• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2003년도 가을 학술발표회 논문집
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• pp.343-346
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• 2003

Confirmation of a damage degree and repair about a damage part are very hard for an underwater structure. And quality control of a construction is very complicated even if repair work is carried out on a damaged structure because repair work is carried out in water. If repair work is carried out while a defect part of the structure which there is in water keeps dry state, a efficient of repair is maximized. However, as for the repair technology about an underwater structure, a systematic researcher is not enough because of the environmental trouble. And, as for the effect about repair method to be applied to a currently underwater structure, it is not certainly proved. In this study The repair work of an underwater structure damaged applied the method that used a fiber panel form work. And a efficient of structure repaired was evaluated.

• 한국안전학회지
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• 제34권4호
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• pp.103-110
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• 2019

Underwater works are indispensable in the coastal and ocean engineering fields, and the reliance on manpower is higher than land works. Divers who work for a long time in a high-pressure underwater environment are always exposed to the risks of diving-related diseases. To prevent them, proper planning, operation, and management of diving by a supervisor with professional diving knowledge are required. This study provides the basic data for supervisors to plan, operate, and manage air diving for safe and efficient work in underwater construction sites. It is well-known that air diving simulations using the varying permeability model (VPM) require a longer decompression time as the water depth and the residence time in water increase. Therefore, it is crucial to have a proper surface interval through repetitive diving rather than single diving to improve the safety of the divers and the efficiency of underwater work. Furthermore, coastal and ocean engineers who manage and supervise underwater construction work must acquire expert knowledge on diving before they can plan, operate, and manage diving.

• 로봇학회논문지
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• 제15권1호
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• pp.32-38
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• 2020

This paper describes a method for tracking attitude and position of underwater robots. Underwater work with underwater robots is subject to differences in work efficiency depending on the skill of the operator and the utilization of additional sensors. Therefore, this study developed an underwater robot that can operate autonomously and maintain a certain attitude when working underwater to reduce difference of work efficiency. The developed underwater robot uses 8 thrusters to control 6 degrees of freedom motion, IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log) and PS (Pressure Sensor) to measure attitude and position. In addition, the thruster allocation algorithm was designed to follow the control desired value using 8 thrusters, and the motion control experiments were performed in the engineering water basin using the thruster allocation method.

• 한국산학기술학회논문지
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• 제17권10호
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• pp.678-684
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• 2016

수중사석고르기 장비와 같은 착저형 수중장비를 활용하여 해저면에서 수중 작업을 수행할 경우 해당 장비는 작업경계면을 정확히 인식하고 작업장 내에 자리잡고 있는 것이 중요하다. 이는 장비 전복과 같이 장비 안전사고와 직결될 수 있기 때문이다. 이 때 작업경계면 표식을 위해서는 잠수부의 도움이 필수적인데, 이를 위하여 잠수부가 수중작업을 수행할 때 작업이 용이하면서도 시중에서 쉽게 구할 수 있으며 재료를 선정하는 것이 중요한데 나일론줄을 해저면에 설치하여 작업경계를 표시하도록 하였다. 수중에서 주변 환경을 관찰하기 위하여 소나와 팬틸트를 이용하여 소나시스템을 구성하였으며 이를 이용하여 거리변화에 따른 수중 작업경계면 탐지 여부를 확인하였다. 또한 수중사석고르기 장비에 최종적으로 소나시스템을 설치하고 나일론줄로 표시된 작업경계면에 대한 탐지여부를 검증하였다. 본 연구결과를 활용하여 착저형 수중장비를 이용한 수중작업 시 작업경계면 인식을 수행할 수 있는 방안을 확보하였다. 작업경계면 인식 방안을 활용할 경우 추후에 개발될 수 있는 다양한 종류의 착저형 수중작업 장비의 작업절차에 광범위하게 적용할 수 있을 것으로 판단된다.

• 콘크리트학회논문집
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• 제12권5호
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• pp.25-34
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• 2000

When concrete is placed underwater, it is diluted with separating cementitious material and as a result the quality of concrete becomes poor. To solve this problem, antiwashout underwater concrete is increasingly used for the construction and repair of the concrete structure underwater. The objective of this study is to investigate the characteristics of antiwashout underwater concrete as to the mix proportion, casting and curing water through experimental researches. The unit weight of water and cement, water-cement ratio, fine aggregate ratio, unit weight of antiwashout underwater agent and superplasticizer, and casting and curing water were chosen to measure the suspended solids, pH, air contents, slump flow, unit weight of hardened concrete, and compressive strength. From this study, the incremental modulus at mix proportion design and unit weight of antiwashout underwater agent were increased more than fresh water, and it is a optimum mix proportion that the unit weight of water(and cement) is 230kg/$\textrm{m}^3$(460kg/$\textrm{m}^3$), waterOcement ratio is 50%, fine aggregate ratio is 40%, unit weight of antiwashout underwater agent is 1.2% of water contents per unit weight of concrete, and unit weight of supeplasticizer is 2.5% of cement contents per unit weight of concrete when the antiwashout underwater concrete is used for the underwater work of ocean.

