• 한국해양공학회지
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• 제22권4호
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• pp.106-113
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• 2008

This paper presents an underwater navigation system based on range measurements from a known reference station fixed on the sea bottom or floated at surface with a buoy, for which the system is extended to 3-dimensional coordinates. We formulated a state equation in polar coordinates and constituted an extended Kalman filter for discrete-time implementation of the navigation algorithm. The autonomous underwater vehicle, lSiMl, cruising with a constant speed can estimate its trajectory using just range measurements and additional depth, heading and pitch sensors. Simulation studies were performed to evaluate the underwater navigation of the maneuvering AUV with range measurements. We modulated the sample rate of range measurements to evaluate the effect of the update rate, and changed the initial position error of the AUV to check the robustness to estimation errors. Simulation results illustrates that the extended navigation system provides convergence of the state estimates. The navigation system was conditionally stable when it had initial position errors.

• 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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 A
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• pp.597-601
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• 2004

HVDC(High Voltage Direct Current) is an underwater cable between Jeju Island and Haenam in main land and supplies approximately $50\%$ of electrical usage in Jeju Island. If there is any power failure due to HVDC, it will cost approximately 50,000 US dollars per day including Thermal Electrical Generation. Therefore it is absolutely necessary to recover the problem in rapid timely basis. Present survey method in Korea is done by scuba diver with air cylinder resulting very poor visual inspection. Other option is by only visual camera attached on miniature ROV for solely suey Purpose. This method does not includeburial depth of cable, cable position, cable condition & etc??‥‥.??? In result, current method does not generate any scientific or sophisticated data which does not allow any intelligent management decision. In conclusion, new method and new systems are needed urgently to upgrade current HVDC underwater cable survey technique in Korea to minimize the cost and time factors.

• 한국해양공학회지
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• 제20권6호
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• pp.24-34
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• 2006

Hydrodynamic coefficients strongly affect the dynamic performance of an AUV. Thus, it is important to know the true values of these coefficients, in order to accurately simulate the AUV's dynamic performance. Although these coefficients are generally obtained experimentally, such as through the PMM test, the measured values are not completely reliable because of experimental difficulties and errors. Another approach, by which these coefficients can be obtained, is the observer method, in which a model-based estimation algorithm estimates the coefficients. In this paper, the hydrodynamic coefficients are estimated using two nonlinear observers: a sliding mode observer and an extended Kalman filter. Their performances are evaluated in Matlab simulations, by comparing the estimated coefficients obtained from the two observer methods, with the experimental values as determined from the PMM test. A sliding mode controller is constructed for the diving and steering maneuver by using the estimated coefficients. It is demonstrated that the controller, applied with the estimated values, maintains the desired depth and path with sufficient accuracy.

• 한국해양공학회지
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• 제23권5호
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• pp.61-70
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• 2009

An AUV (Autonomous Underwater Vehicle) is an unmanned underwater vessel to investigate sea environments and deep sea resource. To be completely autonomous, AUV must have the ability to home and dock to the launcher. In this paper, we consider a class of homing trajectory planning problem for an AUV with kinematic and tactical constraints in horizontal plane. Since the AUV under consideration has underactuated characteristics, trajectory for this kind of AUV must be designed considering the underactuated characteristics. Otherwise, the AUV cannot follow the trajectory. Proposed homing trajectory panning method that called VGM (Virtual Goal Method) based on visibility graph takes the underactated characteristics into consideration. And it guarantees shortest collision free trajectory. For tracking control, we propose a PD controller by simple guidance law. Finally, we validate the trajectory planning algorithm and tracking controller by numerical simulation and ocean engineering basin experiment in KORDI.

