• Journal of the Society of Naval Architects of Korea
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• v.38 no.4
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• pp.23-29
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• 2001

An Obstacle Avoidance System(OAS) of Underwater Vehicle(UV) in diving and steering plane is investigated. The concept of Imaginary Reference Line(IRL), which acts as the seabed in the diving plane, is introduced to apply the diving plane avoidance algorithm to the steering plane algorithm. Furthermore, the distance to the obstacle and the slope information of the obstacle are used for more efficient and safer avoidance. As for the control algorithm, the sliding mode controller is adopted to consider the nonlinearity of the equations of motion and to get the robustness of the designed system. To verify the obstacle avoidance ability of the designed system, numerical simulations are carried out on the cases of some presumed three-dimensional obstacles. The effects of the sonar and the clearance factor used in avoidance algorithm are also investigated. Through these, it is found that the designed avoidance system can successfully cope with various obstacles and the detection range of sonar is proven to bea significant parameter to the performance of the avoidance.

• Proceedings of the Korea Water Resources Association Conference
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• 2018.05a
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• pp.141-141
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• 2018

자연하천에 존재하는 식생은 동식물에게 주거지를 제공할 뿐만 아니라 영양염류 흡착 및 정화작용을 통해 수질을 개선시키는 역할을 한다. 이러한 식생하천에 오염물질이 유입될 경우 식생에 의한 흐름 교란 작용으로 인해 오염물의 확산거동에 큰 영향을 주게 된다. 본 연구에서는 식생하천에서의 오염물질 혼합특성을 분석하기 위해 식생모형 실험을 수행하였고, Fischer et al (1979)이 제시한 이론식을 실험결과에 적용하여 종분산계수를 산정하고자 한다. 본 연구에서는 자연하천을 재현하기 위해 실험수로에 수중식생 모형을 설치한 후 ADV-Vectrino유속계를 이용하여 유속을 측정하였으며 실험을 통해 식생흐름에서의 유속분포 자료를 취득하고 이를 바탕으로 종분산계수를 산정하였다. 먼저 수중 식생흐름에서 연직유속분포를 측정한 결과, 식생이 존재하는 바닥근처에서는 유속이 느리다가 비식생 구간으로 가면서 유속이 증가하는 분포를 나타낸다. 또한 이 설치된 테스트 구간에 밀도와 유량변화에 따른 케이스를 적용하여 비교 및 분석을 한 결과 식생 밀도를 고정시키고 유량을 증가 시켰을 때 식생구간과 식생이 없는 구간에서의 유속도 증가하는 경향을 보였으며, 유량을 고정시키고 식생의 밀도를 순차적으로 높였을 경우 식생구간에서의 유속이 점차적으로 줄어드는 경향을 보였다. 다음으로 분산계수를 결정하는 방법에는 농도자료를 이용하는 방법과 유속자료를 이용하는 방법이 있는데 본 연구에서는 유속자료를 Fischer et al. (1979)의 이론식에 적용하여 분산계수를 산정하는 방법을 적용하였다. Fischer et al. (1979)가 제시한 식에서 먼저 전단 유속 값을 산정하기 위해 벽법칙 (Karman, 1930), 레이놀즈 전단응력 그리고, 난류운동에너지 (Graf, 1998) 방법을 사용한 후 복잡한 난류 흐름에 적용하기 가장 적합하다는 난류운동에너지 방법을 적용하여 전단 응력이 가장 크게 나온 식생모델 끝단에서의 값을 사용하였다. 그 결과, 수중 식생이 존재하는 흐름에서 무차원화 시킨 종분산계수는 6.89-9.78로 나타났다, 이는 Elder (1959)의 수심 적분을 통해 제시한 종분산계수 값 5.93보다 크다. 즉, 수중 식생이 존재할 경우 종분산계수는 식생이 존재 하지 않을 때 보다 증가하는 것으로 보여 진다.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2010.05a
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• pp.443-449
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• 2010

Recently underwater systems moving at hyper-speed such as a super-cavitating torpedo have been studied for their practical advantage of the dramatic drag reduction. In this study we are focusing our attention on super-cavitating flows around axisymmetric cavitators. A numerical method based on inviscid flow is developed and the results for several shapes of the cavitator are presented. First using a potential based boundary element method, we find the shape of the cavitator yielding a sufficiently large enough cavity to surround the body. Second, numerical predictions of super-cavity are validated by comparing with experimental observations carried out in a high speed cavitation tunnel at Chungnam National University (CNU CT).

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.1288-1289
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• 2015

본 논문은 고속 주행하는 소형의 수중 운동체의 롤 제어기에 대한 연구를 정리한 결과이다. 모형 PMM 시험의 롤 관련 유체력 계수 값의 오차가 커서 실해역 시험에서 시뮬레이션 결과와는 다른 진동현상이 발생하였으나, 시험 결과를 이용한 튜닝과정을 통하여 안정적인 롤 제어 성능을 획득할 수 있었다.

