본 연구는 생존수영교육 참여를 통한 대학생의 수중불안, 수상안전 의식의 변화와 변인 간의 변화를 분석하고자 하였다. 이를 위해 부산, 울산, 경남 지역 내 소재 대학 중 생존수영 교육이 진행되고 있는 대학생 200명을 대상으로 편의표본추출법을 이용하여 자료를 수집하였으며, 그중 최종 유효표본 191 명을 활용하였다. 쟈료분석은 SPSS 25.0 통계 프로그램을 활용하여 탐색적 요인분석, 신뢰도 분석, 대응표 본 t-tast, 반복측정 이원분산분석, 분석된 결과는 다음과 같다. 첫째, 생존수영교육에 참여한 대학생의 경 우 사전검사와 사후검사를 비교하였을 때 사후 수중불안은 감소하였으며, 수상안전 의식은 증가하였다. 둘 째, 수영교육경험 유·무에 따른 그룹과 시간의 상호작용은 수상안전 의식의 하위요인인 안전교육에서만 유 의미한 효과가 나타났다. 이러한 결과를 바탕으로 대학생을 대상으로한 생존수영교육의 효과성을 확인할 수 있었으며, 나아가 대학교육에서의 생존수영교육 확대 방향성에 대해 제고해 볼 수 있을 것이다.

해수의 탁도는 수중의 부유 물질이나 생물에 의해 혼탁해지는 정도를 정량적으로 나타낸 변수로 연안 환경을 이해하는 데 중요한 해양 변수이다. 한반도의 서해안은 얕은 수심, 조류, 하천 유래 부유 퇴적물의 영향으로 광학적으로 강한 시공간 변동성을 가지고 있어서 인공위성 자료를 활용한 탁도 산출은 해양학적으로 다양한 활용 가능성을 가 진다. 본 연구에서는 경기만을 연구 해역으로 설정하고, 해수의 탁도 산출 알고리즘 개발을 위하여 2018년부터 2023년 7월까지 해양환경공단의 해양수질자동측정망 기반 현장 관측 탁도 자료와 Sentinel-2 인공위성의 MSI (Multi-Spectral Instrument) Level-2 자료를 사용하여 위성-현장 관측치 사이의 일치점 데이터베이스를 생산하였다. 이전의 다양한 탁도 산출식을 조사하여 정확도를 상호 비교하였고 경기만 해역에서 최적 파장대를 조사하고 분석하였다. 그 결과 녹색 밴드 (560 nm)를 기반으로 한 탁도 산출식이 0.08 NTU의 상대적으로 작은 평균 제곱근 오차를 보였다. 인공위성 광학 자료 를 기반으로 산출된 탁도는 해수의 광학적 특성과 연안 환경의 변동성을 이해하고 다양한 해상 활동에 도움을 줄 수 있을 것으로 기대된다.

In order to solve the problem of improper thrust distribution of each thruster of underwater vehicle, the PSO optimization algorithm is used to solve the problem of thrust distribution. According to the spatial layout of the thruster, the algorithm model of the underwater vehicle propulsion system is established. The thrust input is carried out under the broken line search trajectory, and the simulation verifies the thrust allocation results of the PSO algorithm and the traditional pseudo-inverse method. The simulation results show that compared with the traditional algorithm. First of all, the PSO algorithm can set the physical threshold for each thruster to prevent the thruster from having too much thrust. Secondly, it can ensure that the thruster can turn with a reasonable torque to prevent the robot from drifting due to the large thrust gap. This paper provides a theoretical reference for thrust distribution of underwater salvage robot, and has practical engineering significance.

Underwater heritage is the term commonly used to mean material found underwater. Many states have heightened of underwater heritage remains unprotected. The UNESCO 2001 convention on the protection of the underwater cultural heritage is the foremost international legal reference for the protection or salvage of underwater heritage. To conduct a literature review for this thesis, five keywords were chosen such as UNESCO, under water cultural heritage, marine salvage and sovereignty, exploration, and investigation. The objective is; i) To ensure Malaysia underwater heritage is being well enforced by respective enforcement authorities.; ii) To create an awareness and protection to public and relevant parties.; iii) To identify the relevant implementation of legal enforcement from the respective Malaysia authority) To formulate Malaysia underwater cultural heritage strategic framework for enhancement sustainability development of underwater assets and wealth, and sovereignty. And for the problem statement, i) Lack of proactive measures from operational patrol of underwater cultural heritage for the enforcement from maritime authority,; ii) lack of public disclosure on the importance and existence of underwater heritage in Malaysia by stakeholders,; Iii) Lack of procedures and legal aspects for implementation of underwater cultural heritage in Malaysia water,;iv) None of national underwater cultural heritage strategic framework for sustainability of underwater assets and wealth in Malaysia. Specifically, the component of the underwater heritage is outlined for the protection and conservation of artifacts which have been partially or totally underwater. Qualitative method as main method and data collection from research book, journal article, publish and non-publish report. While expert interviewed via Webex within expert from academician and operational as supportive for this research. Text transcribed has been used for this research and coding system functioned for reference during discussion and findings. This thesis also uses theory of formulation and marine salvage as well as underwater cultural heritage law as a main reference. Finally, underwater cultural heritage strategic framework has been formulated regards to enhancement sustainability development of underwater assets and wealth, and sovereignty. thereby, it shown the Malaysian government commitment and concern to remain national maritime sovereignty.

