• Journal of the Computational Structural Engineering Institute of Korea
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• v.16 no.1
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• pp.69-76
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• 2003

Low-tension cables have been increasingly used in recent years due to deep-sea developments and the advent of synthetic cables. In the case of low-tension cables, large displacements may happen due to relatively small restoring forces of tension and thus the effects of fluid and geometric non-linearities and bending stiffness. A Fortran program is developed by employing a finite difference method. In the algorithm, an implicit time integration and Newton-Raphson iteration are adopted. For the calculation of huge size of matrices, block tri-diagonal matrix method is applied, which is much faster than the well-known Gauss-Jordan method in two point boundary value problems. Some case studies are carried out and the results of numerical simulations are compared with a in-house program of WHOI Cable with good agreements.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2009.10a
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• pp.40-41
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• 2009

In general, ships are towed to keep the safe operations in harbor or channel by tug boats. Due to increase in ocean traffic, many accidents are happened in harbor or channel in these days. Therefore it is necessary to predict manoeuvrability of tug-barge system, and to assure the safety of that system. Turg-barge system is composed of tug boat, barge, and towing cable, connecting both ships. Manoeuvring equations of tug-barge system are suggested, and the scopes of model tests are discussed to establish the mathematical models for tug boats in this paper.

• The Journal of Korea Robotics Society
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• v.13 no.3
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• pp.190-197
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• 2018

Geomagnetic field signals have potential for use in underwater navigation and geophysical surveys. To map underwater geomagnetic fields, we propose a method that exploits an autonomous surface vehicle. In our system, a magnetometer is rigidly attached to the vehicle and not towed by a cable, minimizing the system's size and complexity but requiring a dedicated calibration procedure due to magnetic distortion caused by the vehicle. Conventional 2D methods can be employed for the calibration by assuming the horizontal movement of the magnetometer, whereas the proposed 3D approach can correct for horizontal misalignment of the sensor. Our method does not require a supporting crane system to rotate the vehicle, and calibrates and maps simultaneously by exploiting data obtained from field operation. The proposed method has been verified experimentally in inland waters, generating a magnetic field map of the test area that is of much higher resolution than the public magnetic field data.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.341-349
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• 2020

Recently, interest in ground subsidence in urban areas has increased after a large sinkhole occurred near the high-story building area in Jamsil, Seoul, Korea, in 2014. If a massive sinkhole occurs in an urban area, it is crucial to assess its risk rapidly. Access to humans for on-site safety diagnosis may be difficult because of the additional risk of collapse in the disaster area. Generally, inspection using drones equipped with high-speed lidar sensors can be utilized. However, if the sinkhole is created vertically to a depth of 100 m, similar to the sinkhole in Guatemala, the drone cannot be applied because of the wireless communication limit and turbulence inside the sinkhole. In this study, a three-dimensional (3D) scanning system was fabricated and operated using a towed cable in a massive vertical sinkhole to a depth of 200 m. A high-speed lidar sensor was used to obtain a continuous cross-sectional shape at a certain depth. An inertial-measuring unit was applied to compensate for the error owing to the rotation and pendulum movement of the measuring unit. A reconstruction algorithm, including the compensation scheme, was developed. In a vertical hole with a depth of 180 m in the mining area, the fabricated system was applied to scan 0-165 m depth. The reconstructed shape was depicted in a 3D graph.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.1
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• pp.719-727
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• 2021

In the field of architecture, retractable devices capable of responding flexibly to the environment have been applied widely to large structures. Among these devices, the aesthetically pleasing retractable membrane is lightweight so that the membrane can be opened easily using only a traction device. On the other hand, because the towed membrane moves as it is connected to the main cable by a trolley, the number of trolleys needed increases in proportion to the roof's area. This study proposes an optimal model for an open-type trolley (OTT), which is used widely in these devices, using topology optimization. The analysis used the ANSYS program. A new model was proposed based on the results and reviewed through the feedback. Through this process, it was possible to develop a prototype with increased durability and reduced weight. For OTT, optimization was performed based on static analysis and the boundary conditions, so three prototypes were designed. A comparison of the proposed trolley with the conventional one under the same conditions revealed an up to 71.04% decrease in volume while the yield-strength reached 8.67 to 11.43%. In conclusion, the optimal trolley proposed was found to be reliable in terms of economy and stability.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.16 no.1
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• pp.1-15
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• 1980

