• International Journal of Naval Architecture and Ocean Engineering
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• v.10 no.3
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• pp.318-328
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• 2018

Disk type underwater gliders are a new type of underwater gliders and they could glide in various directions by adjusting the internal structures, making a turnaround like conventional gliders unnecessary. This characteristic of disk type underwater gliders makes them have great potential application in virtual mooring. Considering dynamic models of conventional underwater gliders could not adequately satisfy the motion characteristic of disk type underwater gliders, a nonlinear dynamic model for the motion simulation of disk type underwater glider is developed in this paper. In the model, the effect of internal masses movement is taken into consideration and a viscous hydrodynamic calculation method satisfying the motion characteristic of disk type underwater gliders is proposed. Through simulating typical motions of a disk type underwater glider, the feasibility of the dynamic model is validated and the disk type underwater glider shows good maneuverability.

• Journal of Ocean Engineering and Technology
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• v.1 no.2
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• pp.67-73
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• 1987

The feasibility for a practical use of underwater wet arc welding process is experimentally investigated by using low hydrogen and high oxide type electrodes and TMCP steel plates. Main results are summarized as follows: 1)The absorption speed of the coated low hydrogen and high titanium oxide type eletrodes becomes constant after about 30 minutes in water, and more steeping time in water does not influnce welding arc behavior. 2) By bead appearance and X-ray inspection, the high titanium oxide type electrode is better than the low hydrogen type in underwater arc welding process. 3) The mechanical properties of underwater wet arc welds depend upon welding conditions more than those of in-air welds, and the optimum welding condition can be obtained. 4) Because of quenching effect by rapid cooling rate in underwater wet welding, the maximum hardness of HAZ is increased relatively higher in underwater wet welding, process.

• The Journal of Korea Robotics Society
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• v.4 no.1
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• pp.43-48
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• 2009

Generally, underwater vehicle type of propeller shows low efficiency about 50%-55%. However, the efficiency of swimming mechanism of a fish is 60%-70%, more efficient about 20% than screw propellers. Recently, research of underwater vehicle type of fish increase due to its good efficiency and is regarded as a typical bio-mimical robot. In this research, a new algorithm and mechanism that show low energy consumption imitating swimming mechanism of fish proposed increasing speed and running time in field trial.

• Journal of the Korea Institute of Military Science and Technology
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• v.24 no.2
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• pp.228-236
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• 2021

In order to understand the underwater noise source factor of the linear pump type forced ejection system, a reduced-model compressed water experiment device was developed. The reduced-model compressed water experiment device consists of a reverberation tank, a linear pump type forced ejection device, and an underwater vehicle. The underwater noise source was selected from the hydraulic ram moving speed, the hydraulic ram/piston pipe spacing, the ejection pipe inlet/water ram area ratio, and the number of water ram inlets. The underwater vehicle was ejected into the reverberation tank by the device. The source level was derived from the measured sound pressure. The source level tends to increase as the hydraulic ram/piston tube spacing and the hydraulic ram moving speed increase. The source level tended to increase as the area ratio was increased, but the level was weak. The number of water ram inlet did not affect the source level.

• Journal of the Korean Ceramic Society
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• v.39 no.10
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• pp.970-976
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• 2002

In this paper, the slump flow of the concrete, suspension, pH, corrosion effect, bleeding and the characteristics of coompressive strength were analyzed using antiwashout underwater admixture and antiwashout underwater agent+corrosion inhibitor mixed admixtures(1type). The results showed that there were no rare difference in physical properties but in the results of rapid corrosion tests there were lots of corrosion inhibitor ratio differences between concrete using only antiwashout underwater admixture and the corrosion inhibitor mixed(1type). In the case of only antiwashout underwater admixture 5.4%, the case corrosion inhibitor mixed(1type) 0.07%, the Antiseawater of the concrete which uses the Corrosion Inibitor Mixed(1type) appeared highly.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.50 no.7
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• pp.324-325
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• 2001

In this study, the characteristics of ultrasonic sensor fabricated with PZT-Polymer 1-3 type composites are investigated. The 3-D Underwater object recognition using the self-made ultrasonic sensor and SOFM neural network is presented. The ultrasonic sensor is satisfied with the required condition of commercial ultrasonic sensor in underwater. The 3-D underwater object recognition for the training data and the testing data are 100[100%], respectively. The experimental results have shown that the ultrasonic sensor fabricated with PZT-Polymer 1-3 type composites can be applied for sonar system.

