• 한국해양공학회지
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• 제31권4호
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• pp.315-323
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• 2017

This paper presents an integrated navigation system that combines ultra-short baseline (USBL), Doppler velocity log (DVL), and heading measurements for a deep-sea remotely operated vehicle, Hemire. A navigation model is introduced based on the kinematic relation of the position and velocity. The system states are predicted using the navigation model and corrected with the USBL, DVL, and heading measurements using the Kalman filter. The performance of the navigation system was confirmed through re-navigation simulations with the measured data at the Southern Mariana Arc submarine volcanoes. Based on the characteristics of the measurements, the design process for the parameters of the system modeling error covariance, measurement error covariance, and initial error covariance are presented. This paper reviews the influence of the outliers and blackout of the USBL and DVL measurements, and proposes an outlier rejection algorithm that is robust to USBL blackout. The effectiveness of the method is demonstrated with re-navigation for the data that includes USBL blackouts.

• Journal of information and communication convergence engineering
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• 제8권5호
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• pp.534-538
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• 2010

Efficient control of a marine engine requires an engine control unit (ECU) system that handles fast and precise signal processes for in-coming and out-going signals from fast running engines. In order to handle these roles, the sequential control has been adapted in the ECU system in small and medium size ship engines, which has caused high production cost and complexity of the system. Hence, this paper is focused on developing an distributed ECU system for high speed and high precision control of a marine engine by efficiently combining a CPLD chip and a microprocessor. By sharing load at the MCU with the designed CPLD chip, we could achieve in driving a marine engine with high speed and precise control so that the ECU board has been simplified and its production cost has been reduced.

• 한국정보통신학회논문지
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• 제16권10호
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• pp.2113-2120
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• 2012

국내 해양 환경에 대한 자동 감시 및 분석 연구는 미흡한 편에 있다. 최근 세계적으로 바다가 자원의 보고로 주목받으면서 해양 모니터링 기술에 대한 연구가 활발히 진행 되고 있다. 특히 해양 환경을 분석하고 이해하기 위해서는 지속적으로 해양 환경 자료를 수집해야 하나 아직 많은 부분에서 제약 사항으로 남아 있다. 자동화된 해양 환경자료의 수집과 수집된 자료를 분석하여서 해양재해를 예측하면 기름 유출에 의한 해양오염의 피해, 적조에 의한 수산업의 피해, 해양환경 이변에 의한 수산업 및 재해 피해를 최소화하는데 기여할 수 있다. 본 논문은 해양환경 감시 및 분석 시스템의 모델을 제안한다. 제안 시스템은 해양환경 정보를 자동 수집하여 해양환경을 지능적으로 감시한다. 또한 수집된 해양 자료를 분석하여서 해양 재해를 예측한다.

• 한국해양환경ㆍ에너지학회지
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• 제15권2호
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• pp.126-132
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• 2012

최근들어 육상의 인간 활동에 의한 다량의 오염물질 부하에 기인하여 연안에서 심각한 환경 문제가 발생하고 있다. 따라서 해양 생물체 이용 시스템이 육지와 해양간의 물질 순환을 시도하기 위하여 제안되었다. 포괄적인 평가는 제안된 시스템이 적절하고 지속가능한지를 밝힐 필요가 있다. 본 연구는 에너지의 질을 표현하고, 물질 순환 시스템에서 흐르는 물질과 에너지를 묘사하는 열역학적 개념의 엑서지를 도입하였다. 본 연구는 일본 오사카 중부에 위치한 사카이시의 물질 순환 시스템 내에서 물질, 에너지, 그리고 엑서지 흐름들을 제공한다. 엑서지는 엑서지 효율적인 물질 순환 시스템 내에서 무엇이 주요 역할인지 잘 이해하는데 도움을 주는 것으로 밝혀졌다.

• 해양환경안전학회:학술대회논문집
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• 해양환경안전학회 2007년도 추계학술발표회
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• pp.189-192
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• 2007

• 대한설비공학회:학술대회논문집
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• 대한설비공학회 2003년도 하계학술대회 논문집
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• pp.17-17
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• 2003

• 수산해양기술연구
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• 제42권2호
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• pp.104-110
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• 2006

The 3D visualization of seafloor topography(ST) was realized to discuss the effective use by the 3D visualization of ST on the integrated navigation system(INS) for fishing boat. The software was to actually display the 3D visualization of ST using triangular irregular network, helical hyperspatial codes and stereo projection. The INS for fishing boat which applied the 3D visualization of ST will be utilized for safety voyage and the effective fishing work on the fishing ground.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1060-1065
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• 2005

An Independent Administrative Corporation Japan Agency for Marine-Earth Science and Technology (JAMSTEC) is developing light-and-small Autonomous Underwater Vehicles (AUV)$^{1)}$, named 'MR-X1' (Marine Robot Experimental 1), which can cruise, investigate and observe by itself without human's help. In this paper, we consider the motion control problem of 'MR-X1' and derive a controller. Since the dynamic property of 'MR-X1' is changed by the influence of the speed, the mathematical model of 'MR-X1' becomes the nonlinear model. In order to design a controller for 'MR-X1', we generally apply nonlinear control theories or linear control theories with some constant speed situation. If we design a controller by applying Linear Quadratic (LQ) optimal control theory, the obtained controller only compensates t e optimality at the designed speed situation, and does not compensate the stability at another speed situations. This paper proposes a controller design method using Linear Matrix Inequalities (LMIs)$^{2),3),4)}$, which can adapt the speed variation of 'MR-X1'. And examples of numerical analysis using our designed controller are shown.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.278-281
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• 2003

The focus of this research is to realize the function which is equivalent to the active suspension system, with controlling semi-active suspension through the attenuation of power variable damper in lower cost and smaller energy. Actually some semi-active suspension systems have been adopted, but they are not sufficient in performance. The authors intended to develop more effective and practical system and applied the optimal control technique. The results of experiments with practical suspension system showed a degree of improvement of comfortableness.

• Journal of Advanced Marine Engineering and Technology
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• 제34권5호
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• pp.695-702
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• 2010

Numerical analysis information will be very useful to improve fluid system. General information about an internal gas flow is presented by numerical analysis approach. Relating with hydrogen compressing system, which have an important role in hydrogen energy utilization, this should be a useful tool to observe the flow quickly and clearly. Flow characteristic analysis, including pressure and turbulence kinetic energy distribution of hydrogen gas coming to the cylinder of a reciprocating compressor are presented in this paper. Suction-passage model is designed based on real model of hydrogen compressor. Pressure boundary conditions are applied considering the real condition of operating system. The result shows pressure and turbulence kinetic energy are not distributed uniformly along the passage of the Hydrogen system. Path line or particles tracks help to demonstrate flow characteristics inside the passage. The existence of vortices and flow direction can be precisely predicted. Based on this result, the design improvement, such as reducing the varying flow parameters and flow reorientation should be done. Consequently, development of the better hydrogen compressing system will be achieved.