• 지구물리와물리탐사
• /
• 제25권4호
• /
• pp.214-216
• /
• 2022

분포형 음향 센싱(distributed acoustic sensing, DAS)은 광섬유 케이블을 수신기로 활용하는 탐사기술로서, 석유탐사 및 지진분야에서 모니터링 목적으로 활발히 적용되고 있다. 최근에는 지하매질의 물성정보를 도출하기 위해 분포형 음향 센싱 자료를 활용한 전파형역산 연구가 수행되고 있다. 분포형 음향 센싱은 광섬유 케이블 상의 두 점 간의 위상 차이에 의한 변형률을 측정하기 때문에, 기존 전파형역산 알고리즘에 직접 활용하기 어렵다. 분포형 음향 센싱 자료를 전파형역산에 활용하기 위해, 본 연구에서는 평면파 가정에서의 변형률과 수평입자속도의 관계식을 이용한 평면파 전파형역산 알고리즘을 개발하였다. 수치실험을 통해 평면파 가정에서의 변형률과 입자속도 간의 관계식이 성립함을 확인하였다. 다양한 탐사환경에서 분포형 음향 센싱 자료에 대한 전파형역산의 적용 가능성을 확인하기 위해, 육상 및 해저면 탄성파 탐사 환경을 모사한 4층 및 수정된 Marmousi-2 속도모델을 이용하였다. 제안된 전파형역산을 통해 육상 및 해저면 탄성파 탐사 환경하에서 P파 및 S파 속도구조를 정확히 도출할 수 있었다.

• 한국항행학회논문지
• /
• 제21권4호
• /
• pp.332-338
• /
• 2017

무인수상정에서 수중탐색임무를 수행하기 위해서는 자동으로 수중탐색장비 진수 및 회수를 할 수 있는 진회수시스템(LARS; launch and recovery system)이 필수적이다. 수중탐색 운용시나리오에 따른 LARS 요구사항 분석을 통하여 기본적인 구동 메커니즘 및 기구부 개념설계를 수행하였다. 또한 해상에서 무인수상정은 파도와 같은 환경적인 외란에 의해 동요하게 되므로, 이러한 해상상태에 의한 외란을 고려하여 안정적으로 수중탐색장비를 회수하기 위한 상세설계와 제작을 수행하였고, 설계된 LARS에 대하여 수조시험을 통해 진회수 성능을 검증하였다.

• 한국정밀공학회지
• /
• 제26권5호
• /
• pp.41-47
• /
• 2009

• 로봇학회논문지
• /
• 제18권4호
• /
• pp.487-495
• /
• 2023

This paper presents a method for autonomous exploration of indoor environments using a 2-dimensional Light Detection And Ranging (LiDAR) scanner. The proposed frontier-based exploration method considers navigability from the current robot position to extracted frontier targets. An approach to constructing the point cloud grid map that accurately reflects the occupancy probability of glass obstacles is proposed, enabling identification of safe frontier grids on the safety grid map calculated from the point cloud grid map. Navigability, indicating whether the robot can successfully navigate to each frontier target, is calculated by applying the skeletonization-informed rapidly exploring random tree algorithm to the safety grid map. While conventional exploration approaches have focused on frontier detection and target position/direction decision, the proposed method discusses a safe navigation approach for the overall exploration process until the completion of mapping. Real-world experiments have been conducted to verify that the proposed method leads the robot to avoid glass obstacles and safely navigate the entire environment, constructing the point cloud map and calculating the navigability with low computing time deviation.

• Ocean and Polar Research
• /
• 제25권2호
• /
• pp.227-235
• /
• 2003

In August 1998, during the resumed fourth session of the Authority, the delegation of the Russian Federation reminded the Assembly that, in addition to polymetallic nodules, other mineral resources existed in the Area, including polymetallic sulphides and cobalt crusts, and requested the Authority to adopt rules, regulations and procedures for exploration for such resources. Pursuant to article 162, para. 2(o)(ii), of the 1982 UNCLOS, such rules, regulations and procedures are to be adopted within three years of the date of such a request. This article reviewed the 'Draft Rules and Regulations for the Exploration and Exploitation of Sea-Floor Massive Sulphides and Cobat-rich Ferromanganese Crusts in the Area' by ISA in 2001, and the 'Madang Guideline for Offshore Mineral Policy' written in 1999 in respect of the international trends of polymetallic sulphides and cobalt crusts. Issues for size of mining area and relinquishment, application of the site-banking system, procedure for dealing with overlapping claims and precautionary approach etc. for the establishment of the norm of polymetallic sulphides and cobalt crusts are reviewed as consideration factors.

