• The Journal of the Acoustical Society of Korea
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• v.24 no.3
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• pp.166-170
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• 2005

This paper describes the experimental study for the position estimation method of underwater sound source using the Nearfield Acoustic Holography. The result confirms that it can be used in the identification of underwater noise sources. The sound sources in the experimental work consists of 2 spherical projectors and the near-Held sound pressure is measured in the hologram plane. From the cross-power spectra of the measured data, the complex sound pressures on the hologram plane is derived and its spatial transformation gives sound fields in a source region. The obtained sound fields in a source region showed that the position of each sound source and their relative source strength are exactly estimated. In conclusion, this technique can be applied for estimation of each source position and its relative strength contribution for the underwater multiple sound sources.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2002.05a
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• pp.163-166
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• 2002

The underwater acoustic communication has been widely applied to various objects such as ocean exploration-development and military affairs. And recently for embodiment of the communication system that is installed in a submarine and underwater work system, many studies have been progressing. This scope of the main studies in the meantime. It made it possible for a diver and a scuba diver who arc difficult to notice the situation of the outside because of staying in the water to hear a sound through a small speaker by using a ultra sound transducer that a central frequency is 32KHz after modulation of a voice to give the information of the outside. Also in case of happening an emergency to a diver in the water, it made him/her ask for help to a person in the outside by pressing a key and send a letter data to a person in the outside by using a keyboard. Through this system, it is possible to send a voice or data between the underwater and the outside and it is available to a diver or skin scuba diver.

• Journal of Ocean Engineering and Technology
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• v.30 no.5
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• pp.400-404
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• 2016

This paper presents experimental results for the vibration characteristics of the small unmanned underwater vehicle (UUV) OPKO 300, which was designed and manufactured by Daewoo ship and Marine Engineering Ltd. The autonomy of UUVs has led to an increase in their use in scientific, military, and commercial areas because their autonomy makes it possible for UUVs to be utilized instead of humans in hazardous missions such as mine countermeasure missions (MCM). Since it is impossible to use devices based on electromagnetic waves to gather information in an underwater environment, only sonar systems, which use sound waves, can be used in underwater environments, and their performance can strongly affect the autonomy of a UUV. Since a thruster system, which combines a motor and propeller in a single structure, is widely used as the propulsion system of a UUV and is mounted on the outside of a UUV’s stern, it can generate vibration, which can be transferred throughout the shell of the UUV from its stern to its bow. The transferred vibration can affect the performance of various sonar systems such as side-scan sonar or forward-looking sonar. Therefore, it is necessary to estimate the effect of the transferred vibration of the UUV on the sonar systems. Even if various numerical methods were used to analyze the vibration problem of a UUV, it would be hard to predict the vibration phenomena of a UUV at the initial design stage. In this work, an experimental study using OKPO 300 and an impact hammer was carried out to analyze the vibration feature of a small real UUV in the air. The frequency response function of the vibration based on the experimental results is presented.

• The Journal of the Acoustical Society of Korea
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• v.26 no.7
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• pp.366-374
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• 2007

In underwater wireless communication, needs for long distance communication using the high frequency are surpassing ones of short range communication by ultrasonic wave, and demands for transmitting and receiving various data such as voice or high resolution image data are increasing as well. In this work, we studied the effects on the real underwater communication depending on the difference of digital modulation methods. Simulation shows that only the performance of GMSK among many other PSK based modulation schemes(BPSK, QPSK, MSK, GMSK) is significant. Test condition simulates the oceanographic conditions along the 207-survey line, 15Km south of Busan and SNR is maintained 35dB or below. Simulated tests are composed of both transmitting image data($3{\times}10^5$ pixel, 4 bit per pixel) and voice communication($10^{-2}$BER, channel capacity of 1Kbps). Test results show that there are gain of about 7 seconds in transmission time in image transmission case, where channel capacity for BPSK, QPSK, and MSK and for GMSK were 65 Kbps and 45 Kbps, respectively and gain of about 8Km in distances in voice communication case.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.33 no.4
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• pp.348-355
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• 2000

This paper described the relationship between the behavior of the Israeli carp, Cyprinus carpio and the environmental noise level due to the dynamite explosion work. The experiment was conducted in the cage ($L10{\times}W4{\times}D4 m$) of aquaculture located at Chungjoo Lake, Chechon, in 1997. The fish trajectory was obtained by the telemetry system in which a pulsed ultrasonic pinger ($50 kHz, {\phi}16{\times}L70 mm$) attached to the fish was tracked three dimensionally, and the underwater noise levels were measured. The results of the study were as follows: 1. The underwater noise levels in the normal blasting measured at a distance of 400 m from the source of noise increased by $40 dB (re 1 {\mu}Pa)$ compared to the levels before explosion. The dominant frequency and the increased power spectrum level of the underwater noise by the explosion work were $75 to 100 Hz and 22.9 to 35.3 dB$, respectively. 2. The underwater noise levels in the test blasting measured at a distance of 350 m from the source of noise increased by average $49.5 dB (re 1 {\mu}Pa)$compared to the levels before explosion. 3. The swimming area of the fish was reduced with the time after explosion, and after more than one hour the fish represented the similar swimming area and behavior to the status of right before explosion. 4, The swimming depth layer of the fish was most of the case at the sea surface less than 1,0 m except during explosion or right after of it. But the fish swam downward when an external stimulus like the explosion noise was given to the fish. 5. The average swimming speeds of the fish before, during and after the works were about 1.2 times, 1.9 times and 1.0 times of the body length, respectively, and the speed of the fish with explosion was faster 1.6 times than the speed without of that. Consequently, the explosion noise levels measured by this study were sufficiently high to affect the fish, and the heavy shock by the explosion works could produce a considerable unfavorable effects to the fish.

