Fig 9 - uploaded by Joon-Young Kim
Content may be subject to copyright.
Source publication
This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor...
Context in source publication
Context 1
... verify the depth and heading control simulation, free running tests were carried out in a towing tank as shown in Fig. 9. The dimension of the towing tank is 100m (L) x 8m (W) x 3.5m (D). As the basic functions of the MUUV test-bed, the depth and heading control were tested using the PID controller. The desired value is 50cm in depth control and 20 ̊ in heading control. The experimental result of the depth control is shown in Fig. 10 and the heading control is shown in Fig. 11. The depth control result shows the sensor noise of the pressure sensor and the heading control result is poor because the magnetic compass is disturbed by the magnetic field of the towing tank. This paper describes the design, implementation and test results of the MUUV. The vehicle is tested for a comparison of the simulation results with the free running test results. In simulation, we designed classical and modern controllers such as PID, sliding mode, fuzzy and H ∞ . The free running tests were carried out in a towing tank in order to compare with the simulation results for depth and heading control. The experiment results are insufficient and not what we expected because of the depth sensor noise and magnetic field of towing tank. In future work, various controllers will be adopted on the MUUV for a free running test. This research was supported by UVRC (Underwater Vehicle Research Center) and UTRC (Unmanned Technology Research Center) of ADD (Agency for Defense ...
Similar publications
Numerous studies demonstrated that the Pacific Meridional Mode (PMM) can excite Central Pacific (CP) El Niño-Southern Oscillation (ENSO) events and that the PMM is mostly a stochastic phenomenon associated with mid-latitude atmospheric variability and wind-evaporation-SST feedback. Here we show that CP sea surface temperature (SST) variability exhi...
A 3D numerical model named NEWTANK is employed to investigate the flow motion and sediment transport in grouped spur dikes system. This model is based on the Navier-Stokes equations, adopting the Volume of Fluid (VOF) method to track the free surface motion, while the solid is described by using the Porous Media Method (PMM). The Large Eddy Simulat...
![FIGURE 2. A DAG-based application and task WCETs [12] [29].](profile/Xiaowen-Jiang-3/publication/328085711/figure/fig2/AS:678188158042113@1538704065988/A-DAG-based-application-and-task-WCETs-12-29_Q320.jpg)
Energy saving and system reliability are two crucial issues for designing modern multiprocessor systems. There have been reliability-aware power management with Dynamic Voltage Frequency Scaling (DVFS) schemes in recent studies. However, they are limited to optimization under the impact of DVFS on energy and reliability, and have not considered red...
In order to assess the influence of ship-bank interaction on ship manoeuvring motion, planar motion mechanism (PMM) tests on a scale model of the KRISO very large crude carrier (KVLCC2) are conducted in different water depths in circulating water channel (CWC). The asymmetric hydrodynamic derivatives are defined to characterize the bank effect, and...
Sugarcane industry wastes media made of press mud, sugar mill effluent and by-products before inoculation of Chlorella vulgaris, the chemical properties were analyzed such as dissolved oxygen (DO), hardness, chemical oxygen demand (COD), total solids (TS), total suspended solids (TSS), total dissolved solids (TDS). Different categories including so...
