• Journal of Ocean Engineering and Technology
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• v.29 no.5
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• pp.386-391
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• 2015

The mobility of tracked vehicles is mainly influenced by the interaction between the tracks and soil. When the track of a tracked vehicle rotates, there will be a slip effect between the track and the soil, which creates a track shear force and the vehicle’s driving force. In this paper, the modeling of a working tool such as a trenching cutter and a tracked vehicle that is the lower frame of a track-based operating robot was performed. In addition, a numerical simulation was executed to verify the performance of the design objectives and the motion characteristics of the combined system.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1338-1339
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• 2008

In this paper, charging part by basic from Andrew's body model research to second a danger have affect on remaining and rehabilitation humans in space under water. The construction of a circuit make to Andrew's body model. It compare that voltages measure a hand, a breast, a groin and electric currents measure an arm, a breast, a leg with safety a limit of body through an electric current. Out of result, it research that magnitude and wave of body passing an electric current give the effect to the heart control a signal and it have affect on direct the ventricle of the heart in detail motion. A thing of this sort get through to the simulation by the ATP-Draw program. The results from above, it is publish one's research work with safety a limit electric angle take measurement of resistance a body in under water and to the voltage and electric current passing each parts.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.6
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• pp.251-257
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• 2021

An underwater platform operating a passive sonar needs to acquire the target position to perform its mission. In an environment where sea-floor reflections exist, the position of a target can be estimated using the difference in the arrival time between the signals received through multipaths. In this paper, a method of localization for passive sonar is introduced, based on the EKF (Extended Kalman Filter) using the multipath time difference of arrival in underwater environments. TMA (Target Motion Analysis) requires accumulated measurements for long periods and has limitations on own-ship movement, allowing it to be used only in certain situations. The proposed method uses an EKF, which takes measurements of the time differences of the signal arrival in multipath environments. The method allows for target localization without restrictions on own-ship movement or the need for an observation time. To analyze the performance of the proposed method, simulation according to the distance and depth of the target was performed repeatedly, and the localization error according to the distance and water depth were analyzed. In addition, the correlation with the estimated position error was assessed by analyzing the arrival time difference according to the water depth.

• Proceedings of the KSME Conference
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• 2002.08a
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• pp.201-204
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• 2002

This paper describes the hydrodynamic characteristics of a test-bed AUV SNUUV-I constructed at Seoul National University. The main purpose of the AUV is to carry out fundamental control and hydrodynamic experiments. Its configuration is basically a long cylinder of 1.35m in length and 0.25m in diameter with delta-type wings near its rear end. On the edge of each wing, a thruster of 1/4HP is mounted, which is used for both drive and turn the vehicle for horizontal movement as the output control power is varied. A pair of control surfaces installed near its font part generates pitch moments for vertical movement. The 6 DOF mathematical model of SNUUV-I contains hydrodynamic forces and moments expressed in terms of a set of hydrodynamic coefficients. These coefficients can be classified into linear damping coefficients, linear inertial coefficients and nonlinear damping coefficients. It is important to estimate the exact value of these coefficients to control the vehicle precisely. Among these, the linear coefficients are known to affect the motion of the vehicle dominantly. The linear damping coefficients are estimated by using Extended Kalman Filter. The responses of the vehicle to input signals are used to estimate the hydrodynamic coefficients, which can be inferred from output signals measured from an IMU (inertial motion unit) sensor, while the linear inertial coefficients are calculated by a potential code. By using these coefficients estimated as described above, a simulation program is constructed using Matlab.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.30 no.6
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• pp.263-269
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• 2018

Changes in water depth caused by underwater earthquakes and landslides cause sea surface undulations, which in turn propagate to the coast and result in significant damage as wave heights normally increase due to the wave shoaling process. Various types of numerical models have been developed to simulate the generation and propagation of tsunami waves. Most of tsunami models determine the initial surface of the water based on the assumption that the movement of the seabed is immediately and identically transmitted to the sea surface. However, this approach does not take into account the characteristics of underwater earthquakes that occur with time history and spatial variation. Thus, such an incomplete description on the initial generation of tsunami waves is totally reflected in the error during the simulation. In this study, the analytical solution proposed by Hammack (1973) was applied in the tsunami model in order to simulate the generation of initial water surface elevation by the change of water depth with time history and its propagation. The developed solution is expected to identify the relationship among various type of seabed motions, initial surface undulations, and wave speeds of elevated water surfaces.

• Journal of the Korean Society of Marine Environment & Safety
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• v.21 no.2
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• pp.215-222
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• 2015

To improve the ocean waves of the ship maneuvering simulator, we study and summarize the visualization elements of the ocean waves and the overall direction of their implementation in detail. We categorize the visualization elements of the ocean waves into five groups, including wave surface, wave breaking, interaction, lighting effects, and underwater. We also analyze the design and implementation issues of the visualization of the ocean waves for ship maneuvering simulator with respect to realistic and real-time ocean visualization, ship dynamics, and application purposes. Through the analysis, we have found that the realistic visualization of ocean waves plays an important role in the generation of immersiveness, more accurate ship motion, and the various and controllable simulation scenarios for the ship maneuvering simulator. Additionally, we have confirmed that there are many visualization elements, methods, and limitations to be considered for the visualization of the ocean waves for ship maneuvering simulator, and we have concluded that the systematic design is required before implementation.

