• 대한조선학회논문집
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• 제57권6호
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• pp.322-330
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• 2020

This study deals with underwater explosion (UNDEX) characteristics of various non-explosive underwater shock sources for the development of non-explosive underwater shock testing devices. UNDEX can neutralize ships' structure and the equipment onboard causing serious damage to combat and survivability. The shock proof performance of naval ships has been for a long time studied through simulations, but full-scale Live Fire Test and Evaluation (LFT&E) using real explosives have been limited due to the high risk and cost. For this reason, many researches have been tried to develop full scale ship shock tests without using actual explosives. In this study, experiments were conducted to find the characteristics of the underwater shock waves from actual explosive and non-explosive shock sources such as the airbag inflators and Vaporizing Foil Actuator (VFA). In order to derive the empirical equation for the maximum pressure value of the underwater shock wave generated by the non-explosive impact source, repeated experiments were conducted according to the number and distance. In addition, a Shock Response Spectrum (SRS) technique, which is a frequency-based function, was used to compare the response of floating bodies generated by underwater shock waves from each explosion source. In order to compare the magnitude of the underwater shock waves generated by each explosion source, Keel Shock Factor (KSF), which is a measure for estimating the amount of shock experienced by a naval ship from an underwater explosionan, was used.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.620-628
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• 1991

For a Stationary moving-target. the design technique of guidance system for underwater vehicle with a seeker of st type is developed. Using perturbation theory, a new method which linearizes the nonlinear intercept geometry is proposed. On the basis of the linearized system modeling, LQ and PID design technique is used to determine the structure and gain of the guidance system. Some simulation results applied underwater engagement are represented to show that the proposed guidance law is superior to the other guidance laws as pursuit, Bang-Beng, PN APN.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.509-510
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• 2011

• 대한기계학회논문집A
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• 제32권8호
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• pp.685-692
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• 2008

In this paper, the trajectory control problem of an underwater robot is addressed. From the viewpoint of control engineering, trajectory control of the underwater robot is not an easy task due to its nonlinear dynamics, which includes various hydraulic forces such as buoyancy forces and hydrodynamic damping, the difference between the centers of buoyancy and gravity, and disturbances from a tether cable. To solve such problems, we applied Time Delay Control to the underwater robot. This control law has a very simple structure not requiring the nonlinear plant dynamics, and was proven to be highly robust against disturbances and uncertainties. We confirmed its effectiveness through experiments.

• 로봇학회논문지
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• 제2권2호
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• pp.152-160
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• 2007

In this paper, two schemes are introduced for dynamic simulation of underwater robotic systems. One is principle of dynamical balance, which is an easy and powerful tool for formulating dynamic equations of composite systems such as underwater vehicle-manipulator system. In the dynamic modeling, this principle gives us the closed-form of dynamic equations on matrix Lie group. The other is geometric integration algorithm, called 4-th order explicit Munthe-Kaas method. By this method, the derived differential equations can be integrated preserving geometric structure. Adopting these two schemes, dynamic simulation of underwater vehicle- manipulator system can be conducted more easily and more reliably.

• The Journal of the Acoustical Society of Korea
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• 제24권3E호
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• pp.109-114
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• 2005

In this paper, we present a phase coherent all-digital transceiver for underwater acoustic communication, which allows the system to reduce complexity and increase robustness in time variant underwater environments. It is designed in the digital domain except for transducers and amplifiers and implemented by using a multiple digital signal processors (DSPs) system. For phase coherent reception, conventional systems employed phase-locked loop (PLL) and delay-locked loop (DLL) for synchronization, but this paper suggests a frame synchronization scheme based on the quadrature receiver structure without using phase information. We show experimental results in the underwater anechoic basin at MOERI. The results show that the adaptive equalizer compensates frame synchronization error and the correction capability is dependent on the length of equalizer.

• 한국시뮬레이션학회논문지
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• 제9권3호
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• pp.1-11
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• 2000

This paper proposes the practical echo-signal synthesis models - UTAHID (Underwater TArget by Highlight Distribution) & M-UTAHID(Modified UTAHID) - of underwater target for active sonar engineering At high frequencies all the echo components that are the specular reflected waves and various elastic scattering wave scan be regarded the summation of individual echo from some equivalent scattering centers, so the underwater target is characterized by highlights distributed in spatial target structure. Proposed models are compared with characteristics of random distributed model & equivalent interval highlight model, and analyzed target strength, echo-elongation effect, target time spread loss and so on. Thus these can be efficiently used in various real systems related to underwater target echo-signal synthesis on active sonar and acoustic countermeasure.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2017년도 제48회 춘계학술대회논문집
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• pp.1142-1143
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• 2017

본 연구에서는 하이브리드 로켓을 적용한 SWASH형 수중 운동체의 수중 추진 시험을 수행하였다. 연소실 내부로 물이 들어오지 않게 수밀구조를 적용하였으며, 이에 따른 점화 시퀀스를 설정하여 제어로직을 구성하였다. 시험 결과, 수중에서 안정적으로 점화가 일어난 것을 확인하였으며 구성된 제어 시퀀스를 따라 시스템이 잘 작동하는 것을 확인하였다.

• 대한조선학회논문집
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• 제47권6호
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• pp.803-807
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• 2010

The transfer function method is a widely used in the analysis of underwater radiated noise of ships because it is simple to implement and gives a simple way in the design stage requiring trade-off studies on various kinds of noise sources. In this study, a framework is implemented based on the transfer function method. The framework is interfaced to a software providing transfer functions of hull force to underwater radiated noise. The transfer function-based underwater radiated noise analysis approach is reviewed and the implemented framework structure is described. As an example, a numerical calculation of a virtual ship is carried out and its results are investigated in terms of applicability to real ship design project.

• Advances in aircraft and spacecraft science
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• 제3권3호
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• pp.259-269
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• 2016

In this work results from an underwater experiment on flow-induced noise in the interior of a towed body generated from a surrounding turbulent boundary layer are presented. The measurements were performed with a towed body under open sea conditions at towing depths below 100 m and towing speeds ranging from 2.4 m/s to 6.2 m/s (4 kn to 12 kn). Focus is given in the experiments to the relation between (outer) wall pressure fluctuations and the (inner) hydroacoustic near-field on the reverse side of a flat plate. The plate configuration consists of a sandwich structure with an (thick) outer polyurethane layer supported by an inner thin layer from fibre-reinforced plastics. Parameters of the turbulent boundary layer are estimated in order to analyse scaling relations of wall-pressure fluctuations, interior hydroacoustic noise, and the reduction of pressure fluctuations through the plate.