• Proceedings of the Korea Concrete Institute Conference
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• 2002.10a
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• pp.829-834
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• 2002

Recently, research and development for a number of repairing material like an epoxy-based material and polymer-cementitious material as well as anti-washout underwater concrete have been carried out. But, the study on tile materials for the concrete structure exposed to a wetted condition is at a standstill and there are not any suitable reference data at a repairing work for the concrete structure at a splash as well as a structure under severe moisture condition. In this study, the material, called as “ceramic metal”, with an excellent mobility and plasticity as well as with a high bond strength and durability of freezing-thawing resistant properties under any environmental conditions was developed. And, the experimental evaluations for the utility wert widely performed.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.9
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• pp.1688-1695
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• 2016

Underwater communication has multipath error because of reflection by sea-level and sea-bottom. The multipath of underwater channel causes signal distortion and error floor. The excessive multipath encountered in underwater communication channel creates inter symbol interference, which is a limiting factor to achieve a high data rate and bit error rate performance. Therefore, to increase throughput efficiency and improve performance, this paper consider FTN (Faster-than-Nyquist) signalling based on turbo equalization. FTN signalling is a technique of transmitting information at a rate higher than the allowed Nyquist limit. This paper presented efficient decoder structure of FTN transmission in the environment of multipath underwater channel and we compare the performance between FTN method and conventional punctured method in lake experimentation. As a results of lake experiment, we confirmed FTN method based on turbo equalization is applicable and efficiency in underwater communication.

• Journal of IKEEE
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• v.26 no.3
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• pp.396-400
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• 2022

In this study, an ICT-based underwater communication monitoring device for underwater structures is implemented based on lifting fixture that transport human bodies found on the seabed to sea level. The lifting fixture is packaged with a retback, sideback, and cartridge that injects air. Monitoring systems are developed in a mobile manner in a portable structure. The underwater ultrasonic sensor signal is supplied using a USB port, and the O/S consists of Linux. For the underwater communication dong test, a measurement test was conducted in real time from 6m to 40m in depth on the east coast. The ultrasonic sound sensor is converted to 2,400 bps to verify the transmission error according to the duality. The communication speed of sensor to monitoring is 115,200 bps, and the speed of communication from controller to receiver is 2,400 bps. In the commercialization stage of the lifting device, it is easy to develop a low-end type and the compatibility is wide.

• Journal of Ocean Engineering and Technology
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• v.27 no.6
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• pp.65-72
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• 2013

This paper describes a finite element analysis (FEA) of the body frame of a subsea robot, Crabster200 (CR200). CR200 has six legs for mobility instead of screw type propellers, which distinguishes it from previous underwater robots such as remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs). Another distinguishing characteristic is the body frame, which is made of carbon fiber reinforced plastic (CFRP). This body frame is designed as a rib cage structure in order to disperse the applied external loads and reduce the weight. The frame should be strong enough to support many devices for exploration and operation underwater. For a reasonable FEA, we carried out specimen tests. Using the obtained material properties, we performed a modal analysis and FEA for CR200 with a ready posture. Finally, this paper presents the FEA results for the CFRP body frame and the compares the characteristics of CFRP with conventional material, aluminum.

• Journal of Navigation and Port Research
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• v.31 no.5 s.121
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• pp.421-426
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• 2007

Recently, the defect maintenance period of the new construction structure was extended from 5 years to 10 years. And according to change of realization on the quality of construction and maintenance, a development of semi-permanent method of construction is required for maintenance of blind parts of underwater structure, such as bridge, dam, harbor, etc. In this study, we proposed a floating type sector dry caisson, which is effective to the maintenance of submerged large structures. These large structures were being maintained incompletely, partly due to unskilled divers and difficult working condition. Considering the easiness of access to the maintenance area and the cost for set up the working structure, especially for the case of structure slabs close to the sea surface and harrow pile span structures, we developed and introduced a sector dry caisson instead of the full caisson structure. By doing this, it is easy to move out the caisson rapidly in emergence case. Therefore, we expect that the floating sector caisson will contribute to reduce working time and improve the quality of underwater work in future days.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.19 no.2
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• pp.136-145
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• 2007

When waves propagating over an underwater shoal break at the top of the shoal, wave heights are drastically decreased in the downstream breaking zone, but a secondary current shooting downstream with strong velocity can be induced by the breaking waves themselves. In the case that an offshore structure is placed in the breaking zone, the estimation of wave farce purely based on the visible wave height may cause an under-design of the structure. Thus, for the safe design of the structure, the breaking wave induced current should be necessarily considered in the comprehensive estimation of design load. In the present study, Boussinesq equation model to calculate the wave height distribution and breaking wave induced current was set up and applied to the scheme of a hydraulic model test previously undertaken. Based on the results of the Boussinesq model, fluid forces acting on the model structure were calculated and compared with the experimental results. The importance of the breaking wave induced current was quantitatively assessed by comparing fluid forces with or without current.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1667-1670
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• 1997

We consider the probelem of identifying and underwater vehicle. It is assumed that a priori information about the parameteric model structure and values of the hydrodynamic coefficients is available from some other schemes. The concept of relative esnsitivity is introduced to plan and efficinet identification procedure. An analysis of the sensitivity of the overall system to a particular hydrodynamic coefficinet provides a tool to evaluate the relative importance of the same coefficient in a particular maneuver. Then it can be made possible to reduce the filter size by selecting some dominatn hydrodynamic coefficients as parameters to be estimated for a given maneuver, and this fact may be used for establishing a gradual identification scheme. The main merit of a gradual identification is substantially reduced computer burden with increased nimerical stability. An illustrative simualtion result is given.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.406-413
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• 2007

This paper proposes a self-recurrent wavelet neural network(SRWNN) based adaptive backstepping control technique for the robust steering control of autonomous underwater vehicles(AUVs) with unknown model uncertainties and external disturbance. The SRWNN, which has the properties such as fast convergence and simple structure, is used as the uncertainty observer of the steering model of AUV. The adaptation laws for the weights of SRWNN and reconstruction error compensator are induced from the Lyapunov stability theorem, which are used for the on-line control of AUV. Finally, simulation results for steering control of an AUV with unknown model uncertainties and external disturbance are included to illustrate the effectiveness of the proposed method.

• Journal of Ocean Engineering and Technology
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• v.20 no.6 s.73
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• pp.75-81
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• 2006

In this study, the dynamic response of the umbilical cable in a deep-water unmanned underwater vehicle system was analyzed. In order to analyze the forces acting on the cable, the launcher and umbilical cable were modeled by the simple 1-D mass-spring system. Damping and dynamic analysis was carried out by a direct time integration scheme using the $Newmark-{\beta}$ method with inverse iteration procedure, considering the nonlinear drag forces acting on the launcher. The obtained results of the present study can be used for the design of connecting the structure of the launcher and cable of the UUV system.

• Journal of Power System Engineering
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• v.9 no.4
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• pp.110-117
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• 2005

Underwater wet arc welds were experimentally performed on 11mm thick KR-RA steel plate using six different types of flux coated electrodes of 4.0mm diameter, KSKR, KSKT, USBL, JPUW, UWEA and UWEB. From analysis of bead appearance, detachability of weld slag, spatter occurrence and arc stability, JPUW gives the best result, and UWEB is superior to KSKR and KSKT. By experimental result of hardness distribution on the weld bonds, UWEB weld has the narrowest bond structure which is probable condition to get the best mechanical properties of weld. UWEB and JPUW welds have more even hardness distribution across weld deposit and base metal. Upon polarization test to measure the respondency of corrosion, the electrode of UWEB shows the most excellent degree due to the low open circuit potential difference.