6,000m급 자율무인잠수정 이심이6000 AUV의 설계

The Korea Ocean Research md Development Institute (KORDI) has developed AUVs(BORAM AUV, ISiMI AUV, ISiM100 AUV) for Suallow Sea, md accumulated high tedrnique and experimence. Since 2012, ISiM6000 AUV has been designed to explorer a sea-floor topography and hydrothermal deposit at 6,000m depth. ISiMI6000"s hull is designed based on Myring shape to minimize of fluid resistance. It is designed to maintain neutral buoyancy. Its whole length is 4.5m, diameter is 0.6m and weight is 749kg. ISiMI6000"s maximum forward speed is 4kts and his aver 1.5kts of rise/decent speed. It"s battery is selected based on 10 hours of pure explorer time for one diving. Inside of ISiMI6000 is composed a frame structure and two pressure-resistant containers for embedding power system and control system The pressure-resistant containers are made of titanium-aluminum alloy and designed to endure up to 800bar. Frame structure is designed based of Open-frame method and made of aluminium. Mounted equipment is as follow - Mean thruster, linear actuators for control pin, information measuring device(Side Scan Sonar, Altimeter, CTD, GPS and etc.), communication device(ATM, RF modern), position tracking device(DVL, AHRS, IMU), camera/light, weight drop system, radio beacom/xenon flash and etc. In this paper, design gods and requirements of ISiMI6000 is described and design results are presented accordingly.