• 한국안전학회지
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• 제34권4호
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• pp.103-110
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• 2019

Underwater works are indispensable in the coastal and ocean engineering fields, and the reliance on manpower is higher than land works. Divers who work for a long time in a high-pressure underwater environment are always exposed to the risks of diving-related diseases. To prevent them, proper planning, operation, and management of diving by a supervisor with professional diving knowledge are required. This study provides the basic data for supervisors to plan, operate, and manage air diving for safe and efficient work in underwater construction sites. It is well-known that air diving simulations using the varying permeability model (VPM) require a longer decompression time as the water depth and the residence time in water increase. Therefore, it is crucial to have a proper surface interval through repetitive diving rather than single diving to improve the safety of the divers and the efficiency of underwater work. Furthermore, coastal and ocean engineers who manage and supervise underwater construction work must acquire expert knowledge on diving before they can plan, operate, and manage diving.

• 한국산학기술학회논문지
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• 제17권10호
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• pp.678-684
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• 2016

수중사석고르기 장비와 같은 착저형 수중장비를 활용하여 해저면에서 수중 작업을 수행할 경우 해당 장비는 작업경계면을 정확히 인식하고 작업장 내에 자리잡고 있는 것이 중요하다. 이는 장비 전복과 같이 장비 안전사고와 직결될 수 있기 때문이다. 이 때 작업경계면 표식을 위해서는 잠수부의 도움이 필수적인데, 이를 위하여 잠수부가 수중작업을 수행할 때 작업이 용이하면서도 시중에서 쉽게 구할 수 있으며 재료를 선정하는 것이 중요한데 나일론줄을 해저면에 설치하여 작업경계를 표시하도록 하였다. 수중에서 주변 환경을 관찰하기 위하여 소나와 팬틸트를 이용하여 소나시스템을 구성하였으며 이를 이용하여 거리변화에 따른 수중 작업경계면 탐지 여부를 확인하였다. 또한 수중사석고르기 장비에 최종적으로 소나시스템을 설치하고 나일론줄로 표시된 작업경계면에 대한 탐지여부를 검증하였다. 본 연구결과를 활용하여 착저형 수중장비를 이용한 수중작업 시 작업경계면 인식을 수행할 수 있는 방안을 확보하였다. 작업경계면 인식 방안을 활용할 경우 추후에 개발될 수 있는 다양한 종류의 착저형 수중작업 장비의 작업절차에 광범위하게 적용할 수 있을 것으로 판단된다.

• 콘크리트학회논문집
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• 제12권5호
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• pp.25-34
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• 2000

When concrete is placed underwater, it is diluted with separating cementitious material and as a result the quality of concrete becomes poor. To solve this problem, antiwashout underwater concrete is increasingly used for the construction and repair of the concrete structure underwater. The objective of this study is to investigate the characteristics of antiwashout underwater concrete as to the mix proportion, casting and curing water through experimental researches. The unit weight of water and cement, water-cement ratio, fine aggregate ratio, unit weight of antiwashout underwater agent and superplasticizer, and casting and curing water were chosen to measure the suspended solids, pH, air contents, slump flow, unit weight of hardened concrete, and compressive strength. From this study, the incremental modulus at mix proportion design and unit weight of antiwashout underwater agent were increased more than fresh water, and it is a optimum mix proportion that the unit weight of water(and cement) is 230kg/$\textrm{m}^3$(460kg/$\textrm{m}^3$), waterOcement ratio is 50%, fine aggregate ratio is 40%, unit weight of antiwashout underwater agent is 1.2% of water contents per unit weight of concrete, and unit weight of supeplasticizer is 2.5% of cement contents per unit weight of concrete when the antiwashout underwater concrete is used for the underwater work of ocean.

• 콘크리트학회논문집
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• 제11권4호
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• pp.21-29
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• 1999

In this study, an experiment was performed to analyze the influence of water-cement ratio on the fundamental characteristics of antiwashout underwater concrete using blended sand (sea sand:river sand = 1:1). The water-cement ratio (45%, 50%, 55%, 60%), andtiwashout underwater agent contents (0.82%, 1.00%, 1.14% of water contents per unit volume of concrete), and superplasticizer contents (1.5%, 2.0%, 2.5% of cement contents per unit volume of concrete) were chosen as the experimental parameters. The experimental results show that the underwater segregation resistance, unit weight of hardening concrete and compressive strength were increased as the water-cement ratio decreased and as the antiwashout underwater agent contents increased. On the other hand, the flowability(slump flow) was increased to the 55% of the increase of water-cement ratio, however, it was decreased at the ratio of 60%. From this study, the antiwashout underwater concrete can potentially be used as a materials underwater work of ocean if the water-cement ratio and chemical admixture contents for the suitable balance between cost and performance are properly selected.

• 한국해양공학회지
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• 제34권4호
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• pp.277-284
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• 2020

Underwater acoustics, which is the study of phenomena related to sound waves in water, has been applied mainly in research on the use of sound navigation and range (SONAR) systems for communication, target detection, investigation of marine resources and environments, and noise measurement and analysis. The main objective of underwater acoustic remote sensing is to obtain information on a target object indirectly by using acoustic data. Presently, various types of machine learning techniques are being widely used to extract information from acoustic data. The machine learning techniques typically used in underwater acoustics and their applications in passive SONAR systems were reviewed in the first two parts of this work (Yang et al., 2020a; Yang et al., 2020b). As a follow-up, this paper reviews machine learning applications in SONAR signal processing with a focus on active target detection and classification.

