• Journal of the Korean Society of Marine Environment & Safety
• /
• v.25 no.7
• /
• pp.927-935
• /
• 2019

Screw-failure accidents in small ships frequently occur in coastal waters. In particular, vessels' propulsion systems are frequently coiled due to objects such as fish-nets and ropes that float on the sea. The failure of the ship's propulsion system can cause primary accidents such as ship operation delays and drifting due to loss of power; furthermore, the possibility of secondary accidents such as those involving operators in the underwater removal of rope stuck in a propeller. Ships that do not have the proper tools to solve these problems must be either lifted onto land to be repaired or divers must dive directly under the ship to solve the problem. Accordingly, some small vessels have been equipped with rope-cutter devices on the propeller shaft to prevent ship propeller system accidents in recent years; however, they are not being applied efficiently due to the cost and time of installation. To solve these problems, this study develops an underwater rope-cutter device and controller for the removal of propeller and shaft foreign material in small vessels. This device has simple structures that use the principle of a saw. Meteor gears and crank pins were used for the straight-line rotation of saw blades of the underwater rope-cutters to allow for long strokes. Furthermore, the underwater rope-cutting machines can be operated by being connected to the ship battery. The user, a non-professional, can ensure convenience and stability by applying reverse current prevention and a speed control circuit so that it can be used more conveniently and safely.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.21 no.5
• /
• pp.1049-1059
• /
• 2017

After patrol corvett Cheonan was hit and sank on duty, the Republic of Korea Navy has tried to install hybrid propulsion system on naval ship to reduce vibration and noise problems during navigation. The hybrid propulsion system has advantage that propulsion motor can be propelled in low speed operation of the vessel. This can be a better quietness than a mechanical propulsion system which consists of a conventional internal combustion engines. And more economical operation is possible by using a propulsion motor in a low speed operation where a fuel efficiency of the internal combustion engine is poor. In this paper, we set up virtual ship on the basis of a combat support ship in the Republic of Korea Navy, economically compared and analyzed fuel consumption between conventional and hybrid propulsion system. As a result, it was confirmed that the fuel efficiency of hybrid propulsion system which use electric motor had been relatively improved.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2009.04a
• /
• pp.518-523
• /
• 2009

Main source of URN(Underwater Radiated Noise) which is related to the ship's survivability is divided into two groups. Cavitation is main source of URN when the speed of ship is upper than CIS(Cavitation Inception Speed). But when the speed of ship is lower than CIS, main source of URN is structure-borne noise on the hull which is originated from propulsion system, pump system or transmitted vibration of pipe system. In this paper, to reduce the vibration of discharge pipe and valve system, back flow prevent globe valve and new rubber mount are applied to the ship. As the result of applying new valve and mount, the vibration is reduced drastically.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.19 no.6
• /
• pp.599-606
• /
• 2009

Main source of URN(underwater radiated noise) which is related to the ship's survivability is divided into two groups. Cavitation is the main source of URN when the speed of ship is upper than CIS(cavitation inception speed). But when the speed of ship is lower than CIS, the main source of URN is the structure-borne noise on the hull which is originated from propulsion system, pump system and trnasmitted vibration of the pipe system. In this paper, to reduce the vibration of discharge pipe and valve system, back flow prevent globe valve and new rubber mount are applied to the ship. As the result of applying new valve and mount, the vibration is reduced drastically.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.3 no.4
• /
• pp.286-292
• /
• 2011

In order to design a shear coaxial injector of solid particles for underwater propulsion system, basic experiments on gas-liquid shear coaxial injector are necessary. In the gas-liquid coaxial injector self-pulsation usually occurs with an intense scream. When self-pulsation occurs, mass flow rate oscillation and intense scream are detected by the interactions between the liquid and gas phase. Self-pulsation must be suppressed since this oscillation may cause combustion instabilities. Considerable research has been conducted on self-pulsation characteristics, but these researches are conducted in swirl coaxial injector. The main objective of this research is to understand the characteristics of self-pulsation in shear coaxial injector and reveal the mechanism of the phenomenon. Toward this object, self-pulsation frequency and spray patterns are measured by laser diagnostics and indirect photography. The self-pulsation characteristics of shear coaxial injector are studied with various injection conditions, such as the pressure drop of liquid and gas phase, and recess ratio. It was found that the frequency of the self-pulsation is proportional to the liquid and gas Reynolds number, and proportional to the L/d.

