• ICROS
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• v.19 no.3
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• pp.17-28
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• 2013

조수간만의 차가 크고 지형이 복잡한 우리나라서 해안은 세계적으로도 보기 드문 강조류 환경이다. 잠수부의 안전을 위협하는 이러한 환경은 수중로봇의 접근도 쉽게 허락하지 않는다. 해저로봇 크랩스터는 이러한 특수한 환경을 조사하기 위해 고안된 수중보행로봇이다. 기존의 프로펠러 방식으로 달성하기 어려웠던 문제점을 크랩스터 로봇은 게나 가재와 같은 수중 생명체를 모방하여 극복하고자 했다. 크랩스터는 게나 가재의 기능을 모방함으로써 강조류 악시계 환경에서 유용한 두 가지 특징을 얻는다. 첫째는 해저에 밀착하여 자세를 제어함으로써 조류력을 이용하여 자세를 안정화시키면서 이동할 수 있다. 둘째는 조류 속에서 동요하지 않는 안정된 자세를 바탕으로 깨끗한 초음파 영상을 얻을 수 있다. 이는 강조류 환경에서 동반되는 부유물에 의한 악시계 환경을 극복할 수 있는 중요한 수단을 제공한다. 본 고에서는 이러한 개념에 따라 설계 개발된 크랩스터 CR200의 구성과 사양을 소개하고, 여기에 사용된 핵심기술을 살펴본다. 또한, 최근 수행된 CR200의 시험 결과에 대해서도 요약 소개한다.

• Journal of Korean Tunnelling and Underground Space Association
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• v.18 no.6
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• pp.545-556
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• 2016

If a back analysis is used in various measurement information for the estimation of an operating subsea tunnel safety, it is possible to obtain the results within efficient error rate. With such a commercial geotechnical analysis program as FLAC3D, back analysis is performed with a DEA which was validated in previous studies. However, there is a problem that is relatively a time-consuming analysis. For this reason, beam-spring model-based FEM solver which takes shorter relative analysis time, was developed by Python language, and then combined with the built-DEA. In order to consider the assessment of safety of an operation tunnel near real-time, a program for longitudinal direction tunnel was developed due to its relative easy development for analysis solver engine.

• Journal of Korean Tunnelling and Underground Space Association
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• v.19 no.2
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• pp.195-212
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• 2017

When back analysis is used for the assessment of an operating subsea tunnel safety in various measurement information such as stress, water pressure and tunnel lining and ground stiffness degradation, the reliable results within tolerable error rate can be obtained. By utilizing a commercial geotechnical analysis program FLAC3D, back analysis can be performed with a DEA which has already been successfully validated in previous studies. However, relative more time-consumption is the drawback of this approach. For this reason, this study introduced beam-spring model-based on FEM solver which uses less analysis time relatively. Beam-spring program capable of structural analysis of a circular tunnel section was developed by using Python language and combined with the built-DEA. From the measurement datum, expected to estimate the stability of an operation tunnel close to real-time.

• Economic and Environmental Geology
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• v.49 no.6
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• pp.479-490
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• 2016

Seabed drilling system has recently been used to drill seafloor mineral resources. This case report highlights the procedure and result of sea-trial of seabed drilling system at off-shore of Japan on March, 2016 as well as briefs an international-technical trend of seabed drilling system. In case of having less than 100 m drill depth, seabed drilling system is favorable for seafloor mineral deposits which are mostly distributed within a narrow district and situated between 1000~3000 m water depth, compared with vessel-mounted drilling system. The system is featured by the remotely-operated drill gear, which has top drives, drill strings and mud system on it. The core samples are generally recovered to ship with seabed driller after a dive. In this sea-trail, recovery rate of core samples averagely shows about 55% and the recovered rocks mostly correspond to fresh and/or weak-altered basalt. In case of drilling hydrothermal ore deposit, the recovery rate would be lower than 55% because of the fragile nature of ores. Alternatively it is used to collect cutting chips through riser or bins in order to increase the recovery rates. Recently a reverse circulation method is taken considered to acquire the better cutting-chips. Three-leg type outrigger system and four-leg type leveling system are the competing landing-instruments of seabed drill system. However the landing efficiency using these gears has to be further monitored due to lack of case reports.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.6
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• pp.662-669
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• 2015

There has been an increased interest in the mitigation of wax deposition because wax, which usually accumulates in subsea oil-production systems, interrupts stable oil production and significantly increases the cost. To guarantee a required oil flow by mitigating wax deposition, we need to obtain a reliable estimation of the wax deposition. In this research, we perform simulations to understand the major mechanisms that lead to wax deposition, namely molecular diffusion, shear stripping reduction, and aging. While the model variables (shear reduction multiplier, wax porosity, wax thermal conductivity, and molecular diffusion multiplier) can be measured experimentally, they have high uncertainty. We perform an analysis of these variables and the amount of water and gas in the multiphase flow to determine these effects on the behavior of wax deposition. Based on the results obtained during this study for a higher wax porosity and molecular diffusion multiplier, we were able to confirm the presence of thicker wax deposits. As the shear reduction multiplier decreased, the thickness of the wax deposits increased. As the amount of water increased, there was also an increase in the amount of wax deposits until 40% water cut and decreased. As the amount of gas increased, the amount of wax deposits increased because of the loss of the light hydrocarbon component in the liquid phase. The results of this study can be utilized to estimate the wax deposition behavior by comparing the experiment (or field) and simulation data.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.15 no.3
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• pp.176-185
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• 2003

In order to ensure that submarine pipelines are stable and functional during their project lives, attention must be paid to possibility of their local scouring. When a pipeline is placed on an erodible bed, scour will develop and cause the spanning of the pipeline. U they were destroyed partially or fully, it might cause enormous restoration expenses and contamination of sea water. This paper aims at examining the characteristics of the scour End the prediction of the local scour depths around the submarine pipelines. The pipelines on the model beach with the uniform slope are placed, and the local scour depths around the pipelines are obtained according to the various wave steepnesses. Using the experimental results, some parameters needed for analyses are calculated. Finally, empirical equations of the scour depth around the pipelines are suggested through the correlation analyses between the rotative scour depth. the KC number and Modified Ursell number.

