• Proceedings of the Korean Institute of Building Construction Conference
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• 2006.05a
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• pp.49-52
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• 2006

Epoxy resin has less reaction shrinkage, has better water proofing and thermal resistance than other repairing materials, to it has been applied broadly to repair and finish buildings and infrastructures. Although the ambient temperature constructed is varied with the seasons and epoxy resin has to mix with appropriate hardener due to the non self-hardening, as the real construction of it, the ambient temperature is ignored and the blending ration of epoxy resin and hardener is fixed. Also, because of the hardening time is aimed to temperature condition and the tolerance of blending ratio, we investigated the variation of viscosity according to ambient temperatures and hardener ratios. As a results of study, we can select the economical blending ratio of the epoxy resin and hardener according to site situation.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.6
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• pp.1089-1094
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• 2021

In order to support the restoration and construction work of port infrastructure facilities damaged or damaged due to disasters and disasters, it is linked with work equipment based on the performance of duties such as regular patrol in the port, monitoring the underwater environment, and acquisition of underwater configuration information in the port, Define content related to AUV platform analysis and design that can support construction.

• Journal of Ocean Engineering and Technology
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• v.34 no.5
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• pp.361-370
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• 2020

We developed a heavy-duty work class ROV trencher named URI-T (Underwater robot it's trencher) that can conduct burial and maintenance tasks for underwater cables and small diameter pipelines. It requires various supporting systems, including a dynamic positioning (DP) vessel, launch and recovery system (LARS), A-frame, and winch in order to perform burial tasks because of its dimensions (6.5 m × 5.0 m × 4.5 m, 20 t) and the tough working environment. However, operating a DP vessel has disadvantages as it is expensive to rent and operate and it is difficult to adjust the working schedule for some domestic coast construction cases. In this paper, we propose a method using a barge instead of a DP vessel to avoid the above disadvantages. Although burying the cable and pipeline using a barge has lower working efficiency than a DP vessel, it can save construction expenses and does not require a large crew. The proposed method was applied over two months at the construction of the water supply in Yokji-do, and the results were verified.

• Journal of Navigation and Port Research
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• v.33 no.5
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• pp.323-330
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• 2009

We have been developing an underwater robot for harbour construction using a parallel mechanism The robot is attached to the rope of a crane, which curries a large stone into the undersea The robot's yaw and pitch are controlled by hydraulic cylinders but its roll is uncontrollable. We mount propellers in both side of the robot to generate the roll motion This paper studies on the control for the roll motion of a underwater robot. A gyro-sensor is used to measure the angle in a roll motion We develop the dynamic model to describe the robot's roll motion by a second order non-linear system and identify the model parameters by recursive least square and adaptive identifier. PD control, recursive model based control and adaptive model based control are applied with the dynamic model which computes the control input to compensate disturbances. This paper introduces the underwater robot system and presents the simulated and experimental results of the proposed controller.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.3
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• pp.23-28
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• 2019

A track type underwater construction robot(URI-R) which can trench on seabed is being developed by Korea Institute of Ocean Science & Technology. During the underwater trenching work, the robot is exposed high intensive noise and vibration so the underwater localization signal may not be obtained properly by the acoustic tracking system. Therefore it is necessary to research about continuous localization even though the measured position signal comes in intermittently. In this paper, the experiments were carried out on land to simulated the underwater operating environment characteristics. To estimate its position, inertial navigation system and global navigation satellite system are used. The effects of the period variation while localizing is investigated by the experiments, and the application for URI-R is proposed.

• Magazine of the Korea Concrete Institute
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• v.13 no.2
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• pp.18-22
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• 2001

• Journal of Welding and Joining
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• v.16 no.4
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• pp.55-62
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• 1998

While excellent joint quality has been obtained using dry chamber underwater welding methods, the size limitations imposed by this process restrict its use for underwater construction work. The wet underwater shielded metal-arc welding eliminates this restriction but suffers from poor weld properties by the 1-pass bead-on-plate welding due to the excessive diffusible hydrogen. On the other hand, in the wet underwater welding, it is well known that the quantity of diffusible hydrogen in multi-pass welded parts reduce to less than that in 1-pass welded parts. Therefore, in this paper, welding experiments are made the 3-pass bead-on-plate welds by using TMCP and normalized steel plates and E4301 and cellulose coated electrode. After that, The amounts of the hydrogen absorbed into the 3-pass welded area were measured according to the JIS Z 3118 specification. The microstructural changes as well as the microhardness distribution after the underwater 3-pass welding were also investigated using Vickers microhardness tester and S.E.M and O.M. The results indicated that the quantity of diffusible hydrogen in 3-pass welded areas was reduced little less than a half of one of that in 1-pass welded areas at the specific welding condition. As a result, the cold cracking of 3-pass welded areas decreased by reduced effect of diffusible hydrogen. In the underwater 3-pass welding, the micrography of cold cracking fracture surface showed mainly the cleavage of hydrogen embrittlement.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.9
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• pp.979-986
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• 2015

Security solutions using fiber-optic cable have not yet secured a solid technical stability, through which the Acoustic detection security system also did not have a complete defense techniques such as false alarm and detecting fail due to a number of variables. In this paper, we investigate 4 characteristics for the channel of underwater acoustic communication. We also construct detection system as a construction method for security system using optical cable through the analysis of acoustic signal in underwater. We perform analysis of signal characteristics and noise of underwater optical cable, and then we confirms the possibility of real application.

• Journal of Power System Engineering
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• v.2 no.2
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• pp.47-54
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• 1998

Underwater robotic vehicles(URVs) have been an important tool for various underwater tasks such as pipe-lining, data collection, hydrography mapping, construction, maintenance and repairing of undersea equipment, etc because they have greater speed, endurance, depth capability, and safety than human divers. As the use of such vehicles increases, the vehicle control system is one of the most critical subsystems to increase autonomy of the vehicle. The vehicle dynamics are nonlinear and their hydrodynamic coefficients are often difficult to estimate accurately. It is desirable to have an intelligent vehicle control system because the fixed-parameter linear controller such as PID may not be able to handle these changes promptly and result in poor performance. In this paper we described and analyzed a new type of fuzzy model-based controller which is designed for underwater robotic vehicles and based on Takagi-Sugeno-Kang(TSK) fuzzy model. The proposed fuzzy controller: 1) is a nonlinear controller, but a linear state feedback controller in the consequent of each local fuzzy control rule; 2) can guarantee the stability of the closed-loop fuzzy system; 3) is relatively easy to implement. Its good performance as well as its robustness to parameter changes will be shown and compared with those of the PID controller by simulation.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.29 no.3
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• pp.275-281
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• 2011

To acquire an underwater topographic information is necessary for the design and construction of structures in marine and inland water. It consists of water depth information by bathymetric survey and underwater bottom topography image information can be obtained by side scan sonar in different ways. For the purpose of providing high quality data by means of engineering site survey, it is necessary to apply simultaneous acquisition of two information and carry out the integrated interpretation to each other. The present research aims to obtain information of the underwater topography and water depth at the same time using interferometer technique, and to validate interferometer technique with accuracy estimation.