• The Journal of the Acoustical Society of Korea
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• v.22 no.7
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• pp.562-572
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• 2003

A matched-target model inversion method was developed for a passive sonar to estimate the position of moving targets. Based on the well known matched-field processing in underwater acoustics, the method finds target position by matching the measured target directions and frequencies with the corresponding values of the proposed target model. For the efficient and accurate estimations, the parameter searching was accomplished using a hybrid optimizing method, which first starts with a global optimization such as generic algorithm or simulated annealing then applies a local optimization of a simple down hill algorithm. The suggested method was testified using simulations for three different moving scenarios. The simulation results showed that the method is robust in convergence, even under the situation of over 5 times standard deviation of Gaussian distribution of measured error, and is practical in calculation time as well.

• Ocean Systems Engineering
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• v.6 no.4
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• pp.377-400
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• 2016

Dropped objects are among the top ten causes of fatalities and serious injuries in the oil and gas industry (DORIS, 2016). Objects may accidentally fall down from platforms or vessels during lifting or any other offshore operation. Proper planning of lifting operations requires the knowledge of the risk-free zone on the sea bed to protect underwater structures and equipment. To this end a three-dimensional (3D) theory of dynamic motion of dropped cylindrical object is expanded to also consider ocean currents. The expanded theory is integrated into the authors' Dropped Objects Simulator (DROBS). DROBS is utilized to simulate the trajectories of dropped cylinders falling through uniform currents originating from different directions (incoming angle at $0^{\circ}$, $90^{\circ}$, $180^{\circ}$, and $270^{\circ}$). It is found that trajectories and landing points of dropped cylinders are greatly influenced by the direction of current. The initial conditions after the cylinders have fallen into the water are treated as random variables. It is assumed that the corresponding parameters orientation angle, translational velocity, and rotational velocity follow normal distributions. The paper presents results of DROBS simulations for the case of a dropped cylinder with initial drop angle at $60^{\circ}$ through air-water columns without current. Then the Monte Carlo simulations are used for predicting the landing point distributions of dropped cylinders with varying drop angles under current. The resulting landing point distribution plots may be used to identify risk free zones for offshore lifting operations.

• Computers and Concrete
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• v.24 no.2
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• pp.125-135
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• 2019

Concrete pipelines are the most efficient and safe means for gas and oil transportation over a long distance. The use of nano materials and nono-engineering can be considered for enhancing concrete pipelines properties. the tests show that SiO2 nanoparticles can improve the mechanical behavior of concrete. Moreover, severe hazard for pipelines is seismic ground motion. Over the years, scientists have attempted to understand pipe behavior against earthquake most frequently via numerical modeling and simulation. Therefore, in this paper, the dynamic response of underwater nanocomposite submerged pipeline conveying fluid is studied. The structure is subjected to the dynamic loads caused by earthquake and the governing equations of the system are derived using mathematical model via Classic shell theory and Hamilton's principle. Navier-Stokes equation is employed to calculate the force due to the fluid in the pipe. As well, the effect of external fluid is modeled with an external force. Mori-Tanaka approach is used to estimate the equivalent material properties of the nanocomposite. 1978 Tabas earthquake in Iran is considered for modelling seismic load. The dynamic displacement of the structure is extracted using differential quadrature method (DQM) and Newmark method. The effects of different parameters such as SiO2 nanoparticles volume percent, boundary conditions, thickness to radius ratios, length to radius ratios, internal and external fluid pressure and earthquake intensity are discussed on the seismic response of the structure. From results obtained in this paper, it can be found that the dynamic response of the pipe is increased in the presence of internal and external fluid. Furthermore, the use of SiO2 nanoparticles in concrete pipeline reduces the displacement of the structure during an earthquake.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.9
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• pp.114-129
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• 1996

This paper describes the whole development phase for the underwater vehicle actuating system with high hydroload torque disturbance. This includes requirement analysis, system modeling, control algorithm design, real time implementation, test and performance evaluations. As for driving control algorithms, fuzzy logic, variable structure and PD(Proportional-Differential) algorithm were designed and implemented on board controller using a single chip microprocessor. Intel 8797. And test and performance evaluation is carried out both single test and wystem integration test. We could confirm the basic performance of actuating system through the single test and gereral developing work of any actuating systems was finished with a single performance test of actuating system without system integration test. But, we suggested that system integration test be needed. System integration test is carried out using G/C HILS(Guidance and Control Hardware-In-the -Loop Simulation) which is constituted flight motion simulator, load simulator, real time host computer and the related subsystems such as inertial navigation system, power supply system and Guidance and Control Computer etc.. The most important practical contribution of this paper is that full system characteristics such as minimal control effort, enhancement of guidance and autopilot performance by the actuating system using G/C HILS technique are investigated. Through full running G/C HILS, in spite of the passing to single tests, some control algorithm resulted in failure as to stability of full system and system time frame.