Preliminary sea-trial of the deep-sea unmanned underwater vehicles HEMIRE and HENUVY

Abstract

This paper presents the first sea-trial of the deep-sea unmanned underwater vehicles (UUV) under developed in MOERI-KORDI (Maritime and Ocean Engineering Research Institute - Korea Ocean Research and Development Institute) for scientific researches. The UUV system consists of two vehicles, a remotely operated vehicle (ROV) 'Hemire' and an underwater launcher 'Henuvy,' which include oceanographic instruments, manipulators, tool sled, and so on. The first dive of the UUV was conducted at the East Sea in April 22-26, 2006. This paper presents the experimental results of the sea trial focused on real-time data acquisition, image communication and record, motion control of the vehicle, and position tracking of the vehicles. ？2006 IEEE.