• Journal of Navigation and Port Research
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• v.41 no.6
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• pp.389-394
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• 2017

In this paper, the captive model test of a submarine using the RA test was carried out in a square basin. The target model submarine consisted of four types varying according to the position of conning tower and control planes. Hydrodynamic derivatives were acquired by multi-regression analysis. As a result, horizontal dynamic stability indexes of the four types presented positive values and satisfied dynamic stability requirements. In addition, the stability index of type 1 and type 4 - each with the same cruciform configuration of the aft planes - scored within the acceptable range of motion stability.

• Journal of the Korean Society for Marine Environment & Energy
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• v.17 no.3
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• pp.182-188
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• 2014

In an oscillating water column (OWC)-type wave energy conversion system, the performance of the OWC chamber depends on the chamber shape, as well as the incident wave direction and pressure drop produced by the turbine. Although the previous studies on OWC chambers have focused on wave absorbing performance in ideal operating conditions, incident waves do not always arrive normally to the OWC chamber in real sea conditions, especially in fixed devices. The present study deals with experiments and numerical calculations to investigate the effects of wave direction on the performance of the OWC chamber. The experiments were carried out in a three-dimensional wave basin for five different wave directions, including the effect of turbine using the corresponding orifice. The wave elevation inside the chamber was measured at the center point under various incident wave conditions. The numerical study was conducted by using a numerical wave tank-based volume-of-fluid model to compare the results with experimental data and to reveal the detailed flows around the chamber.

• Journal of Ocean Engineering and Technology
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• v.19 no.2 s.63
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• pp.67-73
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• 2005

This paper describes depth, heading and speed control of an underwater vehicle that has four stern thrusters of which forces are coupled in the diving and, steering motion, as well as the speed of the vehicle. The optimal linear quadratic controller is designed based on a linearized- state space model, developed by combining the dynamic equations of speed, steering and diving motion. The designed controller gives provides an optimal thrust distribution, minimizing the given performance index to control speed, depth and heading simultaneously. To validate the performance of the controller, a simulation and tank-test are carried out with DUSAUV (Dual Use Semi-Autonomous Underwater Vehicle), developed by KORDI as a test-bed for testing new underwater technologies. Optimal gains of the controller are tuned, using a computer simulation environment with a nonlinear 6-DOF numerical DUSAUV model, developed by PMM (Planner Motion Mechanism) test. To verify the performance of the presented controller in experiment, a tank-test with DUSAUV is carried out in the ocean engineering basin in KORDI. The experimental results are also compared with the simulation results to investigate the accordance of the numerical and the real mode.

• Journal of Ocean Engineering and Technology
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• v.17 no.4
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• pp.73-80
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• 2003

This paper presents considerations on the results of the rotating arm test, which was carried out for assessment of an hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit(IMU), an ultra-short baseline(USBL) acoustic navigation sensor and a doppler velocity log(DVL) accompanying a magnetic compass. A navigational systemmodel is derived to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters are 25 in the order. The extended Kalman filter was used to propagate the error covariance, The rotating arm tests were carried out in the Ocean Engineering Basin of KRISO, to generate circular motion. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle.

• Journal of Ocean Engineering and Technology
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• v.21 no.1 s.74
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• pp.18-24
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• 2007

When the wind blows strong, most waves are breaking at sea. Breaking waves occur by exceeding the limitation of wave steepness (wave height/wave length = 1/7). Because a wave of single angular frequency couldn't generate the breaking phenomena at a two-dimensional ocean engineering basin, the breaking wave can be generated by the superposition of waves with various angular frequencies based on dispersion relation. This study investigates the particle kinematics in the breaking wave and the magnitude of the breaking wave exciting force at the breaking point and breaking region. We compare the regular wave load in a regular wave, which has same specifications (wave height, period and length), with the breaking waveload. Also, the experimental results of wave exciting force and particle velocity are investigated, by comparison with the analytic results using the potential theory.

