• Journal of Ocean Engineering and Technology
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• v.29 no.5
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• pp.380-385
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• 2015

In the development of an underwater construction robot, the reliability of the operating system is the most important issue because of its huge maintenance cost, especially in a deep sea application. In this paper, we propose a new redundant architectural design for the hydraulic control system of an underwater construction robot. The proposed architecture consists of dual independent modular redundancy management systems linked with a commercial profibus network. A cold standby redundancy management system consisting of a preprocessing switch circuit is applied to the signal network, and a hot standby redundancy management system is adapted to utilize two main controllers.

• Explosives and Blasting
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• v.31 no.1
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• pp.11-22
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• 2013

This study compared and analysed ground vibration, size of underwater background noise in fish farms and underwater object noise of blasting and obtained ground vibration prediction equation through a regression analysis and correlation equation between underwater object noises in order to predict degrees of underwater noise in blasting and organize underwater noise control regulations. Before the study, when background noise of fish and shellfish farms with different conditions was measured, levels of background noise were different according to environmental characteristics of each farm. Ground vibration which causes underwater noise was measured to obtain a correlation equation between ground vibration and underwater object noise. Therefore, if underwater noise is predicted for each construction with a use of a correlation and permissible standards appropriate for each condition are applied for design and construction, financial loss from damages to fish and shellfish caused by development of insufficient technological and engineering logic can be prevented and successful construction with safety of underwater creatures guaranteed can be achieved.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2019.05a
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• pp.193-194
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• 2019

The purpose of this study is to design the basic mix proportions of antiwashout underwater polymer cement mortar as a repair material. The antiwashout underwater polymer cement mortars are prepared with various mix proportions using three type polymer dispersions without or with antifoamer. From the test results, the whole antiwashout underwater polymer cement mortars can be cast underwater without segregation like plain mortar. It is apparent that the flexural strength of antiwashout underwater SBR cement mortars with antifoamer at polymer- cement ratios of 5% and 10% is higher than that of plain mortar irregardless of a little low compressive strength.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.9
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• pp.4507-4513
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• 2013

The developing unmanned underwater equipment can be used for underwater construction site such as underwater leveling works. If a optical camera is applied to the unmanned underwater equipment, recognition in underwater can be gone to low due to high turbidity in working field. To overcome this problem, a sonar will be installed to the unmanned underwater equipment. In this study, the resolution of the sonar and the quality test of the sonar image under high turbidity environment were conducted. And the method to indicate the boundary of the underwater construction site was proposed. By these results, the basic performance of the sonar was evaluated.

• Journal of the Korea Concrete Institute
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• v.16 no.2 s.80
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• pp.283-291
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• 2004

Recently, the construction of underwater structures has been gradually increased, but underwater concrete got some problems of quality deterioration and water contamination around cast-in-situ of construction. In addition, massive underwater structures such as LNG tank, underwater concrete structures of large and continuous high- strength subterranean wall under water are being demanded lower heat of hydration. In this paper, the mechanical properties of high-strength antiwashout underwater concrete (HAWC) containing with two kinds of mineral admixtures respectively were investigated. On the basis of these results, the pH value and suspended solids of HAWC manufactured in the mock-up test were 10.0$\Box$11.0 and 51 mg/${\iota}$ at 30 minutes later, respectively, initial and final setting time were about 30,37 hours, and the slump flow was 530$\pm$20Tm. In the placement at a speed of $27 m^3/hr$, there was no large difference in flowing velocity with or without reinforcing bar, and flowing slope was maintained at horizontal level. Compressive strength and elastic modulus of the cored specimen somewhat decreased as flowing distance was far; however, those of central area showed the highest value.

