• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.1
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• pp.1-7
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• 2012

This paper introduces the mechanical design, fabrication, and control of a biomimetic fish robot whose driving motions resemble a real fish's flexibility and movement. This robot uses two motors create flexible movement like that of a fish. Several schemes, such as neutral buoyancy, fast underwater swimming, and direction changes, are introduced. The tail of the fish robot is made of a polymer material for flexible movement. The interior of the tail contains a joint and a wire. A sine wave command was applied to the tail to produce motion resembling a real fish swimming, and a buoy control device was installed. The up and down motion of the robot fish was controlled using this device.

• Journal of Ocean Engineering and Technology
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• v.28 no.5
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• pp.466-473
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• 2014

Underwater gliders do not have any external propulsion systems that can generate and control their motion. Generally, underwater gliders would obtain a propulsive force through the lift force generated on the body by a fluid. Underwater gliders should be equipped with mechanisms that can induce heave and pitch motions. In this study, an inner movable and rotatable mass mechanism was proposed to generate the pitch and roll motions of an underwater glider. In addition, a buoyancy control unit was presented to adjust the displacement of the underwater glider. The buoyancy control unit could generate the heave motion of the underwater glider. In order to analyze the underwater dynamic behavior of this system, nonlinear 6-DOF dynamic equations that included mathematical models of the inner movable mass and buoyancy control unit were derived. Only kinematic characteristics such as the location of the inner movable mass and the piston position of the buoyancy control unit were considered because the velocities of these systems are very slow. The effectiveness of the proposed dynamic modeling was verified through sawtooth and spiraling motion simulations.

• Proceedings of the Korea Water Resources Association Conference
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• 2017.05a
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• pp.512-512
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• 2017

날로 심각해지는 해수 오염, 유류사고, 해파리에 의한 인명피해 및 발전소의 경제적 피해사고, 해양 쓰레기 등과 같은 해양 환경 문제가 발생하고 있다. 이러한 해양환경문제를 해결하기위해 생물학적 방법과 물리적 방법이 있으나 생물학적 방법은 개체군과 종류의 변화로 그 적용이 어려운 실정이고, 물리적 방법은 지속적인 제거를 위한 비용적인 문제와 인부 및 자원봉사자의 안전문제가 발생한다. 따라서 에어버블을 이용한 각종 친환경적 방법이 주목받고 있다. 본 연구에서는 에어버블 차단막의 차단율을 증가시키기 위해 현장조건 내에서 에어버블의 거동특성에 대한 실험을 하였다. 실험을 위해 회류식 개수로 에어버블 거동실험장치를 제작하였다. 실험장치는 길이 8.1m, 높이 1.2m, 폭 0.7m이며, 두께 10mm의 투명 아크릴를 사용하여 에어버블의 거동을 관찰 할 수 있게하였다. 대형펌프를 사용하여 물이 회류함을 통해 흐름유속을 만들어 현장조건을 고려하였다. 에어버블을 분사하기 위해 압축공기 저장탱크와 연결된 분사구가 있으며, 노즐의 크기(0.5mm~1.0mm)로 분사량을 조절하고 분사압은 별도의 조절장치를 이용하여 0~5bar 범위의 분사압 조절을 가능하게 하였다. 초고속 카메라와 3축유속계를 사용하여 에어버블의 이동경로, 유속 및 에어버블의 거동을 측정하였다. 실험을 통한 구간별 에어버블의 거동 분석 결과, 상승속도는 분사구에서 분출되는 구간인 0~0.8m 에서는 상승속도가 증가하고, 0.8~1.2m구간에서는 속도가 다시 상승하는 경향을 확인하였다. 이는 수표면에 가까워질수록 수압이 작아져서 에어버블의 크기가 커짐에 따라 부력이 커짐으로 판단된다. 같은 이유로 분사량이 많을수록 상승속도도 같이 증가되는 것으로 나타났다. 유속에 따른 거동은 유속을 0.1m/s~0.5m/s로 조정하여 유속별 에어버블이 수표면까지 도달하는 거리, 속도 및 이동경로를 분석하였다. 유속과 에어버블이 수표면까지 도달하는 거리는 비례하여 증가하는 것을 확인하였다. 실험결과를 바탕으로 조건에 따른 에어버블 거동 경험식을 도출하였다. 본 실험은 회류식 개수로 에어버블 거동실험장치를 활용하여 에어버블 거동 경험식을 제시하였으며, 이를 바탕으로 에어버블 차단막 기술 개발을 위한 기초자료로 이용될 수 있을 것이다.

• Journal of Ocean Engineering and Technology
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• v.18 no.1
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• pp.47-52
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• 2004

Greater holding force of an anchor is required for maintaining the position of a larger floating structure. According to the series of model tests of pile anchors with movable fluke, the square type pile anchor, with fluke, showed more than 6 times of the uplift pulling force, compared to the same type pile anchor, without fluke. This uplift force is 100 times its weight. When the water depth is more than 40m, It is difficult to install the pile anchor. For a convenient installation method, a type of manipulator is proposed for the separation of a weight and buoyancy controller, using TRIZ.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.39 no.3
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• pp.189-196
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• 2003

In this study, the vertical opening of the non-float midwater pair trawl net was maintained by controlling the length of upper warp. This was because the head rope was able to be kept linearly and the working depth was not nearly as changed with the variation of flow speed as former experiments in this series of studies have demonstrated. We confirmed that the opening efficiency of the non-float midwater pair trawl net was able to be developed according to the increase in front weight and wing-end weight. In this study, we described the opening efficiency of the non-float midwater pair trawl net according to the variation of front weight and wing-end weight obtained by model experiment in circulation water channel. We compared the opening efficiency of the proto type with that of the non-float type. The results obtained can be summarized as follows：1. The hydrodynamic resistance was almost increased linearly in proportion to the flow speed and was increased in accordance with the increase in front weight and wing-end weight. The increasing rate of hydrodynamic resistance was displayed as an increasing tendency in accordance with the increase in flow speed. 2. The net height of the non-float type was almost decreased linearly in accordance with the increase in flow speed. As the reduced rate of the net height of the non-float type was smaller than that of the net height of the proto type against increase of flow speed, the net height of the non-float type was bigger than that of the proto type over 4.0 knot. The net width of the non-float type was about 10 m bigger than that of the proto type and the change rate of net width varied by no more than 2 m according to the variation of the front weight and wing-end weight. 3. The mouth area of the non-float type was maximized at 1.75 ton of the front weight and 1.11 ton of the wing-end weight, and was smaller than that of the proto type at 2.0∼3.0 knot, but was bigger than that of the proto type at 4.0∼5.0 knot. 4. The filtering volume was maximized at 3.0 knot in the proto type and at 4.0 knot in the non-float type. The optimal front weight was 1.40 ton.