• Ocean Systems Engineering
• /
• v.2 no.2
• /
• pp.83-97
• /
• 2012

In the present work, design procedure and computer simulation of an AUV are documented briefly. The design procedure containing the design of propulsion system and CFD simulation of hydrodynamics behavior of the hull leads to achieve an optimum mechanical performance of AUV system. After designing, a comprehensive one dimensional model including motor, propeller, and AUV hull behavior simulates the whole dynamics of AUV system. In this design, to select the optimum AUV hull, several noses and tails are examined by CFD tools and the brushless motor is selected based on the first order model of DC electrical motor. By calculating thrust and velocity in functional point, OpenProp as a tool to select the optimum propeller is applied and the characteristics of appropriate propeller are determined. Finally, a computer program is developed to simulate the interaction between different components of AUV. The simulation leads to determine the initial acceleration, final velocity, and angular velocity of electrical motor and propeller. Results show the final AUV performance point is in the maximum efficiency regions of DC electrical motor and propeller.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.55 no.4
• /
• pp.294-302
• /
• 2019

As a series of fundamental researches on the development of an automatic identification monitoring system for fishing gear. Firstly, the study on the installation method of automated identification buoy for the coastal improvement net fishing net with many loss problems on the west coast was carried out. Secondly, the study was conducted find out how to install an automatic identification buoy for coastal gill net which has the highest loss rate among the fisheries. GPS for fishing was used six times in the coastal waters around Seogwipo city in Jeju Island to determine the developmental status and underwater behavior to conduct a field survey. Next, a questionnaire was administered in parallel on the type of loss and the quantity and location of fishing gear to be developed and the water transmitter. In the field experiment, the data collection was possible from a minimum of 13 hours, ten minutes to a maximum of 20 hours and ten minutes using GPS, identifying the development status and underwater behavior of the coastal gillnet fishing gear. The result of the survey showed that the loss of coastal net fishing gear was in the following order: net (27.3%), full fishing gear (24.2%), buoys, and anchors (18.2%). The causes were active algae (50.0%), fish catches (33.3%) and natural disasters (12.5%). To solve this problem, the installation method is to attach one and two electronic buoys to top of each end of the fishing gear, and one underwater transmitter at both ends of the float line connected to the anchor. By identifying and managing abnormal conditions such as damage or loss of fishing gear due to external factors such as potent algae and cutting of fishing gear, loss of fishing gear can be reduced. If the lost fishing gear is found, it will be efficiently collected.

• Journal of the Society of Naval Architects of Korea
• /
• v.43 no.2 s.146
• /
• pp.177-185
• /
• 2006

Cavitation is the dominant noise source of the marine vehicle. Of the various types of cavitation , tip vortex cavitation is the first appearance type of marine propeller cavitation and it generates high frequency noise. In this study, tip vortex cavitation behavior and noise are numerically investigated. A numerical scheme using Eulerian flow field computation and Lagrangian particle trace approach is applied to simulate the tip vortex cavitation on the hydrofoil. Vortex flow field is simulated by combined Moore and Saffman's vortex core radius equation and Sculley vortex model. Tip vortex cavitation behavior is analyzed by coupled Rayleigh-Plesset equation and trajectory equation. The cavitation nuclei are distributed and released in the vortex flow result. Vortex cavitation trajectories and radius variations are computed according to nuclei initial size. Noise is analyzed using time dependent cavitation bubble position and radius data. This study may lay the foundation for future work on vortex cavitation study and it will provide a basis for proper underwater propeller noise control strategies.

• Explosives and Blasting
• /
• v.37 no.3
• /
• pp.13-24
• /
• 2019

This paper was prepared to investigate the behavior of fragments in underwater torpedo explosion beneath a frigate or surface ship by using an explicit finite element analysis. In this study, a fluid-structure interaction (FSI) methodology, called the multi-material arbitrary Lagrangian-Eulerian (MM-ALE) approach in LS-DYNA, was employed to obtain the responses of the torpedo fragments and frigate hull to the explosion. The Euler models for the analysis were comprised of air, water, and explosive, while the Lagrange models consisted of the fragment and the hull. The focus of this modeling was to examine whether a worst-case fragment could penetrate the frigate hull located close (4.5 m) to the exploding torpedo. The simulation was performed in two separate steps. At first, with the assumption that the expanding skin of the torpedo had been torn apart by consuming 30% of the explosive energy, the initial velocity of the worst-case fragment was sought based on a well-known experimental result concerning the fragment velocity in underwater bomb explosion. Then, the terminal velocity of the worst-case fragment that is expected to occur before the fragment hit the frigate hull was sought in the second step. Under the given conditions, the possible initial velocities of the worst-case fragment were found to be very fast (400 and 1000 m/s). But, the velocity difference between the fragment and the hull was merely 4 m/s at the instant of collision. This result was likely to be due to both the tremendous drag force exerted by the water and the non-failure condition given to the frigate hull. Anyway, at least under the given conditions, it is thought that the worst-case fragment seldom penetrate the frigate hull because there is no significant velocity difference between them.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.46 no.1
• /
• pp.20-31
• /
• 2010

In this research, the submersible fish cage was designed to avoid structural and biological damage during harsh sea conditions. The submersible cage system consists of netting, mooring ropes, a floating collar, floats, sinkers and anchors. Whole elements of the cage were modeled on the mass-spring model. The computer simulations were carried out to investigate the dynamic behavior of the cage and to calculate mooring line tension subjected to tidal currents and waves. As expected, the tension values in the mooring line of the submerged position are 36% less compared to that of the surface cage under the same loading conditions. As the wave was used in combination with the current velocity of 1m/s, the average tensile load for the submerged cage showed 85% of the value for the floating cage. The simulation results provide an improved understanding of the behaviors of the structure and valuable information on the optimized design of the cage system exposed to open ocean environmental factors.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.39 no.1
• /
• pp.77-83
• /
• 2003

