Joon-Young Kim

Korea Maritime and Ocean University · Division of Marine Equipment Engineering

The goal of underwater docking is to safely insert an autonomous underwater vehicle (AUV) into the docking sleeve of a docking station (DS). However, AUVs frequently experience disturbances in their operating environment under motional constraints owing to their shapes, which can significantly impede successful docking missions. Therefore, it is es...

The twin hybrid autonomous underwater vehicle (THAUV) is a novel type of unmanned underwater platform that consists of a twin torpedo-shaped hull and is actuated by two buoyancy engines and two thrusters proposed in this paper. The THAUV was designed to have faster speed generated by the two buoyancy engines and two thrusters. The two buoyancy engi...

A typical structure of an underwater glider (UG) includes a pair of fixed wings, and the hydrodynamic force driving the glider forward as descending or ascending in the water is generated primarily by the fixed wings. In this paper, a simplified glider motion model was established to analyze the dynamics in an easier way, and whose simulation resul...

A hybrid underwater glider (HUG) is marine observation equipment that consumes a small amount of energy and offers greater range and navigation times. To achieve reduced energy consumption, however, the HUG uses imprecise navigation sensors, such as mems-type GPS and AHRS, resulting in inaccurate coordination. This study makes a new attempt on the...

We used a numerical method to estimate the hydrodynamic maneuvering derivatives for the heave-pitch coupling motion of an underwater glider. It is very important to assess the hydrodynamic maneuvering characteristics of a specific hull form of an underwater glider in the initial design stages. Although model tests are the best way to obtain the der...

This paper describes the dynamics modeling, structural analysis of UCR. First of all, the system configuration of UCR and structural analysis are introduced. After that, 3-DOF equation of UCR is introduced for an analysis of motion performance through a numerical simulation, and applying the LOS method at the UCR for path following. Finally, the pe...

In this article, we develop the analysis of a new underwater tracked vehicle with rock crushing tool, working under the water. To design the capacity of the underwater tracked vehicle actuator and the rock crushing tool actuator, we analyze the interaction forces and torque between the rock and the rock crushing tool. Since experiments on the under...

This paper introduces a GPS-aided dead reckoning algorithm that asymptotically estimates the heading bias error of a magnetic compass based on geodetic north, improves the position error accumulated by dead reckoning, and helps the estimated position of an AUV to represent a position in the NED coordinate system, by receiving GPS position informati...

This paper present a method of straight path following for trenching works of underwater construction robot. First of all, deriving 3-DOF equation of underwater construction robot for an analysis of fundamental motion performance through a numerical simulation using Matlab. After then, the pure-pursuit method which is the one of the geometric path...

Underwater Vehicle-Manipulator System (UVMS) is a useful system to perform diverse and sophisticated operations under the water. However it is difficult to control the motion of UVMS due to external disturbances such as payloads holding underwater objects, currents, etc. In this paper, in order to ensure the dynamic stability of the UVMS, redundanc...

This paper introduces the GPS(Global Positioning System)-aided localization algorithm designed especially for improvement for position error due to dead reckoning using DVL(Doppler Velocity Logger) and TCM(Tilt-compensated Compass Module). In order to verify fundamental performance of proposed algorithm, dynamic simulation was performed. As a resul...

For manipulative underwater operations, an underwater vehicle-manipulator system (UVMS) has more degrees of freedom than those required to conduct a given mission. To follow the desired end-effector position and velocity accurately, UVMS should be able to generate trajectories of manipulators and the underwater vehicle can maintain dynamic stabilit...

Understanding the trencher interaction through analyses on the design and mechanics is essential for autonomous and operations of underwater tracked vehicles (UTVs) with a ladder trencher (LT). The objective of this paper is to analyze the mechanics of the UTV system that are affected by LT force and moment. For this, the force and moment on the cu...

This paper introduces a hovering-type autonomous underwater vehicle (AUV) developed for research and its fundamental motion performance results obtained by simulation and field test. The AUV can control its motion in four degrees of freedom (DOF) by means of its horizontal and vertical thrusters, and it is designed to provide a test-bed that facili...

In this paper, an underwater glider (UG) has been studied and developed for observing the ocean environment. The design and control of a new underwater glider (UG) having a high horizontal speed of the maximum 2.5 (Knots) was studied. For this, the capacity of buoyancy engine which performs 2.5 (Knots) horizontal speed was designed. Also, a control...

The underwater vehicle-manipulator system (UVMS) is basically a redundant system. Hence, this redundant system can have various combinations of joint velocities that do not affect the given velocity profile of an end-effector and this may induce a self-motion of a vehicle. In the current paper, the performance index based on the concept of Zero Mom...

This paper presents a steering and diving control of an autonomous underwater vehicle (AUV) platform named KAUV, which is designed as a torpedo with light weight and small size. Through a unique ducted propeller and rudder located at the aft, the KAUV can perform horizontal motion. It also control pitch angle and depth motion with an inside mass sh...

The dynamics of underwater umbilical cable (UC) for underwater vehicle (UV) are an important in ocean engineering. These UC are widely used in the ocean environment for signal and power transmission application. To apply the cable to power and data transmission for small UV, the dynamics of the UC are studied in the paper. The nonlinear and coupled...

This paper describes the mathematical modeling and control algorithms of an unmanned underwater vehicle (UUV) named Minekiller. This UUV has two longitudinal thrusters, one vertical thruster, and an internal mass moving system, which can control the pitch rate. The UUV is equipped with a movable mass for pitch control. It is different from other co...

In this paper, a new variable-focus LED light device is developed for underwater communication. Usually used as an underwater lighting fixture, the LED light device in this study is utilized as an underwater communication device (UCD) by controlling the distance between light source and lens when communication is needed. A transmission and a receiv...