• International Journal of Ocean System Engineering
• /
• v.3 no.4
• /
• pp.218-224
• /
• 2013

This paper describes the design and control of a hovering AUV test-bed and analyzes the dynamic performance of the vehicle using simulation programs. The main purpose of this vehicle is to carry out fundamental tests of its station keeping, attitude control, and desired position tracking. Its configuration is similar to the general appearance of an ROV for underwater operations, and its dimensions are $0.75m{\times}0.5m{\times}0.5m$. It has four 450-W thrusters for longitudinal/lateral/vertical propulsion and is equipped with a pressure sensor for measuring the water depth and a magnetic compass for measuring its heading angle. The navigation of the vehicle is controlled by an onboard Pentium III-class computer, which runs with the help of the Windows XP operating system. This provides an appropriate environment for developing the various algorithms needed for developing and advancing a hovering AUV.

• Ocean Systems Engineering
• /
• v.4 no.3
• /
• pp.243-261
• /
• 2014

Aqua is an underwater biomimetic vehicle designed and built at McGill University that uses six paddles to produce control and propulsion forces. It has the particularity of having time-periodic thrust due to its oscillating paddles. Using an existing model of the vehicle, two types of controller were developed: a PD controller and a Floquet controller. The Floquet controller has the advantage of explicitly addressing the time-periodicity of the system. The performance of the controllers was assessed through simulation and experimentally in the Caribbean Sea. We find that the vehicle was able to follow the prescribed trajectories with relative accuracy using both controllers, though, the Floquet controller slightly outperforms the PD controller. Furthermore, a key advantage of the Floquet controller is that it requires no tuning while the PD controller had to be tuned by trial and error.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.3 no.2
• /
• pp.71-80
• /
• 2000

In Underwater Flight Vehicle depth control system, the followings must be required. Firstly, It need robust depth control performance which can get over parameter variation, modeling error and disturbance. Secondly, It need no oveshoot phenomenon to avoid colliding with ground surface and obstables. Thirdly, It need continuous control input to reduce the acoustic noise and propulsion energy consumption. Finally, It need effective interpolation method which can reduce the dependency of control parameters on speed. To solve these problems, we propose the Fuzzy-PID depth controller with the control parameter interpolators. Simulation results show the proposed control scheme has robust and accurate performance with continuous control input.

• International Journal of Ocean System Engineering
• /
• v.1 no.4
• /
• pp.192-197
• /
• 2011

This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log for measuring position and angle. The vehicle is controlled by an on-board PC, which runs with the Windows XP operating system. The dynamic model of 6DOF is derived including the hydrodynamic forces and moments acting on the vehicle, while the hydrodynamic coefficients related to the forces and moments are obtained from experiments or estimated numerically. We also utilized the values obtained from PMM (Planar Motion Mechanism) tests found in the previous publications for numerical simulations. Various controllers such as PID, Sliding mode, Fuzzy and $H{\infty}$ are designed for depth and heading angle control in order to compare the performance of each controller based on simulation. In addition, experimental tests are carried out in a towing tank for depth keeping and heading angle tracking.

• Transactions of the Korean hydrogen and new energy society
• /
• v.27 no.5
• /
• pp.485-493
• /
• 2016

Recently submarine and unmanned underwater vehicle (UUV) are equipped with a fuel cell system as an air independent propulsion system. Methanol fuel processor can efficiently supply the hydrogen to the fuel cell system to improve the ability to dive. This study investigated the optimal conditions of the methanol fuel processor that may be used in the closed environment. For this purpose, the numerical model based on Gibbs minimization equation was established for steam reformer and three exhaust gas burners. After simulating the characteristics of steam reformer according to the steam-to-carbon ratio (SCR) and the pressure change, the SCR condition was able to narrow down to 1.1 to 1.5. Considering water consumption and the amount of heat recovered from three burners, the optimum condition of the SCR can be determined to be 1.5. Nevertheless, the additional heat supply is required to satisfy the heat balance of the methanol fuel processor in the SCR=1.5. In other to obtain additional amount of heat, the combustion of methanol is better than the increased of SCR in terms of system design.