R&D activities for underwater vehicles and acoustic ... - POGO

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R&D activities for underwater vehicles and acoustic ... - POGO

POGO 12KORDI PerspectiveR&D Activities for Underwater Vehiclesand Acoustic Communication25 January, 2011Pan-Mook Lee


Presentation OutlineVehicles1. ROV & Depressor [Hemire/Henuvy, 2007]2. AUV [ISIMI100, 2009~2011]3. Mine Disposal Vehicle (MDV) [June 2011]4. Self-propelled Mining Robot [test minerMineRo, 2009~2012]UA Network5. Underwater Acoustic Network [2005~2011]Future Works-2 -


1. Deep-sea ROV & Depressor, Hemire/HenuvyMax. depthDimension(LXBXH)Weight (R/D)PayloadMax. speed(R)Thrusters6,000 m3.3m X 1.8 m X 2.2 m (ROV)2.6 m X 1.2 m X 1.3 m (Depressor)3,700 kg / 1,100 kg200kgFor./Lat./Vert. 1.5/1.0/1.5 knots6 ea 5HP, BLDC motor drivenTether length 35 m (50m, 75m)Equipments(ROV)Equipments(Depressor)3 CCD, SIT, Color & B/W Cam, HMI,lamps, CTD, Altimeter, P/T, IMU, DVL,FLS, MBS, USBL responder, Two 7-FHydraulic Manipulators, Tool sled,Mission sensors (methane …)Up to 4 Cam (1 SIT), 2 lights, SSS,FLS, Altimeter, USBL responder,8,500m armored cable,Two thrusters for head control-3 -


1. Operation of Hemire ROV-4 -


1. Launch & Recovery of Hemire/Henuvy1 ROV Launch2 Depressor Launch3 Depressor Recovery4 ROV Recovery-5 -


1. Deep-sea Survey of Hemire ROV Location : [36°05.88’N,130°.04.73E]70 km East from Pohangdepth: 1.500mfound methane hydrateCO (HS ppm)1.5 2.0 2.5 3.0 3.5 4.0 4.5Methane (HS ppm)0.0 0.1 0.2 0.3 0.4 0.50CH 4CO51015Depth (cmbsf)20625-6-


Survey Results of Hemire ROV (June, 2009)7-7 -


Survey Results of Hemire ROV (June, 2009)8-8 -


Specificationof ISiMI100Max. depthDim./WeightSpeed / BatteryEquipments2. ISiMI100 AUV100 m0.20 m x 1.58 m (D x L) / 38 kg3 kts (max 4kts) / Lithium polymer batteryGPS, DVL, ATM, IMU, Depth sensor, Docking System,Position tracking, Sonar system, RF & WirelessCommunicationATMDVL Amp.& Sonar Amp.ATMAmp.ComputerFrame GrabberHDDMotor controller,power converter,Voltage CheckerCCD camera, depth sensor,Connect to external PC,RF antenna, SonarDVLComputerI/O BoardHDDLithium PolymerbatteryLinear actuatorBLDC motor-9 -


2. Field Test of ISIMI100 AUVdepth changing with keeping heading control20attitude PHI, THETA, PSIphi [deg]0-20theta [deg]depth [m]-400 50 100 150 200 25040200-200 50 100 150 200 250210responsereference-10 50 100 150 200 250time [sec]- 10 -


2. Field Test of ISIMI100 AUVSide Scan ImagesCircular Motion0Turning Experiment-5-10UTM Y [m]-15-20-25-30Zigzag Test (10˚/10˚)2520151010/10 Zigzag Test - SSRI-35-4 -2 0 2 4 6 8 10 12 14UTM X [m]100-10Waypoint TrackingWaypoints Tracking ExperimentAngles[degree]50-5Rudder AngleHeadingUTM Y [m]-20-30-10-40-15-20-50-250 10 20 30 40 50 60time[sec]-605 10 15 20 25 30 35 40 45 50UTM X [m]- 11 -


2. AUV ISIMI - DockingU. DockingDocking Stage Using VisionSensor & LampsDOCKAUVVisually guided docking• Acoustic Homing & Docking:USBL for homing, docking, & comm. of ISiMI AUVAUVUSBL Sensorat AUV’s noseData communicationUSBL Sensorat Docking Station- 12 -


3. Mine Disposal Vehicle• To develop a vehicle for mine disposalat a extreme environment with hightidal current and high turbidity- Automatic installation of ECP/CAP- Precise navigation with IMU/APS- Surveillance Sonar & ID SonarPositioningL=3.5mD=0.55mAutomatic HomingAutomaticTarget ApproachingIdentification Sonar(multi-beam, max. 65m)Max Depth : 400mMax Range : 2 kmCondition : Sea State 4Max Speed > 7knotsOp. Time : 80min @ 7knotsNavigation & Surveillance Sonar (max. 200m)- 13 -


3. Operation ModeControllerCableWinchOptic CableOrCoaxial CableCable comm. modeRF buoy testRF buoy comm. mode- 14 -


3. Field Test of the MDVTest for operation time at max speedMulti-beamSonarField test for max speed and maneuvering performance of the MDV- 15 -


4. Self-propelled mining robot Major functions required by a self-propelledmining robot• Swift mobility on soft and cohesive seafloor• Environment-friendly pick-up of nodules• Disposing of nodules through flexible• Real-time operating system• Integrated control of dynamic behaviorsOre carrier• Hyperbaric resistance of structure and equipments• Validation through pilot-scale testsContinuous mining &off-loading operationLifting pumpMining vesselDischarge pipeTailing dischargeLifting pipeFlexible pipeBufferActive positioning(option)Self-propelled miner- 16 -


