• Journal of Advanced Marine Engineering and Technology
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• 제41권1호
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• pp.91-98
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• 2017

본 논문에서는 해양 플랜트 수중 구조물의 감시 제어를 위한 수중 다중 센서 음향통신 기법에 대해 분석한다. 각 구조물의 상태 정보는 구조물에 부착된 센서를 통해 정보가 수중으로 전송되며, 여러 구조물의 정보를 동시에 전송 및 수신하는 최적의 기법을 제시한다. 다중 센서를 통해 동일한 주파수를 이용하여 간섭 없이 성능 열화를 감소시키는 대역확산기법을 이용하여 수중 통신 송수신단 구성을 제시하며, 수중에서의 다중 경로로 인한 성능 열화를 감소시키기 위한 RAKE 기반의 수신모델을 제시한다. 본 논문에서는 센서의 갯수를 세 개로 제한하고 센서의 개수에 따른 성능을 시뮬레이션을 통해 제안한 방식의 효율성을 증명하였다.

• 화약ㆍ발파
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• 제19권1호
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• pp.71-84
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• 2001

Korean peninsula has the most mountainous areas such as mountains and hilly country, and it is surrounded by the sea on all sides but one. In this respect, a large scaled construction works have frequently been conducted. However, it is not easy to porform a large scale blasting work without giving any harm to houses or facilities nationwide. Therefore, blasting work becomes more closely related to maintenance thing due to the development of the downtown or a large structure for key facilities. Many researches on blast in the open space and tunnel blasting have been conducted. On the contrary, research on underwater blasting operations is comparatively scanty even though much more necessity of marine development is required. In this respect, this study aims to investigate the characteristics of underwater blasting operations and to make a comparative study with blast in the open space. As a result of examining into the characteristics during underwater blasting operations, the around oscillation in case of underwater blasting operations shows significantly low compared to that in case of blast in the open space, and this means that much more cautious altitude must be taken in designing underwater blasting operations compared to the design of blast In the open space. As a result of analysis on the difference between a square root and a cube root In the equation of estimating oscillations in the actual site, it is shown that it is shown to apply a square root for the estimation of oscillation at 60 meters in case of underwater blasting operations and at 22 meters case of general blast in the open space.

• 전기전자학회논문지
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• 제27권3호
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• pp.225-233
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• 2023

본 논문은 해양사고 시 인체 인양정보를 모니터링하는 시스템을 구현한다. 모니터링 시스템은 수중환경 정보를 송신하는 인양기구제어기를 통하여 초음파 통신을 수행하며, 수상에서는 관제센터 또는 모선까지 10 km내 GPS 정보를 제공하기 위해 LoRa 통신을 수행한다. 수중 인양제어기는 공압 센서, 자이로 센서 및 온도센서 정보를 전송한다. 수중조건은 수심 10m 마다 수압 1기압씩 높아지고, 기구의 공기양은 육상에 비해서 1/2씩 줄어드는 환경에서 60 kg 수중 마네킹을 모델을 사용한다. 인양기구 SMB(Surface Marker Buoy)에 38g의 CO2 카트리지 1개를 사용하여 10 sec 이내에 수면 상승 조건을 기반으로 인양기구 출수 시험을 한다. 수중 통신은 수심 40m에서 100m까지 2,400bps 초음파 센서를 이용하여 데이터 전송환경을 구성한다. 모니터링 신호는 수심, 수온, 방향각 등을 수면 위의 구조요원에게 제공함으로써 인양작업자의 안전과 안전한 인체 구조를 목표로 한다.

• 한국음향학회지
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• 제27권4호
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• pp.178-182
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• 2008

레이저 도플러 진동 측정기를 사용하여 수중 구조물의 진동을 측정하는 경우, 구조물의 표면으로부터 레이저 광선이 겪는 위상 변화를 감지함으로써 진동을 측정하게 된다. 이 경우 레이저 광선은 진동하는 구조물 표면으로부터 방사되는 방사 음장을 통과하게 되며, 이러한 방사 음장에 의한 굴절률 변화에 의하여서도 레이저 광선은 위상 변화를 겪게 된다. 구조물의 진동을 측정하기 위하여서는 표면 진동 자체에 의한 레이저 광선의 위상 변화만을 감지하여야 하지만, 방사 음장의 굴절률 변화에 의한 레이저 광선의 위상 변화가 추가로 발생하여 진동 측정값에 오차를 발생시키게 된다. 이러한 오차는 공기중에서는 무시할 수 있을 정도로 작은 값이지만, 특히 수중에서는 구조물의 진동 측정값에 상당한 오차를 발생시킬 수 있게 된다. 본 논문에서는 수중에서의 방사 음장에 의한 레이저 광선의 위상 변화를 분석하였다. 예로써 수중에서 진동하는 무한 원통형 구조물로부터 방사 음장에 의한 레이저 광선의 위상 변화를 예측하고 분석하였다.

