• Journal of the Korea institute for structural maintenance and inspection
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• v.18 no.2
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• pp.126-133
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• 2014

The main source of bridge destruction is due to scour. The bridge scour is the result of erosive action of flowing water taking away ground materials from near the abutment or pier. Furthermore, the water level must be also monitored whiling flooding, because it dangers not only the stability of bridge itself, but the safety of bridge users. This study is intended to develop a new measuring system for bridge scour by overcoming the current limitation of scour measurement technique. This measuring system is confirmed its excellence and validity through this study. The newly developed measuring system finds the distance between the water surface and the ground surface by detecting temperature difference along the abutment vertically. The measuring mechanism for monitoring the bridge scour and water level is based on identifying the temperature difference among mediums, including air, water and ground. In order to validate the new measuring system, the lab experiments and the field tests are conducted and compared. It has been confirmed that this system can effectively measure the bridge scour and the water level by analyzing the temperature distribution between mediums and the temperature variation over time.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.06a
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• pp.9-10
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• 2012

This paper presents an observer to measure the lengths of cylinders of an underwater robot for harbour construction using a pressure sensor. In harbour constructing, we place heavy armour stones weighing over 2~3 tons on the surface of the bank to protect it from storming wave. This work typically done by a diver is difficult and dangerous so that we have developed Stone Diver which is the underwater robot for harbour construction. The robot needs a position sensor to control the hydraulic cylinder. The position sensors mounted outside the cylinders cause poor durability in construction site where shock and dust usually occur. However, the pressure sensor mounted inside a waterproof box improves the durability. Based on the dynamic parameters and the pressures in the cylinder, the observer measures the cylinder's position. This paper presents the positional accuracy of the pressure based observer and the performance of the underwater robot to assemble the armour stones.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.8
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• pp.3758-3765
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• 2011

The operators' visibility of underwater construction equipments plays a key role for safe and efficient construction. The visibility can be limited within 30cm in the West Sea of South Korea where water is considerably turbid. This paper investigates the appropriate location and projection angle of light to be used for construction equipments using model tests. It was discovered that visibility was obtained when the light was located near the target objects with a projection angle of $45^{\circ}$.

• Journal of the Institute of Convergence Signal Processing
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• v.21 no.1
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• pp.38-48
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• 2020

In order to inspect the existing or newly constructed ship's hull, a professional diver directly inspects the ship's bottom of the water. However, since it is a work done by people, there are many dangers such as human casualties and crashes. To solve this problem, it is necessary to develop underwater drones for ship inspection for visual inspection. The technology applied to underwater drones, the use and manufacturing process of each component, and the method of manufacture such as firmware development were described, and the difference was compared by measuring the drone's own driving ability and driving ability using crawler under water, and the location tracking device test confirmed the error from the actual location. It is estimated that the use of underwater drones produced through this research will prevent human casualties and achieve economic effects and stability.

• Proceedings of the Korea Concrete Institute Conference
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• 2009.05a
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• pp.553-554
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• 2009

This paper introduces the new measuring method for the water level and the scour. The method measures temperature between water and ground by temperature sensors. It analyzes the change of temperature. It estimates the water level and the ground level, and calculates the scour. If the temperature sensors installed until the top of the pier, it can measure the water level.

• Proceedings of the Korea Water Resources Association Conference
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• 2019.05a
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• pp.198-198
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• 2019

