25 January, 2011

Pan-Mook Lee

R&D Activities for Underwater Vehicles

and Acoustic Communication

POGO 12KORDI Perspective

Presentation Outline

Vehicles

1.

ROV & Depressor [Hemire/Henuvy, 2007]

2.

AUV [ISIMI100, 2009~2011]

3.

Mine Disposal Vehicle (MDV) [June 2011]

4.

Self-propelled Mining Robot [test miner MineRo, 2009~2012]

UA Network

5.

Underwater Acoustic Network [2005~2011]

Future Works

- 2 -

1. Deep-sea ROV & Depressor, Hemire/Henuvy

Max. depth 6,000 mDimension (LXBXH)

3.3m X 1.8 m X 2.2 m (ROV)2.6 m X 1.2 m X 1.3 m (Depressor)

Weight (R/D) 3,700 kg / 1,100 kg

Payload 200kg

Max. speed (R)

For./Lat./Vert. 1.5/1.0/1.5 knots

Thrusters 6 ea 5HP, BLDC motor driven

Tether length 35 m (50m, 75m)

Equipments(ROV)

3 CCD, SIT, Color & B/W Cam, HMI, lamps, CTD, Altimeter, P/T, IMU, DVL, FLS, MBS, USBL responder, Two 7-F Hydraulic Manipulators, Tool sled, Mission sensors (methane …)

Equipments(Depressor)

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/Henuvy

- 5 -

① ROV Launch ② Depressor Launch

③ Depressor Recovery ④ ROV Recovery

Methane (HS ppm)0.0 0.1 0.2 0.3 0.4 0.5

Dep

th (c

mbs

f)

0

5

10

15

20

25

CH4

CO (HS ppm)1.5 2.0 2.5 3.0 3.5 4.0 4.5

CO

6

1. Deep-sea Survey of Hemire

ROV

Location : [36°05.88’N, 130°.04.73E]

70 km East from Pohang

depth:

1.500m

found methane hydrate

- 6 -

7

Survey Results of Hemire ROV (June, 2009)

- 7 -

8

Survey Results of Hemire ROV (June, 2009)

- 8 -

2. ISiMI100 AUV

CCD camera, depth sensor,Connect to external PC,

RF antenna, Sonar

ATM

DVL

DVL Amp. & Sonar Amp. ATM

Amp.

ComputerI/O Board

HDD

ComputerFrame Grabber

HDD

Lithium Polymerbattery

Motor controller,power converter,Voltage Checker

Linear actuatorBLDC motor

Specification of ISiMI100

- 9 -

Max. depth 100 mDim./Weight 0.20 m x 1.58 m (D x L) / 38 kgSpeed / Battery 3 kts (max 4kts) / Lithium polymer batteryEquipments GPS, DVL, ATM, IMU, Depth sensor, Docking System,

Position tracking, Sonar system, RF & Wireless Communication

2. Field Test of ISIMI100 AUV

0 50 100 150 200 250-40

-20

0

20attitude PHI, THETA, PSI

phi [

deg]

0 50 100 150 200 250-20

0

20

40

thet

a [d

eg]

0 50 100 150 200 250-1

0

1

2

time [sec]

dept

h [m

]

responsereference

- 10 -

depth changing with keeping heading control

2. Field Test of ISIMI100 AUV

0 10 20 30 40 50 60-25

-20

-15

-10

-5

0

5

10

15

20

2510/10 Zigzag Test - SSRI

time[sec]

Ang

les[

degr

ee]

Rudder AngleHeading

-4 -2 0 2 4 6 8 10 12 14-35

-30

-25

-20

-15

-10

-5

0Turning Experiment

UTM X [m]

UTM

Y [m

]

5 10 15 20 25 30 35 40 45 50-60

-50

-40

-30

-20

-10

0

10Waypoints Tracking Experiment

UTM X [m]

UTM

Y [m

]

