• Tunnel and Underground Space
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• v.31 no.6
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• pp.578-592
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• 2021

This study performed to investigate the propagation characteristics of overpressure, impulse, vibration in underwater blasting. The difference between air blasting and underwater blasting is that noise and vibration propagate through water as a medium. In some cases, the noise and vibration propagates through various media (rock, water, air, etc.). In this study, the underwater blasting was simulated using AUTODYN, and the propagation characteristics of overpressure, impulse and vibration induced by blasting were analyzed. We mainly focused on the effect of mesh size on the overpressure, impulse and peak particle velocity from the underwater blasting simulation. The numerical results indicated that the overpressure and peak particle velocity tended to decrease as the mesh size increased, while the impulse increased with the mesh size. The results also indicated that the mesh dependence varied depending on the explosive charge and scaled distance.

• Journal of Ocean Engineering and Technology
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• v.19 no.2 s.63
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• pp.67-73
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• 2005

This paper describes depth, heading and speed control of an underwater vehicle that has four stern thrusters of which forces are coupled in the diving and, steering motion, as well as the speed of the vehicle. The optimal linear quadratic controller is designed based on a linearized- state space model, developed by combining the dynamic equations of speed, steering and diving motion. The designed controller gives provides an optimal thrust distribution, minimizing the given performance index to control speed, depth and heading simultaneously. To validate the performance of the controller, a simulation and tank-test are carried out with DUSAUV (Dual Use Semi-Autonomous Underwater Vehicle), developed by KORDI as a test-bed for testing new underwater technologies. Optimal gains of the controller are tuned, using a computer simulation environment with a nonlinear 6-DOF numerical DUSAUV model, developed by PMM (Planner Motion Mechanism) test. To verify the performance of the presented controller in experiment, a tank-test with DUSAUV is carried out in the ocean engineering basin in KORDI. The experimental results are also compared with the simulation results to investigate the accordance of the numerical and the real mode.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.5
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• pp.418-422
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• 2013

This paper has considered the location estimation problem in two dimension space by using a non-linear filter under non-Gaussian noise in underwater acoustic sensor networks(UASNs). Recently, the extended Kalman filter (EKF) is widely used in location estimation. However, the EKF has a lot of problems in the non-linear system under the non-gaussian noise environment like underwater environment. In this paper, we propose the improved Two-Dimension Particle Filter (TDPF) using the re-interpretation distribution techniques based on the maximum likelihood (ML). Through the simulation, we compared and analyzed the proposed TDPF with the EKF under the non-Gaussian underwater sensor networks. Finally, we determined that the TDPF's result shows more accurate localization than EKF's result.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.227-231
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• 2014

Underwater radiated noise is one of the vital factors in underwater weapon systems like submarine. A passive elastic mount is an effective reduction method for the vibration from a ship-board machinery transmitted to the hull which is radiated as noise outside the hull. A passive elastic mount shows the limitation on the vibration reduction and needs multi stage mounting system including double stage one to meet the required underwater radiated noise criteria. It is necessary for the multi stage mounting system to consider the large displacement in the underwater shock explosion. So it is difficult to apply the multi stage mounting system in submarine because of space limitation. Also recent navy sonar system are trying to have the capability to detect the ship-borne acoustic signals in the low frequency range. An alternative to the passive mount is an active mount with moving-coil type electromagnetic actuator based on a conventional rubber mount in the low frequency range. In the previous paper, 4 active mounts with moving-coil type electromagnetic actuator based on the rubber mount were installed on the hard floor of the facility, which means no consideration on the elastic foundation effect for the control of the active mounts was taken into account. In this study, an experimental performance analysis on the active mount was carried out using 4 active mounts installed on the cylindrical structure to investigate the elastic foundation effect.

• Journal of the Society of Naval Architects of Korea
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• v.48 no.6
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• pp.569-574
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• 2011

In research vessels or naval ships, airborne noise from machineries such as diesel engine is the major source of underwater noise at low speed. In this paper, effect of engine noise on underwater noise is studied by considering two paths; sound radiation from hull plate and direct airborne noise transmission through hull plate. SEA (Statistical energy analysis) is used to predict hull plate vibration induced by engine noise, where SEA model consists of only two subsystems; engine room air space and hull plate. The pressure level in water is calculated from sound radiation by plate. Engine noise transmission through hull plate is obtained by assuming plane wave propagation in air-limp plate-water system. Two effects are combined and compared to the measurement, where speaker is used as a source in engine room and sound pressure levels in engine room and water are measured. The hydrophone is located 1 m away from the hull plate. It is found below 1000 Hz, prediction overestimates underwater sound pressure level by 5 to 12 dB.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.1
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• pp.27-40
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• 2013

