• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.339-346
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• 2006

Increased usage of autonomous underwater vehicle (AUV) has led to the development of alternative navigational methods that do not employ the acoustic beacons and dead reckoning sensors. This paper describes a simultaneous localization and mapping (SLAM) scheme that uses range sonars mounted on a small AUV. The SLAM is one of such alternative navigation methods for measuring the environment that the vehicle is passing through and providing relative position of AUV by processing the data from sonar measurements. A technique for SLAM algorithm which uses several ranging sonars is presented. This technique utilizes an unscented Kalman filter to estimate the locations of the AUV and objects. In order for the algorithm to work efficiently, the nearest neighbor standard filter is introduced as the algorithm of data association in the SLAM for associating the stored targets the sonar returns at each time step. The proposed SLAM algorithm is tested by simulations under various conditions. The results of the simulation show that the proposed SLAM algorithm is capable of estimating the position of the AUV and the object and demonstrates that the algorithm will perform well in various environments.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.204-209
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• 2004

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The Manipulability is a functionality of manipulator system in a given configuration and under the limits of joint ability with respect to the tasks required to bt performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method are presented. The dynamic equation of motion of underwater manipulator is derived from the Lagrange - Euler equation considering with the hydraulic forces caused by added mass, buoyancy and hydraulic drag. The hydraulic drag term in the equation: is established as analytical form using Denavit - Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based on Manipulability Ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torque in joint space while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2002.05a
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• pp.179-184
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• 2002

For the development of the practical design and analysis scheme of a bridge connecting to the typical VLFS, relevant design criteria and theory and techniques are studied and numerical analysis for the verification of the structural safety of the bridge are carried out. For the design of a typical steel bridge, characteristics of proper type bridge are reviewed and the requirements fur the bridge of this kind are studied as well as the environmental loads. By using the design spiral technique, several alternatives are investigated and an efficient type of a bridge is initially designed. Structural idealization is performed to make overall structural analysis first, and the structural behaviors of the proposed bridge in the given loading condition are evaluated. Through this study a bridge is finally proposed and it is found that this one works well for the connecting function of the bridge.

• KCID journal
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• v.19 no.1
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• pp.30-39
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• 2012

In recent years, there have been a lot of severe flood and drought disasters and the rural environment have been worsened due to rapid industrialization and urbanization in the river basins of Korea. To prevent such disasters and to improve environment in the era of climate change, Korean Government carried out 110 projects to heighten irrigation dam in the rural area. The study has been carried out to evaluate the heightening work of the irrigation dam for the supply of reserved water and to derive optimal scheme to allocate the water resource for irrigation, domestic demand and environmental conservation as well as to contribute for the rural development in sustainable way. The study is focused on the Seoam Irrigation Dam which has been constructed in 2005 to be connected with the new Gami Reservoir which has been constructed since 2010. In addition, it was studied the contribution effect of the reservoirs for the adjacent comprehensive rural development projects which have been executed by local government. In the study, the principles and visions of sustainable development which have been derived by International Commission on Irrigation and Drainage is applied to estimate the sustainability of the irrigation dams in line with the adjacent comprehensive rural development projects. The project is estimated that the water resource in the reservoirs shall be used integratedly in cooperation with various stakeholders not only to conserve water environment but also to increase productivity of agricultural goods and ecological tour in the rural area.

• ETRI Journal
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• v.26 no.2
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• pp.101-111
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• 2004

This paper presents a near-optimum blind decision feedback equalizer (DFE) for the receivers of Advanced Television Systems Committee (ATSC) digital television. By adopting a modified trellis decoder (MTD) with a trace- back depth of 1 for the decision device in the DFE, we obtain a hardware-efficient, blind DFE approaching the performance of an optimum DFE which has no error propagation. In the MTD, the absolute distance is used rather than the squared Euclidean distance for the computation of the branch metrics. This results in a reduction of the computational complexity over the original trellis decoding scheme. Compared to the conventional slicer, the MTD shows an outstanding performance improvement in decision error probability and is comparable to the original trellis decoder using the Euclidean distance. Reducing error propagation by use of the MTD in the DFE leads to the improvement of convergence performance in terms of convergence speed and residual error. Simulation results show that the proposed blind DFE performs much better than the blind DFE with the slicer, and the difference is prominent at the trellis decoder following the blind DFE.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2000.10a
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• pp.165-170
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• 2000

