Title :
A study on the UUV docking system by using torpedo tubes
Author :
Kim, Jinhyun ; Lee, GiHyeon
Author_Institution :
Dept. of Mech. Eng., Seoul Nat. Univ. of Sci. & Technol., Seoul, South Korea
Abstract :
According to increasing the importance of underwater environments, the needs of UUV is growing. This paper represents the mechanism and algorithm of UUV docking system with 21-inch torpedo tubes for military submarines as a docking station. To improve the reliability of the docking, torpedo tubes launch a wired ROV and next the ROV combined with UUV is retrieved. For estimating the relative position between the ROV and UUV, in this paper, combining RF sensors and vision system is proposed. The RSSI method of RF sensors is used to estimate the distance and the optical image is combined for the directional information.
Keywords :
autonomous underwater vehicles; military systems; missiles; sea ports; RF sensors; RSSI method; UUV docking system; military submarines; torpedo tubes; underwater environments; wired ROV; Attenuation; Electron tubes; Optical sensors; Process control; Radio frequency; Underwater vehicles; Docking system; RF; UUV; Underwater;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location :
Incheon
Print_ISBN :
978-1-4577-0722-3
DOI :
10.1109/URAI.2011.6146038
