• 한국산학기술학회논문지
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• 제17권5호
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• pp.372-378
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• 2016

항만 구조물인 케이슨 및 블록 등을 수중에 거치하기 위해서는 기초사석을 투하하고 이 위에 구조물을 설치한다. 이때 기초 사석은 상구구조물을 지지하기 위한 기초 토대로서 사석의 규격, 비중, 중량 모양 및 치수 등이 균일하고 치밀하여야 하며 선정시험을 통과한 사석만을 사용하여 시공하야 한다. 또한 이러한 기초 사석을 고르게 만들어 주는 작업 구조물의 거치 이전에 반드시 이루어 져야 한다. 본 연구에서는 수중 고르기 작업 공정의 무인화를 위하여 수중 고르기 및 굴삭용 무인기계 뿐만 아니라 무인기계화 시공을 위한 원격제어용 운영시스템, 수중 물체 인식 및 수중위치 분석을 위한 수중 환경 모니터링 시스템이 개발되었다. 본 장비는 육상 및 수중 테스트를 통하여 검증을 완료 하여 우수한 성능을 확인하였다. 그러나 현장에 본 장비를 투입하기 위해서는 성능뿐만 아니라 건설 공정의 제안 및 분석 그리고 효율(경제성)이 분석되어야 한다. 본 연구에서는 수중고르기장비의 성능 및 기능, 건설공정절차, 기존의 공법과의 비교 분석하였다. 분석결과 기존의 잠수부를 투입하는 건설공법에 비하여 경제성, 효율성, 안전성이 향상되는 것으로 확인되었다.

• 한국군사과학기술학회지
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• 제16권2호
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• pp.111-117
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• 2013

In this paper, we have proposed novel technique to improve maintainability for training vehicle of underwater weapon system. In case of under water weapon, the fire procedure is related with operation of expulsion system in submarines. So the submarine crews should practice the complex fire procedure of weapon system by using training vehicle, which is safer and cheaper than operational weapon. After emitted from submarine, the training vehicle rise to the surface and should be withdrawn from the sea. The recovered training vehicle is transported to maintenance depot and pass through the recycling procedure including disassembling the vehicle, data acquisition & analysis, battery charge, replacing expandable components, testing the captive equipment, and assembling the vehicle. The disassembling & assembling of training vehicle which is composed of watertight section or airframe, is time-consuming work. So in this paper, we have studied the elements of recycling procedure and propose the method to exclude the assembling & disassembling work for maintainability improvement.

• International Journal of Computer Science & Network Security
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• 제21권4호
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• pp.277-283
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• 2021

The objective of this project is to conduct an underwater survey. The primary goal is to develop a device that can achieve the desired output under test conditions. For this reason, certain practical considerations must be taken into account, and the implementation is then developed to be carried out to obtain stable performance with the available hardware based on that experiment. The experiment was performed via BlueROV2 (Remotely Operated Vehicle) using RaspberryPi and softwares such as QGC (QGroundControl) and ArduPilot. This paper explains the work, the results with the collected data and how we implemented the work is presented in the end. The intention of this experiment is to connect two PCs using RaspberryPi with MAVLink communication using a Commercial-Off-The-Shelf device.

• 한국전자통신학회논문지
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• 제16권6호
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• pp.1089-1094
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• 2021

재난 및 재해에 의해 파손 또는 기능이 훼손된 항만인프라 시설의 복구와 시공작업 작업을 지원하기 위하여 항만 내 정기순시, 수중환경 모니터링, 항만 내 수중 형상정보 취득 등의 임무수행을 기반으로 작업장비와 연계, 시공지원이 가능한 AUV 플랫폼 분석과 설계에 관련한 내용을 정의한다.

