• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.460-470
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• 2011

This paper presents a dynamic workspace control method of underwater manipulator considering a floating ROV (Remotely Operated vehicle) motion caused by sea wave. This method is necessary for the underwater work required linear motion control of a manipulator's end-effector mounted on a floating ROV in undersea. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation excluded dynamic elements. For online manipulator control achievement, we develop the position tracking method based on sensor data and EKF (Extended Kalman Filter) and the input velocity compensation method. The dynamic workspace control method is established by applying these methods to differential inverse kinematics solution. For verification of the proposed method, experimental data based test of ROV position tracking and simulation of the proposed control method are performed, which is based on the specification of the KORDI deep-sea ROV Hemire.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.3
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• pp.486-492
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• 2017

In recent years, renewable energy sources have been mentioned as solution to environmental regulation and energy supply-demand. Energy storage systems are needed to mitigate the intermittent output characteristics of renewable energy sources and to operate micro grid efficiently using renewable energy generation systems. However, despite the necessity of energy storage system, this cannot secure the economical efficiency of the energy storage system by high initial cost. In this paper, a micro grid is constructed to supply electric power to industrial customers by using solar power generation system and energy storage system among renewable energy generation power sources and operated to improve energy independence. In the case study, we use photovoltaic system which is representative renewable energy generation system. Unlike conventional photovoltaic system, this system uses floating photovoltaic system with the advantage of having high output and no land area limitations. It is operated for the purpose of improving energy independence in the micro grid. In order to secure economical efficiency, the energy storage system operates a micro grid with a minimum capacity. Finally, this paper calculates the appropriate subsidy for the energy storage capacity.

• International Journal of Naval Architecture and Ocean Engineering
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• v.13 no.1
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• pp.433-449
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• 2021

In this study, a newly enhanced Fluid-Structure Interaction (FSI) model which incorporates mooring lines was used to simulate a floating structure. The model has two parts: a Computational Fluid Dynamics (CFD) model and a mooring model. The open-source CFD OpenFOAM® v1712 toolbox was used in the present study, and the convergence criteria and relaxation method were added to the computational procedure used for the OpenFOAM multiphase flow solver, interDyMFoam. A newly enhanced, tightly coupled solver, CoupledinterDyMFoam, was used to decrease the artificial added mass effect, and the results were validated through a series of benchmark cases. The mooring model, based on the finite element method, was established in MATLAB® and was validated against a benchmark analytical elastic catenary solution and numerical results. Finally, a model which simulates a floating structure with mooring lines was successfully constructed by connecting the mooring model to CoupledinterDyMFoam.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.2
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• pp.208-215
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• 2017

When persistent oil, such as crude oil or Bunker C oil, is spilled at sea, viscosity increases through the weathering process. Equipment that can collect this oil when mixed with floating marine debris is very limited. In this study, devices that can be attached to the outside of existing oil skimmers have been applied to the inside of the main body, to develop an unmanned conveyor belt type floating marine debris and high viscosity oil recovery skimmer, which is composed of a conveyor belt, a sweeper with a forced inflow device, and a collection tank equipped with a buoyant body. The resulting skimmer was operated at a speed of 1.2 knots at a distance of 30 m in a sea area test. It was stable when moving laterally in any direction. An oil recovery performance test was conducted using a portable storage tank, and oil was recovered from a minimum of $7.8k{\ell}/h$ to a maximum of $23.3k{\ell}/h$. Moreover, recovery of $7.7k{\ell}/h$ was obtained in a wave water tank test with floating marine debris such as PET bottles and oil mixed. If the equipment developed in this study was used in the field for oil pollution accidents, it could be expected to contribute to improved response capability. We believe our equipment could be used in further studies to improvement the performance of existing portable oil skimmers.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.3
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• pp.157-165
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• 2019

Recently, large and small earthquakes have occurred in the Korean peninsula. In this sense, Korea is no longer considered as an earthquake free zone. Especially, it is necessary to respond quickly to earthquake tsunami which may be caused by the influence of neighboring countries with large earthquakes. Since the occurrence of tsunamis can cause great casualties, it is very important to allocate the location of the shelter in case of an earthquake. Although many researches on shelter allocation have been conducted in various ways, but most of them have been analyzed based on administrative district resident data, resulting in a lack of reality. In this study, floating population data were used to reflect reality in case of emergency situations, and genetic algorithm, which produce good results among the heuristic algorithms, was used to select shelter locations. The number of evacuees was used as a objective function of genetic algorithm and the optimal solution was found through selection, crossover and mutation. As a result of the research on Busan Haeundae-Gu, selected as a research area, allocating eight shelters was the most efficient. The location of the new shelters was selected not only in residential areas but also in major tourist areas whose results can not be derived from administrative district resident data alone, and the importance of utilizing the floating population data was confirmed through this study.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.6
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• pp.429-437
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• 2018

The process gas piping of the offshore plant can cause a massive explosion if the gas leakage occurs during operation. For the purpose of precaution of gas leakage accident, an air pressure test is performed on the process equipment tests using a test pump as much as the power to the piping inner side, mix 99% nitrogen gas and 1% helium gas. The purpose of the air pressure test is to check the work conformity process by handling and regulation for initial piping process, assembly, installation of module, welding, center alignment of the pipes assembling flange gasket in an unrestrained free state. In this paper, the regulation of the problematic air pressure test was analyzed and the solution criteria were established. And leakage tests of existing equipment were performed applying these solution methods. As a result, it was confirmed that there was no problem.

