• 선박안전
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• 제10권
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• pp.43-46
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• 2003

• 대한조선학회논문집
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• 제41권3호
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• pp.28-34
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• 2004

This paper presents the results of the structural analysis and optimal design of the ROV to be operated at 6000m depth in the ocean. This will be the first domestic deep-sea ROV operating with an AUV and a launcher equipped with robot arms and the current weight is about 3 ton. initial optimal dimension of the frame is determined based on the stress analysis using FEA code ANSYS and design sensitivity and optimization results. The current design is the initial design and there is a possibility to change the design according to the modification of material, equipments and array of structure.

• 대한조선학회논문집
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• 제41권6호
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• pp.140-146
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• 2004

This paper presents the structural analysis of the pressure vessels in the unmanned underwater vehicle (UUV) under developing at KORDi, which consists of a ROV, an AUV and a launcher at 6000 m depth in the ocean. Analytical, linear and nonlinear stress and buckling analysis of cylindrical pressure vessels using FEM (ANSYS) are performed to verify the safety of the current design.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.172-177
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• 2004

This paper presents the results of the structural analysis and optimal design of frames of the UUV(Unmanned Underwater vehicle) to be operated at 6000m depth in the ocean. The structure of the UUV system can be classified into two structure, Launcher ana ROV. Frame of the launcher will be made by Galvanized Steel which has high strength and corrosion-resistant but this material has high specific gravity for tile object to be weight in the water Similarly, ROV will be made by AI6061-T6, and frame of the ROV will be fix many instruments and syntactic buoyancy materials. Before fabrication of tile frame, we performed sensitivity analysis - change in weight due to $\pm1\%$ change in design variables, for easy choice by change of dimension of the frame.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2002년도 춘계학술대회 논문집
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• pp.243-250
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• 2002

According to Ocean Korea 21, a basic plan established by the Ministry of Maritime Affairs and Fisheries (MOMAF) of Korea in May 2000, Korea Research Institute of Ships and Ocean Engineering (KRISO) proposed a program for the development of a deep-sea unmanned underwater vehicle (UUV) to explore deep sea for scientific purpose. KRISO has launched a project in May 2001 under the support of MOMAF. The deep-sea unmanned underwater vehicle will be applied to scientific researches in deep-sea as well as in shallow water. For operation of underwater vehicles in shallow water near the Korean Peninsula, a special design is required because of strong tidal current. In addition, MOMAF requires the vehicle to be designed for the purpose of long range survey, a long-term observation, and precise works in a specific area. Thus, KRISO has planned to design the system with the functional combination of both ROV and AUV. This paper presents the design of the deep-sea unmanned underwater vehicle.

• 한국해양공학회지
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• 제13권4호통권35호
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• pp.82-97
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• 1999

A deep sea vehicle must be designed to ensure its safety under ultra-high pressure circumstances. If a pressure housing of a deepsea vehicle is collapsed by ultra-high pressure, the deepsea vehicle may be lost. The objective of this paper is to introduce a design collapse pressure for the deep sea pressure vessel which is composed of one cylinder and two hemispheres. Especially the collapse pressure of hemispherical shell with a hole at top is analyzed by a variational approach (weighted residual method). And for the purpose of design, the salty factor of collapse pressure is presented which is analyzed by interpolation method.

• 한국해양공학회지
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• 제22권4호
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• pp.97-105
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• 2008

This paper represents the experimental identification of a finite-dimensional dynamical plant model for the HEMIRE Remotely Operated Vehicle. The experiments were conducted during sea trials in the East Sea in October 2006 and peer testing by the South Sea Research Institute in January 2007. A least-squares method was employed to identify decoupled single degree-of-freedom plant dynamical models for the X, Y, Z and heading degree-of-freedom from experimental data. The performance of the identified plant dynamical model was evaluated by directly comparing simulations of the identified plant model to the experimentally observed motion data from the actual vehicle.

• 전자공학회논문지SC
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• 제44권3호
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• pp.70-76
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• 2007

해미래는 한국해양연구원 해양시스템안전연구소에서 해양수산부의 지원으로 2001년부터 6년에 걸쳐 순수 국내 기술로 개발한 6, 000m급 과학탐사용 섬해 무인잠수정이다. 해미래는 2006년 4월에 동해 1차 시도에서 1, 065m까지, 10월 동해 2차 시도에서 2, 026m 해저변까지, 11월에 필리핀 앞 태평양에서 5, 775m 해저변까지 시험 탐사를 성공적으로 수행하였다. 이로서 우리나라는 세계에서 4번째로 독자적인 섬해 무인 잠수정 설계 및 개발 기술을 확보하였으며, 앞으로 국가 전략 기술로서의 섬해 연구를 위한 기초를 마련하였다. 본 논문에서는 섬해 무인잠수정의 구성과 기능에 대하여 설명하고 해미래의 개발 및 시험 과정에 대하여 간단히 설명한다. 또한 첫 탐사를 위한 준비 과정과 3차례에 결친 시험 탐사 결과를 요약한다.

• 한국해양공학회지
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• 제23권1호
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• pp.48-53
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• 2009

Autonomous Underwater Vehicles (AUV's) provide an important means for collecting detailed scientific information from the ocean depths. The hull resistance of an AUV is an important factor in determining the power requirements and range of the vehicle. This paper describes a design method that uses Computational Fluid Dynamics (CFD) to determine the hull resistance of an AUV under development. The CFD results reveal the distribution of the hydrodynamic values (velocity, pressure, etc.) of an AUV with a ducted propeller. This paper also discusses the optimization of the AUV hull profile to reduce the total resistance. This paper demonstrates that shape optimization in a conceptual design is possible by using a commercial CFD package. Optimum design work to minimize the drag force of an AUV was carried out, for a given object function and constraints.

• 지구물리와물리탐사
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• 제14권1호
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• pp.80-87
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• 2011

자율무인잠수정은 해수면탐사선에 비해 해저면에 더 가까이 접근할 수 있는 장점을 제공한다. 수심자료, 해저면 물질 정보와 해저면 하부 영상을 얻기 위해서는 자율무인잠수정에 탑재된 다중빔음향즉심기, 해저면영상탐사기 및 천부지층탐사기 등이 유용하게 사용된다. 일본해양연구개발기구는 3000m급 자율무인잠수정 우라시마를 개발하였다. 잠수정의 전력공급용 연료전지시스템의 공학적 개발과 시험과정을 거쳐 우라시마에는 신형 리튬이온전지 시스템이 설치되었다. 잠수정은 초기 공학적인 업무에서 과학적 사용 목적으로 개량되었다. 다양한 과학장비들이 추가되었고 2006년부터 과학적인 목적의 임무수행을 위한 잠항시험이 수행되었다. 2007년 시험운항에서 일본 기이반도 해역 북구마노분지 부근에서 우라시마의 해저면영상탐사기와 천부지층탐사기를 이용하여 고해상 음향영상자료를 획득하였다. 후방산란강도 도면에서는 많은 암설류가 확인되었고, 천부지층탐사단면에서 연구해역의 북동쪽 끝 부근의 하부구조가 확인되었다. 이러한 특징은 최신 선상지의 형성과 관련된 구조를 암시한다. 그러나 남서 해역에서는 해저면 하부 ~20 ms 부근에서 강한 반사층이 존재하는데, 이는 삭박특징으로 해석되며 현재는 더 젊은 해저 퇴적물로 덮여있다. 잠수정의 성능은 지속적으로 향상되고, 우라시마를 활용하여 많은 유용한 결과가 얻어질 것으로 기대된다.