표제지
목차
Nomenclature 12
Abstract 13
제1장 서론 16
1.1. 연구배경 16
1.2. 관련 연구 22
1.3. 연구 내용 및 목적 24
제2장 수상선 결합형 무인 ROV 26
2.1. 무인 수상선의 운동방정식 26
2.2. 무인 ROV의 운동방정식 30
2.3. 영향요인 33
2.4. 무인 ROV의 운동 35
제3장 실험 및 수치해석 38
3.1. 실험장치 38
3.2. 몰수체 지배 방정식 42
3.3. 수치시뮬레이션 조건 및 방법 49
3.3.1. 경계조건 및 해석조건 49
3.3.2. 수치해석 방법 52
제4장 유동특성 59
4.1. 유동가시화 59
4.2. 수치해석 결과 고찰 67
4.2.1. 속도특성 67
4.2.2. 표면 압력 79
4.2.3. 자세각에 따른 영향 89
제5장 형상 설계 및 하드웨어 구성 98
5.1. 무인 수상선의 형상설계 및 하드웨어 구성 98
5.2. 무인 ROV의 형상설계 및 하드웨어 구성 104
5.3. 제어시스템 구성 109
5.4. 운용 시스템 110
제6장 결론 113
REFERENCES 115
부록 119
Appendix A. (제목없음) 119
A1.1. Beaufort number and corresponding wind speed 4. 119
A-2. 무인 ROV 설계에 사용한 파라미터 120
Appendix B. (제목없음) 121
B-1. 복합 무인선의 제어기 설계 121
Table 1.1. Control Method with Limitations 19
Table 3.1. Analysis Conditions for each Computational Case 49
Table 3.2. Working and boundary conditions 53
Table 3.3. Analysis Model 54
Table 4.1. Computation Case for Angle of Attack and Type 67
Table 5.1. Specification of USV 99
Table 5.2. Specification of Winch System 101
Table 5.3. Specification of Communication antenna 103
Table 5.4. Specification of Torpedo Type 107
Table 5.5. Specification of Catamaran Type 107
Fig. 1.1. Position / Angle Error of Underwater Exploration Equipment 17
Fig. 1.2. A schematic Design of Merlin WR200 Underwater Vehicle 17
Fig. 1.3. Underwater Terrain Exploration by Ship 18
Fig. 1.4. The Concept of the HSUV 20
Fig. 1.5. ROV from Around the World 21
Fig. 1.6. Developed HSUV 24
Fig. 2.1. Unmanned Surface Vehicle(USV) 26
Fig. 2.2. Earth-fixed, Body-fixed and Sensor Coordinate System 28
Fig. 2.3. Coordinate System of ROV 30
Fig. 2.4. Component of Acting Force 36
Fig. 3.1. Schematic Arrangement of Visualization System 38
Fig. 3.2. Experimental and numerical model 39
Fig. 3.3. Numerical of Visualization Experiment 40
Fig. 3.4. Visualization Experiment 41
Fig. 3.5. Propeller type Flowmeter 41
Fig. 3.6. Procedure of the Computational Fluid Dynamics 52
Fig. 3.7. Computational Domain and Inlet Outlet Boundary Region 53
Fig. 3.8. Computational Grid System of Torpedo 54
Fig. 3.9. Computational Grid System of Catamaran 55
Fig. 3.10. Geometry for Model 1 56
Fig. 3.11. Geometry for Model 2 56
Fig. 3.12. Simplify the Model to Create a Grid System 57
Fig. 3.13. 0 degree for each Model 58
Fig. 3.14. 15 degree for each Model 58
Fig. 4.1. ROV(Torpedo type) side-0.25m/frame. 59
Fig. 4.2. Time series image 60
Fig. 4.3. Various Flow Field for ROV(Torpedo type) 62
Fig. 4.4. ROV(Catamaran type) Plane-0.25m/frame 64
Fig. 4.5. Various Flow Field for ROV(Catamaran type) 65
Fig. 4.6. Time Series of ROV(Catamaran type) 66
Fig. 4.7. Comparison of Wake Flow field for ROV(Catamaran type) 68
Fig. 4.8. Velocity vector plot for various the left angle of attack 69
Fig. 4.9. Velocity vector plot for various the left and upper angle of attack 70
Fig. 4.10. Velocity vector plot for various the left and upper angle of attack 72
Fig. 4.11. Velocity vector plot for various the left and upper angle of attack 73
Fig. 4.12. Velocity vector plot for various the left and upper angle of... 74
Fig. 4.13. Velocity vector plot for various the left and upper angle of attack 75
Fig. 4.14. Velocity vector plot for various the left and upper angle of attack 76
Fig. 4.15. Velocity vector plot for various the left angle of attack 77
Fig. 4.16. Contour of pressure on ROV surface for various angle of attack 79
Fig. 4.17. Contour of pressure on ROV surface for various the left and... 81
Fig. 4.18. Contour of pressure on ROV surface for... 82
Fig. 4.19. Contour of pressure on ROV surface for... 83
Fig. 4.20. Contour of pressure on ROV surface for various the left and... 84
Fig. 4.21. Contour of pressure on ROV surface for various the left and... 86
Fig. 4.22. Contour of pressure on ROV surface for various the left and... 87
Fig. 4.23. Contour of pressure on ROV surface for various angle of attack... 88
Fig. 4.24. Surface streamline for various angle of attack (Torpedo type) 90
Fig. 4.25. Surface streamline for various the left and upper angle of attack 91
Fig. 4.26. Surface streamline for various the left and upper angle of attack 92
Fig. 4.27. Surface streamline for various angle of attack (Catamaran type) 94
Fig. 4.28. Surface streamline for various angle of attack (Catamaran type) 95
Fig. 4.29. Surface streamline for various the left and upper angle of attack 96
Fig. 4.30. Surface streamline for various the left and upper angle of attack 97
Fig. 5.1. Final designed for 2D drawing of USV 98
Fig. 5.2. Shape of USV 99
Fig. 5.3. Final designed for 2D drawing of Winch System 100
Fig. 5.4. Shape of Winch System 101
Fig. 5.5. Configuration diagram of Control System 102
Fig. 5.6. Shape of Control System 102
Fig. 5.7. Final designed for Torpedo type 105
Fig. 5.8. ROV measurement scene(단동선) 105
Fig. 5.9. Final designed for Catamaran type 106
Fig. 5.10. ROV measurement scene(Catamaran) 106
Fig. 5.11. Shape of Low light Camera & Underwater footage 108
Fig. 5.12. Shape of ROV Electric part 108
Fig. 5.13. diagram of Control System for USV 109
Fig. 5.14. diagram of Communication System for USV 110
Fig. 5.15. shape of Operations console 111
Fig. 5.16. Control Program for Autonomous control 112