• 한국환경과학회지
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• 제15권9호
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• pp.881-886
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• 2006

The purpose of this research is to examine the beach erosion prevention capability of submerged breakwaters under wave energy condition. To accomplish this objective, the computational domain was divided into two do-mains : the large and the detailed domain for the Song-Do beach. For each computational domain, numerical models for calculating transformation, wave induced current and beach erosion were used and also these numerical models were carefully applied to three experimental cases such as 1) the present beach condition, 2) the condition for which submerged breakwaters are installed about 240m from the shoreline of beach enlarged by artificial nourishments. The results of this research show that if storm waves attack the present beach, the erosion occurs widely all over the beach. However, when the submerged breakwaters are installed in addition to the artificial nourishments, storm waves can be adequately controlled and strong wave induced currents occur only around the submerged breakwaters resulting in the beach evolution appearing locally only at the western end of the beach.

• 한국조리학회지
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• 제22권8호
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• pp.99-108
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• 2016

This study was conducted to investigate the effect of Chinese artichoke powder on the physicochemical properties and the sensory characteristics of yanggaeng. According to the increasing contents of Chinese artichoke powder, the $^{\circ}Brix$ value and pH levels of yanggaeng were significantly decreased whereas the moisture contents of yanggaeng was significantly increased. The result of color measurement shown that L value of groups containing Chinese artichoke powder was lower than that of control group, but a value and b value of groups containing Chinese artichoke powder were higher. Texture measurement score in terms of cohesiveness, chewiness, and brittleness for yanggaeng were significantly decreased according to the levels of added Chinese artichoke powder content. The contents of total polyphenol, DPPH radical scavenging activity, and NSA of groups containing Chinese artichoke powder were higher than those of control group. As Chinese artichoke powder increased, antioxidative activity also became bigger. Sensory evaluation scores in terms of appearance, odor, taste, texture, and overall preference of groups with 2% and 4% of Chinese artichoke powder did not show any significantly differences when compared to the control group. Based on these findings, current study suggest that addition of 4% Chinese artichoke powder was the best substitution ratio for yanggaeng.

• 제어로봇시스템학회논문지
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• 제19권9호
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• pp.813-821
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• 2013

In this paper, we present the development of P-SURO II hybrid AUV (Autonomous Underwater Vehicle) which can be operated in both of AUV and ROV (Remotely Operated Vehicle) modes. In its AUV mode, the vehicle is supposed to carry out some of underwater missions which are difficult to be achieved in ROV mode due to the tether cable. To accomplish its missions such as inspection and maintenance of complex underwater structures in AUV mode, the vehicle is required to have high level of autonomy including environmental recognition, obstacle avoidance, autonomous navigation, and so on. In addition to its systematic development issues, some of algorithmic issues are also discussed in this paper. Various experimental studies are also presented to demonstrate these developed autonomy algorithms.

• 한국전자통신학회논문지
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• 제11권2호
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• pp.223-228
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• 2016

사람은 하루 7~8시간 잠자는 동안 20~30번 자세를 바꿈으로 해서 최적의 수면 활동을 유지하려 한다. 최적의 수면을 제공하기 위해서는 베개 내부에 코골이 습관은 물론이고 개인의 수면 패턴을 감지할 수 있는 Sensing시스템과 Sensor에서 출력되는 정보를 분석 가공하는 프로그램 및 정보를 제공하는 디스플레이 장치를 통해 파악된 각종 수면 데이터를 효과적으로 활용하기 위한 센싱 장치의 개발이 필요하다. 본 논문에서는 수면 중 인 사람의 뒤척임을 감지해 수면 패턴을 분석하고 분석된 자료를 바탕으로 수면 건강에 대한 적극적인 관리 할 수 있는 웰빙 베개를 개발하고자 한다.

• Ocean and Polar Research
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• 제26권3호
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• pp.465-473
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• 2004

Five parameters such as the entrance size of the front wall, conduit size, wave period, wave height and the width of water pool were selected to estimate the inflow rate, which is basic and essential input data to design seawater exchange breakwater with a submerged mound by conducting hydraulic model experiments. In the results of multiple regression analysis, log-log equation showed a good agreement rather than linear equation and the estimation of inflow rate was well done with only two parameters except entrance size of the front wall, wave period and the width of water pool. Finally, non-dimensional flow rate equation is derived.