• The Journal of Korean Institute of Information Technology
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• v.16 no.12
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• pp.41-47
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• 2018

The buoy-enabled underwater surveillance system is a device that is installed in a particular sea area and operated for a certain period of tine and moved to another sea area after recovery. In this paper, a mooring method which is applied for a buoy-enabled underwater surveillance system was selected to maintain installation and enure stable operation. Also, the structure of the mooring line was designed. Two-point mooring method was selected considering interference with the communication cable of array-assembly. The composite structure of buoy chain, nylon rope, and anchor chain is designed as the basic component of mooring line. For the verification of design, a numerical simulation and wave tank experiment were performed. Their results were confirmed similarity in test condition. Finally, the mooring lines were designed for the environment of the sea trial location. The mooring line produced by the final design confirmed the stability above the significant wave height considered in the design on the sea trial.

• The Journal of the Acoustical Society of Korea
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• v.34 no.5
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• pp.351-359
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• 2015

Typical underwater acoustic transducers detect only the magnitude of an acoustic pressure and they have the limitation of not being able to recognize the direction of the sound signal. Hence, the authors of this paper proposed a new vector sensor structure based on Tonpilz transducers that could detect both the magnitude and the direction of a sound pressure. In the proposed structure, the piezoceramic ring was divided into four segments, and proper combination of the output voltages of the segments in response to the external sound pressure could provide the information on the orientation of the sound source. In this paper, a Tonpilz transducer has been fabricated to have the proposed structure and its characteristics has been measured to confirm the validity of the proposed structure.

• Journal of Ocean Engineering and Technology
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• v.26 no.4
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• pp.30-36
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• 2012

Recently, the underwater radiated noises generated from large commercial ships have become a globally important issue. Countries with large ports and environmental protection organizations demand strict safety guidelines in relation to underwater radiated noise. In this paper, the coupled PFFE/PFBE method is used to investigate the vibration and underwater radiated noise of a commercial ship. PFFEM is employed to analyze the vibrational responses of the commercial ship, and PFBEM is applied to analyze the underwater radiation noise. The vibrational energy of the structure is treated as an acoustic intensity boundary condition of PFBEM to calculate the underwater radiation noise. Numerical simulations are presented for the commercial ship under various frequencies, and reliable results are obtained.

• Journal of Sensor Science and Technology
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• v.26 no.3
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• pp.199-203
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• 2017

In this paper, we developed an underwater localization system for underwater robot docking using the electromagnetic wave attenuation model. Electromagnetic waves are generally known to be impossible to use in water environment. However, according to the conclusions of the previous studies on the attenuation characteristics in underwater, the attenuation pattern is uniform and its model was accurately proposed and verified in 3-dimensional space via the omnidirectional antenna. In this paper, a docking structure and localization sensor system are developed for a widely used cone type docking mechanism. First, we fabricated electromagnetic wave range sensor transmit modules. And a mobile sensor node is equipped with unmanned underwater vehicle(UUV)s. The mobile node senses the four different signal strength (RSS: Received Signal Strength) from fixed nodes, and the obtained RSS data are transformed to each distance information using the 3-Dimensional EM wave attenuation model. Then, the relative localization between the docking area and underwater robot can be achieved according to optimization algorithm. Finally, experimental results show the feasibility of the proposed localization system for the docking induction by comparing the errors in the actual position of the mobile node and the theoretical position through the model.