Port State Control (PSC) is the inspection of foreign ships in national ports for the purpose of verifying th\ulcorner the condition of the ships and its equipments comply with the requirement of international conventions and the ship is manned and operated in compliance with applicable international laws. On the other hand, check items in PSC are nearly similar to periodical survey of Classification Societies, because they have the same background regarding safety and maritime pollution prevention. The purpose of this study is to develope computer-aided information systems for ship inspection item which is useful for effective implementation of Port State Control. For this work, the status of PSC is reviewed, and the related scheme of ship survey system in Classification Societies is investigated. On these bases, a computer software integrated database system and object-oriented technique is developed. The developed system is expected helpful to establish and maintain an effective system of Port State Control.

• Journal of the Society of Naval Architects of Korea
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• v.43 no.6 s.150
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• pp.631-637
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• 2006

This paper presents a numerical method to solve the ship motion coupled with internal fluid flow. Physically the internal fluid motion is coupled with the ship motion. Hitherto the previous numerical results of the coupled motion predict only the general tendency with experiments. The main reason of inaccuracy is that the coupled dynamics of ship motion and internal water motion is not accurately accounted. In this study CFD technique based on VOF is employed for the accurate analysis of flooding water motion. Some cases of the 24th ITTC stability committee's benchmark.study for tanker with internal fluid are analyzed by coupling the ship motion and sloshing dynamics. The calculated ship motion is compared with the experimental result to validate the coupled scheme and is in agreement with the experimental result.

• Journal of the Korea Society of Computer and Information
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• v.21 no.2
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• pp.105-112
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• 2016

In this paper, we propose a technique that can be mapped to the most appropriate type of health patterns, depending on the health status of health promotion measures to establish a body mass index (BMI). When used as a mapping scheme proposed in this paper it is possible to contribute to effective healthcare and health promotion. BMI is widely used as a simple way to assess obesity because body fat increases the status and relevance. Despite normal weight determined by this and because of the social atmosphere has increased prefer the skinny tend to try to excessive weight loss. Since health can affect the health maintenance and promotion of the rest of your life, depending on whether and how much weight perception and health can be considered as very important. Therefore, this paper identifies the differences in perception and in this respect for the body mass index (BMI). And physical, mental and map the appropriate type of pattern in the relationship between body mass index (BMI) in order to facilitate the social and health conditions. Proposal to give such a mapping technique provides the opportunity to increase the efficiency of health care and health promotion.

• Journal of the Korea Society of Computer and Information
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• v.11 no.2 s.40
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• pp.275-283
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• 2006

Writers enroll their outcome to Program Deliberation & Mediation Committee and get the copyright preserved for the protection of IPR. The program registration is conducted through off-line and on-line methods, and especially on-line registration provides program registrants convenience along with the safety of property from external copyright invaders. However, it is a shortcoming that the integrity and confidentiality of the enrolled program cannot be guaranteed in case of internal factors such as system errors, administrator's illegal access and revision. This paper proposes the reliable system, ensuring programs and offering convenience of Digital signature management from the system errors and intruding factors by internal administrator, using the security of confidentiality, integrity and Multi-Signature Scheme for program.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.309-313
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• 2004

Prediction of green water loads acting an the bow deck is an essential part for the design of bow structures against the green water impact. Proper technique of the green water simulation is highly required for the prediction of green water loads. In this paper, a new numerical method for green water simulation, which is based an predictor-corrector-upwind finite difference scheme of the 2nd kind, is introduced. Through the comparisons between computed' results and experimental measurements, it is verified that the present numerical tool is adequate as a practical calculation tool for the green water problem.