- Design Optimization
Autonomous Underwater Vehicles (AUVs) have been used for the past decade for research, commercial and military survey missions such as detecting and mapping wrecks, obstructions and more. However, these missions are time-limited by the restriction of on-board power. Consequently, AUVs to date could not carry out the Intelligence, Surveillance and Reconnaissance (ISR) jobs actively compared to Unmanned Aerial Vehicle. The aim of the research is to design a Wave-powered Adaptive AUV for long-term missions and investigate the optimum condition for maximizing the power generation efficiency.
- Trajectory Tracking Control of AUV
AUVs are typically underactuated nonlinear mechanical systems with challenging controller designs. The aim of the research is to develop optimal trajectory tracking controllers of AUV.
- Dynamic Positioning (DP) System of Underwater Vehicle
Also, the research focuses on to develop an efficient controller for DP System of underwater vehicle under the sea current disturbance. For certain operations of underwater vehicle, the vehicle must keep a position near structure. DP control system with six degrees of freedom is required in this situation. The design of the controller is complicated because of strong coupling character, nonlinear nature, etc. The aim of the research is to develop outstanding DP controllers of underwater vehicle.
C.K. Jin, J.Y. Lee, H.S. Kim, and M.H. Kim, “Dynamic response of the submerged floating tunnel in Hydrodynamic and seismic excitation,” (submitted to the 27th International Ocean and Polar Engineering Conference.)