• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.3
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• pp.323-328
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• 2011

In real system application, the 3-D obstacle avoidance system for the autonomous control of the underwater flight vehicle (UFV) operates with the following problems: the sonar offers the range/bearing information of obstacles in a local detection area, it requires the system that has reduced acoustic noise and power consumption in terms of the autonomous underwater vehicle (AUV), it has the UFV operation constraints such as maximum pitch and depth, and it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent 3-D obstacle avoidance algorithm using the evolution strategy (ES) and the fuzzy logic controller (FLC), is proposed. To verify the performance of the proposed algorithm, the 3-D obstacle avoidance of UFV is performed. Simulation results show that the proposed algorithm effectively solves the problems in the real system application.

• Journal of the Korea Institute of Building Construction
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• v.3 no.1
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• pp.123-129
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• 2003

The production accounts of domestic by-product is increased after 1990's. It is worried about the life reduction of dump land, as dump land's capacity have reached to limitation and the amount of construction industrial wastes is going higher. Recently, recycling aggregates could be gained from the reconstruction works using recycle process, and the study research of recycle concretes developed concrete application methods. It could put some outcome of studies to practical use for concrete products. The methods of crushing waste concrete are going diverse. In this study. the fundamental experiments and recycling application is investigated and analyzed with use of recycling aggregate which made of mechanical crush and underwater electrical impact crush, and the difference between underwater electrical impact crush, mechanical crush and natural aggregates is studied.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.676-681
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• 2013

For underwater vehicles, the use of sensors such as cameras and laser scanners is limited by the difference in environment compared to robots designed to work on dry land. In underwater environments, if use is made of sound signals, valuable information can be obtained. The most important application is the localization of underwater sound sources. The estimated location of a sound source can be used to control underwater robots or submarines. Thus, the purpose of this research is to estimate the source's direction and location in a noisy underwater environment. The direction of the sound source is obtained using two hydrophones. Furthermore, if we assume that the robot or sound source is moving, the location of the sound source is estimated using more than two estimated directions. The feasibility of the developed algorithm is examined by experiments in a water tank and in the ocean.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.4
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• pp.498-504
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• 2005

A fuzzy logic for collision avoidance of underwater robots is proposed in this paper. The VFF(Virtual Force Field) method, which is widely used in the field of mobile robots, is modified for application to the autonomous navigation of underwater robots. This Modified Virtual Force Field(MVFF) method using the fuzzy logic can be used in either track keeping or obstacle avoidance. Fuzzy logics are devised to handle various situations which can be faced during autonomous navigation of underwater robots. The obstacle avoidance algorithm has the ability to handle multiple static obstacles. Results of simulation show that the proposed method can be efficiently applied to obstacle avoidance of the underwater robots.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1327-1330
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• 2004

An underwater robotic system has been developed and applied to visual inspection of reactor vessel internals. The Korea Electric Power Robot for Visual Test (KeproVt) consists of an underwater robot, a vision processor-based measuring unit, a master control station and a servo control station. The robot guided by the control station with the measuring unit can be controlled to have any motion at any position in the reactor vessel with $\pm$1 cm positioning and $\pm$2 degrees heading accuracies with enough precision to inspect reactor internals. A simple and fast installation process is emphasized in the developed system. The developed robotic system was successfully deployed at the Younggwang Nuclear Unit 1 for the visual inspection of reactor internals.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.23 no.6
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• pp.451-456
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• 1990

Underwater acoustic navigation and position fixing systems have been extensively used not only in surface position fixing but also in underwater position fixing. Tn recently, application of these systems has been in the field of underwater inspection of offshore platforms, where it is vital to track the position of an unmanned submersible or diver carrying underwater cameras and nondestructive testing equipment. But these systems are included the fixing errors as results of a signal with additive noise, the attenuation of sound and the interference effects due to multipath reflection and forward scattering. In this paper to improve the position fixing by the supershort baseline acoustic position system, a method to apply the Kalman filter to the fix of the system is proposed and the digital simulation under noise condition is conducted. The optimal positions by the Kalman filter are compared with original positions, and it is confirmed that the results of the pro-posed method are evidently more accurate.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.10
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• pp.987-995
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• 2009

As an experimental technique to analyze the far-field characteristics of underwater cylindrical array sensors, cylindrical acoustic holography is studied. Inside an laboratory water tank, far-field directivity patterns as well as near-field source images are reconstructed from the measured hologram by hydrophone array. Approximate equation for far-field directivity estimation is derived based on stationary phase method. The simulation and experiment show well usefulness of the proposed method in application of underwater array sensors.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2009.04a
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• pp.111-116
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• 2009

As an experimental technique to analyze the far-field characteristics of underwater cylindrical array sensors, cylindrical acoustic holography is studied. Inside an laboratory water tank, far-field directivity patterns as well as near-field source images are reconstructed from the measured hologram by hydrophone array. Approximate equation for far-field directivity estimation is derived based on stationary phase method. The simulation and experiment show well usefulness of the proposed method in application of underwater array sensors.

• Journal of Ocean Engineering and Technology
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• v.29 no.5
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• pp.380-385
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• 2015

In the development of an underwater construction robot, the reliability of the operating system is the most important issue because of its huge maintenance cost, especially in a deep sea application. In this paper, we propose a new redundant architectural design for the hydraulic control system of an underwater construction robot. The proposed architecture consists of dual independent modular redundancy management systems linked with a commercial profibus network. A cold standby redundancy management system consisting of a preprocessing switch circuit is applied to the signal network, and a hot standby redundancy management system is adapted to utilize two main controllers.

• Journal of Power System Engineering
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• v.21 no.4
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• pp.26-33
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• 2017

In this paper, we developed a control algorithm to maximize the cleaning performance and the cleaning efficiency of the underwater cleaning robot platform which has been developed for various cistern environment in the industrial field. Through these research and development, we have presented the operation and application of underwater cleaning robots that have been developed, and contributed to commercialization. Finally, this results were verified the effectiveness through actual field experiments.