• Journal of the Korean Society of Safety
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• v.34 no.4
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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.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.10
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• pp.678-684
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• 2016

The detection of an underwater work space boundary is very important when an underwater construction is carried out using seabed type underwater equipment, such as underwater machines for rubble mound leveling, because it can induce industrial disasters. Therefore, divers are needed to mark the underwater work space boundary. A nylon rope is used to improve the convenience during an underwater diver's work. The results showed that the work space boundary can be detected using a sonar system. Using these results, an efficient method to detect the underwater work space boundary can be obtained when an underwater construction is carried out using seabed type underwater equipment.

• Journal of the Korea Concrete Institute
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• v.12 no.5
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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.

• Journal of the Korea Concrete Institute
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• v.11 no.4
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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 Ocean Engineering and Technology
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• v.34 no.4
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• pp.277-284
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• 2020

Underwater acoustics, which is the study of phenomena related to sound waves in water, has been applied mainly in research on the use of sound navigation and range (SONAR) systems for communication, target detection, investigation of marine resources and environments, and noise measurement and analysis. The main objective of underwater acoustic remote sensing is to obtain information on a target object indirectly by using acoustic data. Presently, various types of machine learning techniques are being widely used to extract information from acoustic data. The machine learning techniques typically used in underwater acoustics and their applications in passive SONAR systems were reviewed in the first two parts of this work (Yang et al., 2020a; Yang et al., 2020b). As a follow-up, this paper reviews machine learning applications in SONAR signal processing with a focus on active target detection and classification.

• Journal of Ocean Engineering and Technology
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• v.34 no.5
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• pp.371-376
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• 2020

Underwater acoustics, which is the study of the phenomena related to sound waves in water, has been applied mainly in research on the use of sound navigation and range (SONAR) systems for communication, target detection, investigation of marine resources and environments, and noise measurement and analysis. Underwater acoustics is mainly applied in the field of remote sensing, wherein information on a target object is acquired indirectly from acoustic data. Presently, machine learning, which has recently been applied successfully in a variety of research fields, is being utilized extensively in remote sensing to obtain and extract information. In the earlier parts of this work, we examined the research trends involving the machine learning techniques and theories that are mainly used in underwater acoustics, as well as their applications in active/passive SONAR systems (Yang et al., 2020a; Yang et al., 2020b; Yang et al., 2020c). As a follow-up, this paper reviews machine learning applications for the inversion of ocean parameters such as sound speed profiles and sediment geoacoustic parameters.

• 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 Korean Society of Coastal and Ocean Engineers
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• v.30 no.6
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• pp.298-305
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• 2018

In this study, we investigated the tensile bond characteristics of underwater coating materials, in order to obtain useful information in support of repair work for marine and coastal concrete structures. Test variables included type of underwater coating, surface conditions of the concrete substrate, and environmental conditions. Pull-off tensile bond strength was measured at 24 h after applying underwater coatings to concrete substrates, in compliance with the procedures specified in ASTM C1583. Failure modes (coating, interface, and parent concrete) for each coating were identified through visual inspection, and comparisons were made based on measured bond strength. The tensile bond strength decreased underwater compared to that under dry conditions, while no significant effect of surface roughness on the measured bond strength was observed in underwater tests. Key aspects that need to be considered regarding selection and use of underwater coating materials for marine and coastal concrete structures were discussed.

• 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.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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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.