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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
174 International Journal Min-Chul Kong, Myung-Il Roh, Ki-Su Kim, Ho-Gyun Park, Jong-Oh Kim, "Variable Indexing Method in Rule Documents for Ship Design Using Extraction of PDF Elements", accepted for publication in Journal of Computational Design and Engineering, 2022.11.11 2022-11-11
173 International Journal Jin-Hyeok Kim, Myung-Il Roh et al. "Prediction of the Superiority of the Hydrodynamic Performance of Hull Forms Using Deep Learning", accepted for publication in International Journal of Naval Architecture and Ocean Engineering, 2022.10.21 2022-10-21
172 International Journal Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, "Automation of Crane Control for Block Lifting Based on Deep Reinforcement Learning", Journal of Computational Design and Engineering, Vol. 9, No. 4, pp. 1430- 1448, 2022.07.23 file 2022-07-23
171 International Journal Min-Chul Kong, Myung-Il Roh, Ki-Su Kim, Jeongyoul Lee, Jongoh Kim, Gapheon Lee, "Object Detection Method for Ship Safety Plans Using Deep Learning", Ocean Engineering, 2022.02.15 file 2022-02-15
170 International Journal Ki-Su Kim, Myung-Il Roh, Seung-Min Lee, "Quasi-static Flooding Analysis Method of a Damaged Ship Considering Oil Spill and Cargo Load", Journal of Ship Production and Design, 2022.02.10 file 2022-02-10
169 International Journal Won-Jae Lee, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Yeong-Min Cho, Nam-Sun Son, “Detection and Tracking for the Awareness of Surroundings of a Ship Based on Deep Learning”, Journal of Computational Design and Engineering, Vo. 8, No. 5 file 2021-10-01
168 International Journal Hye-Won Lee, Joo-Hyun Woo, Myung-Il Roh, Seung-Ho Ham, et al., "Integrated Simulation of Virtual Prototypes and Control Algorithms of Unmanned Surface Vehicles Based on a Robot Operating System", Journal of Marine Science and Technology (Taiwan) file 2021-09-03
167 International Journal Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Donghun Yu, “Deep Reinforcement Learning-based Collision Avoidance for an Autonomous Ship”, Ocean Engineering, Vol. 234, pp. 1-20, 2021.08.15 file 2021-08-15
166 International Journal Hye-Won Lee, Myung-Il Roh, Ki-Su Kim, “Ship Route Planning in Arctic Ocean Based on POLARIS”, Ocean Engineering, Vol. 234, pp. 109297.1-14, 2021.08.15 file 2021-08-15
165 International Journal June-Beom Lee, Myung-Il Roh, Ki-Su Kim, “Prediction of Ship Power Based on Variation in Deep Feed-forward Neural Network”, International Journal of Naval Architecture and Ocean Engineering, 2021.08.07 file 2021-08-12
164 International Journal Jisang Ha, Myung-Il Roh, Seung-Ho Ham, Sung-Jun Lee, “Optimum Design of the Underwater Discharge System Based on Surrogate Modeling”, Journal of Marine Science and Technology (Taiwan), Vol. 29, No. 3, pp. 338-353, 2021.06.01 file 2021-06-01
163 Domestic Journal 남권우, 노명일, 이혜원, 이원재, "자율 운항 선박을 위한 딥 러닝 기반 선박 이미지 분류 방법", 한국CDE학회 논문집, Vol. 26, No. 2, pp. 144-153, 2021.06.01 file 2021-06-01
162 International Journal Jisang Ha, Myung-Il Roh, Hye-Won Lee, “Quantitative Calculation Method of the Collision Risk for Collision Avoidance in Ship Navigation Using the CPA and Ship Domain”, Journal of Computational Design and Engineering, Vol. 8, No. 3, 2021.06.01 file 2021-06-01
161 International Journal Beom-Soo Kim, Min-Jae Oh, Jae-Hoon Lee, Yonghwan Kim, Myung-Il Roh, "Study on Hull Optimization Process Considering Operational Efficiency in Waves", Processes, Vol. 9, No. 5, pp. 898.1-21, 2021.05.19 file 2021-05-19
160 International Journal Min-Jae Oh, Myung-Il Roh, Sung-Woo Park, Do-Hyun Chun, Myeong-Jo Son, Jeong-Youl Lee, “Operational Analysis of Container Ships by Using Maritime Big Data”, Journal of Marine Science and Engineering, Vol. 9, No. 4, pp. 438: 1-21, 2021.04.18 file 2021-04-18
159 International Journal Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Underactuated Crane Control for the Automation of Block Erection in Shipbuilding", Automation in Construction, Vol. 124, pp. 1-28, 2021.04.01 file 2021-04-01
158 International Journal Seung-Min Lee, Jong-Hyeok Lee, Myung-Il Roh, Ki-Su Kim, Seung-Ho Ham, Hye-Won Lee, "An Optimization Model of Tugboat Operation for Conveying a Large Surface Vessel", Journal of Computational Design and Engineering, Vol. 8, No. 2, 2021.04.01 file 2021-04-01
157 International Journal Seung-Ho Ham, Myung-Il Roh, “Time-domain Structural Analysis During Block Turnover and Lifting Using 2D Flexible Multibody Dynamics”, Marine Structures, Vol. 75, pp. 102841.1-26, 2021.01.01 file 2021-01-01
156 International Journal Ki-Su Kim, Myung-Il Roh, "Dynamic Flooding Analysis Method for Intermediate Flooding Process of a Ship", Ocean Engineering, Vol. 218, pp. 108173.1-33, 2020.12.15 file 2020-12-15
155 International Journal Joo-Pil Lee, Myung-Il Roh, Hye-Won Lee, Seung-Ho Ham, "Design of a Wreck Removal Method Considering Safety and Economy", Ships and Offshore Structures, Vol. 15, No. 10, pp. 1037-1056, 2020.12.01 file 2020-12-01
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