System design and development of a deep-sea unmanned underwater vehicle 'HEMIRE' for oceanographic research

Abstract

This paper presents the system design and development of a 6,000 meter depth-rated unmanned underwater vehicle (UUV) for oc？anographie research in Korea. The UUV system consists of two vehicles: a remotely operated vehicle (ROV) 'HEMIRE' and an underwater launcher 'HENUVY' cooperated with the ROV. This paper describes the functions and specifications of HENUVY and HEMIRE, respectively, and presents the design process of the vehicles in terms of mechanical and electric system design. This paper also introduces the design of a surface control unit, configuration of a manipulator controller, and measurement equipment of the vehicles. Copyright ？ 2006 by The International Society of Offshore and Polar Engineers.