• International Journal of Naval Architecture and Ocean Engineering
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• v.10 no.5
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• pp.596-608
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• 2018

The present study aims to assess test uncertainty assessment method of nominal wake field measurement by a Stereoscopic Particle Image Velocimetry (SPIV) system in a towing tank. The systematic uncertainty of the SPIV system was estimated from repeated uniform flow measurements. In the uniform flow measurement case, time interval between image frames and uniform flow speed were varied to examine the effects of particle displacement and flow around the SPIV system on the systematic standard uncertainty. The random standard uncertainty was assessed by repeating nominal wake field measurements and the estimated random standard uncertainty was compared with that of laser Doppler velocimetry. The test uncertainty assessment method was applied to nominal wake measurement tests of a very large crude oil carrier model ship. The nominal wake measurement results were compared with existing experimental database by other measurement methods, with its assessed uncertainty.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.341-349
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• 2020

Recently, interest in ground subsidence in urban areas has increased after a large sinkhole occurred near the high-story building area in Jamsil, Seoul, Korea, in 2014. If a massive sinkhole occurs in an urban area, it is crucial to assess its risk rapidly. Access to humans for on-site safety diagnosis may be difficult because of the additional risk of collapse in the disaster area. Generally, inspection using drones equipped with high-speed lidar sensors can be utilized. However, if the sinkhole is created vertically to a depth of 100 m, similar to the sinkhole in Guatemala, the drone cannot be applied because of the wireless communication limit and turbulence inside the sinkhole. In this study, a three-dimensional (3D) scanning system was fabricated and operated using a towed cable in a massive vertical sinkhole to a depth of 200 m. A high-speed lidar sensor was used to obtain a continuous cross-sectional shape at a certain depth. An inertial-measuring unit was applied to compensate for the error owing to the rotation and pendulum movement of the measuring unit. A reconstruction algorithm, including the compensation scheme, was developed. In a vertical hole with a depth of 180 m in the mining area, the fabricated system was applied to scan 0-165 m depth. The reconstructed shape was depicted in a 3D graph.

• Journal of the Institute of Convergence Signal Processing
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• v.19 no.2
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• pp.35-41
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• 2018

The analysis of plankton species distribution in sea or fresh water is very important in preserving marine ecosystem health. Since manual analysis is infeasible, many automatic approaches were proposed. They usually use images from in situ towed underwater imaging sensor or specially designed, lab mounted microscopic imaging system. Normally they assume that only single plankton is present in an image so that, if there is a clumping among multiple plankton of same species (homogeneous clumping) or if there are multiple plankton of different species scattered in an image (heterogeneous interspersion), they have a difficulty in recognition. In this work, we propose a deep learning based method that can detect and recognize individual plankton in images with homogeneous clumping, heterogeneous interspersion, or combination of both.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.10a
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• pp.17-18
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• 2012

해상에서 사고선박을 사고지점으로부터 안전한 곳으로 이동시키는 것은 사고선박의 2차적인 피해를 사전에 예방할 수 있는 중요한 조치이다. 본 연구에서는 예인선을 이용하여 사고선박을 예인할 때 예인선에 의한 예인력과 사고선박의 거동을 결정짓는 무게중심에서의 힘 토크 관계를 살펴보고자 한다. 먼저 간략화된 사고선박의 모델을 이용하여 목적으로 하는 움직임을 달성하기 위한 무게중심에서의 힘과 토크를 계산하였다. 이러한 힘과 토크를 발생시키기 위해서는 소정의 지점에 예인삭을 연결하여 예인력을 가해야 하므로, 무게중심에서의 힘과 토크를 발생하기 위해 필요한 각 지점에서의 힘을 해석적으로 도출하였다.

• The Journal of Korea Robotics Society
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• v.13 no.3
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• pp.190-197
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• 2018

Geomagnetic field signals have potential for use in underwater navigation and geophysical surveys. To map underwater geomagnetic fields, we propose a method that exploits an autonomous surface vehicle. In our system, a magnetometer is rigidly attached to the vehicle and not towed by a cable, minimizing the system's size and complexity but requiring a dedicated calibration procedure due to magnetic distortion caused by the vehicle. Conventional 2D methods can be employed for the calibration by assuming the horizontal movement of the magnetometer, whereas the proposed 3D approach can correct for horizontal misalignment of the sensor. Our method does not require a supporting crane system to rotate the vehicle, and calibrates and maps simultaneously by exploiting data obtained from field operation. The proposed method has been verified experimentally in inland waters, generating a magnetic field map of the test area that is of much higher resolution than the public magnetic field data.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.57 no.1
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• pp.1-9
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• 2021