The purpose of this study was to compare the efficiency of air and oxygen injected into the underwater non-thermal dielectric barrier discharge plasma (DBD plasma) device used to remove five types of antibiotics (tetracycline, doxycycline, oxytetracycline, clindamycin, and erythromycin) artificially contained in the fish farm discharge water. The voltage given to generate DBD plasma was 27.8 kV, and the measurement intervals were 0, 0.5, 1, 2, 4, 8, 16 and 32 minutes. Tetracycline antibiotics significantly decreased in 4 minutes when air was injected and were reduced in 30 seconds when oxygen was injected. After the introduction of air and oxygen at 32 minutes, 78.1% and 95.8% of tetracycline were removed, 77.1% and 96.3% of doxycycline were removed, and 77.1% and 95.5% of oxytetracycline were removed, respectively. In air and oxygen, 59.6% and 83.0% of clindamycin and 53.3% and 74.3% of erythromycin were removed, respectively. The two antibiotics showed lower removal efficiency than tetracyclines. In conclusion, fish farm discharge water contains five different types of antibiotics that can be reduced using underwater DBD plasma, and oxygen gas injection outperformed air in terms of removal efficiency.

This study presents an example of creating and optimizing a task sequence required in an automated remote dismantling system using a digital manufacturing system. An automated remote dismantling system using a robotic arm has recently been widely studied to improve the efficiency and safety of the dismantling operations. The task sequence must be verified in advance through discrete eventbased process simulation in a digital manufacturing system to avoid problems in actual remote cutting operations as the main input of the automated remote dismantling system. The laser cutting method can precisely cut complicated target structures such as reactor internals with versatility, but a robot and a pre-prepared program are required to deploy sophisticated motion of the laser cutting head on the target structure. For safe and efficient dismantling operations, the robot’s program must be verified in advance in a virtual environment that can represent the actual dismantling site. This study presents creating and optimizing the task sequence of a robotic underwater laser cutting as part of the project of developing an automated remote dismantling system. A task sequence is created to implement the desired cutting path for the target structure using the automated remote dismantling system in the virtual environment. The task sequence is optimized for the posture of the laser cutting head and the robot to avoid collisions during the operation through discrete event-based process simulation since the target structure is complicated and the volume occupied by the laser cutting head and the robot arm is considerably large. The task sequence verified in the digital manufacturing system is demonstrated by experiments cutting the target structure along the desired cutting path without any problems. The various simulation cases presented in this study are expected to contribute not only to the development of the automated remote dismantling system, but also to the establishment of a safe and efficient dismantling process in the nuclear facility decommissioning.

For highly contaminated elements such as reactor pressure vessels or reactor internals, it is a viable option to cool-down and dismantle these elements in submerged (e.g. underwater) state. Several tools and processes such as saw cutting, water jet cutting or plasma cutting are currently used for underwater cutting, with each of them having their own advantages and disadvantages. The main disadvantage of these existing methods, especially saw and water jet cutting, is the generation of secondary waste that then needs to be filtered out of the water. In addition, in the case of water jet cutting, a considerable amount of abrasive material is added, which must also be stored. To overcome this drawback, the feasibility of using laser cutting under water to minimize secondary waste production has been actively studied recently. One of the challenges with the underwater laser cutting is to visually monitor the cutting process. Flowing air bubbles generated by the cutting gas and the flashing light emitted from the laser and melting material prohibit visual monitoring of the cutting process. This study introduces a method to enhance the video from a monitoring camera. Air bubbles can be detected by computing optical flows and the video quality can be enhanced by selective removal of the detected bubbles. In addition, suppressing the frame image update from flashing light area can also effectively enhance the video quality. This paper describes the simple yet effective video quality enhancement method and reports preliminary results.

3D imaging equipment is essential for automated robotic operations that cut radiologically contaminated structure and transfer segmented pieces in nuclear facility dismantling site. Automated dismantling operations using programmed robotic arms can make conventional nuclear facility dismantling operations much more efficient and safer, so dismantling technologies using robotic arms are being actively researched. Resolving the position uncertainty of the target structure is very important in automated robot work, and in general industries, the problem of position uncertainty is solved through the method of teaching the robot in the field, but at the nuclear facility dismantling site, the teaching method by workers is impossible due to activated target structures. Therefore, 3D imaging equipment is a key technology for a remote dismantling system using automated robotic arms at nuclear facility dismantling site where teaching methods are impossible. 3D imaging equipment available in radioactive and underwater environments is required to be developed for a remote dismantling system using robotic arms because most commercial 3D scanners are available in air and certain 3D scanners available in radioactive and underwater environments cannot satisfy requirements of the remote dismantling system such as measurement range and radiation resistance performance. The 3D imaging equipment in this study is developed based on an industrial 3D scanner available in air for efficient development. To protect the industrial 3D scanner against water and radiation, a housing is designed by using mirrors, windows and shieldings. To correct measurement errors caused by refraction, refraction model for the developed 3D imaging equipment is defined and parameter studies for uncertain variables are performed. The 3D imaging equipment based on the industrial 3D scanner has been successfully developed to satisfy the requirements of the remote dismantling system. The 3D imaging equipment can survive up to a cumulative dose of 1 kGy and can measure a 3D point cloud in the air and in water with an error of less than 1 mm. To achieve the requirements, a proper industrial 3D scanner is selected, a housing and shielding for water and radiation protection is designed, refraction correction are performed. The developed 3D imaging equipment is expected to contribute to the wider application of automated robotic operations in radioactive or underwater environments.