• Journal of Ocean Engineering and Technology
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• v.19 no.2 s.63
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• pp.67-73
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• 2005

This paper describes depth, heading and speed control of an underwater vehicle that has four stern thrusters of which forces are coupled in the diving and, steering motion, as well as the speed of the vehicle. The optimal linear quadratic controller is designed based on a linearized- state space model, developed by combining the dynamic equations of speed, steering and diving motion. The designed controller gives provides an optimal thrust distribution, minimizing the given performance index to control speed, depth and heading simultaneously. To validate the performance of the controller, a simulation and tank-test are carried out with DUSAUV (Dual Use Semi-Autonomous Underwater Vehicle), developed by KORDI as a test-bed for testing new underwater technologies. Optimal gains of the controller are tuned, using a computer simulation environment with a nonlinear 6-DOF numerical DUSAUV model, developed by PMM (Planner Motion Mechanism) test. To verify the performance of the presented controller in experiment, a tank-test with DUSAUV is carried out in the ocean engineering basin in KORDI. The experimental results are also compared with the simulation results to investigate the accordance of the numerical and the real mode.

• The Journal of Korean Institute of Information Technology
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• v.16 no.12
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• pp.41-47
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• 2018

The buoy-enabled underwater surveillance system is a device that is installed in a particular sea area and operated for a certain period of tine and moved to another sea area after recovery. In this paper, a mooring method which is applied for a buoy-enabled underwater surveillance system was selected to maintain installation and enure stable operation. Also, the structure of the mooring line was designed. Two-point mooring method was selected considering interference with the communication cable of array-assembly. The composite structure of buoy chain, nylon rope, and anchor chain is designed as the basic component of mooring line. For the verification of design, a numerical simulation and wave tank experiment were performed. Their results were confirmed similarity in test condition. Finally, the mooring lines were designed for the environment of the sea trial location. The mooring line produced by the final design confirmed the stability above the significant wave height considered in the design on the sea trial.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.06a
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• pp.754-757
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• 2007

In this paper, we present an implementation and it's real-sea test of an underwater acoustic data communication system, which allows the system to reduce complexity and increase robustness in time variant underwater environments. For easy adaptation to complicated and time-varying environments of the ocean, all-digital transmitter and receiver systems were implemented. For frame synchronization the CAZAC sequence was used, and QPSK modulation/ demodulation method with carrier frequency of 25kHz and a bandwidth of 5kHz were applied to generate 10kbps transmission rate including overhead. To improve transmission quality, we used several techniques and algorithms such as adaptive beamforming, adaptive equalizer, and convolution coding/Viterbi decoding. for the verification of the system performance, measurement of BER has been done in a very shallow water with depth of 8m at JangMok, Geoje. During the experiment, image data were successfully transmitted up to about 7.4km.

• The Journal of Korea Robotics Society
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• v.7 no.4
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• pp.284-291
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• 2012

Recently, development of underwater robot has actively been in progress in the world as ROV(Remotely Operator Vehicle) and AUV(Autonomous Unmmanded Vehicle) style. But KIOST(Korea Institute of Ocean Science and Technology), beginning in 2010, launched the R&D project to develop the robot, dubbed CRABSTER(Crab + (Lob)ster) in a bid to enhance the safety and efficiency of resource exploration. CRABSTER has been designed to be able to walk and swim with its own legs without screws. Among many research subjects regarding CRABSTER, optimal swimming patterns are handled in this paper. In previous studies, drag forces during one period with different values for angle of each joint were derived. However kinematics of real-robot and fluid-dynamics are not considered. We conducted simulations with an optimization algorithm for swimming by considering simplified fluid dynamics in this paper. Drag-coefficients applied to the simulation were approximated values calculated by CFD(Computational Fluid Dynamics : Tecplot 360, ANSYS). In addition, optimized swimming patterns were applied to a real robot. The experiments with the real robot were conducted in circumstances in the water. As a result, when the experiments were carried out in the water, a regular pattern of drag force output came out depending on the movement of the robot. We confirmed the fact that the drag forces from the simulation and the experiment has a high similarity.

• Journal of the Korea Society for Simulation
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• v.30 no.1
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• pp.11-20
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• 2021

As unmanned underwater systems have recently emerged, a high-speed underwater channel modeling technique, which is one of the most important techniques in the system, has received a lot of attention. In this paper, we proposed a high-speed sound propagation model and verified the applicability through quantitative performance analyses. We used a high-order finite difference method (FDM) for wave propagation modeling in the water, and a domain decomposition method was adopted using multiple general-purpose graphics processing units (GPUs) to increase the calculation efficiency. We compared the results of the model we proposed with the analytic solution in the half-infinite media and results of the Virtual Timeseries Experiment (VirTEX) model, which is based on the ray method. Finally, we analyzed the performance of the model quantitatively using numerical examples. Through quantitative analyses of the improvement in computational performance, we confirmed that the computational speed increases linearly as the number of GPUs increases. The computation times are increased by 2 times and 8 times, respectively, when the domain size of computation and the maximum frequency are doubled. We expect that the proposed high-speed underwater channel modeling technique is able to contribute to the enhancement of national defense as an underwater communication channel model and analysis tool to develop the underwater communication technique for the unmanned underwater system.