4. A Self-propelled Test Miner, MineRo• Mining Capacity: 8.6t/h• Weight: 9.6ton(air), 4.6ton(water)• Size: 5m(L) x 4m(W) x 3m(H)• Power: 3.3kVA, 135kW(hydraulic),15kW(electric)• Hybrid Pick-up: hydraulic + mechanical• Tracked Vehicle• Contact Pressure: 5.6kPa(mean)• Thrusters: heading control• Underwater Hydraulic: pressurecompensated• RTOS: PXI embedded controller• Cable: umbilical(single mode)• LARS (Launch & Recovery System)Developed and applied design technologies•SBD: real-time simulation of miner vehicle, flexible and buffer, lifting pipe•MDO: optimum energy consumption design satisfying constraints (mining rate & safety)- 17 -


4. Mining performance test in shallow water(‘09)Preparation of artificial nodulesLaunching of MineRoUnderwater scenesRecovery of artificial nodulesReal-time operation from Control VAN- 18 -


4. Seafloor driving performance & control test (’10)Turning radiusNorth[M]SR - Turning Radius (Vel:0.5, SR:1.2, Left-turn)-30-40-50-6080 90 100 110 120 130East[M]North[M]SR - Turning Radius (Vel:0.5, SR:1.5, Left-turn)-30-35-40-4535 40 45 50 55 60East[M]Slip at steeringSlip0.250.20.150.10.050-0.05Slip of Track (Vel : 0.5, SR : 1.2)Slip of Inner TrackSlip of Outer Track-0.1800 850 900 950 1000Time [sec]Slip0.30.250.20.150.10.050Slip of Track (Vel : 0.5, SR : 1.2)Slip of Outer TrackSlip of Inner Track-0.051100 1150 1200 1250Time [sec]North[m]20100-10-20PathKalmanUSBLSR - Turning Radius (Vel:0.5, SR:1.5, Right-turn)16SR - Turning Radius (Vel:0.5, SR:2.0, Left-turn)-1040.4Slip of Track (Vel : 0.3, SR : 1.8)0.4Slip of Track (Vel : 0.3, SR : 1.8)-30North[M]141210864260 65 70 75 80East[M]North[M]-106-108-110-112450 452 454 456 458 460East[M]Slip0.20-0.2Slip of Inner TrackSlip of Outer Track-0.4100 150 200 250Time [sec]Slip0.20-0.2Slip of Outer TrackSlip of Inner Track-0.4280 300 320 340 360 380Time [sec]-40-50-80 -60 -40 -20 0East[m]Localization : EKFNorth[m]0-50-100-150-200LocalizationUSBLpre-filterKalman-250-20 0 20 40 60 80 100East[m]North[minutes]39.239.13938.938.838.738.6Total Path38.531.1 31.2 31.3 31.4 31.5 31.6 31.7East[minutes]- 19 -


5. Underwater Acoustic Network(UA-Net)GatewayCentralControl CenterMobile end -node◈ Development of underwater acousticcommunication network system forremote control and oceanographicmonitoring- Transmission Speed : Upto 9,600 bps- Distance between nodes : Upto 1 km- Transmission Delay : less than 10 secWorkingRobot NodeFixed end-node◈ Research Topics- Underwater channel modeling and channelemulator implementation- Development of underwater acoustic modem- Underwater network and protocol design andimplementation- Underwater-ocean-internet interworking networkdesign◈ Fund : 6 million $ from the Koreangovernment◈ Period : 2003-2011- 20 -


5. Underwater Acoustic Modem102030405060703kmIntegrated Modem80901020302005Bi-directional Modem(2007)range/speedcharacteristic9.7km / 10kbps•Dedicated Tx andRx sensors•Directional sensor2008Long range one-directionalmodemrange/speedcharacteristic16km / 5kbps•Long-range Tx(12.5kHz)•Directional sensor2009sizerange/speedcharacteristicφ180 x 440 (mm),10kg3km / 10kbpsAll-in-onetype405060708090201020 40 60 80 100 120 140 16020 40 60 80 100 120 140 1601020304050607080902km1km20 40 60 80 100 120 140 160One-directional Modemrange/speedCharacteristic7.4km / 10kbps•Dedicated Tx andRx sensors•Directional sensor2007Bi-directional Modemrange/speedcharacteristic6km / 10kbps•Omni-sensor•Small size2008range/speedcharacteristicNetwork Modem3km / 10kbps•DC power•Omni-sensor2009sizerange/speedIntegrated Modemφ140 x 340 (mm),5.9kg3km / 10kbpscharacteristicSmaller sizeand weight- 21 -


5. Underwater Network ProtocolDesign Underwater Network ProtocolImplement Underwater Network ProtocolUnderwater network protocol algorithmUnderwater network protocol GUIUnderwater Experiment: Routing path determination + data transferExperimental setupGUI Experiment Results- 22 -


Future Works• Survey on cold seeping and hydrothermal vent withHemire ROV & Henuvy depressor• Development of a high speed AUV to survey hightidal current areas• Development of a deep-sea AUV ‘ISIMI6000’ foroceanographic applications• To complete the navy acceptance tests for the MDV• Mining performance test in deep water with the selfpropelledmining robot MineRo (at the East Sea,2,000m depth)• Development of a multi-legged seabed robotrecently launched project for survey and operation onsea floor and subsea structures• Improvement on the underwater acoustic modem andthe underwater mobile network system for shortrangeand long-range communication‘ISIMI6000’Walking-flying hybrid vehicle- 23 -

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