• The Journal of the Acoustical Society of Korea
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• v.39 no.2
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• pp.69-76
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• 2020

This paper deals with a method of transmitting depth information of a high-speed underwater vehicle. The depth information signal transmitted from the high-speed mobile object is received with high frequency variability. In the proposed method, we apply not only frequency synchronization but also additional synchronization on the time axis like the existing method. In the case of a Doppler frequency bank with less resolution than the conventional method through simulations performed in the environment moving up to 50 kn, and the depth information is recovered using the proposed method, the error rate of 6 % ~ 9 % is reduced to 0.2 % ~ 1 %.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.2
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• pp.235-242
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• 2006

This paper proposes the new efficient system design strategies for the acoustic-based underwater communication system and it's media access protocol, which make it possible to control the multiple vehicles for underwater duty working by the surface plant. For an approach to implementation of the system, it is inevitable to establish acoustic-based underwater digital communication network to exchange the information between a surface plant and multiple vehicles in underwater.

• The Journal of the Korea institute of electronic communication sciences
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• v.1 no.1
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• pp.42-48
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• 2006

This paper proposes the new efficient system design strategies for the acoustic-based underwater multiple modem and media access control protocol. The system aims to establish the acoustic-based communication network of an underwater vehicles for deep sea mining, which ensures a certain level of maximum throughput regardless of the propagation delay of acoustic and allows fast data transmission through the acoustic-based multiple channel.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2010.05a
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• pp.443-449
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• 2010

Recently underwater systems moving at hyper-speed such as a super-cavitating torpedo have been studied for their practical advantage of the dramatic drag reduction. In this study we are focusing our attention on super-cavitating flows around axisymmetric cavitators. A numerical method based on inviscid flow is developed and the results for several shapes of the cavitator are presented. First using a potential based boundary element method, we find the shape of the cavitator yielding a sufficiently large enough cavity to surround the body. Second, numerical predictions of super-cavity are validated by comparing with experimental observations carried out in a high speed cavitation tunnel at Chungnam National University (CNU CT).

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.510-515
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• 1993

본 연구에서는 저속에서도 시스템의 자세 제어가 용이하게 하기 위하여 추진기 뒤에 제어판이 위치하도록 설계하였으며, 일반 서보 시스템과는 달리 무게와 공간 제약이 크고, 제어판 운동에 따른 외란 등록성의 변화가 심하므로 push-pull 형태의 소형, 고출력 편로드 복동 복수 실린더의 작동기를 설계하였다. 또한 일반적으로 서보밸브와 작동기는 일체형으로 설계되나 본 시스템의 공간상 심한 제약으로 인하여 서보밸브와 작동기를 분리하는 방법으로 구조설계를 하고 그 사이 유로는 매니폴드식으로 하여 동력전달을 하였다. 설계된 구동장치를 실제 정밀제작하여 실험을 수행하였으며, 시뮬레이션 결과와 실험에 의하여 얻어진 결과를 비교 분석하여 설계의 타당성 및 시스템의 성능을 검증하였다. 고속 수중운동체에 대하여 저속에서 자세제어를 용이하게 하고, 제한된 좁은 설치공간의 문제점을 해결하기 위하여 1) 추진기 후미에 독립된 4개의 상, 하, 좌, 우 제어판 설치 2) 서보밸브는 몸체에, 작동기는 Tail Tube에 분리 작동 설계 3) 소형의 편로드 복동 복수 실린더로 설계 구성된 유압식 구동장치는 시뮬레이션과 실험 결과를 통하여 시스템의 타당성을 입증하였다. 그러므로, 개발한 구동장치는 저속에서도 큰 제어력으로 자세 제어가 용이하기 때문에 얕은 수심에서 발사시 예상되는 위험 요소를 상다ㅇ 개선 시키므로써 운용범위의 다양화를 가져 올것으로 기대된다.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.839-844
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• 1992

There are many specific requirements in the actuation, system for high speed underwater vehicle, such as size, weights, power etc.. In this paper, a high performance compact hydraulic actuation system to satisfy such requirements was designed. The controller of the system was designed using both the conventional PID and VSC which were known to have reliability, robustness respectively. The performance analysis was done for the designed actuation system through computer simulation.

• Tunnel and Underground Space
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• v.34 no.1
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• pp.1-14
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• 2024

An image-reconstruction technology, involving the deployment of an unmanned mobility equipped with high-speed LiDAR (Light Detection And Ranging) has been proposed to reconstruct the shape of abandoned mine. Unmanned mobility operation is remarkably useful in abandoned mines fraught with operational difficulties including, but not limited to, obstacles, sludge, underwater and narrow tunnel with the diameter of 1.5 m or more. For cases of real abandoned mines, quadruped robots, quadcopter drones and underwater drones are respectively deployed on land, air, and water-filled sites. In addition to the advantage of scanning the abandoned mines with 2D solid-state lidar sensors, rotation of radiation at an inclination angle offers an increased efficiency for simultaneous reconstruction of mineshaft shapes and detecting obstacles. Sensor and robot posture were used for computing rotation matrices that helped compute geographical coordinates of the solid-state lidar data. Next, the quadruped robot scanned the actual site to reconstruct tunnel shape. Lastly, the optimal elements necessary to increase utility in actual fields were found and proposed.

• The Journal of the Acoustical Society of Korea
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• v.36 no.6
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• pp.413-418
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• 2017

When measuring the radiated noise of an underwater vehicle, range information between acoustic source and receiver is an important evaluating factor, but it cannot use GPS. There is a method of using the cross correlation for finding the range of the acoustic source instead of the GPS. However, this method has heavy computational loads. This paper proposes a fast Fourier transform based method with a relatively small amount of computation to estimate the range of a source. The proposed method estimates Doppler frequencies of CW signals received at multiple receivers by fast Fourier transform and estimates the source range by comparing theoretical Doppler frequencies map previously calculated by a receiver position and source depth information. Simulation and lake trial were performed to verify the performance.