• 한국해양공학회지
• /
• 제32권6호
• /
• pp.511-517
• /
• 2018

This paper proposes a vision-based underwater laser scanner with separate structures for an underwater camera and a line laser projector. Because the two devices can be adaptively placed regardless of the features of the unmanned underwater vehicle (UUV), the scanner has significant advantages in relation to its availability and flexibility. Position calibration between the underwater camera and laser projector guarantees a 3D measuring performance with high accuracy. To verify the proposed underwater laser scanner, a test-bed system was manufactured, which consisted of the laser projector, camera, Pan&Tilt, and Attitude and Heading Reference System (AHRS). A camera-laser calibration test and simple 3D reconstruction test were performed in a water tank and the experimental results are reported.

• 한국해양공학회지
• /
• 제33권5호
• /
• pp.454-461
• /
• 2019

In autonomous interventions using an underwater vehicle with a manipulator, grasping based on target detection and recognition is one of the core technologies. To complete an autonomous grasping task, the vehicle body approaches the target closely and then holds it through operating the end-effector of the manipulator, while the vehicle maintains its position and attitude without unstable motion. For vehicle motion control, it is very important to identify the hydrodynamic parameters of the underwater vehicle, including the propulsion force. This study examined the propulsion characteristics of the autonomous intervention ROV developed by KRISO, because there is a difference between the real exerted force and the expected force. First, the mapping between the input signal and thrusting force for each underwater thruster was obtained through a water tank experiment. Next, the real propulsion forces and moments of the ROV exerted by thrusting forces were directly measured using an F/T (force/torque) sensor attached to the ROV. Finally, the differences between the measured and expected values were confirmed.

• 한국전자통신학회논문지
• /
• 제16권4호
• /
• pp.755-762
• /
• 2021

본 연구는 남해안지역 진출을 위한 거점항만으로서의 마산항이 경제의 중추적 역할을 담당하기 위해 마산지역항의 해양 정보통신기술의 활용방안을 위한 연구로 기존의 마산항만의 현황과 적용중인 ICT를 바탕으로 중장기적으로 추구해야 할 해양 정보화 기술의 활용에 대하여 살펴보고자 한다.

• 한국수산과학회지
• /
• 제46권5호
• /
• pp.513-519
• /
• 2013

The fishing industry in Europe has faced environmental, economic, and social challenges. Since the early 2000s, a key tool in addressing these challenges has been information and communication technology (ICT), which has helped to modernize fishery systems in European Union (EU) countries. The ICT used in EU fisheries can be categorized broadly as 1) macro-technologies such as satellite and other remote sensing technologies in combination with geographical information systems, 2) micro-technologies adapted for fishing vessels such as echo sounders, ship navigation devices, and mobile communication devices to connect fishermen and consumers, and 3) onshore micro-technologies related to internet technology and mobile devices. The European Monitoring Center on Change has used ICT to effectively manage fisheries bio-resources. This use of ICT has contributed to the development of sustainable and competent fisheries in the 2000s, even though the knowledge-sharing practices involved are contrary to the long tradition of autonomy within the fishery industry.

• 한국해양공학회지
• /
• 제33권2호
• /
• pp.168-177
• /
• 2019

KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.

• 한국해양공학회지
• /
• 제32권4호
• /
• pp.287-295
• /
• 2018

This paper presents the results of an exploration of the ferromanganese crusts of Western Pacific Seamount registered by the Korean government. This area has been surveyed with a deep-sea camera and crust samples have been acquired by deep-sea dredging since 2013. On October 18-19, 2017, a united research team from KIOST and KRISO explored two blocks, OSM11 and OSM07, on the seamount using Hemire ROV. A precise survey was conducted on the ferromanganese crusts and sediments covering the slope/top of OSM11 and the middle flat area of OSM07. Rock samples were collected with precise positioning, and HD videos were recorded for 7 hours. This paper discusses the technical issues of this exploration in terms of (1) how to deal with an emergency situation during an electric power blackout, (2) the improvement of the thruster power by adding cooling plugs to the housings of the thruster amplifiers, (3) the relative motion of the depressor by changing the fixing method of the cable terminator, which affects the service life of the cable, (4) a sampling technique for the steep slope of the seamount, (5) integrated navigation under a USBL blackout, and (6) a 3-dimensional image mosaic for visualizing the distribution state of the crusts.

