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It is still hard mission for human divers or robotic systems to investigate complex underwater environments, composed of several turning points and rooms. This paper explains a design of the Autonomous Underwater Vehicle (AUV) for marking physical and visible path logs in water. Then, it will make the repeated exploration easier. For the solution of underwater marking, we chose to use paraffin wax...
This paper presents the recent R&D activities on underwater vehicles in Korea. A highly maneuverable high speed ROV has been developed for surveying the strong tidal area. Characteristics of the vehicle are discussed in view of flow effect and operation at strong currents. This paper introduces a high speed AUV HW200 and discusses its operational test at high speed conditions. This paper present...
This paper presents a novel hovering-type AUV(Autonomous Underwater Vehicle) system for precision observation. The vehicle design focused on precise localization and maneuverability to acquire precise visual data. The concept of the proposed vehicle hardware/software system is described in detail. To maximize the system's flexibility, the thrusters' layout can easily be adjusted for optimal performance...
This paper presents a positioning method for UUV using an anchor. The anchor system can be significantly effective means of the position control for the vehicle under strong ocean current. Adjusting the wire tension using the vehicle attached winch allows the position control of the vehicle. The modeling of the proposed system and the positioning performance under the steady state flow condition is...
This paper addresses multi-purpose autonomous amphibious vehicle. It could operate 3 terrains; land-sea-air, a 3-in 1 amphibious vehicle. Usually the vehicle runs as AUV in underwater. It has tracks to run on-land and seabed and works as AGV, ACV. On the pressure hull, there is a waterproof cargo with self-sealing hatch. This enables agent vehicle's launch such as UAV, on seabed. This study focuses...
This paper addresses acoustic camera DIDSON based object recognition method for AUVs (Autonomous Underwater Vehicles). The acoustic camera's characteristics and display method based on various experiments and the acoustic camera model and efficient and reliable image recognition method for AUVs are proposed. As examples, the cubic and cylindrical objects modeled to simulate the image and their recognition...
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