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ホーム > 研究のご紹介 > 海洋利用水中技術系 > AUV開発研究グループ
金岡秀Kangsoo Kim, Ph.D.

AUV開発研究グループ長, 海洋利用水中技術系, 海上技術安全研究所
国立研究開発法人 海上・港湾・航空技術研究所
Head of AUV R&D Group, Offshore Energy & Underwater Technology Department
National Maritime Research Institute, National Institute of Maritime, Port and Aviation Technology


shu in Barcelona

Education and Degree

・1988-1992B.S. in Naval Architecture and Ocean Engineering, Seoul National University
・1992-1994M.S. in Naval Architecture and Ocean Engineering, Seoul National University
・2000-2003Ph.D. in Environmental and Ocean Engineering, The University of Tokyo



Employment

・1994-1997Hyundai-Samho Heavy Industries Co., Ltd.
・1997-2000Daewoo Engineering Company
・2003-2005Graduate School of Engineering, The University of Tokyo
・2005-2010NTT Communication Science Laboratories, NTT
・2010-2014Institute of Industrial Science, The University of Tokyo
・2014-National Maritime Research Institute



Publications
・Journal Papers

1. Chie Honsho, Tamaki Ura, Akira Asada, Kangsoo Kim and Kenji Nagahashi, "High-resolution acoustic mapping to understand the ore deposit in the Bayonnaise knoll caldera, Izu-Ogasawara arc," Journal of Geophysical Research: Solid Earth, American Geophysical Union (AGU), Vol.120, pp.2070-2092, DOI: 10.1002/2014JB011569, Apr. 2015.
http://onlinelibrary.wiley.com/doi/10.1002/2014JB011569/full
2. Kangsoo Kim and Tamaki Ura, "A Cruising AUV r2D4: Intelligent Multirole Platform for Deep-Sea Survey," Journal of Robotics and Mechatronics, The Robotics Society of Japan,Vol.26, No.2, pp.262-263, Apr. 2014.
https://www.fujipress.jp/jrm/rb/robot002600020262/
3. Chie Honsho, Tamaki Ura, Kangsoo Kim, "Deep-sea magnetic vector anomalies over the Hakurei hydrothermal field and the Bayonnaise knoll caldera, Izu-Ogasawara arc, Japan," Journal of Geophysical Research: Solid Earth, American Geophysical Union (AGU), Vol.118, pp.1-18, DOI: 10.1002/jgrb.50382, Oct. 2013.
http://onlinelibrary.wiley.com/doi/10.1002/jgrb.50382/full
4. Kangsoo Kim, Tamaki Ura, Makio Kashino and Hiroaki Gomi, "A Perioral Dynamic Model for investigating Human Speech Articulation," Multibody System Dynamics, Springer, Vol.26, No.2, pp. 107-134, DOI: 10.1007/s11044-011-9253-z, Aug. 2011.
http://www.springerlink.com/content/95k6756kw2557947/
5. Kangsoo Kim and Tamaki Ura, "Applied Model-based Analysis and Synthesis for the Dynamics, Guidance, and Control of an Autonomous Undersea Vehicle," Mathematical Problems in Engineering,- Special Issue on Models, Methods, and Applications of Dynamical and Control in Engineering Sciences: State of the Art, Hindawi, Vol.2010, Article ID 149385, doi:10.1155/2010 /149385, Jan. 2010.
http://www.hindawi.com/journals/mpe/2010/149385/
6. Kangsoo Kim and Tamaki Ura, "Optimal guidance for AUV Navigation within Undersea Area of Current Disturbances," Advanced Robotics, Brill, Vol.23, No.5, pp.601-628, Apr. 2009.
http://www.tandfonline.com/doi/abs/10.1163/156855309X420093
7. 金岡秀, 五味裕章,“逆動力学的手法による人間調音運動の制御,” 日本機械学会論文集(C編) 73巻733号, pp.111-118,2007年9月.
http://ci.nii.ac.jp/naid/110006403943/
8. Kangsoo Kim and Hiroaki Gomi, "Model-Based Investigation of Control and Dynamics in Human Articulatory Motion," Journal of System Design and Dynamics, Vol.1, No.3, pp.558-569, Aug. 2007.
http://www.jstage.jst.go.jp/browse/jsdd/1/3/_contents
9. 金岡秀, 浦環,“自律型海中ビークルの流れ外乱中における最適誘導及び追従制御,” 日本機械学会論文集(C編) 70巻699号,pp.184-191,2004年11月.
http://ci.nii.ac.jp/naid/110006264132/
10. 金岡秀, 浦環,“自律型海中ロボットの環境外乱中における最適誘導及び運動制御,” 日本造船学会論文集 第195号,pp.195-202,2004年6月.


