• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.2
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• pp.168-173
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• 2009

This paper investigates the estimation problem of vehicle velocity and propeller angular velocity on the underwater vehicle. Inspired by but different from a high-gain observer, the cascade observer features a cascade structure and adaptive observer gains. In doing so the cascade observer attempts to overcome some of the typical problems that may pose to a high-gain observer. As in the case of a high-gain observer, the cascade observer structure is simple and universal in the sense that it is independent of the system dynamics and parameters. A cascade observer is used for the estimation of velocity from measured position. In the 1st step of the observer, the output is estimated, and the 1st order derivative of measured output is estimated via the 2nd step of the observer. Also, nth order derivative of the output is estimated in the (n+1)th step of the observer. It is shown that the proposed observer guarantees globally asymptotical stability. By simulation results, the proposed observer scheme for the estimations of vehicle velocity and propeller angular velocity shows better performance than the scheme based on the existing observer.

• The Journal of the Acoustical Society of Korea
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• v.42 no.3
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• pp.227-232
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• 2023

Underwater noise pollution has a significant impact on the marine environment. This study proposed a simple approach to estimate the acoustic radiation efficiency of structures with air bubble layers. The method considered the insertion loss caused by the air bubble layer through post-processing of numerical results, assuming that insertion loss is equivalent to attenuation as demonstrated by previous studies. The proposed approach was validated by comparing it with a fully coupled analysis for plate structure models. The commercial finite element program COMSOL Multiphysics was used for the acoustic-structure interaction analysis, and the acoustic characteristics of air bubble layer for the fully coupled analysis was simulated by on the Commander and Prosperetti theory. The trends indicated good agreement between the simple approach and the fully coupled analysis in terms of radiation efficiency. It is confirmed that the proposed method is providing insight into the principal mechanism of underwater noise reduction for the bubble layer on the wedge-shaped structure.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.172-177
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• 2004

This paper presents the results of the structural analysis and optimal design of frames of the UUV(Unmanned Underwater vehicle) to be operated at 6000m depth in the ocean. The structure of the UUV system can be classified into two structure, Launcher ana ROV. Frame of the launcher will be made by Galvanized Steel which has high strength and corrosion-resistant but this material has high specific gravity for tile object to be weight in the water Similarly, ROV will be made by AI6061-T6, and frame of the ROV will be fix many instruments and syntactic buoyancy materials. Before fabrication of tile frame, we performed sensitivity analysis - change in weight due to $\pm1\%$ change in design variables, for easy choice by change of dimension of the frame.

• Journal of Ocean Engineering and Technology
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• v.11 no.4
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• pp.169-179
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• 1997

This paper presents a discrete-time sliding mode control of an autonomous underwater vehicle with parameter uncertainties and long sample interval based on discrete variable structure system. Although conventional sliding mode montrol techniques are robust to system uncertainties, in the case of the system with long sample interval, the sliding control system reveals chattering phenomenon and even makes the system unstable. This paper considers the AUV which acquires position informations from a surface ship through an acoustic telemetry system with a certain discrete interval. The control system is designed on the basis of a Lyapunov function and a sufficient condition of the switching gain to make the system stable is give. Each component of the switching gain can be determined separately one another. The controller is robust to the uncertainties, and reaching condition of the control system is satisfied for any initial condition. This control law is a generalized form of the discrete sliding mode control and reduce the chattering problem considerably. Motion control of the AUV in the vertical plane shows the effectiveness of the proposed technique.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.43 no.2
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• pp.159-168
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• 2010

This paper presents a mathematical model and simulation method for investigating the performance of set net systems and fish cage systems influenced by currents and waves. Both systems consist of netting, mooring ropes, a floating collar and sinkers. The netting and ropes were considered flexible structures and the floating collar was considered an elastic structure. Both were modeled on a mass-spring model. The structures were divided into finite elements and mass points were placed at the mid-point of each element, and the mass points were connected by mass-less springs. Each mass point was subjected to external and internal forces and the total force was calculated at every integration step. An implicit integration scheme was used to solve the nonlinear dynamic system. The computation method was applied to dynamic simulation of actual systems simultaneously influenced by currents and waves in order to evaluate their practicality. The simulation results improved our understanding of the behavior of the structure and provided valuable information concerning the optimized design of set net and fish cage systems exposed to an open ocean environment.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.26 no.11
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• pp.790-800
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• 2013

