• 한국농공학회지
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• 제43권3호
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• pp.66-76
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• 2001

Recently the use of the antiwashout underwater concrete with the antiwashout admixture is increased considerably. Antiwashout underwater concrete is quite different in concept from conventional underwater concrete. By mixing an antiwashout admixture with concrete, the viscosity of the concrete is increased and its resistance to segregation under the washing action of water is enhanced. The aims of this research is statistically evaluated to mix proportion factor of antiwashout underwater concrete. Experiment was performed to analyze the influence variables(cement, water, and antiwashout admixture) on fundamental characteristics of antiwashout underwater concrete. The influence variables can be considered for use in a wide range of underwater work where their have statistically significant effect on the characteristics(fluidity, filling ability, resistance to washout, etc.) of antiwashout underwater concrete.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2010년 춘계학술대회논문집
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• pp.115-121
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• 2010

Cavitating flow is widely shown in many engineering systems, such as marine propellers, pump impellers, nozzles, injectors, torpedoes, etc. The present work focuses on the numerical analysis of the multiphase flow around the underwater vehicle which was launched from a submarine. The governing equation is the Navier-Stokes equation with a homogeneous mixture mode. The multiphase flow solver uses an implicit preconditioning scheme in curvilinear coordinate. For the code validation, the results from the present work are compared with the existing experimental and numerical results, and a reasonably good agrements are obtained. The multiphase flow around an underwater vehicle is simulated which includes submarine wake effects.

• 동력기계공학회지
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• 제21권3호
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• pp.74-84
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• 2017

This paper presents the development of the underwater cleaning robot platform for a higher efficiency in manufacturing industry. Human operators directly go into the cistern and clean sludge after drainage of the water so far. It is sometimes dangerous because of the harmful chemical materials from the product making process. In addition, it takes long time for water drainage and supplying it back. However, the robot cleaning operation does not need to drain water so that it could be applied to the sludge cleaning work at any time without the plant pause. Moreover, it can prevent the safety accidents because human operators are not necessary to enter directly the sludge cisterns. This paper shows the performance of cleaning work that can be applied in the industrial field through the design and development of underwater cleaning robot platform. And these results demonstrate that the developed underwater cleaning robot has great possibilities to clean other industrial water cisterns.

• 한국안전학회지
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• 제35권1호
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• pp.70-78
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• 2020

Nitrox diving was introduced by the NOAA (National Oceanic and Atmospheric Administration) to increase the oxygen content and lower the nitrogen content in respiratory gases. The commercial diving sector specializing in underwater operations has recently introduced regulations on the use of Nitrox. Because the respiratory gas for Nitrox diving has a lower nitrogen content than the normal air, the amount of nitrogen dissolved in the body is small, which not only significantly reduces the decompression time compared to air diving, but also reduces the chance of exposure to decompression sickness. In this study, we applied the VPM (Varying Permeability Model) algorithm to virtual diving with air and Nitrox as a respiratory gas, respectively, to study the optimal Nitrox diving for the safety at the underwater works. The results showed that Nitrox diving had a longer NDL (No-Decompression Limit), a much shorter depression time. In other words, Nitrox diving in underwater works is safer from decompression sickness than commonly used air diving.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 1999년도 학회창립 10주년 기념 1999년도 가을 학술발표회 논문집
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• pp.135-138
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• 1999

The objective of this study is to investigate the compressive strength property of antiwashout underwater concrete with curing water through experimental researches. Type of casting and curing water(fresh water, sea water) are used as main experimental parameter, additionally a few variables affecting compressive strength property are used ; water-cement ratio (45%, 48%, 50%, 52%, 55%), and unit weight of admixtures (antiwashout underwater agent ; 0.6%, 0.8%, 1.0%, 1.2%, 1.4% of unit weight of water, superplasticizer ; 0.5%, 1.0%, 1.5%, 2.0%, 2.5% of unit weight of cement)) Compressive strength level of antiwashout underwater concrete which was cast and cured in fresh water is higher than other one. Consequently, incremental modulus has to increase when the antiwashout underwater concrete is made use of underwater work from ocean.

• 한국산업융합학회 논문집
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• 제21권6호
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• pp.389-394
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• 2018

Remotely operated vehicle(ROV) and autonomous underwater vehicle(AUV) have been used for underwater surveys, underwater exploration, resource harvesting, offshore plant maintenance and repair, and underwater construction. It is hard for people to work in the deep sea. Therefore, we need a vision control system of underwater submersible that can replace human eyes. However, many people have difficulty in developing a deep-sea image control system due to the deep sea special environment such as high pressure, brine, waterproofing and communication. In this paper, we will develop an Ethernet based remote image control system that can control the image mounted on ROV.

