• Nuclear Engineering and Technology
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• 제53권4호
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• pp.1189-1198
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• 2021

When performing remote tasks using robots in nuclear power plants, a 3D shape measurement system is advantageous in improving the efficiency of remote operations by easily identifying the current state of the target object for example, size, shape, and distance information. Nuclear power plants have high-radiation and underwater environments therefore the electronic parts that comprise 3D shape measurement systems are prone to degradation and thus cannot be used for a long period of time. Also, given the refraction caused by a medium change in the underwater environment, optical design constraints and calibration methods for them are required. The present study proposed a method for developing an underwater 3D shape measurement system with improved radiation tolerance, which is composed of commercial electric parts and a stereo camera while being capable of easily and readily correcting underwater refraction. In an effort to improve its radiation tolerance, the number of parts that are exposed to a radiation environment was minimized to include only necessary components, such as a line beam laser, a motor to rotate the line beam laser, and a stereo camera. Given that a signal processing circuit and control circuit of the camera is susceptible to radiation, an image sensor and lens of the camera were separated from its main body to improve radiation tolerance. The prototype developed in the present study was made of commercial electric parts, and thus it was possible to improve the overall radiation tolerance at a relatively low cost. Also, it was easy to manufacture because there are few constraints for optical design.

• 한국산학기술학회논문지
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• 제16권12호
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• pp.8889-8895
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• 2015

수중 기초사석 고르기 작업이나 수중시설물 점검 및 유지관리 등 수중 항만 공사를 위해서 수중에서의 충분한 시계확보가 필수적이다. 이는 잠수사에 의한 작업뿐만 아니라 수중 기계화 장비를 활용한 작업에서도 마찬가지다. 본 연구에서는 우리나라 동해, 남해, 서해에서 대표적인 항만이 위치하는 연근해 해역의 탁도를 측정하여 권역별 경향성을 수치적으로 확인하였다. 또한, 다양한 탁도 특성을 가지는 각 해역에서 수중 카메라나 소나 등과 같이 수중건설장비에 부착하여 효과적으로 활용 가능한 수중환경모니터링 시스템에 대해 검토하였다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.89-93
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• 2003

The Korea Research Institute of Ships and Ocean Engineering (KRISO), the ocean engineering branch of KORDI, has designed and manufactured a model of an autonomous underwater vehicle (AUV) to test underwater docking. This paper introduces the AUV model, ASUM, equipped with a visual servo control system to dock into an underwater station with a camera and motion sensors. To make a visual servoing AUV, this paper implemented the visual servo control system designed with an augmented state equation, which was composed of the optical flow model of a camera and the equation of the AUV's motion. The system design and the hardware configuration of ASUM are presented in this paper. A small long baseline acoustic positioning system was developed to monitor and record the AUV's position for the experiment in the Ocean Engineering Basin of KRISO, KORDI. ASUM recognizes the target position by processing the captured image for the lights, which are installed around the end of the cone-type entrance of the duct. Unfortunately, experiments are not yet conducted when we write this article. The authors will present the results for the docking test of the AUV in near future.

• 한국산업융합학회 논문집
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• 제21권6호
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• pp.389-394
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• 2018

Remotely operated vehicle(ROV) and autonomous underwater vehicle(AUV) have been used for underwater surveys, underwater exploration, resource harvesting, offshore plant maintenance and repair, and underwater construction. It is hard for people to work in the deep sea. Therefore, we need a vision control system of underwater submersible that can replace human eyes. However, many people have difficulty in developing a deep-sea image control system due to the deep sea special environment such as high pressure, brine, waterproofing and communication. In this paper, we will develop an Ethernet based remote image control system that can control the image mounted on ROV.

• 한국수산과학회지
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• 제46권3호
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• pp.266-272
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• 2013

The objective of this study was to monitor and evaluate the schooling characteristics, including the distribution density (volume backscattering strength) and acoustic size (target strength), of commercially valuable species swimming in response to artificial reefs installed at Suyeong Man, Busan, Korea. Fish aggregations at two artificial reef areas and at a nearby natural rocky reef habitat were recorded and analyzed using a 70 kHz split-beam echo sounder and 330 kHz side-scan sonar from August to September, 2006. An underwater CCTV camera system was also used to observe marine organisms in physical contact with and swimming very close to artificial reefs. During the acoustic observations at three reef sites, useful information about schooling characteristics of fish aggregations responding to artificial reefs were obtained, but more trials are needed to confirm significant differences in schooling behavior and geographical distributions in areas containing natural reef structures and artificial reefs.

