• 한국해양공학회지
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• 제29권5호
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• pp.392-397
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• 2015

An autonomous underwater vehicle (AUV) can perform flexible operations even in complex underwater environments because of its autonomy. Localization is one of the key components of this autonomous navigation. Because the inertial navigation system of an AUV suffers from drift, observing fixed objects in an inertial reference system can enhance the localization performance. In this paper, we propose a method of AUV localization using visual measurements of underwater structures. A camera measurement model that emulates the camera’s observations of underwater structures is designed in a particle filtering framework. Then, the particle weight is updated based on the extracted visual information of the underwater structures. The proposed method is validated based on the results of experiments performed in a structured basin environment.

• 한국수산과학회지
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• 제43권2호
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• pp.159-168
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• 2010

This paper presents a mathematical model and simulation method for investigating the performance of set net systems and fish cage systems influenced by currents and waves. Both systems consist of netting, mooring ropes, a floating collar and sinkers. The netting and ropes were considered flexible structures and the floating collar was considered an elastic structure. Both were modeled on a mass-spring model. The structures were divided into finite elements and mass points were placed at the mid-point of each element, and the mass points were connected by mass-less springs. Each mass point was subjected to external and internal forces and the total force was calculated at every integration step. An implicit integration scheme was used to solve the nonlinear dynamic system. The computation method was applied to dynamic simulation of actual systems simultaneously influenced by currents and waves in order to evaluate their practicality. The simulation results improved our understanding of the behavior of the structure and provided valuable information concerning the optimized design of set net and fish cage systems exposed to an open ocean environment.

• 한국해양공학회지
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• 제32권6호
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• pp.511-517
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• 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.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2005년도 봄학술 발표회 논문집(II)
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• pp.277-280
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• 2005

Epoxy-mortar composites have been wildly used as finishing and repairing materials in the construction because of their excellent properties. Conventional epoxy-mortars and concretes have an inferior applicability and cost performance ratio due to the two component mixing of the epoxy resin and hardener. In this study, we examined the engineering effect of compressive strength and flexible strength according to the various epoxy-hardener in underwater and humidity environment, and evaluated the hardener types and physical effect of Epoxy mortar using cement binder in underwater and air condition. In this study, it was clarified that the engineering properties of repairing epoxy-motars were effected by the type of hardener.

• 대한조선학회논문집
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• 제46권2호
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• pp.203-217
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• 2009

The researches on the development of composite material propeller with outstanding damping effects have been actively attempted for the reduction of radiation noise of underwater vehicle propeller. Composite material suitable for the flexible propeller has the following advantages, such as high specific strength and specific stiffness, low thermal expansion coefficient, high resistance against environmental deterioration, low possibility of corrosion due to cavitation, nonoccurrence of rapid fracture due to fatigue, easy molding of complicated shape, easy repair maintenance and low production costs, etc. For the confirmation of optimal fiber array structures of composite material for the production of the flexible propeller blades, in this study, mechanical characteristics of its specimens according to materials were obtained and structural characteristics of propeller blade were also examined according to materials and stacking fiber arrays.

• 대한조선학회논문집
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• 제40권5호
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• pp.53-59
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• 2003

Ocean space utilization using VLFS(Very Large Floating Structures) can provide environmental impact free space by allowing sea water flow freely through the floating structure. Use of Pontoon type VLFS for that purpose needs employment of breakwaters for reduction of wave effects. Therefore, in order to maximize advantage of environmental impact free structure, the breakwater should be the one that can allow water flow freely through it, too. In this paper hydroelastic response of a pontoon type structure is analyzed considering breakwaters which allow water flow through its opening at bottom of the breakwaters. Mode superposition technique is used for solving equation of flexible body while interactions between the pontoon and breakwaters is considered based on generalized mode concept. Bi-quadratic nine node higher-order boundary element method is adopted for more accurate numerical treatment near sharp edged body shape. Performance of various combinations of breakwaters is investigated.

• 수산해양기술연구
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• 제46권1호
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• pp.20-31
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• 2010

In this research, the submersible fish cage was designed to avoid structural and biological damage during harsh sea conditions. The submersible cage system consists of netting, mooring ropes, a floating collar, floats, sinkers and anchors. Whole elements of the cage were modeled on the mass-spring model. The computer simulations were carried out to investigate the dynamic behavior of the cage and to calculate mooring line tension subjected to tidal currents and waves. As expected, the tension values in the mooring line of the submerged position are 36% less compared to that of the surface cage under the same loading conditions. As the wave was used in combination with the current velocity of 1m/s, the average tensile load for the submerged cage showed 85% of the value for the floating cage. The simulation results provide an improved understanding of the behaviors of the structure and valuable information on the optimized design of the cage system exposed to open ocean environmental factors.