• International Journal of Naval Architecture and Ocean Engineering
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• 제8권3호
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• pp.243-251
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• 2016

Autonomous Underwater Vehicles (AUVs) generally work in complex marine environments. Any fault in AUVs may cause significant losses. Thus, system reliability and automatic fault diagnosis are important. To address the actuator failure of AUVs, a fault diagnosis method based on the Gaussian particle filter is proposed in this study. Six free-space motion equation mathematical models are established in accordance with the actuator configuration of AUVs. The value of the control (moment) loss parameter is adopted on the basis of these models to represent underwater vehicle malfunction, and an actuator failure model is established. An improved Gaussian particle filtering algorithm is proposed and is used to estimate the AUV failure model and motion state. Bayes algorithm is employed to perform robot fault detection. The sliding window method is adopted for fault magnitude estimation. The feasibility and validity of the proposed method are verified through simulation experiments and experimental data.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.513-517
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• 2006

Autonomous Underwater Vehicles plays specific role in underwater investigation. Generally, this kind of vehicles will move along a planned path for sea bottom or underwater installations inspections, search for mineral deposits along shelves, seeking lost items including bottom mines or for hydrographic measurements. A crucial barrier for it remains the possibility of precise determination of their underwater position. Commonly used radionavigation systems do not work in such circumstances or do not guarantee the required accuracies. In the paper some new solution is proposed on the assumption that it is possible to increase the precision by certain processing of a combination of measurements conducted by means of different techniques. Objective of the paper is the idea of navigation of AUV which consists of two phases: firstly a trip of AUV along pre-planned route and after that postprocessed transformation of collected data in post-processing mode. During the processing of collected data the modern adjustment methods have been applied, mainly estimation by means of least squares and M-estimation. Application of these methods should be associated with the measuring and geometric conditions of navigational tasks and thus suited for specific scientific and technical problems of underwater navigation. The first results of computer aided investigation will be presented and the basic scope of these application and possible development directions will be indicated also. The paper is prepared as an partial results of the works carried out within a framework of the research Project: 'Improvement of the Precise Underwater Vehicle Navigation Methods' financed by the Polish Ministry of Education and Science (No 0 T00A 012 25).

• Journal of Advanced Marine Engineering and Technology
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• 제34권5호
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• pp.735-742
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• 2010

본 연구는 극한 환경에서의 잠수 기준에 대해 살펴보고, 2010년 3월 백령도 근해에서 발생한 천안함 침몰사고의 실종자 수색 작업에 적용된 우리 해군의 잠수 방식과 사용 장비, 절차 등에 대한 분석을 하였다. 이번 잠수작업은 국제 기준이나 안전을 고려하면 작업을 해서는 안 되는 조건인데도 불구하고 작업이 시행되었으며, 초기 수색 작업에 있어서 임무의 성격, 신속성, 효율성을 고려하고 세부적으로 수심과 잠수 가능시간, 작업의 종류, 환경 조건, 작업 기간을 검토한 결과, 공기를 사용하는 스쿠버 방식이 적절하였다고 분석되었다.

• 한국기계가공학회지
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• 제19권1호
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• pp.121-133
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• 2020

Underwater cutting has a different mechanism than dry cutting, and there are more restrictions than benefits. Due to these constraints, research and development of underwater cutting has been very limited. At present, reactor dismantling is emerging as an important task worldwide, and reactor pressure containers, a key part of the reactor, are decommissioned based on underwater cutting. Reactor pressure containers are high-level radioactive waste, which is one of the main goals of today, such as to bridge the gap between environmental, safety, and cutting performance; hence, a process suitable for cutting should be applied. Therefore, many studies are being conducted on underwater cutting in connection with the dismantling of nuclear reactors in various areas in order to find appropriate processes. This paper first introduces the core technology of underwater cutting processes and discusses various processes. The emphasis is then placed on the adequacy of the reactor dismantling application. More specifically, we examine the suitability for the mechanical and thermal cutting processes, respectively, to find a solution suitable for dismantling a reactor. We discuss how each solution can sufficiently perform the specified functions at each stage of reactor dismantling and suggest that these processes can perform all of the work of underwater cutting.