• Journal of the Korean Society of Safety
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• v.26 no.2
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• pp.42-47
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• 2011

Going underwater is supposed to begin with the history of human beings. At first it was confined to relatively shallow level, less than several meters by holding breath. Recently, deep level diving has been necessary for such purpose as construction, maritime salvage, military operations, research and sports by using SCUBA(self-contained underwater breathing apparatus) equipment. As one goes down into water, the pressure on the diver is increased due to water pressure with depth, usually 1 atm for each 10 m water level. In deep water, mixed gas or nitrox(EAN, enriched air nitrox) could be applied for the divers lest they should get disease due to high pressure. Of these, the former is usually composed of oxygen and inert gas like helium or hydrogen, the latter contains higher oxygen content than that in normal air in which the oxygen concentration is designated by the character "EAN" followed by vol. % of oxygen, for example, "EAN 40" contains 40% of oxygen. In this case, a victim was found at the 39 m below the sea surface breathing air and nitrox in cylinder wrongly marked as EAN 36, which was analyzed to contain 63% of oxygen by GC/TCD. The cause of death could not be exactly related with the oxygen content in the nitrox cylinder, because the accurate depth for the victim to dive was not known, even though the victim was just found at the depth of 39 m. However, the wrongly marked nitrox could be believed to be the main cause of the death at the depth unless there happened any other accident except that during diving.

• International Journal of Ocean System Engineering
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• v.1 no.1
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• pp.16-27
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• 2011

The depth and heading control of an autonomous underwater vehicle (AUV) are considered to follow the predetermined depth and heading angle. The proposed control algorithm was based on a sliding mode control, using estimated hydrodynamic coefficients. The hydrodynamic coefficients were estimated employing conventional nonlinear observer techniques, such as sliding mode observer and extended Kalman filter. Using the estimated coefficients, a sliding mode controller was constructed for a combined diving and steering maneuver. The simulated results of the proposed control system were compared with those of a control system that employed true coefficients. This paper demonstrated the proposed control system, and discusses the mechanisms that make the system stable and accurately follow the desired depth and heading angle in the presence of parameter uncertainty.

• Ocean and Polar Research
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• v.44 no.3
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• pp.235-247
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• 2022

A marine protected area (MPA) is a spatially designated section of the ocean where the biodiversity is high. Munseom MPA has a unique underwater landscape including soft coral, subtropical fish, and benthos, attracting many scuba divers. This paper intends to evaluate the willingness-to-pay (WTP) for the scuba diving management policy in the Munseom MPA. As a stated preference valuation method, a choice experiment was applied to assess divers' preferences with economic values for the policy. The attributes used in the study included zoning (temporal closure), conservation education, daily permit, soft coral area, and diving fee. We collected 333 questionnaires through online and field surveys and used 296 after excluding incomplete responses for the final data analysis. Study results show that a six-month closure, a decrease in soft coral habitat, and the diving fee were statistically significant. A positive coefficient with regard to the six-month closure variable indicates that divers preferred the policy, and the marginal willingness to pay (MWTP) was estimated to be KRW 8,637 per person per dive. The aggregate WTP of KRW 233 million was obtained by multiplying the MWTP by the number of visiting divers per year. When comparing the levels of recreation specialization, more skilled divers preferred the management option. The results of this study will help predict the priority of management measures and the levels of acceptability among divers when diving management is implemented in Korea in the future. This study suggests that marine environmental policies need to consider divers as one of the important stakeholders for marine conservation.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.37 no.4
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• pp.302-307
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• 2001

The underwater background noise measured in Geoje and Tongyoung diving fishing ground from May to December, 2000 and analyzed to get optimum carrier frequency and transmitter power level for underwater wireless telephone design. The results obtained are summarized as follows: 1. At the Geoje and Tongyoung diving fishing ground, the lowest ambient noise band was 25~30kHz with 57dB and 52dB re 1$\mu$Pa, respectively. 2. At the Geoje and Tongyoung diving fishing ground, the lowest noise band during fishing activity was 67dB and 62dB re 1$\mu$Pa, respectively. 3. At the Geoje diving fishing ground, the noise of water jetter which is a digging machine for subbottom shells was 102dB re 1$\mu$Pa. 4. Considering the design parameters of underwater wireless telephone, it is found that the optimum carrier frequency band is around 30kHz and the transmitter source level should be at least 131dB re 1$\mu$Pa for 500m range telephone.

