• Journal of Ocean Engineering and Technology
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• v.32 no.6
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• pp.511-517
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• 2018

This paper proposes a vision-based underwater laser scanner with separate structures for an underwater camera and a line laser projector. Because the two devices can be adaptively placed regardless of the features of the unmanned underwater vehicle (UUV), the scanner has significant advantages in relation to its availability and flexibility. Position calibration between the underwater camera and laser projector guarantees a 3D measuring performance with high accuracy. To verify the proposed underwater laser scanner, a test-bed system was manufactured, which consisted of the laser projector, camera, Pan&Tilt, and Attitude and Heading Reference System (AHRS). A camera-laser calibration test and simple 3D reconstruction test were performed in a water tank and the experimental results are reported.

• Journal of Ocean Engineering and Technology
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• v.33 no.5
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• pp.454-461
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• 2019

In autonomous interventions using an underwater vehicle with a manipulator, grasping based on target detection and recognition is one of the core technologies. To complete an autonomous grasping task, the vehicle body approaches the target closely and then holds it through operating the end-effector of the manipulator, while the vehicle maintains its position and attitude without unstable motion. For vehicle motion control, it is very important to identify the hydrodynamic parameters of the underwater vehicle, including the propulsion force. This study examined the propulsion characteristics of the autonomous intervention ROV developed by KRISO, because there is a difference between the real exerted force and the expected force. First, the mapping between the input signal and thrusting force for each underwater thruster was obtained through a water tank experiment. Next, the real propulsion forces and moments of the ROV exerted by thrusting forces were directly measured using an F/T (force/torque) sensor attached to the ROV. Finally, the differences between the measured and expected values were confirmed.

• Journal of Ocean Engineering and Technology
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• v.33 no.2
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• pp.168-177
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• 2019

KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2019.05a
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• pp.109-111
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• 2019

스마트 항만 IoT 인프라 및 정보수집 제공 장치 개발 과제는 항만 IoT 인프라와 정보수집 및 제공 장치 개발을 통해 항만물류자원들의 상호 간 초연결 네트워크를 구축하고, 이를 기반으로 실시간으로 정보를 수집 분석하여 제공함으로써 화물, 사람, 장비, 시설 등을 포함하는 항만 내 모든 자원의 연결성을 90% 이상 확보하고, 더불어 선박, 외부트럭, 교량, 교통 등을 포함한 항만 외 외부자원과의 연결성을 강화하는 것을 목적으로 한다.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2019.05a
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• pp.123-124
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• 2019

우리나라 조선업은 건조분야에서 세계최고의 위상을 자랑하면서 급속도로 발전을 해왔다. 그러나 세계적으로 수주 불황과 조선 산업의 침체로 인해서 조선 산업은 직접적인 타격으로 국내의 중견 조선소 및 기자재 공급업체들이 도산되어0 최근부터 해양플랜트 사업이 우리나라 새로운 산업으로 부상하면서 해양 ICT 융합기술을 활용한 기자재 업체들이 많이 생겨났다. 하지만 실제 해양플랜트 선박 및 기자재의 국산화율은 현저히 낮다. 해양플랜트 외에 다른 용도로 사용이 가능한 Service and Access Basket의 국산화를 위해서 각 모듈별로 임베디드를 연계하여 설계하였다. 기존의 Service and Access Basket의 미비했던 안전 사양(기울기, 하중, 경보 등)을 추가로 설계하고 신뢰성이 높은 센서(자이로, 하중센서, 초음파 거리센서)들을 활용하여 통합 설계하였다. 이러한 통합 시스템이 완성이 되면 고소차, 해양/육상용 고공 작업을 할 수 있는 장비 등에 활용할 수 있을 예정이다.

• Water for future
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• v.51 no.12
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• pp.63-67
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• 2018

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.4
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• pp.755-762
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• 2021

This study is a study for the utilization of marine information and communication technology of Masan port in order to play a pivotal role in the economy of Masan port as a base port for entering the southern coast area. It aims to examine the utilization of marine information technology to be pursued in the mid- to long-term based on the current status of Masan port and the ICT being applied.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2011.10a
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• pp.316-319
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• 2011

During the past several decades, the development of the maritime policy have been focused on the level of regulation based on the lessons from the individual accidents. Recently, the development of IMO e-navigation strategy has been discussed actively and has been focusing on the new frame and architecture based on the user requirements and definition of function and services for user requirements, which might produce the user-friendly policy, infrastructure and user service. For the new maritime ICT policy getting fusion of ICT and innovation of ship/ocean industry, the overarching methodology, as IMO e-navigation strategy, should be applied to primarily setup the architecture from the user requirements to technology. In this paper, we analyze the IMO e-navigation strategy procedure and provide the consideration and lessons for the strategic methodology to develop a new maritime ICT policy.

• The Journal of the Korea institute of electronic communication sciences
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• v.11 no.6
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• pp.567-580
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• 2016

In recent years, our society, because of the arrival of a new paradigm according to the rapid changes in ICT has entered into future smart society and the ubiquitous era. So it can be a notable turning point in the marine disaster prevention system with big data, aspects of the era change. Therefore, this study was to derive a desirable vision for the big data marine disaster prevention informatization in terms of ICT maritime disaster prevention system development as preparedness for the maritime disaster by applying 'scenario planning' as a foresight method. Soon this study derived a successful marine disaster prevention informatization strategy as preparedness for the maritime disaster like Ferry Sewol Disaster. It proposed the big data marine disaster prevention informatization system with the use of the administrative aspects of information with spatial informatization as big data information. Also this study explored the future leadership strategy of the big data marine disaster prevention informatization in smart society. Eventually in 2030 to around, In order to still remain our marine disaster prevention informatization as a leading ICT nation, this study suggested the following strategy. It is important to ready the advanced Big Data administrative spatial informatization system In terms of prevention of incidents like Ferry Sewol Disaster.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.34 no.6
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• pp.177-187
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• 2022

This study estimates the design wave in the event of a typhoon attack at Busan new port using the wind field, the revised shallow water design wave estimation method proposed by the Ministry of Oceans and Fisheries in 2020, and proposed a reliable method of calculating the shallow water design through verification with the wave observation data. As a result of estimating typhoon wave using the wind field and SWAN numerical model, which are commonly used in the field work, for typhoon that affected Busan new port, it was found that reproducibility was not good except typhoons KONG-REY(1825) and MAYSAK(2009). In particular, in the case of typhoon MAEMI(0314), which had the greatest impact on Busan new port, the maximum significant wave height was estimated to be about 35.0% smaller than that of the observed wave data. Therefore, a plan to improve the reproducibility of typhoon wave was reviewed by applying the method of correcting the wind field and the method of using the Boussinesq equation numerical model, respectively. As a result of the review, it was found that the reproducibility of the wind field was not good as before when the wind field correction. However as a method of linking wind field data, SWAN model results, and Boussinesq numerical model, typhoon wave was estimated during typhoon MAEMI(0314), and the maximum significant wave was similar to the wave observations, so it was reviewed to have good reproducibility.