• 한국정보통신학회논문지
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• 제4권1호
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• pp.179-189
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• 2000

최근 들어 심해개발에 대한 관심이 고조됨에 따라 AUV 또는 수중 로봇과 같은 수중 무인작업선의 개발을 위하여 많은 노력을 하였다. 본 논문은 초음파의 전송지연을 고려하지 않고 최대 처리량의 일정수준을 확보하고 다중 초음파 통신 채널을 통하여 고속의 데이터 전송이 가능한 새로운 고효율의 음향 기반 수중 영상 통신시스템을 제시한다. 제시된 시스템은 중심주파수가 136khz이고 10khz의 밴드 폭에서 동작하는 음향 트랜스듀서, 전단증폭기, $\pi/4 QPSK$ 변복조 방식, JPEG 기술을 사용한 영상 압축방식과 수정된 Stop & Wait 프로토콜로 구성한다. 실험 결과는 수조 테스트에서 고효율의 수중영상 전송이 가능하였고, 또한 그 결과는 기존에 개발된 시스템과 타당한 전송성능을 비교 입증하였고 해양에서 실용 가능성을 연구 검토하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.696-699
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• 2004

A side scan sonar system uses the towfish installed sonars, It is an equipment that search images of the bottom surface of the sea in real time. It is a typical equipment that is related to a sea investigation such as a geological survey, seabed communication cable and power line cable placing repair investigation, fish breeding ground investigation, sea purification, relic and mineral investigation, and mine and submarine search. It used to fined objects and investigate on the seabed surface. But, recently, it is used to sea purification and geological survey that require information of the correct surface of the seabed. So, it needs various filtering technique and image processing techniques development to acquire high resolution image. therefore, this research develops a side scan sonar using multi-beam sensors that supply various information with the fast scan speed and correct high resolution that is not a simple underwater investigation equipment.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2006년도 전기학술대회논문집
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• pp.317-318
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• 2006

The towfish oi a side scan sonar is an equipment that search images of the bottom surface of the sea in real time. It is a typical equipment that is related to a sea investigation such as a geological survey, seabed communication cable and power line cable placing repair investigation, fish breeding ground investigation, sea purification, relic and mineral investigation, and mine and submarine search. It used to find objects and Investigate on the seabed surface. But, recently, it is used to sea purification and geological survey that require information of the correct surface of the seabed. So, it needs various filtering technique and image processing techniques development to acquire high resolution image. Therefore, this research develops a side scan sonar using multi-beam sensors that supply various information with the fast scan speed and correct high resolution that is not a simple underwater investigation equipment.

• 산업경영시스템학회지
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• 제44권3호
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• pp.10-21
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• 2021

Recently, the demand for atypical structures with functions and sculptural beauty is increasing in the construction industry. Existing mold-based structure production methods have many advantages, but building complex atypical structures represents limitations due to the cost and technical characteristics. Production methods using molding are suitable for mass production systems, but production cost, construction period, construction cost, and environmental pollution can occur in small quantity batch production. The recent trend in the construction industry calls for new construction methods of customized small quantity batch production methods that can produce various types of sophisticated structures. In addition to the economic effects of developing related technologies of 3D Concrete Printers (3DCP), it can enhance national image through the image of future technology, the international status of the construction civil engineering industry, self-reliance, and technology export. Until now, 3DCP technology has been carried out in producing and utilizing residential houses, structures, etc., on land or manufacturing on land and installing them underwater. The final purpose of this research project is to produce marine structures by directly printing various marine structures underwater with 3DCP equipment. Compared to current underwater structure construction techniques, constructing structures directly underwater using 3DCP equipment has the following advantages: 1) cost reduction effects: 2) reduction of construct time, 3) ease of manufacturing amorphous underwater structures, 4) disaster prevention effects. The core element technology of the 3DCP equipment is to extrude the transferred composite materials at a constant quantitative speed and control the printing flow of the materials smoothly while printing the output. In this study, the extruding module of the 3DCP equipment operates underwater while developing an extruding module that can control the printing flow of the material while extruding it at a constant quantitative speed and minimizing the external force that can occur during underwater printing. The research on the development of 3DCP equipment for printing concrete structures underwater and the preliminary experiment of printing concrete structures using high viscosity low-flow concrete composite materials is explained.