• Transactions of the Korean Society of Mechanical Engineers
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• v.7 no.3
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• pp.263-269
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• 1983

Underwater welding by a gravity arc welding process was investigated by using six types of coated electrodes and SM41A steel plates of 10 mm thickness as base metal and it was ascertained that this process may be put to practical use. Main results obtained are summarized as follows: 1. Angle of electrode affects no influence on bead appearance and the proper range of welding current and diameter of electrode for the high titanium oxide type is relatively wider than that for the ilmenite type. And the lime titania type, high titanium oxide type and ilmenite type of domestic coated arc welding electrodes of .phi.4 mm could attain the soundest underwater welded joints which contain no welding imperfection. 2. According to macro-structure, micro-structure and hardness distribution inspectionson underwater welded joint, the area between the HAZ and the surface of the weld in neighbourhood of the bond has the maximum hardness value. The structure of these parts is martensite and bainite. Other parts contain mocro-ferrite, micro-pearlite structure, which contain soundness of welded joint free from weld imperfection. 3. On consideration of both tensile strength of more than 100% joint efficiency and sufficient impact value, the welding condition which can get optimal welding strength is heat input of 1,400-1,500 J/mm, current of 200-215 ampere (voltage of 32-33 volts) in the case of lime titania type electrode. 4. Underwater welding strength (tensile strength, impact strength) depends on heat input (or current) quantitatively and they have the relationship of parabolic function. Each experimental equation has a high reliability and its percent of mean error is 4.14%. 5. It is suggested that the optimal design of weld strength by welding condition (current, heat input) could be utilized for a quality control of underwater welding.

• Proceedings of the KSR Conference
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• 2009.05a
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• pp.28-41
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• 2009

We know the several construction methods for underwater tunnel, but properly submerged concrete box type tunnel was mostly good structure stability and mostly shot length of tunnels. Submerged box type tunnel was buildup the unit segments in dry dock or ship yard by 10 to 20meters. The submerged box was composed with segments was join each together. It was installing the gate and waterproofing the coupling the front hull of a box. The complete submerged box rise up to the surface water, tow in the submerged box by tugboat, going to the destination of tunnel construction site. Beforehand dredge up soil at the bottom of a underwater, sinking the submerged box, connection together complete submerged box in underwater. The research and development ILM tunneling method is receiving careful study. Biggest weakness in submerged concrete box type tunnel was pressure waterproofing, box to box connecting, complete submerged boxes navigation and installation, after operation the submerged tunnel and management concrete box structure. It was positive evidence in submerged concrete box type tunnel. We make a practical application of the principle "the ILM tunneling method in underwater construction methods."

• Journal of Ocean Engineering and Technology
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• v.1 no.1
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• pp.120-126
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• 1987

In this paper, the optimizing investigation of characteristics of underwater welding by a gravity type arc welding process is experimentally carried out by using the .phi. 4mm ilmenite type of domestic coated welding electrodes for welding the domestic marine structural steel plates of 8mm thickness in order to develop the underwater welding techniques in practical use, resulting in the quantitative analysis possibility for the relationship between the mechanical propernical properties of underwater welded joint HAZ and the welding heat input.

• Journal of Advanced Navigation Technology
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• v.21 no.6
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• pp.537-543
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• 2017

Underwater glider is the long-term operating underwater robot that was developed with a purpose of continuous oceanographic observations and explorations. Torpedo-type underwater glider is not efficient from an aspect of maneuverability, because it uses a single buoyancy engine and motion controller for obtaining propulsive forces and moments. This paper introduces a ray-type underwater glider(RUG) with dual buoyancy engine, which improves the control performance of buoyancy and motion compared with torpedo-type underwater glider. Carrying out Computational Fluid Dynamics (CFD) analysis as static pitch drift test, the performance of fluid resistance for gliding motion was identified. Based on the calculated hydrodynamic coefficients, the dynamic simulation compared and analyzed the motion performance of torpedo-type and ray-type while controlling same volume of buoyancy engine. Small-sized model of RUG was developed to perform fundamental performance tests.