• 한국음향학회지
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• 제35권5호
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• pp.349-357
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• 2016

본 연구에서는 평면배열 수중 음향 트랜스듀서 내 소자들간의 상호간섭을 저감시키기 위한 다양한 구조적 방안을 제안하고, 각 방안의 효용성을 유한 요소해석을 통해 분석하였다. 그 결과, 소자들 사이의 커프의 깊이는 깊을수록, 커프의 너비는 넓을수록, 커프 충진재의 탄성계수는 낮을수록 상호간섭 저감 효과가 높게 나타났다. 본 연구의 결과는 평면배열형 수중 음향 트랜스듀서의 성능을 극대화시키기 위한 구조 설계에 유용하게 사용될 수 있을 것으로 기대된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.9-12
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• 1999

This paper presents the development of a control architecture for the autonomous underwater vehicle (AUV) with VARIVEC (variable vector) propeller. Moreover this paper also describes the new technique of controlling the servomotors using the Field Programmable Gate Array (FPGA). The AUVs are being currently used fur various work assignments. For the daily measuring task, conventional AUV are too large and too heavy. A small AUV will be necessary for efficient exploration and investigation of a wide range of a sea. AUVs are in the phase of research and development at present and there are still many problems to be solved such as power resources and underwater data transmission. Further, another important task is to make them smaller and lighter for excellent maneuverability and low power. Our goal is to develop a compact and light AUV having the intelligent capabilities. We employed the VARIVEC propeller system utilizing the radio control helicopter elements, which are swash plate and DC servomotors. The VARIVEC propeller can generate six components including thrust, lateral force and moment by changing periodically the blade angle of the propeller during one revolution. It is possible to reduce the number of propellers, mechanism and hence power sources. Our control tests were carried out in an anechoic tank which suppress the reflecting effects of the wall surface. We tested the developed AUV with required performance. Experimental results indicate the effectiveness of our approach. Control of VARIVEC propeller was realized without any difficulty.

• 한국해양공학회지
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• 제23권1호
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• pp.48-53
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• 2009

Autonomous Underwater Vehicles (AUV's) provide an important means for collecting detailed scientific information from the ocean depths. The hull resistance of an AUV is an important factor in determining the power requirements and range of the vehicle. This paper describes a design method that uses Computational Fluid Dynamics (CFD) to determine the hull resistance of an AUV under development. The CFD results reveal the distribution of the hydrodynamic values (velocity, pressure, etc.) of an AUV with a ducted propeller. This paper also discusses the optimization of the AUV hull profile to reduce the total resistance. This paper demonstrates that shape optimization in a conceptual design is possible by using a commercial CFD package. Optimum design work to minimize the drag force of an AUV was carried out, for a given object function and constraints.

• International Journal of Ocean System Engineering
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• 제1권3호
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• pp.120-135
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• 2011

This paper proposes a model based trajectory tracking control scheme for under-actuated underwater robotic vehicles. The difficulty in stabilizing a non-linear system using smooth static state feedback law means that the design of a feedback controller for an under-actuated system is somewhat challenging. A necessary condition for the asymptotic stability of an under-actuated vehicle about a single equilibrium is that its gravitational field has nonzero elements corresponding to non-actuated dynamics. To overcome this condition, we propose a continuous time-varying control law based on the direct estimation of vehicle dynamic variables such as inertia, damping and Coriolis & centripetal terms. This can work satisfactorily under commonly encountered uncertainties such as an ocean current and parameter variations. The proposed control law cancels the non-linearities in the vehicle dynamics by introducing non-linear elements in the input side. Knowledge of the bounds on uncertain terms is not required and it is conceptually simple and easy to implement. The controller parameter values are designed using the Taguchi robust design approach and the control law is verified analytically to be robust under uncertainties, including external disturbances and current. A comparison of the controller performance with that of a linear proportional-integral-derivative (PID) controller and sliding mode controller are also provided.

• International Journal of Naval Architecture and Ocean Engineering
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• 제12권1호
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• pp.455-467
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• 2020

Shape design optimization for Blended-wing-body Underwater Gliders (BWBUGs) is usually computationally expensive. In our previous work, a simplified shape optimization (SSO) strategy is proposed to alleviate the computational burden, which optimizes some of the Sectional Airfoils (SAs) instead of optimizing the 3-D shape of the BWBUG directly. Test results show that SSO can obtain a good result at a much smaller computational cost when three SAs are adopted. In this paper, the performance of SSO is investigated with a different number of SAs selected from the BWBUG, and the results are compared with that of the Direct Shape Optimization (DSO) strategy. Results indicate that SSO tends to perform better with more SAs or even outperforms the DSO strategy in some cases, and the amount of saved computational cost also increases when more SAs are adopted, which provides some reference significance and enlarges the applicability range of SSO.

