• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.3
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• pp.395-403
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• 2016

A cylinder-type underwater vehicle for military use that is running near the free surface at the final homing stage to hit a surface ship target is affected by wave force and moment. Since wave can affect an underwater vehicle running at the depth less than half of the modal wave length, it is important to confirm that the underwater vehicle can work well in such a situation. In this paper, wave force and moment per unit wave amplitude depending on wave frequency, wave direction, and vehicle's running depth were calculated by 3-Dimensional panel method, and the numerical results were modeled in external force terms of six degrees of freedom equations of motion. Motion simulation of the underwater vehicle running in various speed, depth, and sea state were performed.

• Journal of Ocean Engineering and Technology
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• v.37 no.3
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• pp.89-98
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• 2023

Analyzing the interactions of free surface waves caused by a submerged-body movement is important as a fundamental study of submerged-body motion. In this study, a two-dimensional mini-towing tank was used to tow an underwater body for analyzing the generation and propagation characteristics of free surface waves. The magnitude of the maximum wave height generated by the underwater body motion increased with the body velocity at shallow submerged depths but did not increase further when the generated wave steepness corresponded to a breaking wave condition. Long-period waves were generated in the forward direction as the body moved initially, and then short-period waves were measured when the body moved at a constant velocity. In numerical simulations based on potential flow, the fluid pressure changes caused by the submerged-body motion were implemented, and the maximum wave height was accurately predicted; however, the complex physical phenomena caused by fluid viscosity and wave breaking in the downstream direction were difficult to implement. This research provides a fundamental understanding of the changes in the free surface caused by a moving underwater body.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2001.05a
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• pp.363-368
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• 2001

Because of rapid damping of light and electromagnetic wave, acoustic wave has been widely used for underwater communication. However, the propagation of the acoustic wave is highly dependent on the environment such as water properties(temperature, pressure, salinity), bottom and surface conditions, etc.. This paper deals with the surface reflection effect on the wave propagation in the underwater anechoic basin in KRISO. Both theortical and experimental approaches are performed and the results are compared.

• International Journal of Naval Architecture and Ocean Engineering
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• v.5 no.3
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• pp.392-403
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• 2013

For the analysis of radiating noise problems in medium-to-high frequency ranges, the Energy Flow Boundary Element Method (EFBEM) was developed. EFBEM is the analysis technique that applies the Boundary Element Method (BEM) to Energy Flow Analysis (EFA). The fundamental solutions representing spherical wave property for radiating noise problems in open field and considering the free surface effect in underwater are developed. Also the directivity factor is developed to express wave's directivity patterns in medium-to-high frequency ranges. Indirect EFBEM by using fundamental solutions and fictitious source was applied to open field and underwater noise problems successfully. Through numerical applications, the acoustic energy density distributions due to vibration of a simple plate model and a sphere model were compared with those of commercial code, and the comparison showed good agreement in the level and pattern of the energy density distributions.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.1185-1191
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• 2000

In general, the strength of hull structures can be estimated from stress evaluation considering static and hydro-dynamic load due to sea-wave. However, war ships such as submarine, have frequently experienced the underwater explosion and local structures of ship as well as hull girder can be damaged by the dynamic response excited from underwater non-contact explosion. When explosion happens at underwater, shock wave is radiated In early short time, then gas bubbles are generated, and expansion and contraction are repeated as they float to the surface. The shock wave causes the damage of equipment and its supporting structures, on the other hand, the hull girder strength can be lost by resonance between bubble pulsation and lowest ship natural vibration period. In this paper, the hydro-Impulse force due to bubble was calculated. Based on these results the hull girder strength of submarine was estimated from transient response analysis by using NASTRAN. Also, shock analysis for some equipment supporting structures was carried out by using DDAM. In order to evaluate the strength of these local structures due to shock wave.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.1
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• pp.40-45
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• 1997

A robust disturbance rejection controller for the hovering motion of underwater vehicles in near the surface of sea is presented. The suggested controller consists of two control parts, the one is disturbance observer for taking into account the effects of sea wave and missile-launching forces, and the other is sliding mode controller for the robust stability of underwater vehicles with model uncertainties and nonlinearities. It is shown that the sliding mode control system with disturbance observer is more effective compared with the sliding mode control system, especially in case that large sea wave force is affected.