• 한국전자통신학회논문지
• /
• 제11권6호
• /
• pp.567-580
• /
• 2016

최근 들어 본격적으로 스마트사회가 시작되고 유비쿼터스 시대로 진입하는 등 정보통신기술의 급격한 변화에 따른 새로운 패러다임의 도래는 빅데이터 해양방재정보화 측면에서 주목할 만한 전환점이 되고 있다. 따라서 본 연구는 미래예측방법으로 많이 활용되고 있는 시나리오 플래닝 방법론을 적용하여 세월호사건과 같은 해양재난에 대한 대비책으로서 ICT해양방재시스템 개발 측면에서 빅데이터 해양방재정보화에 대한 바람직한 미래상을 도출하였다. 곧 더욱 진화될 스마트사회와 유비쿼터스 시대에 합당한 해양방재정보화의 상대적 미래우위전략을 찾고자, 빅데이터 행정공간정보화시스템을 제안하였으며, 세월호 사건의 재발을 방지하기 위한 목적에서 성공적인 빅데이터 해양방재정보화 전략을 도출하였다. 결국 빅데이터와 빅데이터시스템 활용이 더욱 심화될 2030년 무렵에 우리나라의 해양방재정보화 수준이 지금보다 수준 높은 위상을 확립하기 위해서는 앞으로 세월호사건을 예방할 차원의 선진적인 빅데이터 행정공간정보화시스템 마련이 중요하다.

• 한국해양공학회지
• /
• 제33권5호
• /
• pp.486-494
• /
• 2019

Recently, the interest in marine leisure activities has been growing rapidly with the work-life balance trend. In response to this demand, the Korean government is supporting fostering and revitalizing the relevant industries and facilities. In particular, a marina has been making efforts to change itself into a resort with multiple amenities instead of a simple mooring facility. However, the facilities in a marina for the transport of marine leisure equipment mostly consist of cranes and boat-lifts using ropes, which can result in incidents such as damage and accidents during lifting or movement. This paper proposes the equipment and support system for the safe transportation of marine leisure ships. Aluminum transport equipment was designed by performing a structural analysis to achieve a lighter weight than the existing steel products. In addition, a safety support system with alarms for tilting or obstacles and a slope monitoring system was developed to enhance the safety during operation and transportation. The safety support system developed in this study was implemented and installed in the transport system, and verified through commissioning on land.

• Nuclear Engineering and Technology
• /
• 제55권6호
• /
• pp.2158-2165
• /
• 2023

Marine radioactivity monitoring is critical for taking immediate action in case of unexpected nuclear accidents at nuclear facilities located near coastal areas. Especially when the level of contamination is not predictable, mobile monitoring systems will be useful for wide-area ocean radiation survey and for determination of the level of radioactivity. Here, we used a silicon photomultiplier and a high-efficiency GAGG crystal to fabricate a compact, battery-powered gamma spectroscopy that can be used in an ocean environment. The developed spectroscopy has compact dimensions of 6.5 × 6.5× 8 cm³ and weighs 560 g. We used LoRa, a low-power wireless protocol for communication. Successful data transmission was achieved within 1.4 m water depth. The developed gamma spectroscopy was able to detect radioactivity from a ¹³⁷Cs point source (3.7 kBq) at a distance of 20 cm in water. Moreover, we demonstrated an unmanned radioactivity monitoring system in a real sea by combining unmanned surface vehicle with the developed gamma spectroscopy. A hidden ¹³⁷Cs source (3.07 MBq) was detected by the unmanned system at a distance of 3 m. After successfully testing the developed mobile spectroscopy in an ocean environment, we believe that our proposed system will be an effective solution for mobile real-time marine radioactivity monitoring.

• 수산해양교육연구
• /
• 제23권1호
• /
• pp.92-104
• /
• 2011

Korea is a high level of ICT infrastructure Construction in the OECD's PISA 2006. However, the purpose using of ICT was analyzed for the sake of the interest. They have been emphasized a algorithm-based computer education in conference that it was attended by government, industry and university officials. We designed an algorithm curriculum by analyze a case in international ICT training courses and research. And we were proposed various methods, such as web-based contents, play-based programs, outdoor activities and educational programming language learning for algorithm learning at levels of elementary and middle school students.