• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.198-203
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• 2004

Ocean developments gradually move to deep-sea in the 21 century. A deep-sea unmanned underwater vehicle is one of important tools for ocean resource survey. A marine cable plays an important role for the safe operation and signal transmission of a deep-sea unmanned underwater vehicle. The first cable of a deep-sea unmanned underwater vehicle is excited by surface vessel motion and shows non-linear dynamic behaviors. A ROV launcher is also excited by the 1st cable motion. A numerical method is necessary for analysing the dynamic behaviour of the first marine cable and the ROV launcher. In this study, a numerival program is appled to a 6,000m long cable for a deep-sea unmanned underwater vehicle to shaw shows the dynamic behaviour of the cable and the ROV launcher under combined excitations.

• 한국해양공학회지
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• 제20권6호
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• pp.75-81
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• 2006

In this study, the dynamic response of the umbilical cable in a deep-water unmanned underwater vehicle system was analyzed. In order to analyze the forces acting on the cable, the launcher and umbilical cable were modeled by the simple 1-D mass-spring system. Damping and dynamic analysis was carried out by a direct time integration scheme using the $Newmark-{\beta}$ method with inverse iteration procedure, considering the nonlinear drag forces acting on the launcher. The obtained results of the present study can be used for the design of connecting the structure of the launcher and cable of the UUV system.

• 한국해양공학회지
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• 제20권3호
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• pp.7-14
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• 2006

This paper discusses the structural design and analysis of a 6,000 meters depth-rated capable deep-sea unmanned underwater vehicle (UUV) system. The UUV system is currently under development by Maritime and Ocean Engineering Research Institute(MOERI), Korea Ocean Research and Development Institute (KORDI). The UUV system is composed of three vehicles - a Remotely Operated Vehicle (ROV), an Autonomous Underwater Vehicle (AUV) and a Launcher - which include underwater equipment. The dry weight of the system exceeds 3 tons hence it is necessary to carry out the optimal design of structural system to ensure the minimum weight and sufficient space within the frame for the convenient use of the embedded equipments. In this paper, therefore, the structural design and analysis of the ROV and launcher frame system were carried out, using the optimizing process. The cylindrical pressure vessels for the ROV were designed to resist the extreme pressure of 600 bars, based on the finite element analysis. The collapse pressure for the cylindrical pressure vessels was also checked through a theoretical analysis.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.172-177
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• 2004

This paper presents the results of the structural analysis and optimal design of frames of the UUV(Unmanned Underwater vehicle) to be operated at 6000m depth in the ocean. The structure of the UUV system can be classified into two structure, Launcher ana ROV. Frame of the launcher will be made by Galvanized Steel which has high strength and corrosion-resistant but this material has high specific gravity for tile object to be weight in the water Similarly, ROV will be made by AI6061-T6, and frame of the ROV will be fix many instruments and syntactic buoyancy materials. Before fabrication of tile frame, we performed sensitivity analysis - change in weight due to $\pm1\%$ change in design variables, for easy choice by change of dimension of the frame.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.249-256
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• 2004

KRISO/KORDI is currently developing a deep-sea unmanned underwater vehicle (UUV) system which is composed of a launcher, an ROV, and an AUV. Two USBL acoustic positioning systems will be used for UUV's navigation. One is for the deep sea positioning of all three vehicles and the other is for AUV's guidance to the docking device on the launcher. In order to increase the position accuracy MFSK(Multiple Frequency Shift Keying) broadband signal will be used. As the first step to the implementation of a USBL system, this paper studies USBL positioning algorithm using MFSK signals. Firstly, the characteristics of MFSK signal is described with various MFSK parameters: number of frequencies, frequency step, center frequency, and pulse length. Time and phase delays between two received signals are estimated by using cross-correlation and cross-spectrum methods. Finally an USBL positioning algorithm is derived by converting the delays to difference of distances and applying trigonometry. The simulation results show that the position accuracy is improved highly when both cross-correlation and cross-spectrum of MFSK signals are used simultaneously.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2002년도 춘계학술대회 논문집
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• pp.243-250
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• 2002

