 기술 개발 및 현장 검증
이계홍(Ji-Hong Li),이문직(Mun-Jik Lee),박상현(Sang-Heon Park),김정태(Jung-Tae Kim),김종걸(Jong-Geol Kim),서진호(Jin-Ho Suh) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.9
In this paper, we present the development of P-SURO II hybrid AUV (Autonomous Underwater Vehicle) which can be operated in both of AUV and ROV (Remotely Operated Vehicle) modes. In its AUV mode, the vehicle is supposed to carry out some of underwater missions which are difficult to be achieved in ROV mode due to the tether cable. To accomplish its missions such as inspection and maintenance of complex underwater structures in AUV mode, the vehicle is required to have high level of autonomy including environmental recognition, obstacle avoidance, autonomous navigation, and so on. In addition to its systematic development issues, some of algorithmic issues are also discussed in this paper. Various experimental studies are also presented to demonstrate these developed autonomy algorithms.
유압실린더 내부 누유 검출을 위한 H<sub>∞</sub> 관측기 설계
지성철,강형주,이문직,이계홍,Jee, Sung Chul,Kang, Hyungjoo,Lee, Mun-Jik,Li, Ji-Hong 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.2
This paper presents the internal oil leakage detection problem for a hydraulic double-rod cylinder. We represent the dynamics of the hydraulic cylinder as a convex combination of linear equations. To detect oil leakage, we propose a model-based fault detection observer design scheme. The observer is designed to be robust against disturbance. Sufficient design conditions are derived in the form of linear matrix inequalities. A numerical example is provided to verify the proposed techniques.
Touch Screen Based Assistance Technique for Underwater Manipulation of Cable Burying ROV
조건래(Gun Rae Cho),기건희(Geonhui Ki),이계홍(Ji-Hong Li) Korean Society for Precision Engineering 2019 한국정밀공학회지 Vol.36 No.4
URI-T can perform various underwater construction tasks such as cable burial and maintenance. Successful sea trial results show that URI-T could be used in underwater construction fields. To improve the efficiency of URI-T, an assisted teleoperation scheme for underwater manipulations was also proposed. For the proposed scheme, by touching several points on the touch screen, one can move the manipulator to the target; it can reduce the burden of teleoperation of every degree-of-freedom (DOF) of the manipulators. The scheme also has a position estimation technique that can estimate six DOF position of the objects using 2D positions on the two images from cameras deployed in stereo. Via touch screen, the 2D positions are fed to guarantee reliability of the estimated results, which is one of the most important points in the underwater interventions. A control structure for the assisted teleoperation was investigated using the position estimation technique. The structure involved an inverse kinematics scheme based on the weighted damped least squares, which can resolve the kinematical limitations: workspace limit and singularity, and joint limits on position and velocity. This study established that the proposed assistance technique could significantly reduce operation time in comparison with the conventional teleoperation.