• Journal of the Korean Society of Marine Environment & Safety
• /
• v.15 no.1
• /
• pp.49-55
• /
• 2009

Typhoons are usually influencing at least 3 or 4 times per year in Korean peninsula and they accompanied with strong winds and heavy rains and then brought tremendous loss of properties and lives. Especially typhoon "MAEMI" resulted in a lot of marine accidents of vessels such as sinking, stranding, collision etc. at anchoring or on berthing in pier. If the typhoon comes up to expected area influencing the incidents, the vessel tries to escape from the route of typhoon or anchor in sheltering anchorage. However, consideration of the anchoring or judgement of ship's safety against strong winds is decided only by the experience of operators without detail evaluation of the safety. Therefore, this paper evaluated the safety of T.S. HANBADA by comparing the external forces with the holding powers. Furthermore, based on this evaluation, the anchoring manual was produced for the maximum endurable wind velocity, the general precautions and the actions taken on the ship with steps.

• Computers and Concrete
• /
• v.21 no.4
• /
• pp.441-449
• /
• 2018

FE models for complex or large-scaled structures that need detailed modeling of structural components are usually constructed using commercial analysis softwares. Updating of such FE model by conventional sensitivity-based methods is difficult since repeated computation for perturbed parameters and manual calculations are needed to obtain sensitivity matrix in each iteration. In this study, an FE model updating procedure avoiding such difficulties by using response surface (RS) method and a Pareto-based multiobjective optimization (MOO) was formulated and applied to FE models constructed with a commercial analysis package. The test building is a low-rise reinforced concrete building that has been seismically retrofitted. Dynamic properties of the building were extracted from vibration tests performed before and after the seismic retrofits, respectively. The elastic modulus of concrete and masonry, and spring constants for the expansion joint were updated. Two RS functions representing the errors in the natural frequencies and mode shape, respectively, were obtained and used as the objective functions for MOO. Among the Pareto solutions, the best compromise solution was determined using the TOPSIS (Technique for Order of Preference by Similarity to Ideal Solution) procedure. A similar task was performed for retrofitted building by taking the updating parameters as the stiffness of modified or added members. Obtained parameters of the existing building were reasonably comparable with the current code provisions. However, the stiffness of added concrete shear walls and steel section jacketed members were considerably lower than expectation. Such low values are seemingly because the bond between new and existing concrete was not as good as the monolithically casted members, even though they were connected by the anchoring bars.

• Proceedings of the Korean Geotechical Society Conference
• /
• 2009.03a
• /
• pp.768-773
• /
• 2009

Measuring method being applied for off-shore works is performed by using data logger or manual measuring instrument with wiring the cable connected from the sensor up to the position where measuring is allowed.(upper part of embankment or marine structure) Measuring management by using existing measuring method may be acceptable on the condition that the ground deformation volume(vertical, horizontal) is generally minimal and the site condition is good. But loss of measuring instrument, sensor cable failure or cutting is taken place frequently due to significant change of ground behavior caused by an external force change(embankment, excavation) under very soft ground condition(N value below 0-4). In case of the marine works, in particular, loss rate of measuring instrument is highly represented due to the factors of working barge anchoring, constructional interference and natural disaster. In order to solve these problems, measuring management was performed with employing underground wireless system at the immersed tunnel site. Measuring data was obtained freely under the marine environment by using underground wireless communication and cable cutting potential by ground behavior could be reduced. Measuring cost savings and its installation convenience were maximized by way of off-shore tower installation or cabling and by minimizing constructional interference of off-shore working barge. This case of measuring management was accomplished successfully.

• Nuclear Engineering and Technology
• /
• v.46 no.3
• /
• pp.439-446
• /
• 2014

An amphibious inspection robot system (hereafter AIROS) is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST) strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of installing sole cameras was a new approach for the exact and stable position control on the IRWST strainer, unlike a traditional robot for underwater facility inspection. The developed robot will be practically used to enhance the efficiency and reliability of the inspection of nuclear power plant components.