• 한국정보통신학회논문지
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• 제26권11호
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• pp.1697-1705
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• 2022

대규모 해양 건설에 따른 해양 건설 작업자의 안전 및 해양 오염 문제가 발생하고 있다. 특히, 해양의 수중 건설 작업은 다른 작업에 비해 위험도가 높아 작업자의 안전을 고려한 무인 대체 시스템의 적용이 필요하다. 본 논문에서는 수중 무인 작업을 위해 해양 건설용 ROV 시스템을 개발 완료하였다. 수중 추진체의 제어를 통한 위치제어, 공압 gripper 그리고 수중 작업 모니터링을 위한 모니터링 시스템을 개발하였다. 성능평가 결과 ROV의 수중 이동속도는 최대 0.89m/s로 평가되었으며, 공압 gripper의 최대 하중은 80kg의 하중 허용 가능함을 확인하였다. 또한, 수중 ROV의 제어와 수중 영상 스트리밍에 필요한 네트워크 대역폭이 300Mbps 이상으로 평가되었으며, 유선 통신은 205m에서 92.7 ~ 95.0Mbit/s, 무선 통신은 78.3 ~ 84.8Mbit/s의 속도로 평가되었다.

• 콘크리트학회논문집
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• 제11권4호
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• pp.21-29
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• 1999

In this study, an experiment was performed to analyze the influence of water-cement ratio on the fundamental characteristics of antiwashout underwater concrete using blended sand (sea sand:river sand = 1:1). The water-cement ratio (45%, 50%, 55%, 60%), andtiwashout underwater agent contents (0.82%, 1.00%, 1.14% of water contents per unit volume of concrete), and superplasticizer contents (1.5%, 2.0%, 2.5% of cement contents per unit volume of concrete) were chosen as the experimental parameters. The experimental results show that the underwater segregation resistance, unit weight of hardening concrete and compressive strength were increased as the water-cement ratio decreased and as the antiwashout underwater agent contents increased. On the other hand, the flowability(slump flow) was increased to the 55% of the increase of water-cement ratio, however, it was decreased at the ratio of 60%. From this study, the antiwashout underwater concrete can potentially be used as a materials underwater work of ocean if the water-cement ratio and chemical admixture contents for the suitable balance between cost and performance are properly selected.

• Journal of Electrical Engineering and Technology
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• 제7권6호
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• pp.1023-1033
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• 2012

An underwater planar covering problem is studied where the coverage region consists of polygonal cells, and line sweep motion is used for coverage. In many subsea applications, sidescan sonar has become a common tool, and the sidescan sonar data is meaningful only when the sonar is moving in a straight line. This work studies the optimal line sweep coverage where the sweep paths of the cells consist of straight lines and no turn is allowed inside the cell. An optimal line sweep coverage solution is presented when the line sweep path is parallel to an edge of the cell boundary. The total time to complete the coverage task is minimized. A unique contribution of this work is that the optimal sequence of cell visits is computed in addition to the optimal line sweep paths and the optimal cell decomposition.

• Current Optics and Photonics
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• 제6권1호
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• pp.39-43
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• 2022

Underwater optical wireless communication (UOWC) is a good candidate for high-speed underwater wireless communication. In this work, we compare the performance of several modulation techniques for a UOWC system consisting of a light-emitting diode (LED) with an operating wavelength of 405 nm and a Si avalanche photodiode (APD). In this work, we consider six modulation schemes: 4-quadrature amplitude modulation (QAM), 8-QAM, quadrature phase shift keying (QPSK), binary phase shift keying (BPSK), on-off keying (OOK), and 4-pulse amplitude modulation (PAM). We also consider the cases of pure water and seawater for the working conditions. Our results show that 4-QAM and 8-QAM perform the best, in terms of communication distance and transmission power efficiency, for all water types considered.

• Current Optics and Photonics
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• 제4권6호
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• pp.571-575
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• 2020

Optical wireless power transmission (OWPT) is a good candidate for long-distance underwater wireless power transmission. In this work we investigate the transmission efficiency of underwater OWPT, depending on the operating wavelength. We consider four operating wavelengths: infrared, red, green, and blue. We also consider the cases of pure water and sea water for the working conditions. Our results show that it is necessary to select the operating wavelength of underwater OWPT according to the transmission distance and water type of the target application.