• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.6
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• pp.867-874
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• 2021

The IoT (Internet of Things) technology is rapidly becoming an important consideration in many engineering fields in the current 4th industrial era. In recent years, the concepts of digital shipbuilding and smart factories have been adopted as trends in shipyards. However, there is active interest in research on implementing autonomous driving in autonomous vehicles and airplanes, which is currently available in commercial form in a limited capacity. The present study is regarding the path-tracking performance of a boat to accomplish an autonomous driving mission using a flight controller (FC) and real-time kinematic (RTK) global positioning system (GPS) based on an open-source Ardupilot; an actual sea test is also performed using this system on a calm lake. The boat's mission is to evaluate the maneuverability of the self-driving process to a specific point and returning to the home position. For a given speed, the difference between the preset mission trajectory and actual operational trajectory was analyzed, and a series of studies were conducted on the applicability of the system to ships. In addition, the movements and maneuverability of the OmniX-type hull with four propellers were investigated, and the driving path-tracking performance was observed to increase by a maximum of 48%.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.3
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• pp.164-173
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• 2014

In underwater robotics, vision would be a key element for recognition in underwater environments. However, due to turbidity an underwater optical camera is rarely available. An underwater imaging sonar, as an alternative, delivers low quality sonar images which are not stable and accurate enough to find out natural objects by image processing. For this, artificial landmarks based on the characteristics of ultrasonic waves and their recognition method by a shape matrix transformation were proposed and were proven in Part 1. But, this is not working properly in undulating and dynamically noisy sea-bottom. To solve this, we propose a framework providing a selection phase of likelihood candidates, a selection phase for final candidates, recognition phase and tracking phase in sequence images, where a particle filter based selection mechanism to eliminate fake candidates and a mean shift based tracking algorithm are also proposed. All 4 steps are running in parallel and real-time processing. The proposed framework is flexible to add and to modify internal algorithms. A pool test and sea trial are carried out to prove the performance, and detail analysis of experimental results are done. Information is obtained from tracking phase such as relative distance, bearing will be expected to be used for control and navigation of underwater robots.

• Journal of the Korean Society of Marine Environment & Safety
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• v.28 no.spc
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• pp.11-17
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• 2022

In this study, we address the development of a floating platform system based on a unmanned surface vessel for wide-area sensing and monitoring of hazardous and noxious substances (HNSs). For long endurance, a movable floating platform with no mooring lines was used and modified for HNS sensing and monitoring. The floating platform was equipped with various sensors such as optical and thermal imaging cameras, marine radar, and sensors for detecting HNSs in water and air. Additionally, for experiment validation in real outdoor environments, a portable gas-exposure system (PGS) was built and installed on the monitoring system. The software for carrying out the mission was integrated with the Robot Operating System (ROS) framework. The practical feasibility of the developed system was verified through experimental tests conducted in inland water and real-sea environments.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.1
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• pp.555-560
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• 2014

In Korea, quantitative growth rate of artificial reef construction is supposed to reach the peak point therefore, new approach is needed to the point of artificial reefs business. Functional reefs like shellfish reefs, recreational reefs, seaweed reefs as well as fish reefs are beneficial alternatives. This study conducted hydraulic testing to assess the stability of new types of artificial reefs (ARs) constructed to promote the growth of shellfish and seaweed. The results of this study revealed that some dimensionless design parameters affected the stability of new types of artificial reef under various wave and water depth conditions in the fixed bed condition. The findings also highlight the importance of hydraulic experiments in solving problems that have emerged in the design and construction of artificial reefs.

