:: ICCAS 2015 ::

WB09		[OS] Autonomy of Unmanned Marine Vehicles
Time : 13:30~15:00 Room : 204		Chair : Nak Yong Ko (Chosun University, )



13:30~13:45	WB09-1

PLL controller for precise velocity tracking of UUV : a new AUV model and its control
jun hee lee(Sung Kyun Kwan University, Korea, Republic of ), Hyunsu Kim(SungKyunKwan University, Korea, Republic of ), Jong-gu Park, Tae-Yong Kuc(Sung Kyun Kwan University, Korea, Republic of ), Yong-Seon Moon(Sunchon National University, Korea, Republic of ), Nak Yong Ko(Chosun University, Korea, Republic of )

A phase-locked-loop(PLL) controller is designed in this paper for fast velocity tracking of unmanned underwater vehicle(UUV). Digital encoder output encodes measured velocity of actuator and its phase is compared with reference frequency of desired velocity command in the feedback loop to achieve fast convergence of tracking error. This makes possible dynamics model of UUV motion be controlled by focusing on the motor speed control after solving inverse kinematics and dynamics of UUV.



13:45~14:00	WB09-2

Navigation of an Underwater Vehicle Using AHRS and Depth Sensor
Nak Yong Ko, Seokki Jeong(Chosun University, Korea, Republic of ), Hyun Taek Choi(Korea Research Institute of Ships & Ocean Engineering, Korea, Republic of )

This paper describes a localization method of an underwater vehicle. The method uses the measurements from Attitude Heading Reference System (AHRS), depth sensor, and Doppler velocity log (DVL). It uses depth measurement for improvement of the location estimation. The method augments the estimation state to include the depth along with roll, pitch and yaw. EKF approach is used for estimation of attitude and location of the vehicle. Simulation results verify the improvements through fusion of depth measurement.



14:00~14:15	WB09-3

Direct Drive Thruster: Reduction of Magnetic Field Distortion for Navigation of an Underwater Robot
Nak Yong Ko(Chosun University, Korea, Republic of ), Yong Seon Moon(Sunchon National University,, Korea, Republic of ), Yong-Gu Park(Redone Technologies, Co., Ltd., Korea, Republic of ), Hyun Taek Choi(Korea Research Institute of Ships & Ocean Engineering, Korea, Republic of )

This paper reports development of a direct drive thruster for underwater vehicles. The direct drive thruster does not use mechanical gear and magnetic coupling for torque transmission to propeller. The use of direct drive thruster contributes reducing the disturbance on magnetic field, and thus, reduces the uncertainty in measured heading direction. The thruster consists of motor, propeller, electrical driver, and water resistant housing. With no gear system, reduction of weight, power loss, and maintenance effort is possible.



14:15~14:30	WB09-4

A PLL controller for precise velocity tracking of UUV: a new ROV model and its control design
Hee-Jun Lee, Seon-Je Yang, Jong-Gu Park, Tae-Yong Kuc(Sung Kyun Kwan University, Korea, Republic of ), Nak Yong Ko(Chosun University, Korea, Republic of ), Yong-Seon Moon(SUnchon National University, Korea, Republic of )

A phase-locked-loop(PLL) controller is designed in this paper for fast velocity tracking of autonomous underwater vehicle(AUV). Digital encoder output encodes measured velocity of actuator and its phase is compared with reference frequency of desired velocity command in the feedback loop to achieve fast convergence of tracking error. This makes possible dynamics model of AUV motion be controlled by focusing on the motor speed control after solving inverse kinematics and dynamics of AUV. Simulation results are given to demonstrate the feasibility and effectiveness of the proposed controller.



14:30~14:45	WB09-5

Performance Evaluation of ToA-based Sensor Localization System in Underwater Sensor Networks
ChangHo Yu, SuHong Min, Jae Weon Choi(Pusan National University, Korea, Republic of )

In this paper, ToA-based sensor localization system in USNs is proposed, which consists of ToA-based distance estimation, position computation using trilateration, and localization algorithm using recursive position estimation (RPE). For the performance evaluation of the proposed sensor localization system, various computer simulations are conducted according to the reference node’s position, reference node’s communication area, detecting area of sensor node, and the number of sensor node.



14:45~15:00	WB09-6

Path Planning Algorithm to Minimize an Overlapped Path and Turning Number for an Underwater Mining Robot
Pandu Sandi Pratama, Jin Wook Kim, Hak Kyeong Kim(Pukyong National University, Korea, Republic of ), Suk Min Yoon, Tae Kyeong Yeu, Sup Hong(Korea Research Institute of Ship and Ocean Engineering, Korea, Republic of ), Sang Bong Kim(Pukyong National University, Korea, Republic of ), Sea June Oh(Korea Maritime and Ocean University, Korea, Republic of )

The purpose of this paper is to generate the shortest path for an underwater mining robot to travel through the entire given bathymetric map with minimum overlapping path and minimum turning number based on binary map, cell decomposition, minimal sum of altitude method and depth-first search algorithm. The simulation result shows that the proposed method generates the short coverage path with minimum overlapping, minimum turning number and fast coverage time compared to vertical and horizontal cell decomposition methods.