・Conference Papers - Peer Reviewed

1. Kangsoo Kim, "Navigation Strategies of a Cruising AUV for Near-Bottom Survey of a Steep Terrain," 9th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2016), Leibzig, June 2016, (accepted).
http://iav2016.inf.h-brs.de/page_program.html
2. Kangsoo Kim and Tamaki Ura, "Longitudinal Motion Instability of a Cruising AUV flying over a Steep Terrain," IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV 2015), IFAC, Vol.48, Issue 2, pp.56-63, doi:10.1016/j.ifacol.2015.06.010, Girona, Apr. 2015.
http://www.sciencedirect.com/science/article/pii/S2405896315002499
3. Kangsoo Kim and Tamaki Ura, "Optimal and Quasi-Optimal Navigations of an AUV in Current Disturbances," IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems (IROS 2008), IEEE/RSJ, Nice, Sep. 2008, CD-ROM, pp.3661-3667.
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4650690&tag=1
4. Kangsoo Kim and Hiroaki Gomi, "Human Perioral Dynamics Model for Labial Interaction in Speech Articulation and its Motor Control," Proc. 7th International Seminar on Speech Production (ISSP '06), Ubatuba, Dec. 2006, pp.67-74.
5. Kangsoo Kim and Tamaki Ura, "Fuel-Optimal Guidance and Tracking Control of AUV under Current Interaction," Proc. 13th International Offshore and Polar Engineering Conference, ISOPE-2003, Honolulu, May 2003, Vol.2, pp.191-196.
http://www.isope.org/publications/proceedings/ISOPE/ISOPE%202003/volume2/2028p191.pdf
6. Kangsoo Kim and Tamaki Ura, "3-Dimensional Trajectory Tracking Control of an AUV "R-One Robot" Considering Current Interaction," Proc. 12th International Offshore and Polar Engineering Conference, ISOPE-2002, Kita-Kyushu, May 2002, Vol.2, pp.277-283.
http://www.isope.org/publications/proceedings/ISOPE/ISOPE%202002/Volume2/2040p277.pdf


・Conference Papers - International

1. Kangsoo Kim and Kenkichi Tamura, "The Zipangu of the Sea Project Overview: Focusing on the R&D for Simultaneous Deployment and Operation of Multiple AUVs," Proc of the Offshore Technology Conference Asia 2016 (OTC Asia 2016), Kuala Lumpur, Mar. 2016, OTC-26702-MS.
https://www.onepetro.org/conference-paper/OTC-26702-MS
2. Kangsoo Kim and Tamaki Ura, "Terrain-adaptive optimal guidance for near-bottom survey by an autonomous underwater vehicle," Proc of International Symposium on Underwater Technology 2013, Tokyo, Mar. 2013, UT2013-1059.
3. Kangsoo Kim et al., "Towards AUV-based iceberg profiling and gouging survey in Arctic Sea: The first Japanese under-ice AUV deployment in Okhotsk Sea," Proc of International Symposium on Underwater Technology 2013, Tokyo, Mar. 2013, UT2013-1088.
4. Chie Honsho, Tamaki Ura, and Kangsoo Kim, "Magnetic structure of Bayonnaise knoll caldera including Hakurei hydrothermal site obtained from near-bottom magnetic vector field mapping by autonomous underwater vehicle," Proc of AGU Fall Meeting 2012, San Francisco, Dec. 2012, T43D-2702.
5. Kangsoo Kim, Tamaki Ura, "Towards a New Strategy for AUV Navigation in Sea Currents: A Quasi-Optimal Approach," Underwater Technology (UT), 2011 IEEE Symposium on and 2011 Workshop on Scientific Use of Submarine Cables and Related Technologies (SSC), IEEE, Tokyo, Apr. 2011, CD-ROM, pp.1-10, DOI: 10.1109/UT.2011.5774158.
6. Kangsoo Kim and Hiroaki Gomi, "Investigation of Control and Dynamics in Human Articulatory Motion," Proc of the 3rd Asian Conference on Multibody Dynamics (ACMD2006), Tokyo, Aug. 2006, CD-ROM, Lecture No. 802.
7. Kenji Nagahashi, Tamaki Ura, Akira Asada, Takashi Obara, Takashi Sakamaki, Kangsoo Kim, and Kei Okamura, "Underwater Volcano Observation by Autonomous Underwater Vehicle "r2D4"," Proc of OCEANS2005-Europe, Brest, Jun. 2005, CD-ROM, pp.557-562.
8. Tamaki Ura and Kangsoo Kim, "On-Site INS Update of an AUV "r2D4" by SSBL based Position Estimation," Proc of MTS/IEEE OCEANS'04 / Techno-Ocean'04, MTS/IEEE, Kobe, Nov. 2004, CD-ROM, pp.840-845.
9. Tamaki Ura, Takashi Obara, Kenji Nagahashi, Kangsoo Kim, Yuji Oyabu, Takashi Sakamaki, Akira Asada, and Hisashi Koyama, "Introduction to an AUV "r2D4" and its Kuroshima Knoll Survey Mission," MTS/IEEE OCEANS'04 / Techno-Ocean'04, MTS/IEEE, Kobe, Nov. 2004, CD-ROM, pp.1606-1611.
10. Kangsoo Kim and Tamaki Ura, "Fuel-Optimally Guided Navigation and Tracking Control of AUV under Current Interaction," MTS/IEEE OCEANS2003, MTS/IEEE, San Diego, Sep. 2003, CD-ROM, pp.663-670.
11. Kangsoo Kim, Taku Sutoh, Tamaki Ura, and Takashi Obara, "Route Keeping Control of AUV under Current Interaction by using Dynamics Model via CFD Analysis," Proc of MTS/IEEE OCEANS2001, MTS/IEEE, Honolulu, Nov. 2001, Vol.1, pp.417-422.
12. Kangsoo Kim, et al., "Analysis of the Waterjet-Propelled Ship Flow by a Higher-Order Boundary Element Method," Proc. International Conference on Ship and Marine Research (NAV 94), Rome, Oct. 1994, Vol.1, Session 3 (CFD/ Dynamic Loads), no pages.