• Journal of the Korean Society for Marine Environment & Energy
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• v.5 no.2
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• pp.50-61
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• 2002

This paper - following 'Functional requirement of marine waste cleaning ships and organization of the fleets'[1] - describes on the preliminary conceptual design procedure for the multi-purpose marine waste cleaning system for shallow waters. The working area of this system is Yellow Sea and part of South Sea of South Korea. As the first step, we determined the functional requirements including the daily target of waste collecting. Then, the preliminary conceptual design and general arrangements were carried out. In order to evaluate the safety and efficiency of this designed system, the stability check and the computer graphic simulation were carried out. Finally, the sea trial performance test of integrated systems in Yeosoo ports was performed and the designed system was shown its validity and effectiveness.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.22 no.3
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• pp.181-190
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• 2010

In case of constructing submerged breakwaters, the circulation current is occurred around the open inlet because of mean water level difference between front and rear sides of them. The aim of this study is to investigate the flow control structure of new-type submerged breakwater which is able to reduce mean water level at rear side of it. At first, the numerical model (LES-WASS-3D) is validated by comparing with existing experimental data. And then, numerical simulation is carried out to examine wave height, mean water level and mean flow around the newtype submerged breakwater. From the numerical results, it can be pointed out that the new-type submerged breakwater with drainage system reduces the rip current around the open inlet.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.8
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• pp.5327-5332
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• 2014

In Korea, the quantitative growth rate of artificial reef construction is supposed to reach the peak point. Therefore, new approach is needed to the point of artificial reefs business. Functional reefs, such as shellfish reefs, recreational reefs, seaweed reefs, and fish reefs, are beneficial alternatives. This study conducted hydraulic testing to assess the stability of corrugated artificial reefs (ARs) that were constructed to promote the growth of shellfish and seaweed. The results of this study showed that some dimensionless design parameters affected the stability of corrugated artificial reefs under a range of wave and water depth conditions in a fixed bed condition. The findings also highlight the importance of hydraulic experiments in solving the problems that have emerged in the design and construction of artificial reefs.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.32 no.1A
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• pp.19-30
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• 2012

Recently, vision-based dynamic deflection measurement techniques have significant interests and are getting more popular owing to development of the high-quality and low-price camcorder and also image processing algorithm. However, there are still several research issues to be improved including the self-vibration of vision device, i.e. camcorder, and the image processing algorithm in device aspect, and also the application area should be extended to measure three dimensional movement of floating structures in application aspect. In this study, vision-based dynamic motion measurement technique using multiple targets is proposed to measure three dimensional dynamic motion of floating structures. And also a new scheme to select threshold value to discriminate the background from the raw image containing targets. The proposed method is applied to measure the dynamic motion of large concrete floating quay in open sea area under several wave conditions, and the results are compared with the measurement results from conventional RTK-GPS(Real Time Kinematics-Global Positioning System) and MRU(Motion Reference Unit).

• Journal of the Society of Naval Architects of Korea
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• v.39 no.1
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• pp.28-37
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• 2002

In this study nonlinear dynamic behaviors of towed tow-tension cables are numerically analysed. In the case of a taut cable analysis, a bending stiffness term is usually neglected due to its minor effect but it plays an important role in a low-tension cable analysis. A low-tension cable may experience large displacements due to relatively small restoring forces and thus the effects of fluid and geometric non-linearities become predominant. The bending stiffness and non-linearity effects are considered in this work. In order to obtain dynamic behaviors of a towed low-tension cable, three-dimensional nonlinear dynamic equation is described and discretized by employing a finite difference method. An implicit method and Newton-Raphson iteration are adopted for the time integration and nonlinear solutions. For the calculation of huge size of matrices. block tri-diagonal matrix method is applied, which is much faster than the well-known Gauss-Jordan method in two point boundary value problems. Some case studies are carried out and the results of numerical simulations are compared with those of a in-house program of WHOI Cable with good agreements.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.10
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• pp.16-22
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• 2020

The Korea Institute of Ocean Science & Technology is developing a free-fall cone penetration test system (FFCPT) that can acquire the characteristics of the seabed surface soil. To obtain the data through the FFCPT, a method of storing the signals for the entire time or a method of storing the signal for user-defined time can be considered. For efficient data storage and management, it is advantageous that data be stored by user definition. Therefore, this study analyzed the basic behavior using the signal acquired through a sensor mounted in the FFCPT and developed a trigger method to recognize the start and end of data storage using a depth sensor. The start and endpoints of the fall were determined using the moving average difference of 3 and 0.03 seconds of the depth signal. A real sea-trial test was performed using the FFCPT, and the developed trigger was operated normally.