• 한국정밀공학회지
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• 제26권5호
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• pp.7-13
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• 2009

• 한국해양공학회지
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• 제21권3호
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• pp.33-39
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• 2007

The more deeply the researches make progress in ocean researches including the seabed resource investigation or the oceanic ecosystem investigation, the more important the role of UUV gets. In case of study on the deep sea, there are difficulties in telecommunications between AUV and ships, and in data communication and recharging. Therefore, docking is required. In AUV docking system, the AUV should identify the position of docking device and make contact with a certain point of docking device. MOERI (Maritime & Ocean Engineering Research Institute), KORDI has conducted the docking testing on AUV ISIMI in KORDI ocean engineering water tank. As AUV ISIMI approachs the docking device, there is some cases of showing an unstable attitude, because the lights which is on Image Frame are disappeared. So we propose the docking algorithm that is fixing the rudder and stem, if the lights on image frame are reaching the specific area in the Image Frame. Also we propose the new docking device, which has a variety of position and light number. In this paper, we intend to solve the some cases of showing an unstable attitude that were found in the testing, which, first, will be identified the validity via simulation.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2006년 창립20주년기념 정기학술대회 및 국제워크샵
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• pp.335-338
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• 2006

The more deeply the researches make progress in ocean researches including the seabed resource investigation or the oceanic ecosystem investigation, the more important the role of UUV gets. In case of study on the deep sea, there are difficulties in telecommunications between AUV and ships, and in data communication and recharging. Therefore, docking is required. In AUV docking system, the AUV should identify the position of docking and make contact with a certain point of docking device. MOERI (Maritime & Ocean Engineering Research Institute), KORDI has conducted the docking testing on AUV ISIMI in KORDI Ocean Engineering Water Tank. As AUV ISIMI approachs the docking device, it is presented that attitude is unstable, because the lights Which is on Image Frame are disappeared. So we fix the rudder and stem, if the lights on Image Frame are reaching the specific area in the Image Frame. In this paper, we intend to solve the problems that were found in the testing, which, first, will be identified via simulation.

• 한국방재학회 논문집
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• 제7권5호
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• pp.111-118
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• 2007

최근에 들어와 가로등에 의한 감전사고가 지속적으로 발생하고 있다. 특히 집중호우로 인해 가로등이 침수될 경우 누전에 의한 감전 사고는 매우 높다. 전기감전사고가 발생할 경우 사고전압을 분석해 보면 주로 220V의 저압시설물에서 발생되고 있으나 이에 대한 위험성을 충분히 인식하지 못하고 있는 실정이다. 가로등 시설물의 사용전압 220V는 주로 일반인이 쉽게 접촉할 수 있는 도로변에 시설되어 있기 때문에 감전사고의 위험성은 매우 높은 편이다. 그러나 가로등 침수로 인해 누전이 발생했을 경우 누전체에서의 거리변화에 따른 수중전위분포가 인체에 미치는 영향을 연구하는 사례는 미약한 실정이다. 본 논문에서는 수중에서 누전이 발생했을 경우에 인체에 미치는 영향과 수중전위분포를 분석하고 수중에서 누전체와의 거리 및 깊이에 따른 변화가 어떻게 인체에 영향을 주는지 실험을 통하여 감전경로와 감전메카니즘을 비교 분석하고자 한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2036-2041
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• 2005

The underwater multi-agent technology has many potential for the various activities related to ocean development/conservation in the near future. For example, in such fields as water pollution investigation, aquaculture control, or coral reef research, we feel a growing need for a system that realizes underwater continuous monitoring in the wide rang e. In this case, the target monitoring area will be sliced planar hierarchically toward the depth as monitoring layers, and many AUVs arranged on each layer track the given trajectory and gather various environmental information continuously, with communicating each other in the layer or with other layers. To realize those systems we need to develop AUV multi-agent technologies. So we are now building basic systems for basin experiment for the development of AUV multi-agent behavior. We must experience many situations and problems to be solved for the development of its elemental technologies by using real systems as well as our computer simulations. In this paper we introduce our concept of the experiment in the near future and the hardware/software design of our two types of handy AUVs and ultrasound ranging/communication system for that experiment. One AUV is designed using a 17inches-diameter glass sphere with DOS/V and RT-Linux based subsystems, which is intended to use not only in the basin but also in the calm real sea. The other AUV is designed for the basin experiment using a 7inches-diameter acrylic sphere with low-cost embedded system with SH-2 based subsystems. The basin experiment to verify the basic AUV facilities and ultrasound ranging for position detection was carried out.

• 대한공업교육학회지
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• 제33권2호
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• pp.273-286
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• 2008

수중에서 UUV(Unmanned Underwater Vehicle)에 장착되는 수중 음향 센서 배열은 UUV의 측면이나 전면에 부착하여 외부 신호를 탐지하게 된다. 이러한 센서 배열은 UUV의 특성상 곡면배열(Conformal array) 형태이며 유체 유기 소음의 영향을 받는다. 따라서 본 논문에서는 탄성층에 삽입된 하이드로폰이 외부 유입 소음의 영향을 받는 정도를 해석하였다. 유입 소음은 난류 경계층에서 발생하는 Corcos 모델을 이용하였고 주파수 밀도 함수를 이용하여 수치해석 하였다. x-방향의 파수인 kx에 다른 전달함수의 특성은 탄성층의 두께가 커질수록 전달함수의 적분값은 적어지므로 소음의 영향은 줄어드는 것으로 나타났다. 또한 탄성층 및 고정판의 탄성계수, 밀도 등의 변화가 전달함수 값의 변화를 일으키는지를 조사하였다. 향후 이러한 연구는 UUV에 장착되는 곡면 배열 센서의 설계에 활용할 수 있을 것으로 판단된다.