• 수산해양기술연구
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• 제33권4호
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• pp.290-297
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• 1997

Underwater robotic vehicles(URVs) are used for various work assignments such as pipe-lining, inspection, data collection, drill support, hydrography mapping, construction, maintenance and repairing of undersea equipment, etc. As the use of such vehicles increases the development of vehicles having greater autonomy becomes highly desirable. The vehicle control system is one of the most critic vehicle subsystems to increase autonomy of the vehicle. The vehicle dynamics is nonlinear and time-varying. Hydrodynamic coefficients are often difficult to accurately estimate. It was also observed by experiments that the effect of electrically powered thruster dynamics on the vehicle become significant at low speed or stationkeeping. The conventional linear controller with fixed gains based on the simplified vehicle dynamics, such as PID, may not be able to handle these properties and result in poor performance. Therefore, it is desirable to have a control system with the capability of learning and adapting to the changes in the vehicle dynamics and operating parameters and providing desired performance. This paper presents an adaptive and learning control system which estimates a new set of parameters defined as combinations of unknown bounded constants of system parameter matrices, rather than system parameters. The control system is described with the proof of stability and the effect of unmodeled thruster dynamics on a single thruster vehicle system is also investigated.

• 한국지반공학회논문집
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• 제26권3호
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• pp.25-34
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• 2010

본 연구에서는 펄스 방전 기술의 적용에 따른 지반 확공 현상에 대한 수치해석적인 연구를 수행하였다. 실내 펄스 방전 시험을 통하여 충격파 발생을 측정하였으며 수중 폭발 모델을 바탕으로한 유제-구조물 유한요소해석을 통해 실내 시험에서 계측된 충격파를 모사하였다. 이를 바탕으로, SPT N값으로부터 경험적으로 얻어지는 지반 물성이 적용된 점성토 지반에 대한 확공 해석을 수행하였으며 현장 시험과 유사한 예측 결과를 얻을 수 있었다.

• 생명과학회지
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• 제16권6호
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• pp.1044-1051
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• 2006

The barren ground is an abnormal phenomenon of coastal ecosystem in which seaweeds, are destroyed and mostly replaced by the coralline algae containing the calcium carbonate components. To restore the seaweed forest, We have exerted an effort in the local areas, Samchuck, Korea, where barren phenomena are profound. Two methods of seaweed forest construction developed in the present study are underwater longline and seed transplantation for the brown seaweed Costaria costata, a fast growing edible seaweed. The sizes of C. costata attached on the underwater longline were $96.7{\pm}2.2mm$ of blade length and $83.6{\pm}7.7g$ of blade weight in April. Thereafter the sizes declined from May. Similar pattern was obtained from in the transplantation method with maxima of $90.4{\pm}15.8mm$ and $70.1{\pm}31.7g$ for blade length and weight, respectively in April. It appeared totality maturation from two methods in May. This maturation time is the same like that of wild C. costata.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 1999년도 봄 학술발표회 논문집(I)
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• pp.117-122
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• 1999

The antiwashout concrete which is a type of specific concrete is manufactured by using a plenty of superplasticizer with the non-dispersible underwater concrete admixture, and the application of it on construction site is being increased. But when we measure choride ion content by using the potentiographic tester, because it is over total chloride ion content(0.3kg/㎥ under) of Korean Concrete Specification, the claim of construction site is being presented on the quality of antiwashout concrete. Accordingly, hte aim of this study is to verify actual chloride ion content of antiwashout concrete by chloride ion analysis due to chemical admixtures by performance of antiwashout concrete. In conclusion the actual chloride ion content of antiwashout concrete is overestimated by anion($OH^-, SO4^{-2}, S^{-2}, etc) of chemical admixtures, and is proved to be as low as that of ordinary concrete.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.81.1-81
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• 2002

$\textbullet$ This paper presents a study on the development of a walking robot for an armor-stone work of the breakwater construction. The armor-stone work is putting stones about 0.3 ∼ 2m3 on the surface of the breakwater to prevent it from waving. $\textbullet$ This work has been done manually, and its process plan is uncertain by effects of the weather, wave and tide of sea. Therefore the constructional cost is considered to be wasteful $\textbullet$ Working in underwater as well as on land for human workers causes the accident and caisson disease, so it is necessary to replace the process to be mechanized. $\textbullet$ The basic requirements of the robot for mechanizing are as follows : 1) To have a large...