• 한국해양공학회지
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• 제34권5호
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• pp.371-376
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• 2020

Underwater acoustics, which is the study of the phenomena related to sound waves in water, has been applied mainly in research on the use of sound navigation and range (SONAR) systems for communication, target detection, investigation of marine resources and environments, and noise measurement and analysis. Underwater acoustics is mainly applied in the field of remote sensing, wherein information on a target object is acquired indirectly from acoustic data. Presently, machine learning, which has recently been applied successfully in a variety of research fields, is being utilized extensively in remote sensing to obtain and extract information. In the earlier parts of this work, we examined the research trends involving the machine learning techniques and theories that are mainly used in underwater acoustics, as well as their applications in active/passive SONAR systems (Yang et al., 2020a; Yang et al., 2020b; Yang et al., 2020c). As a follow-up, this paper reviews machine learning applications for the inversion of ocean parameters such as sound speed profiles and sediment geoacoustic parameters.

• 제어로봇시스템학회논문지
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• 제19권8호
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• pp.709-717
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• 2013

This paper presents the development of a specialized underwater leg with a manipulator function(convertible-to-arm leg) for the seabed walking robot named CRABSTER200(CR200). The objective functions of the convertible-to-arm leg are to walk on the seabed and to work in underwater for precise seabed exploration and underwater tasks under coastal area with strong tidal current. In order to develop the leg, important design elements including the degree of freedom, dimensions, mass, motion range, joint structure/torque/angular-speed, pressure-resistance, watertight capability and cable protection are considered. The key elements of the convertible-to-arm leg are realized through concept/specific/mechanical design and implementation process with a suitable joint actuator/gear/controller selection procedure. In order to verify the performance of the manufactured convertible-to-arm leg, a 25bar pressure-resistant and watertight test using a high-pressure chamber and a joints operating test with posture control of the CR200 are performed. This paper describes the whole design, realization and verification process for implementation of the underwater convertible-to-arm leg.

• 한국해안·해양공학회논문집
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• 제30권6호
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• pp.298-305
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• 2018

본 연구에서는 해양 항만 콘크리트 구조물의 보수작업을 위한 수중코팅제의 부착 특성을 조사하기 위하여 실험적 연구를 수행하였다. 고려된 실험변수는 코팅제의 종류, 코팅대상 모재의 표면 거칠기, 도포 작업환경(육상 혹은 수중)으로 부착 강도는 Pull-off 방식으로 측정하였다. 코팅제의 부착 강도는 각 수중코팅제의 도포 작업 완료 24시간 후에 ASTM C1583 규정에 따라 측정하였다. 또한, 콘크리트 모재와 코팅제 간의 부착파괴 거동(코팅제, 계면, 콘크리트 모재)을 육안으로 관찰하였으며 측정된 부착 강도 수치에 근거하여 각 실험요인의 비교분석을 수행하였다. 실험결과, 수중에서 도포한 코팅제의 부착 강도가 육상의 경우에 비해 감소하는 경향을 보였으며 수중환경에서는 부착 강도에 미치는 모재 표면 거칠기의 영향이 육상의 경우에 비하여 미비하였다. 마지막으로 수중코팅제의 선정, 사용 시에 유의할 점에 대하여 설명하였다.

• 한국산학기술학회논문지
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• 제20권3호
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• pp.23-28
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• 2019

한국해양과학기술원은 해저에서 지면 굴착 작업이 가능한 트랙 형태의 수중건설로봇 (URI-R)을 개발 중에 있다. 개발 로봇은 수중에서 굴착 작업을 수행하는 동안 강한 소음 및 진동 환경에 노출된다. 이로 인하여 음향을 이용하여 수중 위치 신호를 획득하여야 하는 개발 장비는 신호획득이 어려운 상황에 빈번하게 놓일 수 있다. 이를 극복하기 위하여 개발장비가 수중 위치 신호가 간헐적으로 들어오는 상황 속에 놓여 있어도 연속적으로 자신의 위치를 인식하는 방안을 확보하는 것이 필요하다. 본 논문에서는 비용절감 및 다양한 실험케이스를 확보하기 위하여 수중 작동 특성을 모사할 수 있는 실험을 육상에서 재현하여 실험하였으며 위치 추정을 위하여 관성항법 및 위성항법신호를 사용하였다. 위치 신호획득 주기가 길어짐에 따라 자기 위치 추정에 미치는 영향을 실험적으로 고찰하였다. 이를 통하여 URI-R의 연속적인 자기 위치 인식을 수행하기 위한 위치 신호획득의 최대 주기를 확인하고 이를 적용하고자 한다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.204-209
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• 2004

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The Manipulability is a functionality of manipulator system in a given configuration and under the limits of joint ability with respect to the tasks required to bt performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method are presented. The dynamic equation of motion of underwater manipulator is derived from the Lagrange - Euler equation considering with the hydraulic forces caused by added mass, buoyancy and hydraulic drag. The hydraulic drag term in the equation: is established as analytical form using Denavit - Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based on Manipulability Ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torque in joint space while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.