• Structural Engineering and Mechanics
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• v.18 no.4
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• pp.429-440
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• 2004

Remotely Operated Vehicle of 6000-meters is a new conceptual equipment made to replace the manned systems for investigating the deep-sea environment, and all of the ROV systems in operational condition strongly depend on the connecting cables. In this point of view dynamics of the ROV cable system is very important for operational and safety aspects as a cable generally encounters great tension. Researches have been executed on this problem, and most of papers have been mainly focused on the operational condition of ROV system in deep sea. This paper presents the dynamic cable response analysis during ROV launching condition rather than the operational one in order to provide the design guide of a ROV cable system in this circumstance, considering the coupling effects between cable and wave-induced ship motion. To obtain the variations of cable tensions during a ROV launching, a pre-stressed harmonic response analysis was carried out. Wave-induced tensions of the cable during ROV launching were obtained in real sea states using FE modeling, and the basic design guide of a ROV cable system was obtained.

• Journal of Ocean Engineering and Technology
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• v.7 no.1
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• pp.62-72
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• 1993

This paper describes the results of 3 years project on the design and development of a 500 meter class ocean survery ROV model. The design concept and the design procedure are given for each component of the ROV model. The design concept and the design procedure are given for each component of the ROV. Special emphasis is laid on the development of the position control system together with the development of the performance evaluation technique.

• Journal of Navigation and Port Research
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• v.27 no.1
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• pp.87-95
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• 2003

Submarine optical fiber cable construction consists of marine survey, PLGR(Pre Lay Grapnel Run), shore-end-work, laying the submarine optical cable. This PLGR is work to ease the cable lay safely in seabed, improve the performance of Plough and ROV (Remotely-Operated Vehicle) laying work, and protect laying equipment. This paper presents the design and implementation of real-time monitoring system for PLGR work in submarine optical fiber cable construction enterprise. In this paper, we designe overall real-time monitoring system. For this purpose, the modules such as serial multiport communication module, real-time processing module, environment configuration module, real-time graph and a printout modules are designed and implemented. For the validity evaluation of this paper, serial multi port communication module, data parsing, realtime graph output are implemented and tested.

• Journal of Ocean Engineering and Technology
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• v.33 no.3
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• pp.300-311
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• 2019

An ROV trencher is a type of heavy-duty work class ROV equipped with high-pressure water jet tools for cutting into the sea floor and burying cables. This kind of trencher is mostly used for PLIB operations. This paper introduces the development of this kind of ROV trencher, which has a 698 kW power system, with a 250 kW hydraulic system and two 224 kW water jet systems. The project was launched in January 2014. After four years of design, manufacturing, and system integration, we carried out two sea trials near the Yeongilman port (about 20-30 m in depth) in Pohang to evaluate the system performance in November 2017 and August 2018. Through tests, we found that most of specifications were satisfied, including a maximum bury depth of 3 m, maximum bury speed of 2 km/h, and maximum forward speed of 1.54 m/s.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2002.05a
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• pp.205-208
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• 2002

When establishing the submarine optical fiber table between international and domestic, marine survey in advance it grasps the submarine geological features which is accurate and a depth of water condition. And the route which is safe for selecting and submarine optical fiber cable laying it is a work which secures an ease one location. If also, the PLGR the submarine of optical fiber table root the sea contamination material (rope, wire and net) it removes in advance and if the submarine of the optical fiber cable ease it does to arrive safely. And it is a work the Plough and ROV laying work hour laying work efficiency improvement and laying equipment it will be able to protect. So, This paper presents the monitoring system of ship information management and operation for marine survey and PLGR work in submarine optical fiber table construction enterprise. In order to achieve these purpose, overall serial multi-port communication modulo of configuration, realtime processing for management and operation of receiving data, realtime graph and a printout are described.

• Journal of Ocean Engineering and Technology
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• v.34 no.5
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• pp.361-370
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• 2020

We developed a heavy-duty work class ROV trencher named URI-T (Underwater robot it's trencher) that can conduct burial and maintenance tasks for underwater cables and small diameter pipelines. It requires various supporting systems, including a dynamic positioning (DP) vessel, launch and recovery system (LARS), A-frame, and winch in order to perform burial tasks because of its dimensions (6.5 m × 5.0 m × 4.5 m, 20 t) and the tough working environment. However, operating a DP vessel has disadvantages as it is expensive to rent and operate and it is difficult to adjust the working schedule for some domestic coast construction cases. In this paper, we propose a method using a barge instead of a DP vessel to avoid the above disadvantages. Although burying the cable and pipeline using a barge has lower working efficiency than a DP vessel, it can save construction expenses and does not require a large crew. The proposed method was applied over two months at the construction of the water supply in Yokji-do, and the results were verified.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.813-821
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• 2013

In this paper, we present the development of P-SURO II hybrid AUV (Autonomous Underwater Vehicle) which can be operated in both of AUV and ROV (Remotely Operated Vehicle) modes. In its AUV mode, the vehicle is supposed to carry out some of underwater missions which are difficult to be achieved in ROV mode due to the tether cable. To accomplish its missions such as inspection and maintenance of complex underwater structures in AUV mode, the vehicle is required to have high level of autonomy including environmental recognition, obstacle avoidance, autonomous navigation, and so on. In addition to its systematic development issues, some of algorithmic issues are also discussed in this paper. Various experimental studies are also presented to demonstrate these developed autonomy algorithms.

• Proceedings of the KIEE Conference
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• summer
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• pp.597-601
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• 2004

HVDC(High Voltage Direct Current) is an underwater cable between Jeju Island and Haenam in main land and supplies approximately $50\%$ of electrical usage in Jeju Island. If there is any power failure due to HVDC, it will cost approximately 50,000 US dollars per day including Thermal Electrical Generation. Therefore it is absolutely necessary to recover the problem in rapid timely basis. Present survey method in Korea is done by scuba diver with air cylinder resulting very poor visual inspection. Other option is by only visual camera attached on miniature ROV for solely suey Purpose. This method does not includeburial depth of cable, cable position, cable condition & etc??‥‥.??? In result, current method does not generate any scientific or sophisticated data which does not allow any intelligent management decision. In conclusion, new method and new systems are needed urgently to upgrade current HVDC underwater cable survey technique in Korea to minimize the cost and time factors.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.20 no.2
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• pp.105-111
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• 2007

A finite element analysis scheme is proposed to assess the dynamic response due to impulse excitation of ocean mining pipe system. Transient dynamic response analysis based on the proposed scheme was carried out for various types of impulses, and the magnitude of cable tension induced by impulse was discussed by using a model of 'Segero', a special purpose ship of KT-Submarine as well as ROV carrier 'Onnuri' A qualitative, prospective guideline for the relevant marine operation is obtained.