• Journal of the Korea Concrete Institute
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• v.12 no.5
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• pp.111-120
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• 2000

In case of constructing concrete structure under water, generally concrete mixed with antiwashout admixture, high range water reducer, or AE-water reducing agent etc has been manufactured to ensure the quality of antiwashout underwater concrete because of being difficulty in ascertaining construction situation by the naked eye. The properties of high quality antiwashout underwater concrete that were aimed at affluent fluidity, workability and the compressive strength of 450 kgf/$\textrm{cm}^2$ at 28 ages using two types of blended cements are following as;(1) Setting time of antiwashout underwater concretes using blended cements was more greatly delayed than that of control concrete, however, was satisfied with criteria value of "Quality standard specification of antiwashout admixture for concrete".(2) As a test results of slump flow, efflux time and box elevation of head, it was found that workability of high quality antiwashout underwater concrete was improved. (3) Heat evolution amount of OPC was 1.5 times as high as that of two types of bended cements in 72 hours. (4) Suspended solids of antiwashout underwater concrete using blended cements was more than that of control concrete, also compressive strength of high quality antiwashout underwater concrete was very low in early age, but was better than that of control concrete as to increasing ages.

• Journal of Welding and Joining
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• v.10 no.2
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• pp.51-62
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• 1992

A torch was designed and fabricated in order to develope the technology of "locally drying underwater welding" by water curtain method. The condition for the formation of the possible local cavity, the mechanical properties and the thermal cycle of welds were investigated in the developed welding equipment compared with in-air welding. The possibility of highly reliable and practical underwater welding was found. The proper local cavity was formed above the water flowrate of 30l/min and CO$_{2}$ gas flowrate of 100l/min. The bead width and penetration depth were increased with increasing welding current. The hardness of weldments is about 160Hv in air welding, but about 210Hv in underwater welding. The elongation and the impact value of underwater weldments are 15% and 6Kg/cm$^{2}$ respectively, which are only half as much as the values of in-air welding. The cooling time in the temperature range from 800.deg.C to 500.deg.C affecting the structure and the hardness of weldments is about 22sec. in air welding while about 10sec. in underwater welding.r welding.

• Journal of Ocean Engineering and Technology
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• v.14 no.4
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• pp.56-61
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• 2000

This study has been performed for mechanical properties of underwater wet welding electrode with rolled steel (KR-RA) for ship structure, one kind (E 4313) of domestic covered arc welding electrode used in the air and two kinds (UWE-01, UWE-02) of underwater covered arc welding electrode experimentally developed on the same welding condition. The results obtained were as follows : The hardness value of underwater covered arc welding electrode (UWE-01) was about 8.3% lower than domestic covered arc welding electrode(E 4313) in heat affected zone of test of UWF-02 was lower about 4.5%. Tensile strengths of UWE-01 were about 0.9%, and those of UWE-02 were about 6.5% higher than those of domestic covered arc welding electrodes (E 4313) in test specimens. The impect value of UWE-01 were about 15.5%, and those of UWE-02 were about 21.7% highter than those of domestic covered arc welding electrodes(E 4313) in test specimens. So mechanical properties of the underwater arc welding electrode were improved by the composition ratios of covering materials.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.885-886
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• 2013

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1791-1796
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• 2004

Recently, great improvements have been made in developing autonomous underwater vehicles (AUVs) using stateof- the-art technologies for various kinds of sophisticated underwater missions. To meet increasing demands posed on AUVs, a powerful on-board computer system and an accurate sensor system with an well-organized control system architecture are needed. In this paper, a new control system architecture is proposed for AUV, ORCA (Oceanic Reinforced Cruising Agent) which is being currently developed by Korea Research Institute of Ships and Ocean Engineering (KRISO). The proposed architecture uses a hybrid architecture that combines a hierarchical architecture and a behavior based control architecture with an evaluator for coordinating between the architectures. This paper also proposed a sensor fusion structure based on the definition of 4 categories of sensors called grouping and 5-step data processing procedure. The development of the AUV, ORCA involving the system architecture, vehicle layout, and hardware configuration of on-board system are described.

• The Journal of the Korea institute of electronic communication sciences
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• v.13 no.1
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• pp.237-244
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• 2018

This paper has developed a three-dimensional movement of the underwater drones using Scratch program to facilitate the basic structure and programming of the computer's basic structure and programming. Through the underwater drones of this study, the user can foster computing thinking power that creatively solves various problems.