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Development of an Autonomous Underwater Vehicle ISiMI6000 for Deep-sea Observation

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Title Development of an Autonomous Underwater Vehicle ISiMI6000 for Deep-sea Observation
 
Creator Lee, Gyeong-Mok
Park, Jin-Yeong
Kim, Banghyun
Baek, Hyuk
Park, Sungwoo
Shim, Hyungwon
Choi, Go
Kim, Bo-Ram
Kang, Han-Goo
Jun, Bong-Huan
Lee, Pan-Mook
Lee, Phil-Yeob
Jeong, Hun-Sang
 
Subject Deep-sea observation
Autonomous Underwater Vehicle (AUV)
System design and configuration
Operating software
Sea-trial
 
Description 1034-1041
The Korea
Institute of Ocean Science and Technology (KIOST) has developed AUVs for survey
on the swallow sea, and is under developing a deep-sea AUV based on the former
experience. Since 2010, the AUV named ISiMI6000 was designed to explore the
deep-seabed topography and hydrothermal vent up to 6,000 m depth. ISiMI6000 was
designed witha cylindrical shape having Myringform to minimize fluid resistance.
It has one main thruster and four control planes, of which the maximum speed is
4 knots and has over 1.5 knots in up/down direction. It equips with an
underwater navigation system composed of Ultra Short Baseline (USBL), Doppler
Velocity Log (DVL), Attitude and Heading Reference System (AHRS), Inertial
Measurement Unit (IMU), Obstacle Avoid System (OAS), and Global Positioning
System (GPS). Its communication tools are Acoustic Telemetry Modem (ATM) under
the sea and Radio Frequency (RF) modem at surface. Oceanographic sensors were
equipped for precise survey on the deep-sea floor, such as Conductivity
Temperature Depth (CTD), Side Scan Sonar (SSS), methane sensor, and sub-bottom
profiler (SBP) in optional. A HD Camera and LED light was installed for
monitoring the sea floor, and an emergency managing device was designed with a
weight drop system, a radio beacon and a xenon flash. This paper introduces the
system design and configuration of ISiMI6000 and describes the operating
software system in brief. This paper also describes a tank tests and field
tests to evaluate the operation process and navigation performance at the
Southern Sea.
 
Date 2014-01-10T12:00:40Z
2014-01-10T12:00:40Z
2013-12
 
Type Article
 
Identifier 0975-1033 (Online); 0379-5136 (Print)
http://hdl.handle.net/123456789/25477
 
Language en_US
 
Rights CC Attribution-Noncommercial-No Derivative Works 2.5 India
 
Publisher NISCAIR-CSIR, India
 
Source IJMS Vol.42(8) [December 2013]