• 한국측량학회:학술대회논문집
• /
• 한국측량학회 2004년도 추계학술발표회 논문집
• /
• pp.539-544
• /
• 2004

In this study, locational information data acquisited by using the side scan sonar which is more precise than traditional submarine terrain' survey equipment. And the result of exploration through the object area(the East sea), accurate submarine terrain could be deciphered by sounded image. Also, in the future, side scan sonar's application will be maximized for the submarine terrain's sediment investigation to design or construction of ocean facilities.

• 한국지구물리탐사학회:학술대회논문집
• /
• 한국지구물리탐사학회 2006년도 공동학술대회 논문집
• /
• pp.207-207
• /
• 2006

• Ocean and Polar Research
• /
• 제36권4호
• /
• pp.367-371
• /
• 2014

In early 1990s, the Korean government has launched a deep-sea research program to secure the stable long-term supply of strategic metallic minerals including Cr, Cu and Ni. Through the pioneering surveys, Korea registered $150,000km^2$ of Mn-nodule field in the Clarion-Clipperton area, the NE equatorial Pacific to the international sea-bed authority (ISA) in 1994. Following the ISA exploration code, the final exclusive exploration area of $75,000km^2$ was assigned in 2002, based on results of eight-year researches of chemico-physical properties of nodules, bottom profiles and sediment properties. Since that time, environmental studies, mining technical developments including robot miner and lifting system and establishment of smelting systems were accompanied with the detailed geophysical studies to decipher the priori mining area until 2009. Major points of the recent Korea Mn-nodule program are deployed on a commercial scale until 2015. In order to meet the goals, we developed a 1/5 scaled robot miner compared to commercial one in 2012 and performed a mining test at the water depth of 1,370 m in 2013. In addition, detailed 25,000 scaled mining maps in the priori area, which can provide operation roots of the miner, will be prepared and an environmental-friendly mining strategy will be pursued based on the environmental impact test and environmental monitoring.

• Geomechanics and Engineering
• /
• 제14권5호
• /
• pp.467-477
• /
• 2018

Estimation of hydraulic parameters is a critical step during design of foundation dewatering works. When many piles are installed in an aquifer, estimation of the hydraulic conductivity should consider the blocking of groundwater seepage by the piles. Based on field observations during a dewatering project in Shanghai, hydraulic conductivities are back-calculated using a numerical model considering the actual position of each pile. However, it is difficult to apply the aforementioned model directly in field due to requirement to input each pile geometry into the model. To develop a simple numerical model and find the optimal hydraulic conductivity, three scenarios are examined, in which the soil mass containing the piles is considered to be a uniform porous media. In these three scenarios, different sub-regions with different hydraulic conductivities, based on either automatic inverted calculation, or on effective medium theory (EMT), are established. The results indicate that the error, in the case which determines the hydraulic conductivity based on EMT, is less than that determined in the automatic inversion case. With the application of EMT, only the hydraulic conductivity of the soil outside the pit should be inverted. The soil inside the pit with its piles is divided into sub-regions with different hydraulic conductivities, and the hydraulic conductivity is calculated according to the volume ratio of the piles. Thus, the use of EMT in numerical modelling makes it easier to consider the effect of piles installed in an aquifer.

• Fisheries and Aquatic Sciences
• /
• 제11권2호
• /
• pp.103-112
• /
• 2008

Compressional sound velocities of shelf sediments in the South Sea of Korea, were measured in situ and in the laboratory for six cores. In situ sound velocity was measured using the Acoustic Lance (frequency of 7.5-15 kHz), while laboratory velocity was measured by the pulse transmission technique (frequency of 1MHz). Physical properties were relatively uniform with sediment depth, suggesting little effect of sediment compaction and/or consolidation. Average in situ velocity at each core site ranged from 1,457 to 1,488 m/s, which was less than the laboratory velocity of 1,503 and 1,604m/s. In muddy sediments the laboratory velocity was 39-47 m/s higher than in situ velocity. In sandy sediments, the difference was greater by an average of 116 m/s. Although the velocity data were corrected by the velocity ratio method based on bottom water temperature, the laboratory velocity was still higher than the in situ velocity (11-21 m/s in muddy sediments and 91 m/s in sandy sediments). This discrepancy may be caused by sediment disturbance during core collection and/or by the pressure of Acoustic Lance insertion, but it was most likely due to the frequency difference between in situ and laboratory measurement systems. Thus, when correcting laboratory velocity to in situ velocity, it is important to consider both temperature and frequency.