• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.06a
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• pp.9-10
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• 2012

This paper presents an observer to measure the lengths of cylinders of an underwater robot for harbour construction using a pressure sensor. In harbour constructing, we place heavy armour stones weighing over 2~3 tons on the surface of the bank to protect it from storming wave. This work typically done by a diver is difficult and dangerous so that we have developed Stone Diver which is the underwater robot for harbour construction. The robot needs a position sensor to control the hydraulic cylinder. The position sensors mounted outside the cylinders cause poor durability in construction site where shock and dust usually occur. However, the pressure sensor mounted inside a waterproof box improves the durability. Based on the dynamic parameters and the pressures in the cylinder, the observer measures the cylinder's position. This paper presents the positional accuracy of the pressure based observer and the performance of the underwater robot to assemble the armour stones.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.7
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• pp.176-183
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• 2020

A ship has three types of diving systems (Diver Stage Diving, Wet Bell Diving and Scuba Diving) to carry out a search-and-rescue operation. To reduce the possibility of decompression sickness, any diving systems shall comply with the decompression procedure according to the decompression table corresponding to the diving depth and diving time. The decompression procedure is largely divided into two methods: underwater decompression and underwater-onboard decompression. In particular, the surface interval shall not exceed 5 minutes, which is the phase from underwater decompression to underwater-onboard decompression, in accordance with the U.S Navy Diving Manual. However, the surface interval is greater than 5 minutes as a result of using Wet Bell Diving. This paper describes the result of cause analysis and measurement with improved Wet Bell Diving. Using improved Wet Bell Diving reduced the surface interval to less than 5 minutes. The result of the research can be used for operation and improving the performance of diving systems.

• Journal of Navigation and Port Research
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• v.36 no.10
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• pp.865-871
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• 2012

This paper presents an observer to estimate the displacement of hydraulic cylinders of an underwater robot for harbour construction using a pressure sensor. In harbour constructing, we place heavy armour stones weighing over 2~3 tons on the surface of the bank to protect it from storming wave. This work typically done by a diver is difficult and dangerous so that we have developed Stone Diver which is the underwater robot for harbour construction. The robot needs a displacement sensors to control the position of hydraulic cylinders. The position sensors mounted outside the cylinders cause poor durability in construction site where shock and dust usually occur. However, the pressure sensor mounted inside a waterproof box improves the durability. Based on the dynamic parameters and the pressures in the cylinder, the observer estimates the cylinder's position. This paper presents the positional accuracy of the pressure based observer and the performance of the underwater robot to assemble the armour stones.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.29 no.1
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• pp.125-129
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• 2005

This study aims to provide divers with improved safe diving practices by analyzing reports on scuba diving casualties that recently(from 1997-2003)occurred in Korea, Japan and USA. The result of this study can contribute toward preventing the diving accident. All the data were collected through the diving accident reports of various sourse, which include KUA(Korea Underwater Association) technical committee, the accident statistical data of National Maritime Police Agency, articles of domestic and foreign scuba diving magazine, accident reports of various newspaper, annual report on decompression illness and diving fatalities by DAN(Diver Alert Network), various type of data on diving accident from local as well as national seminars, and medical treatment data of diving accident.

• Journal of the Korean Society of Safety
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• v.26 no.2
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• pp.42-47
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• 2011

Going underwater is supposed to begin with the history of human beings. At first it was confined to relatively shallow level, less than several meters by holding breath. Recently, deep level diving has been necessary for such purpose as construction, maritime salvage, military operations, research and sports by using SCUBA(self-contained underwater breathing apparatus) equipment. As one goes down into water, the pressure on the diver is increased due to water pressure with depth, usually 1 atm for each 10 m water level. In deep water, mixed gas or nitrox(EAN, enriched air nitrox) could be applied for the divers lest they should get disease due to high pressure. Of these, the former is usually composed of oxygen and inert gas like helium or hydrogen, the latter contains higher oxygen content than that in normal air in which the oxygen concentration is designated by the character "EAN" followed by vol. % of oxygen, for example, "EAN 40" contains 40% of oxygen. In this case, a victim was found at the 39 m below the sea surface breathing air and nitrox in cylinder wrongly marked as EAN 36, which was analyzed to contain 63% of oxygen by GC/TCD. The cause of death could not be exactly related with the oxygen content in the nitrox cylinder, because the accurate depth for the victim to dive was not known, even though the victim was just found at the depth of 39 m. However, the wrongly marked nitrox could be believed to be the main cause of the death at the depth unless there happened any other accident except that during diving.

• Journal of the Korean Society of Marine Environment & Safety
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• v.24 no.5
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• pp.597-603
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• 2018

This Study investigates the Structural Integrity of Boats for Divers, given increased demands for Underwater and Recreational use. We conducted research on a Small Catamaran with a Moon Pool in the center of the Hull, using the Finite Element Method to calculate allowable stress based on the ISO Rule. We computed the coefficients defined in ISO 12215-5 and TC118.1225-7, and determined the suitability of using the ISO Standard and Allowable Stress Design method (ASD) by applying Longitudinal Bending Moment, Torsional moment, and Bottom Slamming Load. We also applied the Ultimate Strength Design Method (LFRD) using Finite Element Analysis (FEA). As a Result of this Research, it was found that ships with a Moon Pool do have Structural Integrity according to their Design in accordance with ISO and KR Regulations.