• Journal of the Korean Geophysical Society
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• v.3 no.4
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• pp.251-260
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• 2000

Applicabilities of two numerical methods, the 2-dimensional and the 3-dimensional method, are evaluated to inverse test results obtained from the underwater SASW(Spectral -Analysis-of-Surface-Waves) method. As a result of this study, it has been found that the 2-dimensional method can supposed to be applicable for the cases where stiffness of soil layer increases gradually with depth, and the stiffness is relatively low. For the other cases, however, it has been concluded that the 3-dimensional method needs to be applied to determine realistic theoretical dispersion curves. An example is also shown that in situ soil profile underwater is estimated from experimental dispersion curves using the 3-dimensional method. As a results, it can be concluded that the underwater SASW method can be effectively applied to explore the underwater soil condition.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.6
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• pp.831-836
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• 2010

In real system application, the path planning and following system for the coordinated control of heterogeneous marine robots based on the underwater acoustic communication has the following problems: surface and underwater robots have different maneuvering properties, an underwater robot requires more effective operating, it has a limited communication range because of the transmission loss (TL) of acoustic wave, it has a communication error because of the Doppler distortion of acoustic wave, and further, it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent path planning algorithm using the evolution strategy (ES) and the fuzzy logic controller (FLC) based on system modeling, is proposed. To verify the performance of the proposed algorithm, the path planning and following of an underwater robot is performed according to the maneuvering of a surface robot. Simulation results show that the proposed algorithm effectively solves the problems.

• The Journal of the Acoustical Society of Korea
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• v.20 no.1
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• pp.68-76
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• 2001

Sonar is the system that detects objects and finds their location in water by using the echo ranging technique. In order to have excellent performance in variable environment, acoustic characteristics of this system must be analyzed accurately. In this paper, based on the finite element analysis, modeling and analysis of acoustic characteristics of underwater acoustic sensors are preformed. Couplings between piezoelectric and elastic materials, and fluid and structure systems associated with the modeling of piezoelectric underwater acoustic sensors are formulated. In the finite element modeling of unbounded acoustic fluid, IWEE (Infinite Eave Envelop Element) is adopted to take into account the infinite domain. When an incidence wave excites the surface of Tonpilz underwater acoustic sensor, the scattered wave on the sensor is founded by satisfying the radiation condition at the artificial boundary approximately. Based on this scattering analysis, the electrical response of the underwater acoustic sensor under incidence, so called RVS (Receiving Voltage Signal) is founded accurately. This will devote to design Sonar systems accurately.

• Journal of Ocean Engineering and Technology
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• v.36 no.2
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• pp.83-90
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• 2022

This paper presents the minimum submergence depth of an underwater vehicle that can remove the effect of free surface on the resistance of the underwater vehicle. The total resistance of the underwater vehicle in fully submerged modes comprises only viscous pressure and friction resistances, and no wave resistance should be present, based on the free surface effect. In a model test performed in this study, the resistance is measured in the range of 2 to 10 kn (1.03-5.14 m/s) under depth conditions of 850 mm (2.6D) and 1250 mm (3.8D), respectively, and the residual resistance coefficients are compared. Subsequently, resistance analysis is performed via computational fluid dynamics (CFD) simulation to investigate the free surface effect based on various submergence depths. First, the numerical analysis results in the absence of free surface conditions and the model test results are compared to show the tendency of the resistance coefficients and the reliability of the CFD simulation results. Subsequently, numerical analysis results of submergence depth presented in a reference paper are compared with the model test results. These two sets of results confirm that the resistance increased due to the free surface effect as the high speed and depth approach the free surface. Therefore, to identify a fully submerged depth that is not affected by the free surface effect, case studies for various depths are conducted via numerical analysis, and a correlation for the fully submerged depth based on the Froude number of an underwater vehicle is derived.