• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.123-130
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• 2004

Ocean developments gradually move to deep-sea in the 21 century. A deep-sea unmanned underwater vehicle is one of important tools for ocean resource survey. A marine cable plays an important role for the safe operation of a deep-sea unmanned underwater vehicle. The first cable of a deep-sea unmanned underwater vehicle is excited by surface vessel motion and shows non-linear dynamic behaviors. A numerical method is necessary for analysing the dynamic behaviour of the first marine cable. In this study, a numerical program is estabilished based on a finite difference method. The program is appled to a 6000m long cable for a deep-sea unmanned underwater vehicle and shows good reasonable results.

• Journal of Ocean Engineering and Technology
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• v.19 no.3
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• pp.31-38
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• 2005

Ocean developments gradually move to deep-sea in the 21 century. A deep-sea unmanned underwater vehicle is one of important tools for ocean resource survey. A marine cable plays an important role for the safe operation and signal transmission of a deep-sea unmanned underwater vehicle. The umbilical cable of a deep-sea unmanned underwater vehicle is excited by surface vessel motion and shows non-linear dynamic behaviors. A numerical method is necessary for analysing the dynamic behavior of a marine cable. In this study, a numerical program is established based on a finite difference method. The program is appled to 6000m long cable for a deep-sea unmanned underwater vehicle and shows good reasonable results.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.11a
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• pp.198-203
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• 2004

Ocean developments gradually move to deep-sea in the 21 century. A deep-sea unmanned underwater vehicle is one of important tools for ocean resource survey. A marine cable plays an important role for the safe operation and signal transmission of a deep-sea unmanned underwater vehicle. The first cable of a deep-sea unmanned underwater vehicle is excited by surface vessel motion and shows non-linear dynamic behaviors. A ROV launcher is also excited by the 1st cable motion. A numerical method is necessary for analysing the dynamic behaviour of the first marine cable and the ROV launcher. In this study, a numerival program is appled to a 6,000m long cable for a deep-sea unmanned underwater vehicle to shaw shows the dynamic behaviour of the cable and the ROV launcher under combined excitations.

• International Journal of Naval Architecture and Ocean Engineering
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• v.7 no.5
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• pp.817-832
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• 2015

This paper presents a state feedback based backstepping control algorithm to address the trajectory tracking problem of an underactuated Unmanned Surface Vessel (USV) in the horizontal plane. A nonlinear three Degree of Freedom (DOF) underactuated dynamic model for USV is considered, and trajectory tracking controller that can track both curve trajectory and straight line trajectory with high accuracy is designed as the well known Persistent Exciting (PE) conditions of yaw velocity is completely relaxed in our study. The proposed controller has further been enriched by incorporating an integral action additionally for enhancing the steady state performance and control precision of the USV trajectory tracking control system. Global stability of the overall system is proved by Lyapunov theory and Barbalat's Lemma, and then simulation experiments are carried out to demonstrate the effectiveness of the controller designed.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.48-59
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• 2020

A traditional propeller can easily become entangled with floating objects while operating. In this paper, we present a newly developed Electromagnetic-valve-control-based Water-jet Propulsion System (ECWPS) for an unmanned surface cleaning vessel that can be flexibly controlled via a Micro Control Unit (MCU). The double-structure was adapted to the unmanned surface cleaning vessel for floating-collection missions. Computational Fluid Dynamics (CFD) software for operating effect simulation was also used to reveal the working principle of the ECWPS under different conditions. Neglecting the assembly technique, the design level, controlling strategy, and maneuvering performance of the ECWPS reached unprecedented levels. The ECWPS mainly consists of an Electromagnetic-valve Array (EA), pipeline network, control system, and water-jet source. Both CFD analyses and experimental results show that the hydraulic characteristic of the ECWPS was predicted reasonably, which has enormous practical value and development prospects.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2015.10a
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• pp.104-106
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• 2015

