• Journal of the Korean Association of Geographic Information Studies
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• v.11 no.4
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• pp.150-160
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• 2008

The present domestic underwater and ocean facilities management depends on analysis with the naked eye. This study performs quantitative analysis to improve conventional methods, analyze spatial situation of underwater facilities. This research is divided into two steps; underwater image distortion correction and image mosaic step. First, underwater image distortion correction step is for the production of underwater target, calculates the correction parameters, and then developed the method that convert the original image point to whose distortion is corrected. Second step is for the obtaining pipe images installed in the underwater, corrects the distortion, and then transforms a coordinates of the correction pipe image. After coordinate transformation, we make the mosaic image using the singularities. As a result, when we measure the distance between pipe and underwater ground and compare with calculation value on mosaic image, it is showed that RMSE is 0.3cm.

• Magazine of the Korea Concrete Institute
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• v.8 no.5
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• pp.179-187
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• 1996

Many underwater concrete structures have been constructed recently in proportion to the increase of ocean developments. The research for the underwater concrete construction was mainly focused in view of placing method. Recently, special admixture agents of concrete were developed for antiwashout concrete under water in some foreign nations. They had successful results in experiments and site constructions. However. there are seldom experimental results or placements in domestic contry. In this paper. We had carried out property tests of fresh and hardened concrete with refer to successful results in experiments and site construction and investigated the physical variation of the antiwashout underwater concrete considering the interaction between antiwashout admixture and other ones. We have decided the optimal mix proportion fb;r antiwashout underwater concrete under standerd sea state.

• Journal of the Korea Concrete Institute
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• v.12 no.5
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• pp.25-34
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• 2000

When concrete is placed underwater, it is diluted with separating cementitious material and as a result the quality of concrete becomes poor. To solve this problem, antiwashout underwater concrete is increasingly used for the construction and repair of the concrete structure underwater. The objective of this study is to investigate the characteristics of antiwashout underwater concrete as to the mix proportion, casting and curing water through experimental researches. The unit weight of water and cement, water-cement ratio, fine aggregate ratio, unit weight of antiwashout underwater agent and superplasticizer, and casting and curing water were chosen to measure the suspended solids, pH, air contents, slump flow, unit weight of hardened concrete, and compressive strength. From this study, the incremental modulus at mix proportion design and unit weight of antiwashout underwater agent were increased more than fresh water, and it is a optimum mix proportion that the unit weight of water(and cement) is 230kg/$\textrm{m}^3$(460kg/$\textrm{m}^3$), waterOcement ratio is 50%, fine aggregate ratio is 40%, unit weight of antiwashout underwater agent is 1.2% of water contents per unit weight of concrete, and unit weight of supeplasticizer is 2.5% of cement contents per unit weight of concrete when the antiwashout underwater concrete is used for the underwater work of ocean.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2002.05a
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• pp.51-55
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• 2002

The production accounts of domestic by-product is increased after 1990's. It is worried about the life reduction of dump land, as dump land's capacity have reached to limitation and the amount of construction industrial wastes is going higher Recently, Recycling aggregates could be gained from the reconstruction works using recycle process. and the study and research of recycle concretes developed concrete application methods, It could put some outcome of studies to practical use for concrete products. The methods of crushing waste concrete are going diverse. In this study, the fundamental experiments and recycling application is investigated and analyzed with use of recycling aggregate which made of mechanical crush and underwater electrical impact crush. and the difference between underwater electrical impact crush, mechanical crush and natural aggregates is studied.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.1
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• pp.95-100
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• 2021

This paper introduces model-based meta reinforcement learning as a control for the manipulator of an underwater construction robot. Model-based meta reinforcement learning updates the model fast using recent experience in a real application and transfers the model to model predictive control which computes control inputs of the manipulator to reach the target position. The simulation environment for model-based meta reinforcement learning is established using MuJoCo and Gazebo. The real environment of manipulator control for underwater construction robot is set to deal with model uncertainties.

• Proceedings of the Korea Concrete Institute Conference
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• 2003.11a
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• pp.343-346
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• 2003

Confirmation of a damage degree and repair about a damage part are very hard for an underwater structure. And quality control of a construction is very complicated even if repair work is carried out on a damaged structure because repair work is carried out in water. If repair work is carried out while a defect part of the structure which there is in water keeps dry state, a efficient of repair is maximized. However, as for the repair technology about an underwater structure, a systematic researcher is not enough because of the environmental trouble. And, as for the effect about repair method to be applied to a currently underwater structure, it is not certainly proved. In this study The repair work of an underwater structure damaged applied the method that used a fiber panel form work. And a efficient of structure repaired was evaluated.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.3
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• pp.352-361
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• 2021

An underwater positioning method that can be applied to structures for underwater construction is being developed at the Korea Institute of Ocean Science and Technology. The method uses an extended Kalman filter (EKF) based on an inertial navigation system for precise and continuous position estimation. The observation matrix was configured to be variable in order to apply asynchronous measured sensor data in the correction step of the EKF. A Doppler velocity logger (DVL) can acquire signals only when attached to the bottom of an underwater structure, and it is difficult to install and recover. Therefore, a complex sensor device for underwater structure attachment was developed without a DVL in consideration of an underwater construction environment, installation location, system operation convenience, etc.. Its performance was verified through a water tank test. The results are the measured underwater position using an ultra-short baseline, the estimated position using only a position vector, and the estimated position using position/velocity vectors. The results were compared and evaluated using the circular error probability (CEP). As a result, the CEP of the USBL alone was 0.02 m, the CEP of the position estimation with only the position vector corrected was 3.76 m, and the CEP of the position estimation with the position and velocity vectors corrected was 0.06 m. Through this research, it was confirmed that stable underwater positioning can be carried out using asynchronous sensors without a DVL.

• Journal of Sensor Science and Technology
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• v.14 no.3
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• pp.198-205
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• 2005

Recently, the systems using multiple sensors such as magnetic, acoustic and pressure sensor are used for detection of underwater objects or vehicles. Those systems have difficulty of maintenance and repair because they operate underwater. Thus, this paper describes a hybrid detection system with long term operating reliability. This has a multi-signal transmission structure to have a high reliability. First, a signal transmission & receiving part, which transfers data from underwater sensors to land and receive control message from land through optical cable, has 4 multi-path. Second, the nodes for signal transmission are connected dually each other with single-hop construction and sensors are connected to a couple of neighboring nodes. This enables the output signal to transmit from a node to the next node and the next but one node together. Also, the signal from a sensor can be transmitted to two nodes at the same time. Therefore, the system with this construction has high reliability in long term operation because it makes possible to transmit sensor data to another node which works normally although a transmission node or cable in system have some faults.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.739-746
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• 2006

Anthropogenic underwater sound such as ship radiated noise, pile driving noise. underwater explosive blast and so on, affects marine animals. This study describes the effects of underwater noise on fishes. The characteristics of noise, fish hearing and response, and sound propagation loss are analysed based on existing results and measured data in marine construction site. Finally, the safety zone range of fish on man made underwater noise is derived.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.6
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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.