• Journal of Navigation and Port Research
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• v.39 no.3
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• pp.253-260
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• 2015

There are many efforts to mechanize the process for underwater port construction due to the severe and adverse working environment. This paper presents an underwater construction robot to level rubbles on the seabed for port construction. The robot is composed of a blade and a multi-functional arm to flatten the rubble mound with respect to the reference level at uneven terrain and to dig and dump the rubbles. This research analyzes the kinematics of the blade and the multi-functional arm including track and swing motions with respect to a world coordinate assigned to a reference depth sensor. This analysis is conducted interfacing with the position and orientation sensors installed at the robot. A hydraulic control system is developed to control a track, a blade and a multi-functional arm for rubble leveling work. The experimental results of rubble leveling work conducted by the robot are presented in land and subsea. The working speed of the robot is eight times faster than that of a human diver, and the working quality is acceptable. The robot is expected to have much higher efficiency in deep water where a human diver is unable to work.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.6
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• pp.1089-1094
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• 2021

In order to support the restoration and construction work of port infrastructure facilities damaged or damaged due to disasters and disasters, it is linked with work equipment based on the performance of duties such as regular patrol in the port, monitoring the underwater environment, and acquisition of underwater configuration information in the port, Define content related to AUV platform analysis and design that can support construction.

• 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 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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• 2006.10a
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• pp.105-114
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• 2006

Together with the trend of enhancement in domestic industrial development and economic progress due to import and export, the demand for construction of the roads, bridges, especially port facilities, and several coastal protection and ocean structures is increasing rapidly. MOMAF of Korean Government is driving construction of 9 new ports and renovation of the existing fishery ports. Among these structures most of bridge base, wharves, dolphins, quays, and jetties are being newly built of steel or concrete pile. As the base, supporting bulkheads, and piles are underwater after construction, it is difficult to figure out the status of structures and not enough to get maintenance and strengthen the structures. Every year, moreover, these works suck the government budget due to higher incomplete maintenance expense for protection from corrosions of structures and increased underwater construction period. for the purpose of cutting down the government budget, it is necessary to extend the life cycle of the existing structures. We developed a new method for maintenance of submerged structures near the waterline by allowing dry work environment with the floating caisson. The method shows easy to move around the working area and handle. It also showed not only a significant reduction of maintenance expenses and time for anti-corrosion work but also better protection. This will be a milestone to reduce the maintenance and construction expenses for the shore and water structures.

• Journal of Navigation and Port Research
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• v.33 no.5
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• pp.323-330
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• 2009

We have been developing an underwater robot for harbour construction using a parallel mechanism The robot is attached to the rope of a crane, which curries a large stone into the undersea The robot's yaw and pitch are controlled by hydraulic cylinders but its roll is uncontrollable. We mount propellers in both side of the robot to generate the roll motion This paper studies on the control for the roll motion of a underwater robot. A gyro-sensor is used to measure the angle in a roll motion We develop the dynamic model to describe the robot's roll motion by a second order non-linear system and identify the model parameters by recursive least square and adaptive identifier. PD control, recursive model based control and adaptive model based control are applied with the dynamic model which computes the control input to compensate disturbances. This paper introduces the underwater robot system and presents the simulated and experimental results of the proposed controller.

• Journal of Navigation and Port Research
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• v.31 no.5 s.121
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• pp.421-426
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• 2007

Recently, the defect maintenance period of the new construction structure was extended from 5 years to 10 years. And according to change of realization on the quality of construction and maintenance, a development of semi-permanent method of construction is required for maintenance of blind parts of underwater structure, such as bridge, dam, harbor, etc. In this study, we proposed a floating type sector dry caisson, which is effective to the maintenance of submerged large structures. These large structures were being maintained incompletely, partly due to unskilled divers and difficult working condition. Considering the easiness of access to the maintenance area and the cost for set up the working structure, especially for the case of structure slabs close to the sea surface and harrow pile span structures, we developed and introduced a sector dry caisson instead of the full caisson structure. By doing this, it is easy to move out the caisson rapidly in emergence case. Therefore, we expect that the floating sector caisson will contribute to reduce working time and improve the quality of underwater work in future days.

• Journal of the Korea institute for structural maintenance and inspection
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• v.18 no.4
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• pp.118-125
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• 2014

As the earth's current global warming has caused elevation of sea water temperature, size of storms is foreseen to increase and consequently large damages on port facilities are to be expected. In addition, due to the improved processing efficiency of port cargo volume and increasing necessity for construction of eco-friendly port, demands for various forms of port facilities are anticipated. In this study, two kinds of nondestructive evaluation (NDE) techniques (rebound hardness and ultrasonic pulse velocity methods) are investigated for the effective maintenance of smart green harbor system. A new methodology to estimate the underwater concrete strengths is proposed and its feasibility is verified throughout a series of experimental works.

• Journal of Navigation and Port Research
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• v.30 no.6 s.112
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• pp.447-455
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• 2006

Together with the trend of enhancement in domestic industrial development and economic progress due to import and export, the demand for construction of the roads, bridges, especially port facilities, and several coastal protection and ocean structures is increasing rapidly. MOMAF of Korean Government is driving construction cf 9 new ports and renovation cf the existing fishery ports. Among these structures most of bridge base, wharves, dolphins, quays, and jetties are being newly built cf steel or concrete pile. As the base, supporting bulkheads, and piles are underwater after construction, it is difficult to figure out the status of structures and not enough to get maintenance and strengthen the structures. Every year, moreover, these works suck the government budget due to higher incomplete maintenance expense for protection from corrosions cf structures and increased underwater construction period. For the purpose cf cutting down the expense cf government budget, it is necessary to extend the life cycle of the existing structures. Therefore, we developed a new method for maintenance of submerged structures near the waterline by allowing dry work environment with the floating caisson. The method shows easy to move around the working area and handle. It also showed not only a significant reduction of maintenance expenses and time for anti-corrosion work but also better protection This will be a milestone to reduce the maintenance and construction expenses for the shore and water structures.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2006.06b
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• pp.163-170
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• 2006

Together with the trend of enhancement in domestic industrial development and economic progress due to import and export, the demand for construction of the roads, bridges, especially port facilities, and several coastal protection and ocean structures is increasing rapidly. MOMAF of Korean Government is driving construction of 9 new ports and renovation of the existing fishery ports. Among these structures most of bridge base, wharves, dolphins, quays, and jetties are being newly built of steel or concrete pile. As the base, supporting bulkheads, and piles are underwater after construction, it is difficult to figure out the status of structures and not enough to get maintenance and strengthen the structures. Every year, moreover, these works suck the government budget due to higher incomplete maintenance expense for protection from corrosions of structures and increased underwater construction period. For the purpose of cutting down the expense of government budget, it is necessary to extend the life cycle of the existing structures. Therefore, we developed a new method for maintenance of submerged structures near the waterline by allowing dry work environment with the floating caisson. The method shows easy to move around the working area and handle. It also showed not only a significant reduction maintenance expenses and time for anti-corrosion work but also better protection. This will be a milestone to reduce the maintenance and construction expenses for the shore and water structures.