• Korean Journal of Materials Research
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• v.24 no.11
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• pp.625-631
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• 2014

To investigate the deformation properties of TiC-(5-20) mol% Mo solid solution single crystals at high temperature by compression testing, single crystals of various compositions were grown by the radio frequency floating zone technique and were deformed by compression at temperature from 1250K to 2270K at strain rates from $5.1{\times}10^{-5}$ to $5.9{\times}10^{-3}/s$. The plastic flow property of solid solution single crystals was found to be clearly different among a three-temperature range (low, intermediate and high temperature ranges) whose boundaries were dependent on the strain rate. From the observed property, we conclude that the deformation in the low temperature range is controlled by the Peierls mechanism, in the intermediate temperature range by the dynamic strain aging and in the high temperature range by the solute atmosphere dragging mechanism. The work softening tends to become less evident with an increasing experimental temperature and with a decreasing strain rate. The temperature and strain rate dependence of the critical resolved shear stress is the strongest in the high temperature range. The curves are divided into three parts with different slopes by a transition temperature. The critical resolved shear stress (${\tau}_{0.2}$) at the high temperature range showed that Mo content dependence of ${\tau}_{0.2}$ with temperature and the dependence is very marked at lower temperature. In the higher temperature range, ${\tau}_{0.2}$ increases monotonously with an increasing Mo content.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2008.11a
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• pp.353-353
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• 2008

Carbon nanotubes (CNTs) are attractive for field emitter because of their outstanding electrical, mechanical, and chemical properties. Several applications using CNTs as field emitters have been demonstrated such as field emission display (FED), backlight unit (BLU), and X-ray source. In this study, we fabricated a CNT cathode using transparent ultra-thin CNT film. First, CNT aqueous solution was prepared by ultrasonically dispersing purified single-walled carbon nanotubes (SWCNTs) in deionized water with sodium dodecyl sulfate (SDS). To obtain the CNT film, the CNT solution in a milliliter or even several tens of micro-litters was deposited onto a porous alumina membrane through vacuum filtration process. Thereafter, the alumina membrane was solvated by the 3 M NaOH solution and the floating CNT film was easily transferred to an indium-tin-oxide (ITO) glass substrate of $0.5\times0.5cm^2$ with a film mask. The transmittance of as-prepared ultra-thin CNT films measured by UV-Vis spectrophotometer was 68~97%, depending on the amount of CNTs dispersed in an aqueous solution. Roller activation, which is a essential process to improve the field emission characteristics of CNT films, increased the UV-Vis transmittance up to 93~98%. This study presents SEM morphology of CNT emitters and their field emission properties according to the concentration of CNTs in an aqueous solutions. Since the ultra-thin CNT emitters prepared from the solutions show a high peak current density of field emission comparable to that of the paste-base CNT emitters and do not contain outgassing sources such as organic binders, they are considered to be very promising for small-size-but-high-end applications including X-ray sources and microwave power amplifiers.

• Journal of computational fluids engineering
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• v.9 no.1
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• pp.18-24
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• 2004

The unified simulation for the multiphase flow by predictor-corrector scheme based on CIP method is introduced. In this algorithm, the interface between different phases is identified by a density function and tracked by solving an advection equation. Solid body motion is modeled by the translation and angular motion. The mathematical formulation and numerical results are also described. To verify the efficiency, accuracy and capability of proposed algorithm, two dimensional incompressible cavity flow, the motion of a floating ball into water and a single rising bubble by buoyancy force are numerically simulated by the present scheme. As results, it is confirmed that the present scheme gives an efficient, stable and reasonable solution in the multiphase flow problem.

• Journal of Ocean Engineering and Technology
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• v.1 no.1
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• pp.33-38
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• 1987

The first order mation responses of a floating structure and the hydrodynamic forces in regular waves are obtained by means of the linear potential theory. The first order potential is obtained directly from the numerical solution of the improved Green integral equation which is characterized by the combined surface distribution of sources and normal doublets. The mean second order wave drift force is also calculated by means of the near field method. It seems that the present method gives more accurate numerical results than other methods and the agreement between numerical and experimental results appears to be satisfactory.