The CALEB10 is a multi-legged biomimetic underwater robot. In the last research, we developed a swimming pattern named ESPG (Extended Swimming Pattern Generator) by observing diving beetle’s swimming actions and experimented with a positive buoyancy state in which CALEB10 floats on the water. In this paper, however, we have experimented with CALEB10 in a neutral buoyancy state where it is completely immersed in water for pitch motion control experiment. And we found that CALEB10 was unstably swimming in the pitch direction in the neutral buoyancy state and analyzed that the reason was due to the weight proportion of the legs. In this paper, we propose a pitch motion control method to mimic the pitch motion of diving beetles and to solve the problem of CALEB10 unstably swimming in the pitch direction. To control the pitch motion, we use the method of controlling additional joints while swimming with the ESPG. The method of obtaining propulsive force by the motion of the leg has a problem of giving propulsive force in the reverse direction when swimming in the surge direction, but this new control method has an advantage that a propulsive moment generated by a swimming action only on a target pitch value. To demonstrate validity this new control method, we designed a dynamics-based simulator environment. And the control performance to the target pitch value was verified through simulation and underwater experiments.

This paper proposes an integrated positioning system to localize a moving object in the shadow-area that exists in the water tank. The new water tank for underwater robots is constructed to evaluate the navigation performance of underwater vehicles. Several sensors are integrated in the water tank to provide the position information of the underwater vehicles. However there are some areas where the vehicle localization becomes very poor since the very limited sensors such as sonar and depth sensors are effective in underwater environment. Also there are many disturbances at sonar data. To reduce these disturbances, an extended Kalman filter has been adopted in this research. To localize the underwater vehicles under the hostile situations, a SVR (Support Vector Regression) has been systematically applied for estimating the position stochastically. To demonstrate the performance of the proposed algorithm (an extended Kalman filter + SVR analysis), a new UI (User Interface) has been developed.

For articulated swimming robots, there have been no researches about controlling the motion or trajectory following. A control method for articulated swimming robot is suggested by extending a previous algorithm, ESPG (Extended Swimming Pattern Generator). The control method focuses on the situation that continuous pre-determined swimming pattern is applied for long range travelling. In previous studies, there has not been a way to control the propulsive force when a swimming pattern created by ESPG was in progress. Hence, no control could be made unless the swimming pattern was completed even though an error occurred while the swimming pattern was in progress. In order to solve this problem, this study analyzes swimming patterns and suggests a method to control the propulsive force even while the swimming pattern was in progress. The angular velocity of each link is influenced and this eventually modifies the propulsive force. However, The angular velocity is changed, a number of problems can occur. In order to resolve this issue, phase compensation method and synchronization method were suggested. A simple controller was designed to confirm whether the suggested methods are able to control and a simulation has affirmed it. Moreover, it was applied to CALEB 10 (a biomimetic underwater articulated robot) and the result was verified.

In this study, a model-referenced underwater navigation algorithm is proposed for high-precise underwater navigation using monocular vision near underwater structures. The main idea of this navigation algorithm is that a 3D model-based pose estimation is combined with the inertial navigation using an extended Kalman filter (EKF). The spatial information obtained from the navigation algorithm is utilized for enabling the underwater robot to navigate near underwater structures whose geometric models are known a priori. For investigating the performance of the proposed approach the model-referenced navigation algorithm was applied to an underwater robot and a set of experiments was carried out in a water tank.

Recently, the FRP known to be new material for repair and rehabilitation has several deficiencies even lots of advantages itself, especially underwater construction. By evaluating the material properties of FRP for underwater, thus, this study provides construction technology with basic data related to repair and rehabilitation of structures submerged in the water.

This study is to evaluate the enhancement of steel pile in terms of performance when reinforced by primer and impregnated epoxy developed for underwater. Through compressive strength test, the adhesion between original material and new one was to be investigated as well as reinforcing effects.

For the underwater localization, acoustic sensor systems are widely used due to greater penetration properties of acoustic signals in underwater environments. On the other hand, the good penetration property causes multipath and interference effects in structured environment too. To overcome this demerit, a localization method using the attenuation of electro-magnetic(EM) waves was proposed in several literatures, in which distance estimation and 2D-localization experiments show remarkable results. However, in 3D-localization application, the estimation difficulties increase due to the nonuniform (doughnut like) radiation pattern of an omni-directional antenna related to the depth direction. For solving this problem, we added a depth sensor for improving underwater 3D-localization with the EM wave method. A micro scale pressure sensor is located in the mobile node antenna, and the depth data from the pressure sensor is calibrated by the curve fitting algorithm. We adapted the depth(z) data to 3D EM wave pattern model for the error reduction of the localization. Finally, some experiments were executed for 3D localization with the fast calculation and less errors.