• 한국수산과학회지
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• 제36권2호
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• pp.187-192
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• 2003

To evaluate the oceanographic conditions for the artificial upwelling we measured vertical stratification coefficients, current speed distribution and grain size distribution of bottom sediment in the vicinity of Gukdo and Somaemuldo near Geojedo. There were a strong stratification between surface and bottom layers in summer, the stratification was weak from autumn to winter, and the water was well mixed during winter. In summer nutrient concentration of the bottom layer was 4 times higher than that of the surface layer. Underwater currents were strong in the bottom layer. We conclude that the oceanographic conditions in the area will meet the basic requirement for the construction of artificial upwelling.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2018년도 춘계 학술논문 발표대회
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• pp.54-55
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• 2018

Reinforced concrete is a building material that is generally used in modern society. Securing the performance of reinforced concrete is directly connected to the durability and longevity of the building. One of the major factors that deteriorate the durability of concrete is harmful ion. Recently, the quality and improvement method of reinforced concrete for penetration of harmful ion has been studied. In this study, the bead type ion exchange resin is substituted for 0%, 3%, and 6% of the fine aggregate volume in the mortar. The speciments underwent underwater curing and were checked for compressive strengths of 3 days and 28 days. From the results of compressive strength, it can be seen that the higher the substitution ratio of the ion exchange resin, the lower the early strength and long-term strength development, especially the early strength development.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2022년도 가을 학술논문 발표대회
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• pp.27-28
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• 2022

In this study, the mechanical properties of resource-recycling concrete containing concrete sludge waste as main materials was compared depending on whether supercritical CO2 curing was applied for the realization of CCU technology. After supercritical CO2 curing, the compressive strength of the steam-cured specimen was lowered, but it was confirmed that the compressive strength of the underwater-cured specimen was improved.

• 대한조선학회논문집
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• 제52권6호
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• pp.509-519
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• 2015

Mooring stability of floating dock for construction of Ichthys CPF (central processing facilities), an ultra large offshore structure, was studied. Normal and typhoon conditions were considered for mooring analysis. There have been changes in construction stages of the CPF as project progresses. These changes were reflected on the mooring stability analysis for both conditions. In order to secure the mooring stability of the floating dock for Ichthys CPF under typhoon, maximum loads of mooring chains and maximum offset of the floating dock with Ichthys CPF were examined. Also the shapes of the catenary mooring were investigated to check interferences among mooring chains. As it was confirmed that the mooring loads were within SWL (safe working load) of mooring chains and underwater sinkers, the mooring stability of the floating dock for construction of Ichthys CPF was secured. By achieving security of mooring stability of the floating dock, it is assured that Ichthys project is on its way to success.

• 생태와환경
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• 제43권2호
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• pp.199-211
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• 2010

The objectives for this study were to evaluate spatial and temporal characteristics of water quality, based on long-term water quality monitoring data during 1993~2008. We found that physico-chemical and ecological conditions in the Daecheong Reservoir (DR) were modified by the construction of upper dam (i.e., Yongdam Reservoir). total phosphorus (TP), Secchi depth (SD), and chlorophyll-a (CHL) in the DR showed significant longitudinal decreases along the headwater-to-the downlake, indicating a large spatial variation, and this gradient was more intensified during the high-flow season (monsoon). Nutrient-rich water containing high nitrogen and phosphorus in the monsoon season (July~August) passed through the reservoir as a density current in the metalimnetic depth, and also high suspended solids increased in the metalimnetic depth, especially during the monsoon. According to the deviation analysis of Trophic State Index (TSI), >50% of TSI (CHL)-TSI (SD) and TSI (CHL)-TSI (TP) values were negatives, so that inorganic suspended solids (non-votatile solids) influenced the underwater light regime against phytoplankton growth. Also, ratios of CHL:TP after the dam construction evidently increased, compared to the values before the upper dam constructions, indicating a greater yield of phytoplankton in the unit phosphorus. Overall data showed that ecological and functional changes in Daecheong Reservoir occurred after the construction of upper dam (Yongdam Reservoir).