• 수산해양기술연구
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• 제57권1호
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• pp.34-44
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• 2021

In order to collect basic information of response behavior of red seabream (Pagrus major) during pilling, works for constructing wind power station in Byeonsan Peninsular, Korea were investigated. Four cultured red seabream CRB1 to CRB4 [total length (TL): 27.1 ± 1.0 cm; body weight: 359 ± 30 g] were tagged with an acoustic tag and used in experiment. CRB1 and CRB2 to CBR4 were released on the sea surface at same time around the constructing site of the wind power plant on September 22, 2017 and July 18, 2018, respectively. The tracking of the CRB1 to CRB2 and CRB3 to CRB4 were conducted for two hours, approximately, using VR100 receiver including a directional hydrophone and VR2W receivers array consisted of 19 presence/absence receivers (VR2W receivers), respectively. The underwater noise level before (no pile driving works) and during pile driving works was measured 116.0-118.0 dB (re 1��Pa) and a maximum of 160 dB (re 1��Pa), respectively. CRB1 moved about 6.0 km with average swimming speed of 80.2 ± 20.5 cm/s for 2.1 hours without pile driving work. The average water depth of the sea bed on the route of CRB1 was 9.1 ± 0.4 m. CRB2 moved about 7.3 km with the average swimming speed of 96.8 ± 27.1 cm/s for 2.1 hours with pile driving work. The water depth of the sea bed on the route of CRB2 was 11.9 ± 0.6 m. At results of the Rayleigh's z-test two fishes CRB1 and CRB2 showed significant directionality in the movement (p < 0.01). Movement mean angles of CRB1 and CRB2 were 92.7 and 251.8°, respectively. CRB2, CRB3 and CRB4 exhibited the escaping behavioral response from the noise of source during the pile driving work. The swimming speed of the CRB2 exposed on the heavy underwater noise stimuli due to the pile driving work was 1.21 times faster than that of the CRB1 exposed on the ambient underwater noise in the study site.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2002년도 가을 학술발표회 논문집
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• pp.829-834
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• 2002

Recently, research and development for a number of repairing material like an epoxy-based material and polymer-cementitious material as well as anti-washout underwater concrete have been carried out. But, the study on tile materials for the concrete structure exposed to a wetted condition is at a standstill and there are not any suitable reference data at a repairing work for the concrete structure at a splash as well as a structure under severe moisture condition. In this study, the material, called as “ceramic metal”, with an excellent mobility and plasticity as well as with a high bond strength and durability of freezing-thawing resistant properties under any environmental conditions was developed. And, the experimental evaluations for the utility wert widely performed.

• 한국음향학회지
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• 제19권8호
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• pp.47-53
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• 2000

수중에서 프로펠러에 의해 추진되는 추진체를 식별하기 위해 프로펠러의 추진력에 의하여 수중에 발생되는 cavitation의 비선형 음향학적 현상으로부터 발생되는 프로펠러의 shaft-rates와 blade-rates를 탐지하여 표적을 식별하기 위한 Maximum Likelihood Classifier를 유도하고, 시뮬레이션과 실험을 통한 검증을 수행하였고, 실제 해양에서 수집한 데이터에 대해 적용 가능함을 입증하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권10호
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• pp.4844-4864
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• 2017

Interference-aware routing protocol design for underwater wireless sensor networks (UWSNs) is one of the key strategies in reducing packet loss in the highly hostile underwater environment. The reduced interference causes efficient utilization of the limited battery power of the sensor nodes that, in consequence, prolongs the entire network lifetime. In this paper, we propose an energy-efficient interference-aware routing (EEIAR) protocol for UWSNs. A sender node selects the best relay node in its neighborhood with the lowest depth and the least number of neighbors. Combination of the two routing metrics ensures that data packets are forwarded along the least interference paths to reach the final destination. The proposed work is unique in that it does not require the full dimensional localization information of sensor nodes and the network total depth is segmented to identify source, relay and neighbor nodes. Simulation results reveal better performance of the scheme than the counterparts DBR and EEDBR techniques in terms of energy efficiency, packet delivery ratio and end-to-end delay.

• 한국정보통신학회논문지
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• 제15권1호
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• pp.22-32
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• 2011

본 논문에서는 수중 통신 환경에서의 Orthogonal Frequency Division Multiplexing (OFDM) 시스템과 지상에서의 일반적인 OFDM 시스템과의 차이점을 분석하고, 실제 측정된 채널 데이터를 사용한 수중 채널 모델을 기반으로 OFDM 파라미터들을 설정하였다. 또한, 선형 보간법을 이용한 least square (LS) 채널 추정기법을 이용하여 채널의 상태 정보를 획득하였다. Alamouti code를 이용한 space-time block code (STBC) 및 space-frequency blcok code (SFBC)를 적용하여 그 성능을 평가 및 분석 하였으며, 동시에 $1{\times}2$ maximum ratio combining (MRC)을 적용하여 성능을 비교 분석 한 결과, SFBC의 경우 수중 채널의 심각한 주파수 선택적 특성으로 인하여 유효한 BER 특성을 보이지 못하였으나, STBC의 경우 4-column 파일럿 구조를 적용하였을 때, SISO 시스템과 비교하여 약 7dB 정도의 향상된 성능을 나타내고 있음을 확인하였다.