Zigzag Test (10˚/10˚)Zigzag Test (10˚/10˚)Waypoint TrackingWaypoint Tracking

Circular MotionCircular MotionSide Scan ImagesSide Scan Images

- 11 -

USBL Sensorat Docking Station

AUV

Data communication

USBL Sensorat AUV’s nose

AUV

DOCK

Docking Stage Using Vision Sensor & Lamps

U. DockingU. Docking2. AUV ISIMI -

Docking

Acoustic Homing & Docking: USBL for homing, docking, & comm. of ISiMI AUV

- 12 -

Visually guided docking

3. Mine Disposal Vehicle

Max Depth : 400mMax Range : 2 km

Condition : Sea State 4Max Speed > 7knots

Op. Time : 80min @ 7knots

- 13 -

Automatic Homing Automatic Target Approaching

Positioning

Navigation & Surveillance Sonar (max. 200m)

Identification Sonar (multi-beam, max. 65m)

To develop a vehicle for mine disposal at a extreme environment with high tidal current and high turbidity

- Automatic installation of ECP/CAP- Precise navigation with IMU/APS- Surveillance Sonar & ID Sonar

L=3.5mD=0.55m

3. Operation ModeController

Cable Winch

Optic CableOr

Coaxial Cable

Cable comm. mode

RF buoy comm. mode

- 14 -

RF buoy test

3. Field Test of the MDV

Field test for max speed and maneuvering performance of the MDV

Test for operation time at max speed Multi-beam Sonar

- 15 -

Mining vessel

Ore carrier

Continuous mining &off-loading operation

Lifting pump

Discharge pipe

Tailing discharge

Lifting pipe

Flexible pipe

BufferActive positioning(option)

Self-propelled miner

Major functions required by a self-propelled mining robot

Swift mobility on soft and cohesive seafloorEnvironment-friendly pick-up of nodulesDisposing of nodules through flexibleReal-time operating systemIntegrated control of dynamic behaviorsHyperbaric resistance of structure and equipmentsValidation through pilot-scale tests

4. Self-propelled mining robot

- 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: pressure

compensated• 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 nodulesPreparation of artificial nodules

Launching of MineRoLaunching of MineRo

Real-time operation from Control VANReal-time operation from Control VAN

Recovery of artificial nodulesRecovery of artificial nodules

Underwater scenesUnderwater scenes

- 18 -

4. Seafloor driving performance & control test (’10)

80 90 100 110 120 130

-60

-50

-40

-30

SR - Turning Radius (Vel:0.5, SR:1.2, Left-turn)

East[M]

Nor

th[M

]

35 40 45 50 55 60

-45

-40

-35

-30

SR - Turning Radius (Vel:0.5, SR:1.5, Left-turn)

East[M]

Nor

th[M

]

60 65 70 75 80

2

4

6

8

10

12

14

16

SR - Turning Radius (Vel:0.5, SR:1.5, Right-turn)

East[M]

Nor

th[M

]

450 452 454 456 458 460

-112

-110

-108

-106

-104

SR - Turning Radius (Vel:0.5, SR:2.0, Left-turn)

East[M]

Nor

th[M

]

Turning radius

-20 0 20 40 60 80 100-250

-200

-150

-100

-50

0

East[m]

Nor

th[m

]

Localization

USBLpre-filterKalman

Localization : EKF

100 150 200 250-0.4

-0.2

0

0.2

0.4Slip of Track (Vel : 0.3, SR : 1.8)

Time [sec]

Slip

Slip of Inner TrackSlip of Outer Track

800 850 900 950 1000-0.1

-0.05

0

0.05

0.1

0.15

0.2

0.25Slip of Track (Vel : 0.5, SR : 1.2)

Time [sec]

Slip

Slip of Inner TrackSlip of Outer Track

280 300 320 340 360 380-0.4

-0.2

0

0.2

0.4Slip of Track (Vel : 0.3, SR : 1.8)

Time [sec]