• Journal of Fisheries and Marine Sciences Education
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• v.27 no.2
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• pp.556-565
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• 2015

The purpose of this study is to research on founding of the department of marine leisure industry in fisheries high school. Research methods were used a survey district, students and teachers in fisheries high school and industry human are 353 people in the target. The results of this research are as follows. First, the ratio in favor of making the marine leisure industrial department had more than 81%. The second, teachers and industry people selected core factors include oceanography, water leisure, leisure diving, commercial diving, lifeguard, rafting. Finally, subject for the department of marine leisure industry in fisheries high school are fisheries shipping industry basis, understanding of the ocean, marine leisure tourism, underwater technology, navigation, seamanship, maritime laws regulations, heat engines and aquatic organism.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.107-112
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• 2003

In general, the dynamics of autonomous underwater vehicles(AUVs) are highly nonlinear and time-varying, and the hydrodynamic coefficients of vehicles are hard to estimate accurately because of the variations of these coefficients with different navigation conditions. For this reason, in this paper, the control gain function is assumed to be unknown and the exogenous input term is assumed to be unbounded, although it still satisfies certain restrict condition. And these two kinds of wild assumptions have been seldom handled simultaneously in one system because of the difficulty of stability analysis. Under the above two relaxed assumptions, a robust neural network control scheme is presented for autonomous diving control of an AUV, and can guarantee that all the signals in the closed-loop system are UUB (uniformly ultimately bounded). Some practical features of the proposed control law are also discussed.

• The Journal of the Convergence on Culture Technology
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• v.9 no.5
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• pp.159-165
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• 2023

This study was limited to the underwater search part among water accidents on the inland water surface, and analyzed five underwater search methods and lifesaving time at 5m underwater. The subjects of the experiment were 10 people. The semi-circle search took the longest with 259 seconds, and the modified round-trip search took 78.60 seconds, showing a significant difference with an average of 180.04 seconds. Subjects B and D showed similar values, with average underwater search times of 199 seconds and 202 seconds, respectively. Subject C showed a significantly higher average underwater search time of 209 seconds. The reason seems to be from increased anxiety and excessive tension due to poor underwater watch. Subject A showed a significantly lower underwater search time of 187 seconds. The reason seems to be the result of E's experience being the most among the test subjects and his rich diving experience in the Han River with poor visibility. As for convenience, semicircle search showed a low score of 6~7, and modified reciprocal search showed a high score of 8~9. The most suitable rescue method as an underwater search method in the Han River where visibility is poor is determined to be a modified round-trip search method.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.57-62
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• 2003

This paper describes the design and simulation of a multivariable optimal control system for the combined speed, heading and depth control of a Semi-Autonomous Underwater Vehicle (SAUV) developed in Korea Ocean Research and Development Institute (KRODI). The SAUV is a test-bed for the evaluation of the navigation and manipulator technologies developed for a mine disposal vehicle (MDV) in military use and for a light working underwater vehicle in scientific use. The vehicle was designed to control its cruising speed, heading and depth with 4 horizontal thrusters installed at the rear of the hull. Therefore, the decoupled control methods are limited to apply to the SAUV because the thrust forces are highly coupled with the surging, yawing, and pitching motion of the vehicle. The multivariable Linear Quadratic (LQ) control method is chosen to control steering and diving in variable speed motion automatically. A series of simulation is carried out with fully nonlinear six degree of freedom dynamic model to validate the controller.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2010.10a
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• pp.42-43
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• 2010

In this paper, automatic control system for the Manta UUV are constructed for the diving and steering maneuver. PID controller and Fuzzy controller are adopted in this system. Based on the 6DOF dynamic equation, simulation program has been developed using the Matlab. Using this program, depth control system and heading control system with tidal current are evaluated.

• Journal of Ocean Engineering and Technology
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• v.20 no.6 s.73
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• pp.7-17
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• 2006

Depth and heading control of an AUV are considered to follow the predetermined depth and heading angle. The proposed control algorithm is designed. based on a sliding mode control using estimated hydrodynamic coefficients. The hydrodynamic coefficients are estimated with conventional nonlinear observer techniques, such as sliding mode observer and extended Kalman filter. By using the estimated coefficients, a sliding mode controller is constructed for the combined diving and steering maneuver. The simulation results of the proposed control system are compared with those of control system with true coefficients. This paper demonstrates the proposed control system, discusses the mechanisms that make the system stable and follows the desired depth and heading angle, accurately, in the presence of parameter uncertainty.