• Journal of Ocean Engineering and Technology
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• v.23 no.2
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• pp.58-68
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• 2009

The increased use of unmanned underwater vehicles (UUV) has led to the development of alternative navigational methods that do not employ acoustic beacons and dead reckoning sensors. This paper describes a simultaneous localization and mapping (SLAM) scheme that uses range sonars mounted on a small UUV. A SLAM scheme is an alternative navigation method for measuring the environment through which the vehicle is passing and providing the relative position of the UUV. A technique for a SLAM algorithm that uses several ranging sonars is presented. This technique utilizes an unscented Kalman filter to estimate the locations of the UUV and surrounding objects. In order to work efficiently, the nearest neighbor standard filter is introduced as the data association algorithm in the SLAM for associating the stored targets returned by the sonar at each time step. The proposed SLAM algorithm was tested by experiments under various three degrees of freedom motion conditions. The results of these experiments showed that the proposed SLAM algorithm was capable of estimating the position of the UUV and the surrounding objects and demonstrated that the algorithm will perform well in various environments.

• Journal of Ocean Engineering and Technology
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• v.34 no.5
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• pp.361-370
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• 2020

We developed a heavy-duty work class ROV trencher named URI-T (Underwater robot it's trencher) that can conduct burial and maintenance tasks for underwater cables and small diameter pipelines. It requires various supporting systems, including a dynamic positioning (DP) vessel, launch and recovery system (LARS), A-frame, and winch in order to perform burial tasks because of its dimensions (6.5 m × 5.0 m × 4.5 m, 20 t) and the tough working environment. However, operating a DP vessel has disadvantages as it is expensive to rent and operate and it is difficult to adjust the working schedule for some domestic coast construction cases. In this paper, we propose a method using a barge instead of a DP vessel to avoid the above disadvantages. Although burying the cable and pipeline using a barge has lower working efficiency than a DP vessel, it can save construction expenses and does not require a large crew. The proposed method was applied over two months at the construction of the water supply in Yokji-do, and the results were verified.

• Explosives and Blasting
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• v.38 no.4
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• pp.37-45
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• 2020

Todo was an uninhabited island located in the sea of Pusan Newport. It was a small island with the height of 32 m above sea level, and its area including the submerged part was approximately 24,400 ㎡. Unfortunately, the island was located exactly in the middle of the narrow entrance way to the North and South Container Wharfs of Pusan Newport so that a number of ships had to turn quickly to avoid collision with the island, which frequently caused collisions with other ships or cranes. To avoid such a danger and make the water way wider and deeper, the Ministry of Oceans and Fisheries decided to remove the island. This was believed to make even super-large vessels operate safely in the sea of Pusan Newport so that the competitiveness of the port could be highly enhanced. This paper describes in detail the whole process of the removing work, which was the first case of successful underwater blasting operation using bulk emulsion explosives and non-electric detonators to remove a whole island in South Korea.

• Journal of the Korea Society for Simulation
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• v.16 no.3
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• pp.19-28
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• 2007

We considered the authoritative representations of torpedo systems that was the engagement level model to develop system specifications and to analyze operational requirements on concept design phase. The Work Breakdown Structure(WBS) of models was defined about authoritative representations of the torpedo systems. The communication of information among each subsystems and input/output parameters were defined. In the heavy weight and light weight torpedo model, presetter, underwater maneuver, war head, sonar, guidance and control, propulsion subsystem modeling were developed for heavy-weight and the light-weight torpedo systems. The authoritative representations of torpedo systems have similar structures with those of the engineering level models and could be verified via engagement level simulations according to the V&V process in the future.

• 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 the Korea Society for Simulation
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• v.16 no.4
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• pp.1-12
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• 2007

This paper describes and explains that the engagement level model of submarine can be used in underwater engagement simulation taking reuse, interoperability, and extension to the engineering leveled simulation into consideration. WBS(Work Break-down Structure), internal data interface, and I/O data about the engagement level model of submarine are developed. It describes the modeling method of components of submarine model as well. In this paper, the non-acoustic detection and stealth models are excluded because those models are not related to the underwater engagement, so the excluded models need to be developed in the future.

• Journal of Advanced Marine Engineering and Technology
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• v.36 no.4
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• pp.451-458
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• 2012

In this paper, the design study of a new convertible six d.o.f underwater robot which can be a ROV or AUV according to underwater work purpose is presented. A structure design about the ROV and the AUV and its design on the control system is presented. In case of the AUV, an analysis on thruster forces in accordance with operating speed has been performed. A sensor fusion board which can proceed various sensor signals to identify correct positions and speeds has been developed and a total control system including EKF(Extended Kalman Filter) has been designed and developed.

• The Journal of the Acoustical Society of Korea
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• v.10 no.1
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• pp.47-51
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• 1991

it is well observed in the ocean that the surface disturbances due to rain, wind and breaking waves generate bubble clouds several meters deep from the water surfaces. Thses kinds of bubble clouds can work as a physical mechanism to produce underwater ambient noise. In the laboratory experiment observing the noise generated from a bubble cloud we showed a role of individual bubbles in collective oscillations of a bubble cloud. The experimental data agree very well with the theoretical predictions. These results confirm that the collective oscillations of a bubble cloud is one of the more likely mechanisms for an ocean ambient noise source around several hundred hertz.

• Journal of computational fluids engineering
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• v.18 no.1
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• pp.13-21
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• 2013

Cavitating flow is usually formed on the surface of a high speed underwater object. When a object moves near a free surface at very high speed, the cavity signature becomes one of the major factors to be overcome by sensors of military satellite. The present work was to study the free surface effect on the ventilated cavitation. The governing equations were Navier-Stokes equations based on a homogeneous mixture model. The multiphase flow solver used an implicit preconditioning method in the curvilinear coordinate system. The cavitation model used here was the one first presented by Merkle et al.(2006) and redeveloped by Park & Ha(2009). Computations considered the free surface effects were carried out with a NACA0012 hydrofoil and the corresponding results were compared with the experimental data to have a good agreement. Calculations were then performed considering the ventilated cavitation, including the effect of non-condensable gas under the free surface effects.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.33 no.4
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• pp.290-297
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• 1997

Underwater robotic vehicles(URVs) are used for various work assignments such as pipe-lining, inspection, data collection, drill support, hydrography mapping, construction, maintenance and repairing of undersea equipment, etc. As the use of such vehicles increases the development of vehicles having greater autonomy becomes highly desirable. The vehicle control system is one of the most critic vehicle subsystems to increase autonomy of the vehicle. The vehicle dynamics is nonlinear and time-varying. Hydrodynamic coefficients are often difficult to accurately estimate. It was also observed by experiments that the effect of electrically powered thruster dynamics on the vehicle become significant at low speed or stationkeeping. The conventional linear controller with fixed gains based on the simplified vehicle dynamics, such as PID, may not be able to handle these properties and result in poor performance. Therefore, it is desirable to have a control system with the capability of learning and adapting to the changes in the vehicle dynamics and operating parameters and providing desired performance. This paper presents an adaptive and learning control system which estimates a new set of parameters defined as combinations of unknown bounded constants of system parameter matrices, rather than system parameters. The control system is described with the proof of stability and the effect of unmodeled thruster dynamics on a single thruster vehicle system is also investigated.