This paper presents an architecture of a newly developed autonomous underwater vehicle (AUV) platform, named KAUV-1, which is designed as a torpedo with very light weight and small size, suitable for use in marine exploration and monitoring. The KAUV-1 has a unique ducted propeller located at the aft end with yawing actuation acting as a rudder. Fo...

This paper is about the study on a newly developed small waterproofed 4-axis robot arm and the analysis of its kinematics and dynamics. The structure of robot arm is designed to have Pitch-Pitch-Pitch-Yaw joint motion for inspection using a camera on itself and the joint actuator driving capacity are selected and the joint actuators are designed an...

Recently, data collection time for inspection of manufactured parts has been reduced by using machine vision systems that have emerged as a financially viable device, compared to conventional touch-based coordinate measuring machines. However, the overall accuracy and speed of the inspection using the machine vision system is still determined by th...

This paper describes the design and control of a hovering AUV test-bed and analyzes the dynamic performance of the vehicle using simulation programs. The main purpose of this vehicle is to carry out fundamental tests of its station keeping, attitude control, and desired position tracking. Its configuration is similar to the general appearance of an...

This paper describes the development and field experiments of Manta-type Unmanned Underwater Vehicle (UUV). Various simulations for Manta UUV are performed by using the nonlinear 6-DOF motion of equations. Through this simulation we verified the motion performances of Manta UUV. To acquire the blueprint of Manta UUV, it was designed with the simula...

In this paper, a study of a new hovering six dof underwater robot with redundant horizontal thrusters, titled HAUV (hovering AUV), is presented. The results of study on the structure design, deployment of thrusters, and development of the developed control system of the AUV was presented. For the HAUV structure, a structure design and an analysis o...

This paper presents a design of fuzzy PD depth controller for the autonomous underwater vehicle entitled KAUV-1. The vehicle is shaped like a torpedo with light weight and small size and used for marine exploration and monitoring. The KAUV-1 has a unique ducted propeller located at aft end with yawing actuation acting as a rudder. For depth control...

For the accurate estimation of the position and orientation of a UUV (unmanned underwater vehicle), a low-cost AHRS (attitude heading reference system) was developed using a low-cost IMU (inertial measurement unit) sensor which provides information on the 3D acceleration, 3D turning rate and 3D earth-magnetic field data in the object coordinate sys...

In today's world of precision engineering, robustness and accuracy in the evaluation of the form tolerances are considered as competitive advantages for manufacturing enterprises. Amongst various methods for accurate and robust evaluation, which have been studied, nonlinear optimization methods based on operational research have proved to be succes...

In this study, a short baseline (SBL) acoustic positioning system has been implemented for a small-sized remotely operated vehicle (ROV). The SBL system is capable of three-dimensional localization in real-time when the ROV is operating in underwater environments. The SBL system is composed of four fixed receivers underneath the water surface, a mo...

This paper describes an analysis on architecture and control system of a new disk-shaped underwater robot entitled an underwater disk robot (UDR) which has six degrees of freedom (DOF) motion. The UDR has three symmetrical thrusters disposed around the perimeter of a circular chassis, each facing 120 degrees apart from the others. With this disposi...

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...

In this paper, automatic control system for the Manta UUV are constructed for the diving and steering maneuver. PID controller and Fuzzy controller are adopted in this system. Based on the 6DOF dynamic equation, simulation program has been developed using the Matlab. Using this program, depth control system and heading control system with tidal cur...

Ahstract- 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 pressu...

The depth and heading control of an autonomous underwater vehicle (AUV) are considered to follow the predetermined depth and heading angle. The proposed control algorithm was based on a sliding mode control, using estimated hydrodynamic coefficients. The hydrodynamic coefficients were estimated employing conventional nonlinear observer techniques,...

This paper describes the dynamic modeling, structural analysis, implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). Various controllers such as PID, Sliding mode, and Fuzzy and H∞ controllers are designed for depth and heading control in order to compare the performance of each controller based on simulation. In...

In this paper we executed a SBL(Short Baseline) underwater acoustic positioning system that is a kind of underwater position estimation system to estimates the 3-dimensional position of ROV(Remotely Operated Vehicle) using hydrophones and DAQ(Data Acquisition) system in the basin which dimensions are . For this experiment, we let 4 hydrophones in d...

The purpose of this paper is to analyze the nonlinear ship roll motion equation and the main parameters that induce ship capsizing in beam seas, estimate the survival probability of a ferry in random seas and to find out a risk assessment method for the ship’s intact stability. A single degree of freedom (1-DOF) dynamic system of ship rolling in be...

This paper describes the design and performance of a hovering AUV 'NOAH' constructed at Jeju National University. We analyse the dynamic performance of NOAH using simulation program and carry out depth control test at small basin. The main purpose of NOAH is to carry out fundamental tests on its attitude control and position control. Its configurat...

This paper describes the mathematical model and controller design for Manta-type Unmanned Underwater Test Vehicle (MUUTV) with 6 DOF nonlinear dynamic equations. The mathematical model contains hydrodynamic forces and moments expressed in terms of a set of hydrodynamic coefficients which were obtained through the PMM (Planar Motion Mechanism) test....

This paper describes the mathematical model and controller design for Manta-type unmanned underwater test vehicle (MUUTV) with 6 DOF nonlinear dynamic equations. The mathematical model contains hydrodynamic forces and moments expressed in terms of a set of hydrodynamic coefficients which were obtained through the PMM (planar motion mechanism) test....

This paper describes the design and development of a hovering AUV constructed at Cheju National University and analyses the dynamic performance of the vehicle using simulation program. The main purpose of this AUV is to carry out fundamental tests on its station keeping, attitude control, and desired position tracking. Its configuration is similar...