• Journal of the Korean Society of Safety
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• v.34 no.4
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• pp.103-110
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• 2019

Underwater works are indispensable in the coastal and ocean engineering fields, and the reliance on manpower is higher than land works. Divers who work for a long time in a high-pressure underwater environment are always exposed to the risks of diving-related diseases. To prevent them, proper planning, operation, and management of diving by a supervisor with professional diving knowledge are required. This study provides the basic data for supervisors to plan, operate, and manage air diving for safe and efficient work in underwater construction sites. It is well-known that air diving simulations using the varying permeability model (VPM) require a longer decompression time as the water depth and the residence time in water increase. Therefore, it is crucial to have a proper surface interval through repetitive diving rather than single diving to improve the safety of the divers and the efficiency of underwater work. Furthermore, coastal and ocean engineers who manage and supervise underwater construction work must acquire expert knowledge on diving before they can plan, operate, and manage diving.

• Proceedings of the KSR Conference
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• 2009.05a
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• pp.28-41
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• 2009

We know the several construction methods for underwater tunnel, but properly submerged concrete box type tunnel was mostly good structure stability and mostly shot length of tunnels. Submerged box type tunnel was buildup the unit segments in dry dock or ship yard by 10 to 20meters. The submerged box was composed with segments was join each together. It was installing the gate and waterproofing the coupling the front hull of a box. The complete submerged box rise up to the surface water, tow in the submerged box by tugboat, going to the destination of tunnel construction site. Beforehand dredge up soil at the bottom of a underwater, sinking the submerged box, connection together complete submerged box in underwater. The research and development ILM tunneling method is receiving careful study. Biggest weakness in submerged concrete box type tunnel was pressure waterproofing, box to box connecting, complete submerged boxes navigation and installation, after operation the submerged tunnel and management concrete box structure. It was positive evidence in submerged concrete box type tunnel. We make a practical application of the principle "the ILM tunneling method in underwater construction methods."

• Proceedings of the Korean Geotechical Society Conference
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• 2002.06a
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• pp.103-117
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• 2002

During the installation of drilled shafts in very soft ground, to keep the pile shape and to central concrete quality, casing method (wrinkled pipe and embedded steel pipe) and non-casing method have been used. In the construction cost, non-casing method was the most economical. When the wrinkled pipe and the embedded steel pipe casing method are used, an increase of 133% and 123% in the construction cost could be seen. When concrete for drilled shaft was placed under groundwater, underwater unseparation concrete would be used to restrain the concretes's material separation and to control the concrete quality. On the condition of required unseparable and (lowing property was assured, use of less amount of mixed material and flowing material must be recommended.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.06a
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• pp.9-10
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• 2012

This paper presents an observer to measure the lengths of cylinders of an underwater robot for harbour construction using a pressure sensor. In harbour constructing, we place heavy armour stones weighing over 2~3 tons on the surface of the bank to protect it from storming wave. This work typically done by a diver is difficult and dangerous so that we have developed Stone Diver which is the underwater robot for harbour construction. The robot needs a position sensor to control the hydraulic cylinder. The position sensors mounted outside the cylinders cause poor durability in construction site where shock and dust usually occur. However, the pressure sensor mounted inside a waterproof box improves the durability. Based on the dynamic parameters and the pressures in the cylinder, the observer measures the cylinder's position. This paper presents the positional accuracy of the pressure based observer and the performance of the underwater robot to assemble the armour stones.

• Journal of Navigation and Port Research
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• v.36 no.10
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• pp.865-871
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• 2012

This paper presents an observer to estimate the displacement of hydraulic cylinders of an underwater robot for harbour construction using a pressure sensor. In harbour constructing, we place heavy armour stones weighing over 2~3 tons on the surface of the bank to protect it from storming wave. This work typically done by a diver is difficult and dangerous so that we have developed Stone Diver which is the underwater robot for harbour construction. The robot needs a displacement sensors to control the position of hydraulic cylinders. The position sensors mounted outside the cylinders cause poor durability in construction site where shock and dust usually occur. However, the pressure sensor mounted inside a waterproof box improves the durability. Based on the dynamic parameters and the pressures in the cylinder, the observer estimates the cylinder's position. This paper presents the positional accuracy of the pressure based observer and the performance of the underwater robot to assemble the armour stones.