최근 인간의 개입을 최소화하면서 임무를 수행할 수 있는 무인항공기에 대한 활용도가 높아지는 가운데 무인선(Uamanned Maritime Vessel) 운용에 대한 관심도 높아지고 있다. 국내에서 무인선(Uamanned Maritime Vessel) 관련 프로젝트는 오염 방제 지원, 불법조업 감시, 조난자 수색 구조 등의 감시 및 구난 방제 지원 임무와 수로조사, 해양 기상 모니터링, 적조 감시 등 해양 조사 등을 목적으로 무인선(Uamanned Maritime Vessel)을 개발하는 중이다. 무인선은 관제센터(Maritime Control Station) 또는 모선을 통하여 원격 통제로 임무를 수행하게 되며, 이를 위하여 다양한 정보가 무선통신을 통하여 유인선-무인선, 무인선-무인선, 무인선-관제센터 간에 실시간으로 제공될 것으로 예상되어진다. 본 연구에서는 ITU-R Study Group Woking Party 5B를 분석한 후, 국내 개발 예정인 무인선(Uamanned Maritime Vessel) 운용을 위하여 요구되는 통신 서비스를 구분하여 정의 및 분류하고, 이를 바탕으로 데이터 전송속도, 트래픽 이용시간, 교통량을 바탕으로 필요한 주파수 산정을 위한 기초자료를 제공하는데 목적이 있다.

• Journal of the Korean Society of Systems Engineering
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• v.16 no.1
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• pp.25-35
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• 2020

The South Korean Navy is making efforts to acquire vessels that the new technology of the 4th industry is applied, and as a part of these efforts, it has a plan to mount and operate an Unmanned Surface Vehicle(USV) on a vessel that will be introduced later. However, the recent studies have focused on only development of common platforms and mission equipment for the USV, and have not sufficiently analyzed studies and operatinoal requirements on mother ship that will operate the mounted USV. Hence, this study analyzed and presented requirements of mother ship with the mounted USV in order to operate effectively it when the future medium and large vessels to be acquired by the South Korean Navy intent to operate the USV.

• Journal of the Korean Society of Systems Engineering
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• v.18 no.1
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• pp.14-32
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• 2022

In this paper, we report the results of a conceptual study to develop of a multi-purpose medium-sized UAV that can safely perform missions in harsh maritime environments. In this study, we focused on developing UAVs capable of performing three maritime missions that urgently require the application of medium-sized UAVs: marine ecosystem management, ocean surveillance system, and response to marine accidents. Furthermore improvement points for the above three naval missions using medium-sized UAVs were derived in preparation for the problems of the existing mission performance. Finally, by developing and analyzing the utilization scenario of the medium-class UAV, the required performance suitable for each mission was defined and assigned to the related mission equipment, A new maritime management plan was proposed using the medium-class UAV system equipped with replaceable mission equipment.

• Journal of the Korean Society of Radiology
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• v.15 no.6
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• pp.795-801
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• 2021

The designed drone-based unmanned remote radiation detection module was developed according to the needs of the nuclear power plant decommissioning workshop. Using the Geiger-Mueller tube sensitive to low-level radiation measurement, It was manufactured to measure the amount of radiation leaking into and out of the containment vessel. The drone-based radiation detection module weighs less than 200g, It can be operated inside and outside the containment vessel of a nuclear power plant. To check the performance of the designed equipment, a performance evaluation test was conducted with reference to the international standard (IEC-60864). The stability of the radiation detection module designed to meet the needs of the field the statistical rate of change by repeated measurements in the rate of change experiment to evaluate the measurement accuracy was ±4.6%. The accuracy ±7.3% in the linearity experiment to evaluate the dose rate dependence, the linear The figure satisfies the international performance evaluation standard of ±3.5%. The radiation detection module developed in this study is a customized equipment for a nuclear power plant dismantling workshop. It will be helpful for accurate measurement of space dose rate and safety management of radiation worksites in sites with a lot of radiation dust.

• Journal of the Korean Society of Marine Environment & Safety
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• v.28 no.spc
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• pp.11-17
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• 2022

In this study, we address the development of a floating platform system based on a unmanned surface vessel for wide-area sensing and monitoring of hazardous and noxious substances (HNSs). For long endurance, a movable floating platform with no mooring lines was used and modified for HNS sensing and monitoring. The floating platform was equipped with various sensors such as optical and thermal imaging cameras, marine radar, and sensors for detecting HNSs in water and air. Additionally, for experiment validation in real outdoor environments, a portable gas-exposure system (PGS) was built and installed on the monitoring system. The software for carrying out the mission was integrated with the Robot Operating System (ROS) framework. The practical feasibility of the developed system was verified through experimental tests conducted in inland water and real-sea environments.