Preliminary Sea-trial of the Deep-sea Unmanned Underwater Vehicles HEMIRE and HENUVY

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 realtime data acquisition, image communication and record, motion control of the vehicle, and position tracking of the vehicles