• Journal of Korean Physical Therapy Science
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• v.30 no.1
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• pp.41-51
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• 2023

Background: The purpose of this study was to identify the effects of underwater and ground proprioceptive neuromuscular facilitation lower extremity pattern exercise on trunk control and lower extremity muscle activity of chronic stroke patients. Design: Pretest-posttest design: single blind. Methods: The subjects were 28 patients (experimental group, n=14 or control group, n=14) diagnosed with chronic stroke. The experimental group performed underwater proprioceptive neuromuscular facilitation lower extremity pattern exercise. The control group performed ground proprioceptive neuromuscular facilitation lower extremity pattern exercise. Training was conducted once a day for 30 minutes, five days per week for six. Trunk control was measured using the Trunk Impairment Scale. Lower extremity muscle activity was measured using surface electromyography. Results: As a result of comparison within groups, the experimental and control group showed significant difference for trunk control after the experiment (p<0.05). In comparison between two groups, the experimental group showed more significant difference in trunk control than the control group (p<0.05). In comparison within groups, the experimental group showed significant difference for lower extremity muscle activity after the experiment (p<0.05). In comparison between two groups, the experimental group showed more significant difference in lower extremity muscle activity than the control group (p<0.05). Conclusion: Based on these results, underwater proprioceptive neuromuscular facilitation lower extremity pattern exercise effectively improved the trunk control and lower extremity muscle activity of chronic stroke patients.

• The Journal of the Acoustical Society of Korea
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• v.21 no.7
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• pp.606-613
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• 2002

In this paper we applied a transmit beamforming technique to the underwater acoustic communication system for high rate data transmission. A prototype transmit system was designed and implemented with the general purpose DSP processor and multiple digital-to-analog converters. The performances of the implemented system were evaluated by the experiment in water tank. In order to simplify the procedure the channel coding and equalizer were omitted. And the simplest OOK (On-Off Keying) technique in digital communication methods was applied. The experimental result shows that the transmission data rate is higher about 3 times in the case of 5 hydrophone transmitting may than 1 hydrophone transmitter at bit error rate 10/sup -2/. We verified that the maximum data rate was 400 bps for speech signal transmission in water tank.

• The Journal of the Acoustical Society of Korea
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• v.39 no.6
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• pp.585-591
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• 2020

The adaptive transmission techniques are efficient method for underwater acoustic communication to improve the system efficiency by varying transmission parameters according to channel conditions. In this paper, we construct four transmission modes with different data rates using the convolutional codes, which is freely set to size of information bits. On the receiver side, one critical component of adaptive system is to find which mode has best performance. In this paper, we proposed threshold detection algorithm to decide appropriate mode and applied turbo equalization method based on BCJR decoder in order to improve performance. We analyzed the performance of four modes based on threshold detection algorithm through the lake experiment.

• International Journal of Naval Architecture and Ocean Engineering
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• v.9 no.1
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• pp.35-44
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• 2017

Supercavitation is one of the most attractive technologies to achieve high speed for underwater vehicles. However, the multiphase flow with high-speed around the supercavitating vehicle (SCV) is difficult to simulate accurately. In this paper, we use modified the turbulent viscosity formula in the Standard K-Epsilon (SKE) turbulent model to simulate the supercavitating flow. The numerical results of flow over several typical cavitators are in agreement with the experimental data and theoretical prediction. In the last part, a flying SCV was studied by unsteady numerical simulation. The selected computation setup corresponds to an outdoor supercavitating experiment. Only very limited experimental data was recorded due to the difficulties under the circumstance of high-speed underwater condition. However, the numerical simulation recovers the whole scenario, the results are qualitatively reasonable by comparing to the experimental observations. The drag reduction capacity of supercavitation is evaluated by comparing with a moving vehicle launching at the same speed but without supercavitation. The results show that the supercavitation reduces the drag of the vehicle dramatically.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.18 no.2
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• pp.154-165
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• 2006

In the present study, a numerical model using Boussinesq equation is set up to predict the interacted equilibrium between waves and their induced currents in the occurrence of breaking waves over an underwater shoal, and the numerical results are compared with results of existing hydraulic experiments. A sensitivity analysis has been done to find out appropriate values of breaking wave parameters with the result (regular wave case) of Vincent and Briggs (1989)’ experiment. Then the numerical model is applied to the irregular wave cases of the experiment and the hydraulic model test of Ieodo which is a natural undersea shoal. The results show that a strong current forms in the wave direction at the downstream side of the shoals, causing the attenuation of wave heights there. The calculated wave heights generally show a similar pattern with the measured data.