Slip

Slip of Outer TrackSlip of Inner Track

1100 1150 1200 1250-0.05

0

0.05

0.1

0.15

0.2

0.25

0.3Slip of Track (Vel : 0.5, SR : 1.2)

Time [sec]

Slip

Slip of Outer TrackSlip of Inner Track

Slip at steering

31.1 31.2 31.3 31.4 31.5 31.6 31.738.5

38.6

38.7

38.8

38.9

39

39.1

39.2

East[minutes]

Nor

th[m

inut

es]

Total Path

-80 -60 -40 -20 0-50

-40

-30

-20

-10

0

10

20

East[m]

Nor

th[m

]

PathKalmanUSBL

- 19 -

5. Underwater Acoustic Network(UA-Net)

◈

Development of underwater acoustic communication network system for remote control and oceanographic monitoring -

Transmission Speed

: Upto

9,600 bps

-

Distance between nodes

: Upto

1 km

-

Transmission Delay

: less than 10 sec

◈

Research Topics-

Underwater channel modeling and channel emulator implementation

-

Development of underwater acoustic modem

-

Underwater network and protocol design and implementation

-

Underwater-ocean-internet interworking network design

◈

Fund : 6 million $ from the Korean government

◈

Period : 2003-2011

Gateway Gateway

Mobile end Mobile end -- nodenode

Working Working Robot NodeRobot Node

Central Central Control CenterControl Center

Fixed endFixed end-- nodenode

- 20 -

5. Underwater Acoustic Modem

One-directional Modem

range/ speed

7.4km / 10kbps

Characteri

stic

•Dedicated Tx and Rx sensors

•Directional sensor

Bi-directional Modem(2007)

range/ speed

9.7km / 10kbps

characteri

stic

•Dedicated Tx and Rx sensors

•Directional sensor

Long range one-directional modem

range/ speed

16km / 5kbps

charact

eristic

•Long-range Tx

(12.5kHz)•Directional sensor

Bi-directional Modem

range/ speed

6km / 10kbps

charac

teristic•Omni-sensor

•Small size

Network Modem

range/ speed

3km / 10kbps

charac

teristic•DC power

•Omni-sensor

Integrated Modem

sizeφ180 x 440 (mm),

10kg

range/ speed

3km / 10kbps

charac

teristicAll-in-one

type

20 40 60 80 100 120 140 160

10

20

30

40

50

60

70

80

90

20 40 60 80 100 120 140 160

10

20

30

40

50

60

70

80

90

20 40 60 80 100 120 140 160

10

20

30

40

50

60

70

80

90

Integrated Modem

sizeφ140 x 340 (mm),

5.9kg

range/ speed

3km / 10kbps

charac

teristicSmaller sizeand weight

20052005

20072007

20082008

20082008

20092009

20092009

201020101km

2km

3km

- 21 -

- 22 -

5. Underwater Network Protocol

Design

Underwater Network ProtocolDesignDesign

Underwater Network ProtocolUnderwater Network Protocol Implement Underwater Network ProtocolImplement Underwater Network Protocol

Underwater Experiment:  Routing path determination + data transfUnderwater Experiment:  Routing path determination + data transferer

Experimental setupExperimental setup

Underwater network protocol algorithmUnderwater network protocol algorithm Underwater network protocol GUIUnderwater network protocol GUI

GUI Experiment ResultsGUI Experiment Results

Future Works

‘ISIMI6000’

Walking-flying hybrid vehicle

- 23 -

Survey on cold seeping and hydrothermal vent with Hemire ROV & Henuvy depressor

Development of a high speed AUV to survey high tidal current areas

Development of a deep-sea AUV ‘ISIMI6000’ for oceanographic applications

To complete the navy acceptance tests for the MDV

Mining performance test in deep water with the self-propelled mining robot MineRo (at the East Sea, 2,000m depth)

Development of a multi-legged seabed robot recently launched project for survey and operation on sea floor and subsea structures

Improvement on the underwater acoustic modem and the underwater mobile network system for short-range and long-range communication