An underwater recording system was designed to measure the sound spectra of the underwater noises produced by fishing gears in operation. Recorded were noi~es from three types of fishing gears: an anchovy set net, three anchovy boat seine net and a stern trawlnet. Acoustic analysis were made using a heterodyne analyzer, a digital frequency analyzer and a level recorder. The no;'e produced by the anchovy set net was found in the high frequency region of the onset of ambient noise spectrum with a slope of - 6 dB/octave. Here the ambient noise spectrum is higher, though similar in shape, than Knudsen spectrum, and is attributed to the breaking action of the coastal wave. Measured noise spectra during the fishing operations of the anchovy boat seine nets are attributed to the background noise of the sea in the presence of the fishing vessels. The frequency distribution of the noise was 20~5, 000 Hz in the case of two steel anchovy boat seiners, and 20-3,000 Hz in the case of the wooden anchovy boat seiner. The predominant frequency range was 250~350 Hz and maximum sound pressure level was 122 dB (re $1\muPa$) in the case of the steel boat and ] 17 dB in the case of the wooden boat. The noises produced by the trawl fishing gears are remarkably higher than the background noi~e in the presence of the fishing vessel. The frequency distribution of the noi~e was 20-6,300 Hz. The predominant frequency range was 100~200 Hz and maximum sound pressure level was 137 dB ( re $1\muPa$) . The noise spectra were not so much different from that caused by vibrations of the towing cable and the structure of the ground rope of the trawl net towed in an experimental tank.

• Tunnel and Underground Space
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• v.32 no.6
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• pp.451-463
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• 2022

Whenever a mineshaft accidentally collapses, speedy risk assessment is both required and crucial. But onsite safety diagnosis by humans is reportedly difficult considering the additional risk of collapse of the unstable mineshaft. Generally, drones equipped with high-speed lidar sensors can be used for such inspection. However, the drone technology is restrictively applicable at very shallow depth, failing in mineshafts with depths of hundreds of meters because of the limit of wireless communication and turbulence inside the mineshaft. In previous study, a three-dimensional (3D) scanning system with a single channel lidar was fabricated and operated using towed cable in a mineshaft to a depth of 200 m. The rotation and pendulum movement errors of the measuring unit were compensated for by applying the data of inertial measuring unit and comparing the similarity between the scan data of the adjacent depths (Kim et al., 2020). However, the errors grew with scan depth. In this paper, a multi-channel lidar sensor to obtain a continuous cross-sectional image of the mineshaft from a winch system pulled from bottom upward. In this new approach, within overlapped region viewed by the multi-channel lidar, rotation error was compensated for by comparing the similarity between the scan data at the same depth. The fabricated system was applied to scan 0-165 m depth of the mineshaft with 180 m depth. The reconstructed image was depicted in a 3D graph for interpretation.

• Geophysics and Geophysical Exploration
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• v.8 no.1
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• pp.50-58
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• 2005

Recently, the imaging of geological structures beneath water-covered areas has been in great demand because of numerous tunnel and bridge construction projects on river or lake sites. An electrical resistivity survey can be effective in such a situation because it provides a subsurface image of faults or weak zones beneath the water layer. Even though conventional resistivity surveys in water-covered areas, in which electrodes are installed on the water bottom, do give high-resolution subsurface images, much time and effort is required to install electrodes. Therefore, an easier and more convenient method is sought to find the strike direction of the main zones of weakness, especially for reconnaissance surveys. In this paper, we investigate the applicability of the streamer resistivity survey method, which uses electrodes in a streamer cable towed by ship or boat, for delineating a fault zone. We do this through numerical experiments with models of water-covered areas. We demonstrate that the fault zone can be imaged, not only by installing electrodes on the water bottom, but also by using floating electrodes, when the depth of water is less than twice the electrode spacing. In addition, we compare the signal-to-noise ratio and resolving power of four kinds of electrode arrays that can be adapted to the streamer resistivity method. Following this numerical study, we carried out both conventional and streamer resistivity surveys for the planned tunnel construction site located at the Han River in Seoul, Korea. To obtain high-resolution resistivity images we used the conventional method, and installed electrodes on the water bottom along the planned route of the tunnel beneath the river. Applying a two-dimensional inversion scheme to the measured data, we found three distinctive low-resistivity anomalies, which we interpreted as associated with fault zones. To determine the strike direction of these three fault zones, we used the quick and convenient streamer resistivity.