2011년 동일본 지역에서 발생한 지진으로 인하여 후쿠시마 다이이치에 위치한 원자력 발전소에서 다양한 방사성 물질들이 바다, 하천 그리고 대기와 같은 자연환경 속으로 유출되었다. 방사성 세슘(Cesuim, $Cs^{137}$)은 다양한 방사성 물질들 가운데 반감기(Half-life)가 30.17년으로 가장 긴 물질이다. 방사성 세슘이 환경 생태계로 한번 유출될 경우 긴 반감기과 널리 퍼지는 성질로 인하여 오랜 시간동안 넓은 지역에 막심한 피해를 초래하므로 효과적인 처리방법을 통해 안전하게 처리하는 것이 아주 중요하다. 세슘을 제거하기 위하여 물리적, 화학적, 생물학적 등 다양한 방법들을 통해 연구를 진행하고 있으며, 특히 세슘을 제거하는 아주 효과적인 방법 중 하나인 프러시안 블루(Prussian Blue, PB) 흡착제를 적용하는 방법이 많이 주목받고 있다. 그러나 프러시안 블루는 미세한 분말입자로서 수처리에 사용하게 되면 처리 후 발생되는 슬러지들을 수중으로 부터 분리하기 어려운 한계점을 가지고 있다. 최근 연구에서는 프러시안 블루의 적용 한계점를 극복하기 위하여 자성체(Magnetic substance)를 물리적 지지체로 이용하여 외부 자기장을 통해 수중으로 분리하는 방법들이 연구되고 있다. 자성체란 외부 자기장이 주어지게 되면 입자들 표면에 자성력을 띄는 물질들을 말한다. 본 연구에서는 자성체 종류들 가운데 가장 높은 자성력을 지닌 강자성체(Ferromagnetic Substance)를 물리적 지지체로 하여 산화과정, 실란과정, 합성과정을 거쳐 강자성체 입자의 표면에 프러시안 블루를 합성한 새로운 형태에 합성체를 제조하고, 제조된 합성체를 이용하여 수중에 존재하는 세슘 제거 능력을 평가하였다. 제조된 합성체의 물리적 특성을 분석하기 위하여 SEM, XRD를 이용하여 합성체 입자의 표면 분석을 진행하였다. 합성체의 세슘 제거 능력을 평가하기 위하여 임의 제조된 0.5mg/L의 세슘 농도를 가진 원수 100ml에 제조된 새로운 형태의 합성체 1g을 투입한 뒤 1분간의 반응시간 동안 반응한 이후 잔류 세슘을 측정한 결과 수중의 존재하는 세슘에 대해 99.9%의 세슘 제거율을 기록하였다. 자가분리(Magnetic Seperate)의 원리를 이용하여 수중으로부터 회수율을 측정한 결과, 99%의 합성체 회수율을 얻었다. 실험결과를 통해 외부자기장이 주어지게 되면 수중으로부터 합성체를 대부분 분리하여 회수할 수 있다고 판단된다. 본 연구를 통해 개발된 새로운 형태의 합성체는 수중의 세슘 처리 공정에서 사용자가 직접 접촉하지 않고 세슘제거 및 외부자기장을 통해 수중으로부터 분리가 가능한 합성체라고 판단된다.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.70-77
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• 2015

This paper proposes an application of unscented Kalman filter(UKF) for localization of an underwater robot. The method compares the bathymetric measurement from the robot with the seabed terrain information. For the measurement of bathymetric range to seabed, it uses a DVL which typically yields four range data together with velocity of the robot. Usual extended Kalman filter is not appropriated for application in case of terrain navigation, since it is not feasible to derive Jacobian for the bathymetric range measurement. Though particle filter(PF) is a nice solution which doesn't require Jacobian and can deal with non-linear and non-Gaussian system and measurement, it suffers from heavy computational burden. The paper compares the localization performance and the computation time of the UKF approach and PF approach. Though there have been some UKF methods which are used for underwater navigation, application of the UKF for bathymetric localization is rare. Especially, the proposed method uses only four range data whereas many of the bathymetric navigation methods have used multibeam sonar which yields hundreds of scanned range data. The result shows feasibility of the UKF approach for terrain-based navigation using small numbers of range data.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.12
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• pp.8889-8895
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• 2015

It is necessary to secure the underwater visibility in order to perform underwater works such as rubble mound leveling or inspection and management of underwater structures. In this study, turbidity data for typical port area in Korea were measured and analyzed according to the region. Underwater monitoring system including underwater camera and sonar system, which can be effectively attached to underwater equipment for various turbidity conditions, was also investigated.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.3
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• pp.808-814
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• 2010

In this paper we executed a SBL(Short Baseline) underwater acoustic positioning system that is a kind of underwater position estimation system to estimates the 3-dimensional position of ROV(Remotely Operated Vehicle) using hydrophones and DAQ(Data Acquisition) system in the basin which dimensions are $3{\times}3{\times}1.7(m)$. For this experiment, we let 4 hydrophones in different positions of the basin for receiver and 1 hydrophone is fixed on the underwater vehicle for transmitting sensor(pinger). These five hydrophones are communicated with each other to find the 3-D positions of the moving ROV in the basin. The measured signals are collected by DAQ system and the positions of the ROV are plotted by LabView program in real-time. To estimate the position of the ROV we used a trigonometric method. In X and Y plane the estimated data has a small errors but in Z plane the estimated data has large errors so we cannot use this data for position control. One solution of this problem is using depth sensor that implemented of the underwater vehicle. Hereafter, we will test in the ocean using designed SBL system.

• Journal of Navigation and Port Research
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• v.36 no.10
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• pp.865-871
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• 2012

This paper presents an observer to estimate the displacement of hydraulic cylinders of an underwater robot for harbour construction using a pressure sensor. In harbour constructing, we place heavy armour stones weighing over 2~3 tons on the surface of the bank to protect it from storming wave. This work typically done by a diver is difficult and dangerous so that we have developed Stone Diver which is the underwater robot for harbour construction. The robot needs a displacement sensors to control the position of hydraulic cylinders. The position sensors mounted outside the cylinders cause poor durability in construction site where shock and dust usually occur. However, the pressure sensor mounted inside a waterproof box improves the durability. Based on the dynamic parameters and the pressures in the cylinder, the observer estimates the cylinder's position. This paper presents the positional accuracy of the pressure based observer and the performance of the underwater robot to assemble the armour stones.