• Journal of Ocean Engineering and Technology
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• v.25 no.5
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• pp.58-63
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• 2011

Underwater vehicles such as UUVs (Unmanned Underwater Vehicles) and ROVs (Remotely Operated Vehicles) use sonar to detect their underwater environment or other underwater vehicles. The underwater vehicles designed recently have an electrical power system with high rotational speed. This system can generate high frequency vibrations above 10 kHz, and these vibrations can cause bad (negative) effects on the performance of the sonar. In many previous investigations, numerical analyses have been used for high frequency vibration problems. In this study, an experimental analysis was carried out, and a circular cylindrical shell was considered as the hull structure of an underwater vehicle. Frequency transfer functions for the circular cylindrical shell were identified using an experimental vibration analysis in the air and in a fully-submerged condition. We compare the frequency transfer functions in the air and water to obtain hydro-elastic effects. It is found that the dynamic characteristics of the circular cylindrical shell are changed by varying the response position.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1110-1115
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• 2004

Water covers two-thirds of the earth and has a great influence on the future existence of all human being. Thailand has extensive coastline and near shore water that contain vast biological and mineralogical resources. The rivers and canals can be found around the country especially in the Bangkok, which once called the Venice of the East. Autonomous underwater robot (AUR) will be soon a tool to help us better understand water resources and other environmental issues. This paper presents the design and basic control of a six-degree of freedom AUR "Chalawan", which was constructed to be used as a testbed for shallow. It is a simple low cost open-frame design, which can be modified easily to supports various research areas in the underwater environment. It was tested with a conventional proportional-integral-derivative (PID) controller. After fine-tuning of the controller gains, the results showed the controller's good performances. In the future, the dynamic model of the robot will be analyzed and identified. The advanced control algorithm will be implemented based on the obtained model.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2005.11a
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• pp.154-155
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• 2005

A trial excavation of underwater cultural properties at Dongsam site in Busan has been conducted. The site is located in the vicinity of Dongsam shell mound. The trial excavation consists of the shore investigation and the underwater investigation. For the shore investigation four trenches were digged. For the underwater investigation twenty boreholes were cored, and sediments at four predetermined sites were removed by air lifting technique. From the trial excavation a stump of a tree with many pieces of wood, and a few fragments of earthenwares were found. A comprehensive study of the trail excavation might furnish data for studying ancient coastal environment.

• Ocean Systems Engineering
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• v.8 no.1
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• pp.33-39
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• 2018

The paper presents a numerical underwater channel model developed in MATLAB for estimating the optical link budget between a light emitting diode (LED) based optical transmitter and a photo diode (PD) receiver when operated in the harbor, coastal and deep waters locations in the Bay of Bengal. The water samples are collected at different locations in the Bay of Bengal using a water sampler during an offshore research cruise. The optical attenuation, the main inherent parameter determining the range of the optical communication link is identified for the different waters using an underwater irradiance measurement system in the laboratory. The identified parameters are applied to the numerical model and found that a 10 W LED and a photo diode based system can provide the optical budget required for a horizontal underwater communication range of about 0.5, 14 and 35 m in the harbor, coastal and deep waters locations respectively. By increasing the transmitter power to 50 W, the operating range of the communication link could be increased up to 53 m in deep water locations in the Bay of Bengal.

• Proceedings of the Korea Concrete Institute Conference
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• 1998.10a
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• pp.342-349
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• 1998

The objective of this study is to investigate the characteristic change of antiwashout underwater concrete with variation of blend ratio of sea sand and fine aggregate percentage through experimental researches. According to the experiments results, when sea sand are mixed in antiwashout underwater concrete mixture by about 40% per total fine aggregate, in fine aggregate percentage of 40%, it is found that the flowability fit and the compressive strength is higher others.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1080-1085
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• 1993

A nonlinear control algorithm for the depth control of underwater vehicles is presented. In order to consider the deadzone effect of the flow control valve, a nonlinear fuzzy logic controller (FLC) is synthesized and combined with a linear proportional-derivative-acceleration (PDA) controller, which is called, the PDA/FLC controller. And, to show the effectiveness of the PDA/FLC control system, it is compared with the linear PDA control system through computer simulation. It is found that the PDA/FLC control scheme is a suitable one to maintain the desirable depth of underwater vehicles with deadzone.

• Proceedings of the Korean Institute of Communication Sciences Conference
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• 1984.04a
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• pp.33-36
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• 1984

An underwater communication technic using AM modulated ultrasonicwave was studied. The experiment were performed in the ahechoic water tank with 60KHz carrier wave and the frequency response of the system by demodulated signals were measured varing the degree of modulation and distance between transmitter and receiver. The bandwidth of transmitted signals was limited by the acoustic characteristics. As the result, it was found out that this kind of system is applicable to the underwater speech communication.

• Journal of the Korea Concrete Institute
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• v.12 no.5
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• pp.111-120
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• 2000

In case of constructing concrete structure under water, generally concrete mixed with antiwashout admixture, high range water reducer, or AE-water reducing agent etc has been manufactured to ensure the quality of antiwashout underwater concrete because of being difficulty in ascertaining construction situation by the naked eye. The properties of high quality antiwashout underwater concrete that were aimed at affluent fluidity, workability and the compressive strength of 450 kgf/$\textrm{cm}^2$ at 28 ages using two types of blended cements are following as;(1) Setting time of antiwashout underwater concretes using blended cements was more greatly delayed than that of control concrete, however, was satisfied with criteria value of "Quality standard specification of antiwashout admixture for concrete".(2) As a test results of slump flow, efflux time and box elevation of head, it was found that workability of high quality antiwashout underwater concrete was improved. (3) Heat evolution amount of OPC was 1.5 times as high as that of two types of bended cements in 72 hours. (4) Suspended solids of antiwashout underwater concrete using blended cements was more than that of control concrete, also compressive strength of high quality antiwashout underwater concrete was very low in early age, but was better than that of control concrete as to increasing ages.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2259-2262
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• 2003

This paper describes visual tracking procedure of the underwater mobile robot for nuclear reactor vessel inspection, which is required to find the foreign objects such as loose parts. The yellowish underwater robot body tend to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color informations, yellow and indigo. The center coordinates extraction procedures is as follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences: binarization labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth.

• Journal of Welding and Joining
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• v.10 no.2
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• pp.51-62
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• 1992

A torch was designed and fabricated in order to develope the technology of "locally drying underwater welding" by water curtain method. The condition for the formation of the possible local cavity, the mechanical properties and the thermal cycle of welds were investigated in the developed welding equipment compared with in-air welding. The possibility of highly reliable and practical underwater welding was found. The proper local cavity was formed above the water flowrate of 30l/min and CO$_{2}$ gas flowrate of 100l/min. The bead width and penetration depth were increased with increasing welding current. The hardness of weldments is about 160Hv in air welding, but about 210Hv in underwater welding. The elongation and the impact value of underwater weldments are 15% and 6Kg/cm$^{2}$ respectively, which are only half as much as the values of in-air welding. The cooling time in the temperature range from 800.deg.C to 500.deg.C affecting the structure and the hardness of weldments is about 22sec. in air welding while about 10sec. in underwater welding.r welding.