・Conference Papers - Domestic

1. Tamaki Ura, Kangsoo Kim, Takayuki Asanuma, Takatoshi Matsuzawa, Kenji Nakane, Tadamasa Obata, Yuji Oyabu, Hisashi Koyama, Kenji Nagahashi, and Ryuichi Nagata, "Deployment of an autonomous underwater vehicle in ice-covered Sea of Okhotsk : The first Japanese challenge," 第3回極域科学シンポジウム講演集, J42_P, Nov. 2012.
2. 金岡秀,浦環,“潮流外乱中における自律型水中ビークルの最適及び準最適航行,” 第8回最適化シンポジウム2008 (OPTIS2008)講演論文集,pp.43-46, 2008年11月.
3. 金岡秀,五味裕章,“調音運動系の逆動力学制御,” 第8回最適化シンポジウム2008 (OPTIS2008)講演論文集,pp.247-250, 2008年11月.
4. 金岡秀,五味裕章,“調音動力学系モデルの表現と制御方法に関する考察,” 電子情報通信学会技術研究報告(信学技報) NC2005-169,2006年3月,Vol.105, No.659, pp.107-112.
5. 金岡秀,浦環,“自律型海中航行ビークルの環境外乱中における燃料最適誘導及び運動制御,” 機械力学・計測制御講演 (Dynamics and Design Conference'03) CD-ROM論文集,2003年9月,論文番号143.
6. 金岡秀,浦環,“自律型海中ロボットの潮流中における燃料最適誘導航法,” ロボティクス・メカトロニクス講演会'03 (ROBOMEC'03) 講演論文集(CD-ROM),2003年5月,論文番号2A1-2F-A7.
7. 金岡秀,浦環,“自律型海中航行ビークル"R-Oneロボット"の潮流中における3次元経路追従制御,” 第7回日本計算工学講演会論文集,2002年5月,Vol.7, pp.781-784.
8. Kangsoo Kim et al., “高次境界要素法による3次元スロッシング現象の数値解析,” 大韓造船学会春季学術大会論文集,1997年4月,pp.212-218. (韓国語)
9. Kangsoo Kim et al., “ウォータージェット吸込み流れ場の数値解析,” 第2回超高速船Workshop論文集,1995年9月,Vol.1, (韓国語)


Book Chapter(Invited)

1. Kangsoo Kim and Tamaki Ura, "Chapter 18: A Model-Based Synthetic Approach to the Dynamics, Guidance, and Control of AUVs," Robotics 2010, Current and Future Challenges, Houssem Abdellatif (Ed.), ISBN 978-953-7619-78-7, INTECH, pp.347-368, Feb. 2010.
http://www.intechopen.com/books/robotics-2010-current-and-future-challenges/a-model-based-synthetic-approach-to-the-dynamics-guidance-and-control-of-auvs


Patents

1. 金岡秀,「水中航走体の経路設定方法、それを用いた水中航走体の最適制御方法及び、水中航走体並びに移動体の経路設定方法」,特願2015-240252号,出願日: 2015年12月9日.
2. 川野洋, 金岡秀, 「方位角推定装置、方法及びプログラム」,特許第5291610号,登録日: 2013年6月14日.
3. 川野洋, 金岡秀, 「状態推定装置,方法,プログラム及びその記録媒体」, 特許第5123888号,登録日: 2012年11月2日.
4. 金岡秀, 五味裕章, 「連続弾性体変形シミュレーション方法,プログラム,及び記録媒体」, 特許第4881055号,登録日: 2011年12月9日.
5. 金岡秀, 川野洋, 「飛翔体に備えられる位置情報検出装置」, 特許第4833175号, 登録日: 2011年9月30日.
6. 金岡秀, 五味裕章, 「対象物衝突模擬装置,その方法,そのプログラム,及びその記録媒体」, 特許第4814846号, 登録日: 2011年9月2日.
7. 川野洋, 金岡秀, 「携帯電話中継装置」, 特許第4498992号, 登録日: 2010年4月23日.


Last updated: 15th Apr., 2016

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