• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.197-205
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• 2014

As computer vision algorithms are developed on a continuous basis, the visual information from vision sensors has been widely used in the context of simultaneous localization and mapping (SLAM), called visual SLAM, which utilizes relative motion information between images. This research addresses a visual SLAM framework for online localization and mapping in an unstructured seabed environment that can be applied to a low-cost unmanned underwater vehicle equipped with a single monocular camera as a major measurement sensor. Typically, an image motion model with a predefined dimensionality can be corrupted by errors due to the violation of the model assumptions, which may lead to performance degradation of the visual SLAM estimation. To deal with the erroneous image motion model, this study employs a local bundle optimization (LBO) scheme when a closed loop is detected. The results of comparison between visual SLAM estimation with LBO and the other case are presented to validate the effectiveness of the proposed methodology.

• 보존과학연구
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• s.6
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• pp.121-196
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• 1985

Atomic absorption spectrophotometer was used for analyzing each 10elements(Cu, Pb, Sn, Zn, Sb, Fe, Ni, Ag, Co and Mn)on 64 Chinese coinsre covered from Shinan seabed sunken ship. The results show that Cu, Pb and Sn were found to be a major elements consisting of coins and its composition ratio was 6 to 2 to 1.The composition of trace elements on coins was classified 3 levels : Sb, Fe and Zn(0.02%-2.2%), Ag, Ni, and Co(50 ppm-5500 ppm) and Mn(Trace). Theam ount of major elements, Cu and Sn were decreased while increased in Pbby the passage of ages (10th - 13th century) in China. There seems to be no systematic compositional change in major elements but content in trace elements was confirmed to increase with age.

• Journal of Ocean Engineering and Technology
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• v.16 no.5
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• pp.7-14
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• 2002

in the present paper, the hydrodynamics properties of a Rahmen type flexible porous breakwater interacting with obliquely or normally incident small amplitude waves are numerically investigated. This system is composed of dual vertical porous membranes hinged at th side edges of a submerged horizontal membrane. The dual vertical membranes are extended downward and hinged at seabed. The effects of permeability, Rahmen type membrane breakwater geometry pre-tensions on membranes, relative dimensionless wave number, and incident Wave headings are thoroughly examined.

• Ocean Systems Engineering
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• v.7 no.1
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• pp.53-74
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• 2017

Ship shaped FPSO (Floating Production, Storage and Offloading) units are the most commonly used floating production units to extract hydrocarbons from reservoirs under the seabed. These structures are usually much larger than general cargo ships and have their natural frequency outside the wave frequency range. This results in the response to first order wave forces acting on the hull to be negligible. However, second order difference frequency forces start to significantly impact the motions of the structure. When the difference frequency between wave components matches the roll natural frequency, the structure experiences a significant roll motion which is also termed as second order roll. This paper describes the theory and numerical implementation behind the calculation of second order forces and motions of any general floating structure subjected to waves. The numerical implementation is validated in zero speed case against the commercial code OrcaFlex. The paper also describes in detail the popular approximations used to simplify the computation of second order forces and provides a discussion on the limitations of each approximation.

• Journal of Ocean Engineering and Technology
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• v.19 no.2 s.63
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• pp.1-11
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• 2005

In the present paper, the hydrodynamic properties of a Rahmen type flexible porous breakwater with dual fixed pontoon system interacting with obliquely or normally incident small amplitude waves are numerically investigated. This system is composed of dual vertical porous membranes hinged at the side edges of dual fixed pontoons, and a submerged horizontal membrane that both ends are hinged at the steel frames mounted pontoons. The dual vertical membranes are extended downward and hinged at bottom steal frame fixed into seabed. The wave blocking and dissipation mechanism and its effects of permeability, Rahmen type membrane and pontoon geometry, pretensions on membranes, relative dimensionless wave number, and incident wave headings are thoroughly examined.

• Journal of Ocean Engineering and Technology
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• v.10 no.1
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• pp.108-118
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• 1996

This paper presents automatic reentry of a deepsea reser by adaptive control. Reentry is one of the major pro blems regarding a deepsea riser. In the reentry operation, the lower end of riser must be accurately positioned over the tarket point on the seabed. But the deepsea riser shows complex elastic response due to flexibility and nonlinearity of the riser dynamics and the required positioning accuracy is high. Moreover, elastic deformation must by controlled for securing structural integrity. In adaptive control, uncertainly known parameters like added mass and drag coefficient in the riser dynamics are identified and control forces at the floating body and the riser are calculated simultaneously. An Adaptive algorithm for MIMO linear discrete time system without requiring a persistent excitation is adopted in this study. The effectiveness of adaptive control logic is tested by numerical simulation and model experiment. The designed control system shows good overall performances, so that the present study can be applied to the control of the deepsea riser.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.453-456
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• 2006

To examine the effect of shape and crest width variation of a permeable submerged breakwater on the wave energy dissipation, Two-Dimensional numerical model with Large Eddy Simulation, which is able to simulate directly WAve Structure Seabed interaction (hereafter, LES-WASS-2D) has been newly developed. A good agreement has been obtained by the comparison between the existing experimental results and LES-WASS-2D model's results for the permeable submerged breakwater. Moreover, based on the LES-WASS-2D model, the wave energy dissipation due to a permeable submerged breakwater are discussed for regular and irregular waves with relation to its crest width and shape.

• Proceedings of the Korean Geotechical Society Conference
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• 1992.10a
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• pp.47-54
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• 1992

When marine clay is hydraulically dredged from seabed and pumped into the pond enclosed by contatinment dykes, marine clay is mixed and flocculated with water and then settled. At this time, the fines will interact with the water to form a Bingham plastic slurry which has non-Newtonian characteristics. The dredged slurry has different physical properties depending on settling locations and settling depths in the pond and has few hundred percent of water content and almost nil of shear strenght. In order to make this condition of the dredged slurry the final formation for public use within a short period, sand spreading method to enhance the support capacity of the dredged slurry is developed. In this paper, the effect of sand mixing into the dredged slurry of this method is analyzed based on reference study, laboratory tests and actual construction results.

• 한국석유지질학회:학술대회논문집
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• 2005.09a
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• pp.9-16
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• 2005

The electromagnetic (light) waves are limited to penetrate the media, ie, water and sea-bottom layers, due to high energy attenuation, but acoustic (sound) waves play as the good messenger to gather the underwater target information. Therefore the acoustic methods are applied to almost of ocean equipments and technology in terms of in-water and sub-bottom surveys, Generally the sound character is controlled by its frequency. In case that the sound source is low frequency, the penetration is high and the resolution is low. On the other hand, its character is reversed at the high frequency. The common character at the both of light and sound is the energy damping according to the travel distance increase.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.28 no.3
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• pp.252-261
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• 1992

The accuracy of the position fixing with telemetry techniques depends in general on the accuracy of the location of the receiving point(hydrophone). To increase the accuracy of the coordinates of four hydrophones suspended down at both sides of the vessel anchored, each hydrophone motion is compensated using a depth pinger mounted on the seabed of 30m depth. The pinger location is calculated with a hyperbolic method. Using this technique so called hydrophone coordinates calibration, the movement of the Remotely Operated Vehicle(ROV), which has the same type of pinger mentioned above could be tracked down more accurately. Under the maximum variation ranges of a hydrophone of 5.2m in athwartships, 3.2m in alongship, and about 0.2m/s of the moving velocity in both directions, the ROV track with calibration is more close to the reality than that without calibration Tow depth pingers of same frequency can be distinguished by the use of three factors; The pulse period, the phase and the pulse period variation allowed in acquisition of the pinger as far as its pulse period is varied in smooth.