• Journal of Ocean Engineering and Technology
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• v.20 no.3 s.70
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• pp.88-95
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• 2006

The resistance characteristics of a trimaran are studied, varying the bottom profile and transom stern of the main hull. The bottom profile is varied in three cases (convex, flat, concave). Using the experimental and numerical methods, the resistance performance of each hull form is compared. The experiments are carried out in ship model basin, and the numerical simulations are performed by a finite-difference method, based on the Marker and Cell scheme. Euler and continuity equationsare used for the governing equations of the flaw field around a trimaran with transom stern. The agreement of both results is good. The optimal bottom profiles for transom stern are presented for law-speed and high-speed regions, respectively.

• Journal of Ship and Ocean Technology
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• v.9 no.3
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• pp.23-32
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• 2005

Ship STEP(Standard for the Exchange of Product Model Data) which is composed of AP 215 (Ship Arrangement), AP 216(Ship Hull Form), AP 218 (Ship Structure), has been developed more than last 10 years and it is now at the stage just before IS(International Standard). It is expected that ship STEP would be used for the seamless data exchange among various CAD/CAM/CAE systems of shipbuilding process. In this paper the huge and complicated data structure of ship STEP is briefly reviewed at the level of ARM(Application Reference Model) and some abstract test cases which will be included as part of the standards are introduced. Basically ship STEP has common data model to be used without losing compatibility among those three different ship AP's, and it is defined as the modeling framework. Typical cases of data exchange during shipbuilding process, such as hull form data exchange between design office and model basin, midship structure data between shipbuilding yard and classification society are reviewed and STEP physical data are generated using commercial geometric modeling kernel. Test cases of ship arrangement at initial design stage and hydrodynamic data of crude oil carrier are also included.

• Journal of Ocean Engineering and Technology
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• v.31 no.2
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• pp.170-176
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• 2017

In this paper, we propose an underwater localization scheme through the fusion of an inertial navigation system (INS) and the received signal strength (RSS) of electromagnetic (EM) wave sensors to guarantee precise localization performance with high sampling rates. In this localization scheme, the INS predicts the pose of the unmanned underwater vehicle (UUV) by dead reckoning at every step, and the RF sensors corrects the UUV position functions using the Earth-fixed reference when the UUV is located in underwater wireless sensor networks (UWSN). The localization scheme and state modeling were conducted in the extended Kalman filter framework, and UUV localization experiments were conducted in a basin environment. The scheme achieved reliable localization accuracy during long-term navigation, demonstrating the feasibility of exploiting EM wave attenuation as Earth-fixed reference sensors.

• Journal of Ocean Engineering and Technology
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• v.30 no.3
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• pp.194-200
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• 2016

Recently, UUVs (unmanned underwater vehicles) have increasingly been applied in various science and engineering applications. In-water inspection, which used to be performed by human divers, is a potential application for UUVs. In particular, the operational safety and performance of in-water inspection missions can be greatly improved by using an underwater robotic vehicle. The capabilities of hovering maneuvers and automatic image mosaicking are essential for autonomous underwater visual inspection. This paper presents the development of a hover-capable autonomous underwater vehicle system for autonomous in-water inspection, which includes both a hardware platform and operational software algorithms. Some results from an experiment in a model basin are presented to demonstrate the feasibility of the developed system and algorithms.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.11a
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• pp.114-119
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• 2004

Floating marina has been interests as an alternative to the facilities for recreational boats because of its cost effectivenes and less environmental conflicts. For tile present research, a square floating marina with a length of 400m and draft of 5m was used. This marina can be extended to 800m by putting anotjer one together. Tidal field around tile marina was simulated using a multi-level finite difference method. Tidal motion was assumed sinusoidal in a closed rectangular bay. Velocities and residual current were investigated for two cases of single marina and two marinas installed in tile bay. It was found that the horizontal velocity fields from the water surface to the structure bottom around tile marina were affected. In the marina basin, magnitude of velocity was reduced considerably but overall quality of water circulation was preserved even after two marina were installed.