POGO 12 KORDI Perspective R&D Activities for Underwater Vehicles and Acoustic Communication 25 January, 211 Pan-Mook Lee
Presentation Outline Vehicles 1. ROV & Depressor [Hemire/Henuvy, 27] 2. AUV [ISIMI1, 29~211] 3. Mine Disposal Vehicle (MDV) [June 211] 4. Self-propelled Mining Robot [test miner MineRo, 29~212] UA Network 5. Underwater Acoustic Network [25~211] Future Works -2 -
1. Deep-sea ROV & Depressor, Hemire/Henuvy Max. depth Dimension (LXBXH) Weight (R/D) Payload Max. speed (R) Thrusters 6, m 3.3m X 1.8 m X 2.2 m (ROV) 2.6 m X 1.2 m X 1.3 m (Depressor) 3,7 kg / 1,1 kg 2kg For./Lat./Vert. 1.5/1./1.5 knots 6 ea 5HP, BLDC motor driven Tether length 35 m (5m, 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-F Hydraulic Manipulators, Tool sled, Mission sensors (methane ) Up to 4 Cam (1 SIT), 2 lights, SSS, FLS, Altimeter, USBL responder, 8,5m armored cable, Two thrusters for head control -3 -
1. Operation of Hemire ROV -4 -
1. Launch & Recovery of Hemire/Henuvy 1 ROV Launch 2 Depressor Launch 3 Depressor Recovery 4 ROV Recovery -5 -
1. Deep-sea Survey of Hemire ROV Location : [36 5.88 N, 13.4.73E] 7 km East from Pohang depth: 1.5m found methane hydrate CO (HS ppm) 1.5 2. 2.5 3. 3.5 4. 4.5 Methane (HS ppm)..1.2.3.4.5 CH 4 CO 5 1 15 Depth (cmbsf) 2 6 25-6-
Survey Results of Hemire ROV (June, 29) 7-7 -
Survey Results of Hemire ROV 8 (June, 29) -8-
Specification of ISiMI1 Max. depth Dim./Weight Speed / Battery Equipments 2. ISiMI1 AUV 1 m.2 m x 1.58 m (D x L) / 38 kg 3 kts (max 4kts) / Lithium polymer battery GPS, DVL, ATM, IMU, Depth sensor, Docking System, Position tracking, Sonar system, RF & Wireless Communication ATM DVL Amp. & Sonar Amp. ATM Amp. Computer Frame Grabber HDD Motor controller, power converter, Voltage Checker CCD camera, depth sensor, Connect to external PC, RF antenna, Sonar DVL Computer I/O Board HDD Lithium Polymer battery Linear actuator BLDC motor -9 -
2. Field Test of ISIMI1 AUV depth changing with keeping heading control 2 attitude PHI, THETA, PSI phi [deg] -2 theta [deg] depth [m] -4 5 1 15 2 25 4 2-2 5 1 15 2 25 2 1 response reference -1 5 1 15 2 25 time [sec] - 1 -
2. Field Test of ISIMI1 AUV Side Scan Images Circular Motion Turning Experiment -5-1 UTM Y [m] -15-2 -25-3 Zigzag Test (1 /1 ) 25 2 15 1 1/1 Zigzag Test - SSRI -35-4 -2 2 4 6 8 1 12 14 UTM X [m] 1-1 Waypoint Tracking Waypoints Tracking Experiment Angles[degree] 5-5 Rudder Angle Heading UTM Y [m] -2-3 -1-4 -15-2 -5-25 1 2 3 4 5 6 time[sec] -6 5 1 15 2 25 3 35 4 45 5 UTM X [m] - 11 -
2. AUV ISIMI - Docking U. Docking Docking Stage Using Vision Sensor & Lamps DOCK AUV Visually guided docking Acoustic Homing & Docking: USBL for homing, docking, & comm. of ISiMI AUV AUV USBL Sensor at AUV s nose Data communication USBL Sensor at Docking Station - 12 -
3. Mine Disposal Vehicle 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 Positioning L=3.5m D=.55m Automatic Homing Automatic Target Approaching Identification Sonar (multi-beam, max. 65m) Max Depth : 4m Max Range : 2 km Condition : Sea State 4 Max Speed > 7knots Op. Time : 8min @ 7knots Navigation & Surveillance Sonar (max. 2m) - 13 -
3. Operation Mode Controller Cable Winch Optic Cable Or Coaxial Cable Cable comm. mode RF buoy test RF buoy comm. mode - 14 -
3. Field Test of the MDV Test for operation time at max speed Multi-beam Sonar Field test for max speed and maneuvering performance of the MDV - 15 -