• 한국소음진동공학회논문집
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• 제22권1호
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• pp.81-87
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• 2012

This paper establishes a modeling and simulation procedure for structural response and reliability of a cylindrical array sensor on submarines under the shock generated by underwater explosion. The structural reliability of SONAR is important because the submarine could get out of combat ability by the structural damage of the SONAR upon explosion. A cylindrical array sensor was first modeled using the finite element method. Modal analysis was then performed for the check of the reliability of the modeling. The shock resistance simulations were performed for the responses to the structural shock waves and for the responses to the directly applied underwater shock waves, according to BV-043 and MIL-STD-901D, respectively. The stresses of the structure were evaluated with von-Mises scheme. Vulnerable regions were exposed through mapping the maximum stress to the structural model. Maximum stress of the SONAR was compared with the yield stress of the material to examine the structural reliability.

• 한국정보통신학회논문지
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• 제1권1호
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• pp.95-104
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• 1997

본 논문은 수중에서 초음파를 이용하여 데이터를 전송할 때, 전체 성능에 영향을 주는 Multipath를 수학적으로 분석하였고, 분석된 결과를 이용하여 Multipath의 영향을 고려한 수중 초음파 통신시스템을 구현하였다. 표면이나 해저면, 반사물 등에 의한 신호의 반사로 인한 Multipath를 이상적인 채널을 가정하여 각 신호에 대하여 수학적으로 모델링 하였으며, multipath에 의한 영향을 살펴보기 위해 SMR(Signal to Multipath Ratio) 파라미터를 도입하였으며 MATLAB을 이용하여 모의 실험하였다. 주파수 대역폭의 심한 제약을 가지고 있는 수중 초음파 환경에서 보다 효율적인 데이터 전송을 위하여 ${\pi}/4$ QPSK(Quadrature Phase Shift Keying) 변복조 방식을 도입하였고, 이 변복조 방식을 이용하여 수중 초음파 환경에서 보다 효율적인 시스템을 구현하였다.

• Ocean Systems Engineering
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• 제4권1호
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• pp.1-19
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• 2014

Hydrodynamic coefficients strongly affect the dynamic performance of autonomous underwater vehicles (AUVs). A novel kind of underwater vehicle (Heavier-than-water AUV) with higher density than water is presented, which is different from conventional ones. RANS method and overlapping grids are used to simulate the flow field around the vehicle. Lifts, drags and moments of different attack and drift angles in steady state are calculated. The hydrodynamic performances and how the forces change with the attitude are analyzed according to the flow field structure. The steady-state results using overlapping grid method are compared with those of software FLUENT and wind tunnel tests. The calculation results show that the overlapping grid method can well simulate the viscous flow field around the underwater vehicle. Overlapping grid skills have also been used to figure out the planar-motion-mechanism (PMM) problem of Heavier-than-water AUV and forecast its hydrodynamic performance, verifying its effectiveness in dealing with the dynamic problems, which would be quite helpful for design and control of Heavier-than-water AUV and other underwater vehicles.

• 로봇학회논문지
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• 제13권2호
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• pp.103-112
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• 2018

In this paper, a high performance underwater vehicle which can be manufactured at low cost is designed and fabricated, and its performance is verified through experiments. To improve efficiency, the Myring equation is used to design the appearance and the duct structure including the thruster is planned to increase the propulsion efficiency while reducing the drag force. Through various methods, it is secured stable waterproof performance, and also is devised to have high speed movement and turning performance. The developed underwater vehicle is equipped with a high output BLDC motor to achieve a linear speed of up to 2 m/s and can change direction rapidly with stability through four rudders. The rudders are driven by coupling a timing belt and a pulley by extending the axis of a servo motor, and are equipped at the end of the body to turn heading. In addition, for stable posture control, the roll keeps its internal center of gravity low and maintains its stability due to restoring force. By controlling the four rudders, pitch and yaw are handled by the PID controller and show stable performance. To investigate the horizontal turning performance, it is confirmed that the yaw rate controller is designed and stable yaw rate control is performed.

• 전기학회논문지
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• 제66권1호
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• pp.33-39
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• 2017

A top priority in the design of underwater vehicle is to guarantee the dependability of the electric system because failure of the electrical power supply system is directly related to the life of the passengers. In this paper, we present four kinds of alternative designs to improve reliability of electrical system in underwater vehicle. To reduce the risk and to increase availability of the electrical system, we use the redundancy of the grid structure and power converter. For all design alternatives, we carry out Fault Tree Analysis. Based on the FTA result, we implement RAM simulation to compare the risk and availability for the proposed design alternatives.

• 로봇학회논문지
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• 제17권2호
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• pp.238-244
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• 2022

Maintenance works of offshore wind turbines could take a longer time, which causes the reduction of their energy production efficiency, than those of onshore wind turbines owing to severe offshore environment. Subsequently, preventive maintenance measures are required to increase the production efficiency. Thus, we proposed a wheel-based Underwater Pole Climbing Robot (UPCR) platform, which was aimed at the periodic inspection and maintenance of the substructures of the offshore wind turbines, with three advantages: high speed, good mobility and low power consumption. In the proposed platform, a self-locking system using a gripper module was adopted for preventing slippery problem and a dual configuration was chosen for moving on a branched structure. As a result, the proposed robot was able to continuously climb, preserve it's position at the pole without consuming energy, and move from the pole to the other branched pole. The results of this research show that the UPCR has basic moving capabilities required for the underwater work for the substructures of the offshore wind turbines.