• Journal of the Korea Institute of Military Science and Technology
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• v.5 no.2
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• pp.132-148
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• 2002

In this paper, development procedures of an Underwater Vehicle HILS/MILS System in SE(Synthetic Environment) are described. As this System is developed, we can obtain the more powerful tool which can be used to test and verify operational logics and algorithms of an Underwater Vehicle as well as its hardware in various tactical situations.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.9
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• pp.6099-6111
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• 2015

This study was a systematic review and meta-analysis comparing the effects of aquatic exercise and land-based exercise in the treatment of knee osteoarthritis. 7 studies (n=449) met selection and exclusion criteria out of 287 potential studies obtained from the literature search via Ovid-Medline, Cochrane Library CENTRAL, CINAHL, RISS and KISS. The overall risk of bias of selected studies using SIGN (Scottish Intercollegiate Guidelines Network) checklist for randomized controlled trials (RCT) was regarded as low. As a result of meta analysis, Standardized Mean Difference (SMD) for pain was -0.26(95% CI -0.49, -0.03, p=0.03, $I^2=14%$), which implies that aquatic exercise groups had significant less pain than land-based exercise groups. On the other hand, there was no significant difference between aquatic exercise groups and land based exercise groups for flexion Range of Motion (ROM) (-0.12, 95% CI -0.51, 0.27, p=0.53, $I^2=0%$), extension ROM (-0.04, 95% CI -0.55, 0.48, p=0.89, $I^2=43%$), physical function (-0.12, 95% CI -0.44, 0.19, p=0.44, $I^2=0%$), Quality of Life (QOL) (-0.15, 95% CI -0.54, 0.24, p=0.46, $I^2=0%$). This study has some limitations due to few RCTs comparing aquatic exercise groups and land-based exercise groups in the treatment of knee osteoarthritis. Therefore, further RCTs should be conducted along with long-term outcomes.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.6
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• pp.390-395
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• 2019

Hydrogymnastics so that sufficient exercise effect can be obtained using the resistance of water has a positive effect on patients who have to receive arthritis or rehabilitation treatment. However, the studies on the effect are insufficient, and the main cause of their effects has not been unclear yet. In this study, in order to identify the main cause of the effects of Hydrogymnastics, conducted Unsteady fluid flow simulation under the same conditions as the actual environment. The analysis model based on real hands, and the pressure fluctuation applied to the knuckle was analyzed by the computational fluid method. During the underwater movement of the hands, Various sizes of vortices were generated between fingers due to skin surface velocity and flow resistance. Pressure of about -500 Pa to +500 Pa is applied by the vortex flow. Also It was confirmed that the positive pressure and the negative pressure were continuously repeated up to maximum + 2000 Pa at the minimum of -2000 Pa at the portion where the direction was changed. Pressure fluctuations with a frequency of 20 Hz to 70 Hz were added continuously for each knuckle. These continuous pressure fluctuations provide a direct massage effect on the knuckles, an It is judged that the blood circulation at the relevant part is positively affected.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.15 no.1
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• pp.1-8
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• 2002

When a body enters waters, its original kinetic energy or momentum is distributed among the body and surrounding water in the form of added mass. Due to the transfer of the energy or momentum, the bode is subjected to the hydrodynamic impact forces and acceleration. This impact behavior can be an important criterion of submersible vehicle launched to the air. In this paper, based on Life-boat model, an approximate method is proposed for the evaluation of the forces and responses of cylindrical rigid bode by water entry impact. The impact forces are calculated by yon Karman's momentum theory and motion responses the body, especially acceleration, are calculated by a numerical integration of the motion equations derived by hydrodynamic force equilibrium. The proposed method is expected to be a simple but efficient tool lot the preliminary design or motion analysis of a body subjected to water entry impact.

• The Magazine of the IEIE
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• v.20 no.3
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• pp.68-73
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• 1993

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.9
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• pp.2227-2232
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• 2013

To obtain the system requirement specification in the beginning of the precision guidance system development, the effectiveness and reliability analysis for the system are necessary. The main purpose of this research is to obtain the system requirement specification for the high speed unmanned underwater vehicles by carrying out the effectiveness analysis using the modeling and simulation scheme. The effectiveness is position error for target position. Reaching accuracy is expected to be affected by the navigation sensor parameter. Assume that the navigation sensors that is consist of inertial navigation system(INS) and doppler velocity log(DVL) is the parameter. To analyze the effectiveness of each parameter, Monte-Carlo numerical simulation is performed in this research. The effectiveness analysis is carried out using circular error probability(CEP) and variance analyze scheme. Considering the cost function, the specification of the navigation sensor is provided. The cost function is consist of the INS and DVL specification and the price of those sensors.