• 대한조선학회논문집
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• 제54권5호
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• pp.439-446
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• 2017

This paper deals with an experimental study of the dynamics of an underwater bubbles and shock waves, generated by rapid underwater release of highly compressed gas. Aribag inflators, which are used for automobile's airbag system, are used to generate the extremely-rapid underwater gas release. Experimental studies of the complex underwater bubble dynamics as well as underwater shock wave were carried out in a specifically designed cylindrical water tank. The water tank is equipped with a high-speed camera and pressure sensors. The high-speed camera was used to capture the expansion and collapse of the gas bubble created by inflators, while pressure sensors was used to measure the underwater shock propagation and magnitudes. The experimental results were compared against the results of explosion of pentolite explosive. Several physical phenomena that has been observed and discussed, which are different from the explosive underwater explosion.

• 수산해양기술연구
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• 제60권2호
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• pp.128-141
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• 2024

Fish resource surveys were conducted near Jeju Island in June, August and October 2021 using an underwater camera monitoring system, fish pots, and SCUBA diving methods. The efficiency of the methods used to survey fish resources was compared using the number of individuals compared to area per unit time (inds/m³/h) and the number of species compared to area per unit time (spp./m³/h). As a result of comparing the number of individuals compared to the area per unit time (inds/m³/h), the order was underwater camera 214.69, SCUBA diving 124.62, and fish pots 0.57 inds/m³/h. The number of species compared to area per unit time (spp./m³/h) is in the following order: SCUBA diving 0.85, underwater camera 0.38, and fish pots 0.01 spp./m³/h. The fish resource monitoring method using underwater cameras was found to be more efficient in individual counts, and the SCUBA diving method was found to be more efficient in species counts. When considering cost and survey efficiency, the fish resource survey method using underwater cameras was judged to be more effective. The results of this study are expected to be widely used in estimating the population density of fish, which is the core of future fisheries resource surveys.

• Ocean and Polar Research
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• 제27권3호
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• pp.335-339
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• 2005

The underwater positioning system is important in interpreting data that are acquired from towing vehicles such as the deep-sea camera (DSC) system. Currently, several acoustic positioning systems such as long baseline (LBL), short baseline (SBL), and ultra short baseline (USBL), are used for underwater positioning. The accurate position of DSC, however, could not be determined in a R/V Onnuri unequipped with any of these underwater positioning systems. As an alternative, the DSC position was estimated based on the topography of towing track and cable length in the cruises before 1999. The great uncertainties, however, were found in the areas of flat bottom topography. In the 2003 and 2004 cruises these uncertainties were reduced by calculating the position of DSC with the cable length and seafloor depth below the vessel. The Japanese cruises for Mn-nodule used a similar estimation method for the DSC positioning system with a CTD sensor. Although the latter can provide better information for the position of DSC, the USBL underwater positioning system is strongly recommended for establishing better positioning of DSC and other towing devices.

• 한국산업융합학회 논문집
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• 제23권3호
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• pp.463-471
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• 2020

Recently, various tries to apply ROV (Remotely Operated Vehicle) into underwater are being developed. However, due to underwater environment uniqueness, the additional problem must be taken into account when designing an ROV for the inspection of the underwater structure. This is because a GPS-based information method cannot be applied, and the obtainable image is also dependent on the turbidity. Also, it is necessary to be able to satisfy waterproof and operating speeds in consideration of most practical application environments. This paper describes the design results of the ROV system for underwater structure inspection considering the above problems. The designed system applied INS / DVL for location recognition and was configured to support 3D mapping and stereo camera-based image information using sonar depending on visibility. To satisfy the waterproof, a pressure vessel using a composite material was applied. And over-actuated system using eight thrusters to maintain a stable posture and operating speed was applied also. The designed system was verified by structural analysis and flow analysis also.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
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• pp.153-156
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• 2002

The remotely operated underwater robotic vehicle system has been required to inspect some objects such as baffle former bolts and remove foreign objects in reactor vessel of nuclear power plant. In this paper, we have designed the remotely operated underwater robotic vehicle system that includes a long reach arm that is composed of 4 joints to remove foreign objects in a narrow space, a camera for visual test, instrument sensors for vehicle positioning, 4 thrusters for underwater navigation of vehicle, and supervisory control system implemented with industrial PC that includes robot simulator that has the functions of real time visualization, robot work planning and etc.