According to Ocean Korea 21, a basic plan established by the Ministry of Maritime Affairs and Fisheries (MOMAF) of Korea in May 2000, Korea Research Institute of Ships and Ocean Engineering (KRISO) proposed a program for the development of a deep-sea unmanned underwater vehicle (UUV) to explore deep sea for scientific purpose. KRISO has launched a project in May 2001 under the support of MOMAF. The deep-sea unmanned underwater vehicle will be applied to scientific researches in deep-sea as well as in shallow water. For operation of underwater vehicles in shallow water near the Korean Peninsula, a special design is required because of strong tidal current. In addition, MOMAF requires the vehicle to be designed for the purpose of long range survey, a long-term observation, and precise works in a specific area. Thus, KRISO has planned to design the system with the functional combination of both ROV and AUV. This paper presents the design of the deep-sea unmanned underwater vehicle.

• 한국해양공학회지
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• 제23권5호
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• pp.61-70
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• 2009

An AUV (Autonomous Underwater Vehicle) is an unmanned underwater vessel to investigate sea environments and deep sea resource. To be completely autonomous, AUV must have the ability to home and dock to the launcher. In this paper, we consider a class of homing trajectory planning problem for an AUV with kinematic and tactical constraints in horizontal plane. Since the AUV under consideration has underactuated characteristics, trajectory for this kind of AUV must be designed considering the underactuated characteristics. Otherwise, the AUV cannot follow the trajectory. Proposed homing trajectory panning method that called VGM (Virtual Goal Method) based on visibility graph takes the underactated characteristics into consideration. And it guarantees shortest collision free trajectory. For tracking control, we propose a PD controller by simple guidance law. Finally, we validate the trajectory planning algorithm and tracking controller by numerical simulation and ocean engineering basin experiment in KORDI.

• 대한조선학회논문집
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• 제41권6호
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• pp.140-146
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• 2004

This paper presents the structural analysis of the pressure vessels in the unmanned underwater vehicle (UUV) under developing at KORDi, which consists of a ROV, an AUV and a launcher at 6000 m depth in the ocean. Analytical, linear and nonlinear stress and buckling analysis of cylindrical pressure vessels using FEM (ANSYS) are performed to verify the safety of the current design.

• 한국음향학회지
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• 제33권1호
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• pp.10-20
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• 2014

본 연구에서는 입수 충격에 의한 수중 순간 소음을 연구하기 위해, 황해에서 발사대를 이용하여 해상 실험을 진행하였다. 해상시험선인 청해호 우현상에서 발사대를 이용하여 실린더 몸체를 수직으로 발사하였으며, 이때 발생하는 소음을 하이드로폰으로 측정하였다. 실험에서는 원통형, 원뿔형, 반구형 두부 형상을 가진 3가지 종류의 실린더 몸체가 사용되었다. 측정된 신호는 시간적으로 확연하게 구분되어 3단계로 전시되었다 : (1) 초기 충돌 및 물체 진동단계, (2) 개방 공동 유동 단계, (3) 공동 붕괴 및 거품 진동 단계. 대부분의 경우, 거품 진동 단계의 파형이 초기 충돌 및 물체 진동 단계에 비해 우세하게 나타났다. 공동이 붕괴되기 시작하는 핀치 오프 시간은 0.18 ~ 0.2 s에 발생하였으며, 평균 거품 지속 시간은 0.9 ~ 1.3 s로 지속되었다. 입수 충격 소음은 100 Hz 이하의 대역에서 에너지가 집중되어 있었으며, 생성되는 소음은 두부 형상, 물체 질량, 발사 속도에 의해 영향을 받았다. 결과적으로, 거품 주파수에서 에너지 스펙트럼 밀도의 크기는 원통형, 원뿔형, 반구형 순으로 나타났으며, 동일 입수체에 대해서는 초기 에너지가 클수록 거품 주파수에서 에너지 스펙트럼 밀도가 크게 나타났다. 최종적으로, 버블이 폭발하는 물리적 현상을 기반으로 모의된 신호와 계측 값간 비교 결과 만족스러운 결론을 얻을 수 있었다.