• Journal of Korean Tunnelling and Underground Space Association
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• v.15 no.5
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• pp.523-536
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• 2013

In order to ensure the safety of the subsea tunnel during its construction and operation, unlike the underground structures on land, the special monitoring system is essential which considers the characteristics of subsea tunnels in addition to conventional stress and displacement measurements applied to existing land tunnels. Therefore, the concept applied to NATM is reorganized to evaluate the stability of subsea tunnels. And the observation system for making a monitoring plan, the critical strain theory for tunnel safety management and MS monitoring methods for detecting the local failure and crack initiation of rock and supports, are introduced. Finally, the scheme of monitoring and management for subsea tunnels by using these methods is suggested.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.13 no.3
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• pp.271-279
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• 2008

Polymetallic sulphides means hydrothermally formed deposits of sulphide minerals which contain concentrations of metals including, inter alia, copper, lead, zinc, gold and silver. Nautilus is the first company to commercially explore the seafloor polymetallic sulphide deposits. The Company holds exploration licences and exploration applications for more than 370,000 $km^2$ in the jurisdictional seas of Papua New Guinea, Fiji, Tonga, the Solomon Islands and New Zealand along the western Pacific Ocean's Rim of Fire. Neptune Minerals is also a leading explorer and developer in this field, with exploration licences awarded totalling more than 270,000 $km^2$ in the territorial seas or EEZ of New Zealand, Papua New Guinea and the Federated States of Micronesia. These two companies now carry out the most active investment activities for seafloor polymetallic sulphide deposits with a goal of commercial production by 2010. China and Japan carry out exploration activities for the seafloor polymetallic sulphide deposits to secure supplies of strategic metals. China carries out national R&D projects relating to deep sea mineral resources in the world ocean through China Ocean Mineral Resources R&D Association(COMRA). And Japan investigates her own EEZ for exploration of the seafloor polymetallic sulphide deposits. In consideration of aforementioned international activities of coastal nations as well as private companies for exploring the sulphide deposits, Korea shall prepare strategic plans : First, consolidation of the authorities concerned and legislative support; second, determination of main entity of the project; third, securing government's decisive investment of sufficient budget; and lastly, establishment of the mid, long-term plan for development of seafloor polymetallic sulphides deposits.

• Korean Journal of Labor Studies
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• v.23 no.1
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• pp.197-220
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• 2017

This paper provides empirical evidence on the impact of increasing import penetration on the job stability of Korean workers. The main results are as follows. First, import penetration negatively affects job stability. If an industry's ratio of imports to total supply increases by 1 percentage point, the turnover probability of workers in that industry increases by 4.5 percentage points. Second, the effect of trade liberalization is not symmetric between imports and exports. Unlike the case of imports, an industry's ratio of exports to output does not have a significant effect on job stability. Third, the impact of import penetration is not uniform across different types of workers. The negative impact is greater for workers in small firms, less educated workers, and those not protected by labor unions.

• Proceedings of the Korean Information Science Society Conference
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• 2012.06a
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• pp.227-229
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• 2012

한국해양연구원에서 개발하고 있는 해저보행로봇 CR200은 6개의 다리를 이용하여 해저면에서 보행으로 이동하며 정밀 해저탐사 및 작업을 수행할 수 있는 로봇이다. 운용자는 선상제어실에서 유선으로 연결된 CR200을 원격으로 모니터링하거나 제어한다. 특히 안정적인 보행을 위해서는 100Hz의 주기로 CR200의 상태 정보가 선상제어실로 전송되고, 선상제어실에서는 전송된 정보를 기반으로 제어 명령을 산출하여 CR200으로 전송해야 한다. 이러한 주기적인 실시간 제어를 위해서는 일반적으로 실시간 운영체제를 사용하지만, 본 논문에서는 실시간 운영체제를 사용하지 않고 시스템 시간 기반의 백그라운드 프로세스로 동작하는 소프트웨어 타이머를 사용하여 실시간 제어를 하는 방법을 제안하고, 성능 평가 결과를 제시한다. 제안한 방법의 실시간 속성을 검증하기 위하여, 현재 설계에서 운영체제로 고려하고 있는 우분투 10.04와 윈도우즈 7을 CR200에 탑재되는 Advantech 사의 PCM-3362 보드에 설치하여 소프트웨어 타이머의 성능을 10ms부터 100ms까지 각각 실험하였다. 실험결과에 따르면, 두 운영체제에서 모두 누락이 없이 타이머 동작이 수행되었으며, 10ms 간격으로 타이머를 동작하였을 때에 우분투에서는 평균 오차가 $41{\mu}s$이었고 윈도우즈 7에서는 7.7ms였다. 윈도우즈 7에서의 오차는 100Hz 제어 주기에 사용하기에 적합하지 않지만, 우분투에서의 오차는 제어 주기 간격의 0.41%에 불과하기 때문에 해저보행로봇의 실시간 제어에 영향을 주지 않는 오차이다. 따라서 CR200의 임베디드 컴퓨터와 선상제어실의 원격제어 컴퓨터는 우분투 운영체제 상에서 소프트웨어 타이머를 이용하여 상호 연동되도록 구현할 예정이다.