• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.709-717
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• 2013

This paper presents the development of a specialized underwater leg with a manipulator function(convertible-to-arm leg) for the seabed walking robot named CRABSTER200(CR200). The objective functions of the convertible-to-arm leg are to walk on the seabed and to work in underwater for precise seabed exploration and underwater tasks under coastal area with strong tidal current. In order to develop the leg, important design elements including the degree of freedom, dimensions, mass, motion range, joint structure/torque/angular-speed, pressure-resistance, watertight capability and cable protection are considered. The key elements of the convertible-to-arm leg are realized through concept/specific/mechanical design and implementation process with a suitable joint actuator/gear/controller selection procedure. In order to verify the performance of the manufactured convertible-to-arm leg, a 25bar pressure-resistant and watertight test using a high-pressure chamber and a joints operating test with posture control of the CR200 are performed. This paper describes the whole design, realization and verification process for implementation of the underwater convertible-to-arm leg.

• Journal of Korea Multimedia Society
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• v.17 no.1
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• pp.104-112
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• 2014

With recent development of virtual reality technology, coupled with the growth of the marine industry, virtual underwater simulation systems are under development in various studies, for educational purposes and to simulate virtual reality experiences. Current literature indicates many underwater simulation systems to date have focused on the quality of visual stimulus delivered through three-dimensional graphics user interface, limiting the reality of the experience. In order to improve the quality of the reality delivered by such virtual simulations, it is crucial to develop multi-sensory technology rather than focus on the conventional audio-visual interaction, which limits experiencer from the sense of underwater immersion and existence within the simulation. This work proposes the immersive multi-sensory effector system, delivering the users with a more realistic underwater experience. The sense of reality perceived was evaluated, as the main factor of the virtual reality system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39C no.3
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• pp.264-274
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• 2014

Time synchronization becomes a critical issue in underwater acoustic networks (UANets) because nodes cooperate together or individually work by communicating each other in diverse underwater applications. Compared with the time synchronization approaches in terrestrial networks, several intrinsic limitations of UANets (e.g., the unavailability of GPS, long propagation delay, mobility due to currents, limited energy consumption, or low data rate) need to be considered in synchronizing the timing among underwater nodes. For the purpose of developing more efficient time synchronization protocols for UANets, we review the existing approaches, which estimate both the clock offset and the clock skew of underwater nodes. Finally, we outline the state-of-the art time synchronization protocols for UANets by comparing and summarizing them according to their synchronization characteristics.

• Journal of Navigation and Port Research
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• v.42 no.3
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• pp.237-244
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• 2018

When underwater rubble leveling work is carried out by a robot, real-time information on the topography around the robot is required for remote control. If the topographical information with respect to the current position of the robot is displayed as a 3D graphic image, it allows the operator to plan the working schedules and to avoid accidents like rollovers. Up until now, the topographical recognition was conducted by multi-beam sonars, which were only used to assess the quality before and after the work and could not be used to provide real-time information for remote control. This research measures the force delivered to the bucket which presses the mound to determine whether contact is made or not, and the contact position is calculated by reading the cylinder length. A variable bang-bang control algorithm is applied to control the heavy robot arms for the positioning of the bucket. The proposed method allows operators to easily recognize the terrain and intuitively plan the working schedules by showing relatively 3-D gratifications with respect to the robot body. In addition, the operating patterns of a skilled operator are programmed for raking, pushing, moving, and measuring so that they are automatically applied to the underwater rubble leveling work of the robot.

• Korean Journal of Construction Engineering and Management
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• v.8 no.5
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• pp.142-151
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• 2007

The rock excavation work on the sea is planned as underwater process if the elevation of the rock is lower than the M.S.L.(Mean Sea Level). However, in case of West and South sea which are largely different between the rise and fall of the tide, the earth work can be performed on the ground while the work surface is exposed above the sea according to the tide cycle. Thus, it may a good substitute to make up for shortcomings of underwater construction works such as safety problems of workers, loss of efficiency and increasement of construction costs. But the difference between the height of the rock excavation surface and the water surface changed by the tide makes the exposure time of work surface, that is the possible working hours be changed. Also, it may cause the changes of construction cost. Thus, this study analyzes the economical efficiency of the construction method using the difference between the rise and fall of the tide in comparison with the construction method which is performed under the sea, and it also suggests the way to analyze the economical working hours by estimating the possible working hours on the ground. We also try to find out the application possibility of the way like the rock excavation work on the sea using the difference between rise and fall of the tide.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.8
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• pp.1631-1636
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• 2015

With the advance of wireless communication technology in terrestrial area, underwater communication is also evolving very fast from a simple point-to-point transmission to an elaborate networked communications. Underwater acoustic channel has quite different features comparing with the terrestrial radio channel in terms of propagation delay, Doppler shift, multipath, and path loss. Thus, existing technologies developed for terrestrial communication might not work properly in underwater channel. Especially medium access control (MAC) protocols which highly depend on propagation phenomenon should be newly designed for underwater network. CSMA/CA has drawn lots of attention as a candidate of underwater MAC protocol, since it is able to resolve a packet collision and the hidden node problem. However, a received signal could be degraded by the interferences from the nodes locating outside the receiver's propagation radius. In this paper, we study the effects of interference on the CSMA/CA based underwater network. We derived the SNR with the interference using the sonar equation and analyzed the degradation of the RTS/CTS effects. These results are compared with the terrestrial results to understand the differences. Finally we summarized the design considerations in CSMA/CA based underwater network.

• 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.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.3
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• pp.23-28
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• 2019

A track type underwater construction robot(URI-R) which can trench on seabed is being developed by Korea Institute of Ocean Science & Technology. During the underwater trenching work, the robot is exposed high intensive noise and vibration so the underwater localization signal may not be obtained properly by the acoustic tracking system. Therefore it is necessary to research about continuous localization even though the measured position signal comes in intermittently. In this paper, the experiments were carried out on land to simulated the underwater operating environment characteristics. To estimate its position, inertial navigation system and global navigation satellite system are used. The effects of the period variation while localizing is investigated by the experiments, and the application for URI-R is proposed.

• Journal of the Institute of Convergence Signal Processing
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• v.21 no.1
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• pp.38-48
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• 2020

In order to inspect the existing or newly constructed ship's hull, a professional diver directly inspects the ship's bottom of the water. However, since it is a work done by people, there are many dangers such as human casualties and crashes. To solve this problem, it is necessary to develop underwater drones for ship inspection for visual inspection. The technology applied to underwater drones, the use and manufacturing process of each component, and the method of manufacture such as firmware development were described, and the difference was compared by measuring the drone's own driving ability and driving ability using crawler under water, and the location tracking device test confirmed the error from the actual location. It is estimated that the use of underwater drones produced through this research will prevent human casualties and achieve economic effects and stability.