4. Self-propelled mining robot Major functions required by a self-propelled mining 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 behaviors Ore carrier Hyperbaric resistance of structure and equipments Validation through pilot-scale tests Continuous mining & off-loading operation Lifting pump Mining vessel Discharge pipe Tailing discharge Lifting pipe Flexible pipe Buffer Active 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: 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( 9) Preparation of artificial nodules Launching of MineRo Underwater scenes Recovery of artificial nodules Real-time operation from Control VAN - 18 -
4. Seafloor driving performance & control test ( 1) Turning radius North[M] SR - Turning Radius (Vel:.5, SR:1.2, Left-turn) -3-4 -5-6 8 9 1 11 12 13 East[M] North[M] SR - Turning Radius (Vel:.5, SR:1.5, Left-turn) -3-35 -4-45 35 4 45 5 55 6 East[M] Slip at steering Slip.25.2.15.1.5 -.5 Slip of Track (Vel :.5, SR : 1.2) Slip of Inner Track Slip of Outer Track -.1 8 85 9 95 1 Time [sec] Slip.3.25.2.15.1.5 Slip of Track (Vel :.5, SR : 1.2) Slip of Outer Track Slip of Inner Track -.5 11 115 12 125 Time [sec] North[m] 2 1-1 -2 Path Kalman USBL SR - Turning Radius (Vel:.5, SR:1.5, Right-turn) 16 SR - Turning Radius (Vel:.5, SR:2., Left-turn) -14.4 Slip of Track (Vel :.3, SR : 1.8).4 Slip of Track (Vel :.3, SR : 1.8) -3 North[M] 14 12 1 8 6 4 2 6 65 7 75 8 East[M] North[M] -16-18 -11-112 45 452 454 456 458 46 East[M] Slip.2 -.2 Slip of Inner Track Slip of Outer Track -.4 1 15 2 25 Time [sec] Slip.2 -.2 Slip of Outer Track Slip of Inner Track -.4 28 3 32 34 36 38 Time [sec] -4-5 -8-6 -4-2 East[m] Localization : EKF North[m] -5-1 -15-2 Localization USBL pre-filter Kalman -25-2 2 4 6 8 1 East[m] North[minutes] 39.2 39.1 39 38.9 38.8 38.7 38.6 Total Path 38.5 31.1 31.2 31.3 31.4 31.5 31.6 31.7 East[minutes] - 19 -
5. Underwater Acoustic Network(UA-Net) Gateway Central Control Center Mobile end - node Development of underwater acoustic communication network system for remote control and oceanographic monitoring - Transmission Speed : Upto 9,6 bps - Distance between nodes : Upto 1 km - Transmission Delay : less than 1 sec Working Robot Node Fixed end- node 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 : 23-211 - 2 -
5. Underwater Acoustic Modem 1 2 3 4 5 6 7 3km Integrated Modem 8 9 1 2 3 25 Bi-directional Modem(27) range/ speed characteri stic 9.7km / 1kbps Dedicated Tx and Rx sensors Directional sensor 28 Long range one-directional modem range/ speed charact eristic 16km / 5kbps Long-range Tx (12.5kHz) Directional sensor 29 size range/ speed charac teristic φ18 x 44 (mm), 1kg 3km / 1kbps All-in-one type 4 5 6 7 8 9 21 2 4 6 8 1 12 14 16 2 4 6 8 1 12 14 16 1 2 3 4 5 6 7 8 9 2km 1km 2 4 6 8 1 12 14 16 One-directional Modem range/ speed Characteri stic 7.4km / 1kbps Dedicated Tx and Rx sensors Directional sensor 27 Bi-directional Modem range/ speed charac teristic 6km / 1kbps Omni-sensor Small size 28 range/ speed charac teristic Network Modem 3km / 1kbps DC power Omni-sensor 29 size range/ speed Integrated Modem φ14 x 34 (mm), 5.9kg 3km / 1kbps charac teristic Smaller size and weight - 21 -
5. Underwater Network Protocol Design Underwater Network Protocol Implement Underwater Network Protocol Underwater network protocol algorithm Underwater network protocol GUI Underwater Experiment: Routing path determination + data transfer Experimental setup GUI Experiment Results - 22 -
Future Works 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 ISIMI6 for oceanographic applications To complete the navy acceptance tests for the MDV Mining performance test in deep water with the selfpropelled mining robot MineRo (at the East Sea, 2,m 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 shortrange and long-range communication ISIMI6 Walking-flying hybrid vehicle - 23 -