The optimal structure of 1-3 piezocomposites has been determined by controlling polymer properties, ceramic volume fraction, thickness of composite and aspect ratio of the composite to maximize the TVR (transmitting voltage response), RVS (receiving voltage sensitivity) and FBW (fractional bandwidth) of underwater acoustic transducers. Influence of the design variables on the transducer performance was analyzed with equivalent circuits and the finite element method. When the piezocomposite is vibrating in a pure thickness mode, inter-pillar resonant modes are likely to occur between lattice-structured piezoceramic pillars and polymer matrix, which significantly deteriorate the performance of the piezocomposite. In this work, a new method to design the structure of the 1~3 type piezocomposite was proposed to maximize the TVR, RVS and FBW while preventing the occurrence of the inter-pillar modes. Genetic algorithm was used in the optimal design.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.17 no.3
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• pp.202-212
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• 2005

In the design of an of offshore structure located near an underwater shoal, the same amount of attention given to the wave height may have to be put to the wave induced current as well since some of the wave energy translates to the current. In the present study, two numerical models each based on the nonlinear Boussinesq equation and the linear mild slope equation are applied to calculate the wave deformation and secondly induced current around a shoal. The underwater shoal in Vincent and briggs' experiment (1989) is used here, and all non-breaking wave conditions of the experiment with various monochromatic and unidirectional or multidirectional spectral wave incidences are concerned. Both numerical models clearly showed wave induced currents symmetrically farmed along the centerline over the shoal. The calculated wave heights along a preset line also generally showed very nice agreements with the experimental values.

• The Journal of the Acoustical Society of Korea
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• v.35 no.5
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• pp.368-374
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• 2016

This paper presents constructing transmitter and receiver by using a direct sequence spread spectrum techniques to DPSK (Differential Phase-Shift Keying) scheme in underwater acoustic communication. Since DPSK signal can be demodulated if the receiver knows only the phase difference between the adjacent bits, DPSK receiver structure has the advantage of being simplified. In the conventional receiver, two adjacent symbols of transmitted signal before despread are passed to the transition correlator that detects data by comparing maximum correlation outputs. At this time, the error for maximum value of the correlator output may increase because of low SNR (Signal to Noise Ratio) or high Doppler shift frequency according to the underwater channel. In this paper, we propose a method for accurate detection result using the width as well as the magnitude among outputs produced by the correlator. The performances of the proposed method was evaluated by simulation and lake trial data.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.24 no.12
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• pp.969-976
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• 2014

Nowadays, it is required for naval ships to estimate 3D underwater radiated noise pattern in all direction at peak frequencies of hull vibration for the reduction of being detected and doing the effective operation. For this purpose, the numerical method has to be developed to calculate 3D underwater radiated noise pattern with experimental data. It is very difficult to obtain the experimental data for the real ship. Alternative to get the experimental results is to use NAH(near-field acoustic holography) in acoustic tank with experimental model. Application of NAH in acoustic tank for the experimental model needs some investigation of reflection wave from the wall of the acoustic tank and unmeasured zone of the experimental model due to the supporting structure for it. In this study, the effect of reflection wave in the acoustic tank and unmeasured area of the experimental model when using the NAH was investigated with experiment and numerical model. From these, it is known for the error due to reflection wave can be reduced when the distance between the measurement plane and source is being shorten. Also, unmeasured area of the experimental model gives rise to some error in the estimation of the far-field acoustic pressure.

• Journal of the Korea Society for Simulation
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• v.22 no.2
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• pp.73-83
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• 2013

This paper presents design and implementation of the monitoring system for the distributed simulation of underwater warfare. As importance of defense modeling and simulation(M&S) has raised, Simulation-Based Acquisition(SBA) was authorized for an obligatory process in the development process of weapon systems. Yet, it requires tremendous resources to develop a large-scale simulation system that describes complex and broad battlefields. Therefore, an approach of the distributed system was devised to develop a new simulation system combining legacy simulators that were developed for confined purpose and sole operations. High-Level Architecture(HLA) of distributed systems is a standardized protocol by IEEE for the distributed simulation system and Run-Time Infrastructure(RTI) is an implementation of HLA to structure efficient distributed systems. The main objective of this paper is to derive appropriate monitoring factors for underwater warfare simulation, design and implementation of the monitoring system to analyze the factors based on HLA/RTI.