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Abstract The USV performs various missions including mine detection and marine reconnaissance and survey unmanned. As the autonomic software for USV takes charge of detection, decision, and command instead of human, the verification and validation (V&V) of the software is highly required at the early design stage. Due to the difficulty of such V&V before the real USV is made, the virtual prototype of USV and ocean space are adopted in this study. For mine detection mission, which is one of the most important mission of USV, four modules are developed and implemented here; scenario management and display module, USV motion analysis module, submarine topography synthesis module, and mine detection module. The mine detection module represents the control algorithm in autonomic software, and the rest of the modules are virtual prototype which represents the ocean space and hardware in USV such as GPS (Global Positioning System) and SSS (Side Scan Sonar). With the virtual prototype modules, the control algorithm in mine detection module is verified. Meanwhile, for the data communication between the modules, the ROS (Robot Operating System) is used. The ROS provides message communication function between the modules, so that each module can transmit and receive data during the simulation. To check the applicability of the proposed method, the mine detection scenario is performed using the virtual prototype of USV and ocean space. The result shows that the proposed method can be effectively used to test and develop the mine detection algorithm of autonomic software in USV.
Publication Date 2017-09-01
Role Corresponding Author
Category KCI

이혜원, 노명일, 함승호, 조로만, 김낙완, 하솔, 우주현, 정우현, 유찬우, “무인수상정의 기뢰 탐지 임무 수행을 위한 통합 시뮬레이션 방법 연구”, 한국CDE학회 논문집, Vol. 22, No. 3, pp. 306-316, 2017.09.01


List of Articles
번호 분류 제목 Publication Date
181 Domestic Journal 노명일, 이규열, "협동 최적화 접근 방법에 의한 다분야 최적 설계에 관한 연구", 한국CAD/CAM학회 논문집, Vol. 5, No. 3, pp.263-275, 2000.09.01 file 2000-09-01
180 International Journal Kyu-Yeul Lee, Myung-Il Roh, "A Hybrid Optimization Method for Multidisciplinary Ship Design", Journal of Ship Technology Research, Vol. 47, No. 4, pp. 181-185, 2000.10.01 file 2000-10-01
179 Domestic Journal 한성남, 이규열, 노명일, "개선된 유전자 알고리즘을 이용한 최적 공간 배치 설계에 관한 연구", 한국CAD/CAM학회 논문집, Vol. 6, No. 3, pp. 174-183, 2001.09.01 file 2001-09-01
178 International Journal Kyu-Yeul Lee, Myung-Il Roh, "An Efficient Genetic Algorithm Using Gradient Information for Ship Structural Design Optimization", Journal of Ship Technology Research, Vol. 48, No. 4, pp. 161-170, 2001.11.01 file 2001-11-01
177 International Journal Kyu-Yeul Lee, Myung-Il Roh, Seonho Cho, "Multidisciplinary Design Optimization of Mechanical Systems Using Collaborative Optimization Approach", International Journal of Vehicle Design, Vol. 25, No. 4, pp. 353-368, 2001.11.01 file 2001-11-01
176 International Journal Kyu-Yeul Lee, Seonho Cho, Myung-Il Roh, "An Efficient Global-Local Hybrid Optimization Method Using Design Sensitivity Analysis", International Journal of Vehicle Design, Vol. 28, No. 4, pp. 300-317, 2002.07.01 file 2002-07-01
175 International Journal Kyu-Yeul Lee, Seong-Nam Han, Myung-Il Roh, "Optimal Compartment Layout Design for a Naval Ship Using an Improved Genetic Algorithm", Marine Technology and SNAME News, Vol. 39, No. 3, pp. 159-169, 2002.07.01 file 2002-07-01
174 Domestic Journal 이원준, 이규열, 노명일, 권오환, "의미론적 제품 데이터 모델 기반 초기 선체 구조 CAD 시스템 개발", 한국CAD/CAM학회 논문집, Vol. 7, No. 3, pp. 157-169, 2002.09.01 file 2002-09-01
173 International Journal Kyu-Yeul Lee, Seong-Nam Han, Myung-Il Roh, "An Improved Genetic Algorithm for Facility Layout Problems Having Inner Structure Walls and Passages", Computers & Operations Research, Vol. 30, No. 1, pp. 117-138, 2003.01.01 file 2003-01-01
172 International Journal Kyu-Yeul Lee, Won-Joon Lee, Myung-Il Roh, "Development of a Semantic Product Modeling System for Initial Hull Structure in Shipbuilding", Robotics and Computer-Integrated Manufacturing Journal, Vol. 20, No. 3, pp. 211-223, 2004.06.01 file 2004-06-01
171 International Journal Kyu-Yeul Lee, Myung-Il Roh, Hyuk-Su Jeong, "An Improved Genetic Algorithm for Multi-Floor Facility Layout Problems Having Inner Structure Walls and Passages", Computers & Operations Research, Vol. 32, No. 4, pp. 879-899, 2005.04.01 file 2005-04-01
170 Domestic Journal 노명일, 이규열, "객체 지향 초기 선체 구조 설계 시스템 개발", 한국CAD/CAM학회 논문집, Vol. 10, No. 4, pp. 244-253, 2005.08.01 file 2005-08-01
169 Domestic Journal 노명일, 이규열, "초기 선체 구조 모델을 기반으로 한 선체 블록의 물량 정보 생성 및 블록 탑재 시뮬레이션", 대한조선학회 논문집, Vol. 43, No. 1, pp. 103-118, 2006.02.01 file 2006-02-01
168 International Journal Myung-Il Roh, Kyu-Yeul Lee, "Development of a 3D CAD System for Modeling Hull Structure at the Initial Ship Design Stage", Ships and Offshore Structures, Vol. 1, No. 2, pp. 135-151, 2006.04.01 file 2006-04-01
167 Domestic Journal 노명일, 이규열, "선체 블록의 물량 정보 생성 및 블록 탑재 시뮬레이션에 관한 연구", 한국CAD/CAM학회 논문집, Vol. 11, No. 2, pp. 115-127, 2006.04.01 file 2006-04-01
166 Domestic Journal 노명일, 유성진, 이규열, "선체 구조 모델의 위상 정보 재구성을 통한 구조 해석 모델 생성", 대한조선학회 논문집, Vol. 43, No. 2, pp. 246-257, 2006.04.01 file 2006-04-01
165 Domestic Journal 노명일, 최우영, 이규열, "선체 구조와의 연관성을 고려한 신속 배관 모델링 방법", 대한조선학회 논문집, Vol. 43, No. 2, pp. 258-267, 2006.04.01 file 2006-04-01
164 Domestic Journal 노명일, 이규열, "초기 설계를 위한 자료 구조 및 모델링 함수 기반의 선체 구조 CAD 시스템 개발", 대한조선학회 논문집, Vol. 43, No. 3, pp. 362-374, 2006.06.01 file 2006-06-01
163 International Journal Myung-Il Roh, Kyu-Yeul Lee, "An Initial Hull Structural Modeling System for Computer-Aided Process Planning in Shipbuilding", Advances In Engineering Software, Vol. 37, No. 7, pp. 457-476, 2006.07.01 file 2006-07-01
162 International Journal Myung-Il Roh, Kyu-Yeul Lee, Seong-Jin Yoo, "An Algorithm for Generating the Hull Structural Analysis Model Using the Seam Information of the Hull Structure at the Initial Design Stage", Journal of Ship and Ocean Technology, Vol. 10, No. 4, pp. 24-33, 2006.12.01 file 2006-12-01
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