Autonomous mobile robots based on the Web have been already used in public places such as museums. There are many kinds of problems to be solved because of the limitation of Web and the dynamically changing environment. We present a methodology for intelligent mobile robot that demonstrates a certain degree of autonomy in navigation applications. In this paper, we focus on a mobile robot navigator equipped with neuro-fuzzy controller which perceives the environment, make decisions, and take actions. The neuro-fuzzy controller equipped with collision avoidance behavior and target trace behavior enables the mobile robot to navigate in dynamic environment from the start location to goal location. Most telerobotics system workable on the Web have used standard Internet techniques such as HTTP, CGI and Scripting languages. However, for mobile robot navigations, these tools have significant limitations. In our study, C# and ASP.NET are used for both the client and the server side programs because of their interactivity and quick responsibility. Two kinds of simulations are performed to verify our proposed method. Our approach is verified through computer simulations of collision avoidance and target trace.

• International Journal of Ocean System Engineering
• /
• v.3 no.1
• /
• pp.16-21
• /
• 2013

This paper presents a design of fuzzy PD depth controller for the autonomous underwater vehicle entitled KAUV-1. The vehicle is shaped like a torpedo with light weight and small size and used for marine exploration and monitoring. The KAUV-1 has a unique ducted propeller located at aft end with yawing actuation acting as a rudder. For depth control, the KAUV-1 uses a mass shifter mechanism to change its center of gravity, consequently, can control pitch angle and depth of the vehicle. A design of classical PD depth controller for the KAUV-1 was presented and analyzed. However, it has inherent drawback of gains, which is their values are fixed. Meanwhile, in different operation modes, vehicle dynamics might have different effects on the behavior of the vehicle. In this reason, control gains need to be appropriately changed according to vehicle operating states for better performance. This paper presents a self-tuning gain for depth controller using the fuzzy logic method which is based on the classical PD controller. The self-tuning gains are outputs of fuzzy logic blocks. The performance of the self-tuning gain controller is simulated using Matlab/Simulink and is compared with that of the classical PD controller.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.47 no.3
• /
• pp.234-240
• /
• 2011

In order to obtain the fundamental data about the behavior of sharks by underwater audible sound, this experiment was carried out to investigate the auditory characteristics of tiger shark Scyliorhinus torazame which was caught in the coast of Jeju Island by heart rate conditioning method using pure tones coupled with a delayed electric shock. The audible range of tiger shark extended from 80Hz to 300Hz with a peak sensitivity at 80Hz including less sensitivity at 300Hz. The mean auditory thresholds of tiger shark at the frequencies of 80Hz, 100Hz, 200Hz and 300Hz were 90dB, 103dB, 94dB and 115dB, respectively. The positive response of tiger shark was not evident after the sound projection of over 300Hz. At the results, the sensitive frequency range of tiger shark is narrower than that of fish that has swim bladder. In addition, it is assumed that the most sensitive frequency in auditory thresholds of Chondrichthyes is lower than that of Osteichthyes. Critical ratios of tiger shark measured in the presence of masking noise in the spectrum level range of about 60-70dB (0dB re $1{\mu}Pa/\sqrt{Hz}$) increased from minimum 27dB to maximum 39dB at test frequencies of 80-200Hz. The noise spectrum level at the start of masking was distributed at the range of about 65dB within 80-200Hz.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.48 no.4
• /
• pp.479-486
• /
• 2012

In order to obtain the fundamental data about the behavior of conger by underwater audible sound, this experiment was carried out to investigate the hearing ability of Conger eel Conger myriaster which was in the coast of Jeju Island by heartbeat conditioning method using pure tones coupled with a delayed electric shock. The audible range of conger eel extended from 50Hz to 300Hz with a peak sensitivity at 80Hz including less sensitivity over 200Hz. The mean auditory thresholds of conger eel at the frequencies of 50Hz, 80Hz, 100Hz, 200Hz and 300Hz were 105dB, 92dB, 96dB, 128dB and 140dB, respectively. The positive response of conger eel was not evident after the sound projection of over 200Hz. At the results, the sensitive frequency range of conger eel is narrow in spite of swim bladder. Auditory masking was determined for Conger eel by using masking stimuli with the spectrum level range of about 60~70dB (0dB re $1{\mu}Pa/\sqrt{Hz}$). According to white noise level, the auditory thresholds increased as compared with thresholds in a quiet background noise including critical ratio at 68dB of white noise from minimum 26dB to maximum 30dB at test frequencies of 80Hz and 100Hz. The noise spectrum level at the start of masking was distributed at the range of about 68dB within 80~100Hz.

• Journal of the Korean Society for Railway
• /
• v.17 no.2
• /
• pp.100-105
• /
• 2014

To design a submerged floating railway that is safe against underwater explosions, railway behavior must be investigated and clarified. In this paper, shock waves and impulse pressures generated by a charge away from the submerged floating railway are expressed using experimental formulas. The submerged floating railway tethered by mooring lines is modeled as a simply supported beam with elastic springs. Finite element analysis for the beam model subjected to impulse loading is conducted so that the response of the submerged floating railway can be investigated. For design purposes, a simplified analysis method combined with dynamic load factor is proposed for the same model. Maximum deformation and internal forces are calculated and compared with the time dependent analysis results. It is shown that the simplified analysis results show good agreement.