This study is about development of technology system for an advanced deep-sea unmanned underwater robot of S. Korea analysed by the application of scenario planning. It was developed a 6000m class next-generation deep-sea unmanned underwater vehicle(or robot, UUV) system, soonly ROV 'Hemire' and Depressor 'Henuvy' in 2006 at S. Korea and motion control, adaptive control algolithm, a work-space manipulator control algolithm, especially the underwater inertial-acoustic navigation system robust to initial errors and sensor failures. But there are remained matters on position tracking of the USBL, inertial-acoustic navigation system, attitude sensor, designed sonar sensors. So this study suggest the new idea for settle the matters and then this idea help the development of the underwater inertial-acoustic navigation system robust to initial errors and sensor failures, such as acoustic signal drop-out, by modifying the error covariance of the failed sonar signal when drop-out occurs. As a result, the future policy for deep-sea unmanned underwater robot of S. Korea is to further spur the development of new technology and more improvement of the technology level for deep-sea unmanned underwater robot system with indicator and imaginary wall as external device.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2009.05a
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• pp.331-334
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• 2009

An air-independent propulsion (AIP) system based on fuel cell technologies was developed for space and underwater applications in the present study. Hydrogen peroxide was selected as an oxidizer for space and underwater power applications where air independence is a must. Catalytic decomposition of hydrogen peroxide was used to generate oxygen and water. The pure oxygen was provided to a fuel cell and the water was stored separately. Sodium borohydride in the solid state was used as a hydrogen source in the present study. Pure hydrogen can be generated by a catalytic hydrolysis reaction. A fuel cell system was fabricated to validate the fuel cell based air-independent power system and was evaluated at the various conditions.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.38 no.2
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• pp.1-7
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• 2015

As a measure of health, the percentage of body fat has been utilized for many ergonomist, physician, athletic trainers, and work physiologists. Underwater weighing procedure for measuring the percentage of body fat is popular and accurate. However, it is relatively expensive, difficult to perform and requires large space. Anthropometric techniques can be utilized to predict the percentage of body fat in the field setting because they are easy to implement and require little space. In this concern, the purpose of this study was to find a regression model to easily predict the percentage of body fat using the anthropometric circumference measurements as predictor variables. In this study, the data for 10 anthropometric circumference measurements for 252 men were analyzed. A full model with ten predictor variables was constructed based on subjective knowledge and literature. The linear regression modeling consists of variable selection and various assumptions regarding the anticipated model. All possible regression models and the assumptions are evaluated using various statistical methods. Based on the evaluation, a reduced model was selected with five predictor variables to predict the percentage of body fat. The model is : % Body Fat = 2.704-0.601 (Neck Circumference) + 0.974 (Abdominal Circumference) -0.332 (Hip Circumference) + 0.409 (Arm Circumference) - 1.618 (Wrist Circumference) + $\epsilon$. This model can be used to estimate the percentage of body fat using only a tape measure.

• Journal of Advanced Research in Ocean Engineering
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• v.3 no.3
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• pp.136-148
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• 2017

The paper presents dual arm ROV manipulation using deep reinforcement learning. The purpose of this underwater manipulator is to investigate and excavate natural resources in ocean, finding lost aircraft blackboxes and for performing other extremely dangerous tasks without endangering humans. This research work emphasizes on a self-learning approach using Deep Reinforcement Learning (DRL). DRL technique allows ROV to learn the policy of performing manipulation task directly, from raw image data. Our proposed architecture maps the visual inputs (images) to control actions (output) and get reward after each action, which allows an agent to learn manipulation skill through trial and error method. We have trained our network in simulation. The raw images and rewards are directly provided by our simple Lua simulator. Our simulator achieve accuracy by considering underwater dynamic environmental conditions. Major goal of this research is to provide a smart self-learning way to achieve manipulation in highly dynamic underwater environment. The results showed that a dual robotic arm trained for a 3DOF movement successfully achieved target reaching task in a 2D space by considering real environmental factor.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.6
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• pp.751-760
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• 2014

The unmanned underwater vehicle(UUV) requires the highly dense energy source because of its limited space. Especially, for the UUV designed for long-term operation, it should be reviewed first whether it is possible to install the energy source against required total power. Therefore, this study identifies whether it is possible to install the energy source for the energy requirement of the UUV. And fuel and oxidizer requirement for the fuel cell system are calculated to determine its location and layout inside of the vehicle. Finally, we design the closed type 1kW polymer-electrolytic fuel cell system and check the applicability to underwater operations with UUV.