• 한국체육학회지인문사회과학편
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• v.55 no.6
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• pp.551-560
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• 2016

The purpose of this study was to explore how SCUBA diving instructors' perception on their divers affects the buddy selection process in SCUBA diving clubs. For the purpose of this study, 6 people who have more than 5 year experiences and have been working as instructor in scuba diving clubs were selected as research participants. The results are as follows. First, they perceived necessity of buddy selection through awareness of importance of buddy through education and through partner perception to overcome perceived danger. Second, when selecting a buddy, they established standards according to level whether they have a rescue diver license and secured standards through new sense of value. Third, buddy selection determinants were interaction between buddies, mutual trust and realization of buddy's role. As such, a SCUBA diver should select other buddy to perform pair diving and buddy is selected based on relationship such as mutual communication, mutual trust and belief. When they perform buddy's role comprehensively based on mutual relationship with buddy, continuous relationship as buddies can be built.

• Proceedings of the Korea Water Resources Association Conference
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• 2022.05a
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• pp.447-447
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• 2022

하굿둑 실증시험 및 개방 시 하굿둑으로부터 해안지역 대수층의 지하수 내 염분침투를 예방하고 지속가능한 지하수자원 이용과 관리를 위해서 담수(freshwater)와 염수(saltwater)의 경계면 변동 및 분포를 추적하기 위해 지화학적·물리적 접근 연구는 매우 중요하다. 해안 및 하굿둑 주변지역의 담·염수 경계면 특성에 관한 조사 및 분석은 직·간접적 관측방법으로 이뤄진다. 직접 관측방법에는 심도별 전기전도도(Electrical condutivity, EC) 측정 방법으로 1개 정밀센서(CTD-Diver)를 와이어에 연결하여 수동으로 측정하는 방식과 자동 관측센서(CTD-Diver)를 공내 여러 관심심도에 이격거리에 따른 관측센서를 여러 개 설치하여 특정 관심심도별 연속적인 상태를 파악하는 방법이다. 간접 관측방법에는 관심심도별 또는 특정 심도의 지하수 수질을 채취하여 지화학 분석하는 방법이 있다. 직·간접적 관측방법에는 관심심도별 구간의 이격거리와의 공백과 조사시기에 대수층의 해수침투를 파악할 수 있으나 연속적 관측과 예측은 매우 어렵다. 직접적 관측방법 중 1개 정밀센서와 와이어를 이용한 특정 시·공간에 대한 연직 프로파일링 관측은 가능하나, 연속적 관측과 예측 또한 매우 어렵다. 따라서 본 연구는 물리적 방법을 기반으로, 하굿둑 인근의 담수(freshwater)와 염수(saltwater)와의 경계면 분포특성에 관한 연구는 하굿둑 실증시험 시 지하수 내 염분침투에 따른 지하수 환경 등에 대한 전반적 특성 등을 분석하였다. 하구언 일대의 지하수 내 염분침투 및 지하수 오염관리를 위해 실증실험 등 인위적인 요소와 강우, 태풍, 가뭄 등 자연적인 요소에 의해 여러 형태의 분포특성을 보이는 담수와 염수의 분포 및 혼합대의 특성에 따른 담염수의 경계면 형태별 분석을 하는데 목적을 두었다. 해수침투의 예방과 지하수 오염 방지를 위해 심도별 자동 수질측정 장치를 개발하고, 이를 이용한 염지하수의 프로파일링 감시 시스템을 제안하였다.

• Journal of the Korea Society of Computer and Information
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• v.29 no.8
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• pp.43-51
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• 2024

This paper proposes a method for acquiring and analyzing ocular data using a special-purpose diver mask targeted at divers who primarily engage in underwater activities. This involves tracking the user's gaze with the help of a custom-built ocular dataset and a YOLOv8-nano model developed for this purpose. The model achieved an average processing time of 45.52ms per frame and successfully recognized states of eyes being open or closed with 99% accuracy. Based on the analysis of the ocular data, a gaze tracking algorithm was developed that can map to real-world coordinates. The validation of this algorithm showed an average error rate of about 1% on the x-axis and about 6% on the y-axis.

• International Journal of Control, Automation, and Systems
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• v.5 no.4
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• pp.456-462
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• 2007

Tracking error performance is investigated for the typical maneuvering pattern of the anti-ship missile for tracking filters based on IMM filter in both clear and cluttered environments. Threatening targets to a navel vessel can be categorized into having three kinds of maneuvering patterns such as Waver, Pop-Up, and High-Diver maneuvers, which are classified according to launching platform or acceleration input to be applied. In this paper, the tracking errors for three kinds of maneuvering targets are represented and are investigated through simulation results. Studying estimation errors for each maneuvering target allows us to have insight into the most threatening maneuvering pattern and to construct the test maneuvering scenario for radar system validation.