• 한국해양공학회지
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• 제26권3호
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• pp.6-12
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• 2012

In this paper, addressed is the control problem of generating a formation for a group of unmanned surface and underwater vehicles. The formation control scheme proposed in this work is based on a fusion of theleader-follower and virtual reference approaches. This scheme gives a formation constraint representation that is independent of the number of vehicles in the formation and the resulting control algorithm is scalable. One of the most important features in controller design is the ability of the controller to globally and exponentially stabilize the formation errors defined by the formation constraints. The proposed controller is based on feedback linearization, and the formation errors are shown to be globally and exponentially stable in the sense of Lyapunov.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2014년도 추계학술대회 논문집
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• pp.630-634
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• 2014

In this paper, a tile projector was developed for the control of low-frequency underwater echoes. The projector was designed to cover a wide area such as the hull of a submarine, and to have a relatively thin thickness. As a preliminary work for active echo control, the performance of the projector was measured in an anechoic water tank. The transmitting voltage response as well as the passive echo reduction were measured to evaluate the performance as an underwater projector.

• 한국군사과학기술학회지
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• 제21권1호
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• pp.25-39
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• 2018

In this paper, an integrated analysis model for evaluating the underwater acoustic performance of the multilayered acoustic coatings containing visco-elastic composite layers with hollow glass microspheres is described. The model uses the effective medium theory considering the acoustic scattering and resonance effects of the inclusions. Also, the model incorporates the compressive deformation mechanism associated with hydrostatic pressure. The technique developed in this work was used as the acoustic layer design and performance analysis tools for the practical hull coatings and acoustic baffles in Korean next generation submarines.

• 로봇학회논문지
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• 제19권1호
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• pp.8-15
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• 2024

This paper proposes a linear model predictive control of 6-DOF remotely operated underwater vehicles using nonlinear robust internal-loop compensator (NRIC). First, we design a integrator embedded linear model prediction controller for a linear nominal model, and then let the real model follow the values calculated through forward dynamics. This work is carried out through an NRIC and in this process, modeling errors and external disturbance are compensated. This concept is similar to disturbance observer-based control, but it has the difference that H_∞ optimality is guaranteed. Finally, tracking results at trajectory containing the velocity discontinuity point and the position tracking performance in the disturbance environment is confirmed through the comparative study with a traditional inverse dynamics PD controller.

• 한국항해항만학회지
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• 제39권3호
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• pp.253-260
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• 2015

열악한 작업환경 때문에 수중항만공사를 기계화하려는 많은 노력들이 시도되고 있다. 본 논문은 수중항만공사 중 사석 고르기 작업을 수행하는 수중건설로봇에 대해 기술한다. 로봇의 블레이드는 울퉁불퉁한 지형에서도 사석 마운드를 기준면에 대해 평편하게 고르고, 다목적암은 사석을 파고, 채울 수 있게 설계되었다. 본 연구는 로봇에 설치된 위치 및 방위 센서와 동기를 이루면서 주행과 스윙운동이 포함된 다목적암과 블레이드의 기구학을 해석한다. 기준수심센서에 부여된 월드좌표에 대해서 블레이드와 다목적암의 위치와 방위를 나타내고, 기준면과 나란한 고르기 작업을 위한 형상을 찾는다. 고르기 작업을 위한 유압제어시스템을 개발하며, 로봇에 의한 육상 및 수중 사석 고르기 작업을 실시해 실험결과를 보인다. 로봇의 작업속도는 잠수부보다 8배 정도 빠르며 작업품질도 우수한 것으로 평가된다. 잠수부가 작업할 수 없는 대수심에서는 효율성이 더 좋을 것으로 기대된다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.204-209
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• 2004

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The Manipulability is a functionality of manipulator system in a given configuration and under the limits of joint ability with respect to the tasks required to bt performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method are presented. The dynamic equation of motion of underwater manipulator is derived from the Lagrange - Euler equation considering with the hydraulic forces caused by added mass, buoyancy and hydraulic drag. The hydraulic drag term in the equation: is established as analytical form using Denavit - Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based on Manipulability Ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torque in joint space while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.