• Journal of Convergence for Information Technology
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• v.10 no.7
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• pp.33-40
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• 2020

This work tackles the problem of conventional reinforcement learning scheme which has a relatively long training time to reduce energy consumption in underwater network. The enhanced scheme adjusts the learning range of reinforcement learning based on distance estimation. It can be reduce the scope of learning. To take account the fact that the distance estimation may not be accurate due to the underwater wireless network characteristics. this research added noise in consideration of the underwater environment. In simulation result, the proposed AQ-NAV scheme has completed learning much faster than existing method. AQ-NAV can finish the training process within less than 40 episodes. But the existing method requires more than 120 episodes. The result show that learning is possible with fewer attempts than the previous one. If AQ-NAV will be applied in Underwater Networks, It will affect energy efficiency. and It will be expected to relieved existing problem and increase network efficiency.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.81.1-81
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• 2002

$\textbullet$ This paper presents a study on the development of a walking robot for an armor-stone work of the breakwater construction. The armor-stone work is putting stones about 0.3 ∼ 2m3 on the surface of the breakwater to prevent it from waving. $\textbullet$ This work has been done manually, and its process plan is uncertain by effects of the weather, wave and tide of sea. Therefore the constructional cost is considered to be wasteful $\textbullet$ Working in underwater as well as on land for human workers causes the accident and caisson disease, so it is necessary to replace the process to be mechanized. $\textbullet$ The basic requirements of the robot for mechanizing are as follows : 1) To have a large...

• Journal of Fisheries and Marine Sciences Education
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• v.25 no.3
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• pp.733-742
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• 2013

The Korea has significant tidal current energy resources, but it is so hard to work underwater for tidal turbine installation. Therefore commercial diving work is very important for tidal current generator. Also, Jangjuk channel is vary famous as proper area to generate tidal current energy. Nevertheless, no one is studied about characteristics of commercial diving works with installation of tidal current generator. The purpose of this study is to introduce commercial diving with work types and investigate critical limits of diving working under the conditions, which are working only to minutes at slack tide during the neap tide. As the results, work types are five as like mooring installation, OMAS(Offshore Maintenance Access System), support structure installation, cable and turbine installation. Here, the original construction period is expected about 4 months, but the construction take 18 months to complete. The cause of extends construction period is insufficiency of researching tidal current conditions at the site and ignorance of slack tide which need to secure diving working time. Total diving working times are 110th during 18 months, the highest percentage of diving times is turbine installation about 43.6 %, and cable, mooring installation and support structure construction are 27.3 %, 15.5 %, 13.6 %, respectively. On the basis of this study, estimation of times of commercial diving is possible with work types of tidal current power, and has a significance as basic data to determining construction period.

• Nuclear Engineering and Technology
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• v.52 no.8
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• pp.1669-1676
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• 2020

The IAEA held the IAEA Robotics Challenge 2017 (IRC2017) to protect workers during inspections of spent nuclear fuel and to improve work efficiency and accuracy rates. To this end, we developed an unmanned surface vehicle (USV) system called the spent fuel check vehicle (SCV). The SCV extracts and tracks the target through image processing, and it is necessary to find suitable parameters for the SNF storage environment in advance. This preliminary work takes time. It is also difficult to prepare the environment in which the work will proceed. In addition, if the preliminary work does not proceed as planned, the system will not move at the proper speed and will become unstable, with yawing and overshoot. To solve this problem, we developed a controller with a camera that can extract the depth at which the target is stored and allow distance-adaptive control. This controller is able to attenuate system instability factors such as yawing and overshoot better than existing controllers by continuously changing system operation parameters according to the depth. In addition, the time required for preliminary work during inspections can be shortened.

• Magazine of the Korea Concrete Institute
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• v.11 no.2
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• pp.231-239
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• 1999

When the concrete is cast at the sea, there are lots of restrictions in the working process being different from in land, and the concrete is suffered from the physical and chemical action in terms of marine environment. The compressive strength was measured after antiwash out underwater concrete mixed with fly ash had been cast and cured in order to produce the endurable high performance concrete, and then its characteristic was discussed by comparing one cured in air with in fresh water, and the effect of fly ash usage under the properly controled sea water temperature of $15{\pm}3^{\circ}C$ was also covered. The present work showed that the proper usage of fly ash was obtained at the condition of around 10% of substituted binder weight under the structure required the early age strength, and at the condition of over 40% if considering its durability and economy.