Trawl fishing is a fishing method in which a large, motorized trawler tows a bag-shaped net to catch fish living at the bottom or middle layers. For a trawl gear, it is of utmost importance to select the gear size and towing speed suitable for the effective horsepower (EHP) of the trawler in the design stage. In general, the power required to move an object is proportional to the product of the object speed and resistance; therefore, there are various choices for the gear resistance and towing speed given the effective horsepower of the trawler. However, there have been few studies on the gear design of an appropriate scale for the towing speed given the effective horsepower of the trawler. In this study, the resistance and shape of three types of midwater trawl gears were analyzed using SimuTrawl, a computer simulation tool. In addition, the relationship between the propulsion force and speed of the ship was clarified when the size and effective horsepower of the trawler were determined. Finally, we suggested the relationship between the towing speed and the resistance of the gear when the trawler towed the net was investigated, and a specific method of selecting the gear size according to the towing speed.

• Journal of the Society of Naval Architects of Korea
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• v.47 no.2
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• pp.188-195
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• 2010

Green water load is an important parameter to be considered in designing a modern ship or offshore structures like FPSO and FSRU. In this research, a numerical simulation method for green water phenomenon is introduced. The Navier-Stokes equations and the continuity equation are used as governing equations. The equations are calculated using Finite Difference Method(FDM) in rectangular staggered grid system. To increase the numerical accuracy near the body, the Cartesian cut cell method is employed. The nonlinear free-surface during green water incident is defined by Marker-density method. The green waters on a box in regular waves are simulated. The simulation results are compared with other experimental and computational results for verification. To check the applicability to moving ship, the green water of the ship which is towed by uniform force in regular wave, is simulated. The ship is set free to heave and to surge.

• Journal of the Korea Institute of Military Science and Technology
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• v.5 no.1
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• pp.59-64
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• 2002

Passive sonar system forms the various beams in any desired directions to obtain the improvement in Signal-to-Noise(S/N) ratio, bearing detection and localization of targets, and the attenuation of interferences from other directions. Detection of modern underwater targets is becoming increasingly difficult as noise reduction technology leads to considerably low-level acoustic emissions. Therefore, the improvement of beamforming is very important to detect modern underwater targets at the long range in the complex environmental sea. Also, to react to the fast attack mobiles such as torpedoes, port and starboard discrimination is required to be performed very quickly. In this paper, we proposed the implementation of omnidirectional target bearing detector without port and starboard ambiguity to detect effectively the low-level underwater targets. The port and starboard discrimination is performed by cardioid processing and the improvement of beamforming utilizes the cross correlation matrix of individual hydrophone pairs of linear array sensors. The sea test result shows that the system implemented is good for the detection of the low-level underwater targets.

• Proceedings of KOSOMES biannual meeting
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• 2008.05a
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• pp.55-59
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• 2008

The tug boat is restricted in her maneuvering ability due to the towed barge, and tug-barge have been strongly affected by the external forces, i.e. the wind, wave, currents, and so on. Therefore it is difficult to get the safety if tug-barge operation. In this study, we propose the basic method to develope the safety towing system for barge using portable GPS which is easily movable and relatively inexpensive. Then we have conducted the test on the real barge and discuss the results.

• Journal of Multimedia Information System
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• v.8 no.2
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• pp.121-130
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• 2021

Foot bionic robot could be supported and towed through a series of discrete footholds and be adapted to rugged terrain through attitude adjustment. The vibration isolation of the robot could decouple the fuselage from foot-end trajectories, thus, the robot walked smoothly even if in a significant terrain. The gait programming and foot end trajectory algorithm were simulated. The quadruped robot of parallel five linkages with eight degrees of freedom were tested. The kinematics model of the robot was established by setting the corresponding coordinate system. The forward and inverse kinematics of both supporting and swinging legs were analyzed, and the angle function of single leg driving joint was obtained. The trajectory planning of both supporting and swinging phases was carried out, based on the control strategy of compound cycloid foot-end trajectory planning algorithm with zero impact. The single leg was simulated in Matlab with the established kinematic model. Finally, the walking mode of the robot was studied according to bionics principles. The diagonal gait was simulated and verified through the foot-end trajectory and the kinematics.