Sea Trials and Experimental Results of the Deep-sea Unmanned Underwater Vehicles, Hemire and Henuvy

Abstract

This paper presents the sea-trial of the deep-sea unmanned underwater vehicles (UUV), composed of two vehicles, a remotely operated vehicle (ROV) ‘Hemire’ and a depressor ‘Henuvy.’ The sea trials were conducted at the East Sea and the Philippine Sea, where the depth is 2,026m and 5,775m, respectively. This paper discusses the experimental results of the sea trials focused on position tracking, operation, and motion control of the vehicles. Further works are suggested to enhance operational flexibility and reliability of the vehicles.