Localization of underwater vehicle is essential to use underwater robotic systems for various applications effectively. For this purpose, this paper presents a method of two-dimensional SLAM for underwater vehicles equipped with two hydrophones. The proposed method uses directional angles for underwater acoustic sources. A target signal transmitted from acoustic source is extracted using band-pass filters. Then, directional angles are estimated based on Bayesian process with generalized cross-correlation. The acquired angles are used as measurements for EKF-SLAM to estimate both vehicle location and locations of acoustic sources. Through these processes, the proposed method provides reliable estimation for two dimensional locations of underwater vehicles. Experimental results demonstrate the performance of the proposed method in a real sea environment.

In this paper we present (1) analysis of imaging sonar measurement for two-view relative pose estimation of an autonomous vehicle and (2) bundle adjustment and 3D reconstruction method using imaging sonar. Sonar has been a popular sensor for underwater application due to its robustness to water turbidity and visibility in water medium. While vision based motion estimation has been applied to many ground vehicles for motion estimation and 3D reconstruction, imaging sonar addresses challenges in relative sensor frame motion. We focus on the fact that the sonar measurement inherently poses ambiguity in its measurement. This paper illustrates the source of the ambiguity in sonar measurements and summarizes assumptions for sonar based robot navigation. For validation, we synthetically generated underwater seafloor with varying complexity to analyze the error in the motion estimation.

In order to understand the seismic performance of weir structure under seismic events, concrete weir structure with infinite foundations was modeled in ABAQUS. Additionally, this study conducted the three different design response spectra based on KBC 2009, ASCE 7-05, and EuroCode 8. The results from numerical analyses showed that the seismic behavior of weir structure subjected to seismic ground motions was sensitive to natural frequency and mass participation factors.

There are currently using widly and universally underwater inspection of based on SONAR around world. Understand the principles od SONAR’s ultrasonic for disaster prevention of underwater structures and though indoor test it could try consideration with respect to the characteristics of the ultrasonic frequency.

This study presented the seismic performance of weir structures with infinite foundations subjected to seismic ground motions, rather than finite soil foundation to avoid the reflection of seismic wave propagation at the mesh boundaries. The analytical model of weir structures was developed in ABAQUS　platform and then the seismic performance of concrete weir structure was evaluated through design response spectrum (KBC 2009). It was revealed that the maximum stresses obtained from infinite models was significantly increased, in comparison to the finite models.

조사후연료시험시설의 수조 내에 설치하여 수조 라이닝 및 수조수의 청정성을 상시 유지하기 위하여 사용할 예정이며, 수행 예정인 수조수 정화작업은 다음과 같음. - 수조 바닥에 쌓여 있는 오염물질 제거 - 수조 벽에 붙어 있는 오염물질 제거 - 수조 내의 사용후핵연료 집합체 해체 작업 중 발생하는 오염물질 즉시 제거 수조 내에 설치될 수중 진공필터 정화장비는 그림1에 나타나 있으며 필터를 사용하여 오염물질을 여과함으로서 수조수의 청정성을 유지하므로 수조 내의 방사성 오염물질들은 정화장비의 필터에 축적됨. 따라서 깊이 15 m인 수조 내에서 장비의 운전성능, 오염된 필터의 교체 및 보관성, 부품의 내방사선성 및 내수성 그리고 사용 중 유지보수의 용이성 등을 고려하여 수중원격필터 인출 장치를 개발하였다. 고방사능으로 오염된 필터는 수중에서 원격조작으로 탈/부착이 가능하도록 하였으며 폐 필터는 bin에 넣어 수중에 임시 보관하며 후 연구원내의 중준위폐기물저장고에 보관함.

In the past, criteria and procedures for the design of concrete structures were primarily based on allowable stresses for structural components. However, it is now well recognized that the limit state approach is a better basis for design since it is difficult to determine the real safety margin of submerged structure.

A filming technique using Side Scan SONAR should be varied upon condition in order to obtain high-resolution data. Because the theoretical measurement scope is different from the actual measurement scope. It is possible to obtain the accurate data only after adjusting the water depth, distance from a structure and emission angle. Via the multiple regression analysis of data accumulated through field experiments and relations of 3 variables, and equation was devised.

수중 음향 통신은 과거 군사적 목적을 위해 제한적으로 사용되어졌으나, 수중 탐지, 운동체 추적, 잠수함, 부이를 이용한 해양의 날씨 변화 등 해양에서의 통신에 대한 연구가 활발히 이루어지며 활용 분야가 확대되고 있는 추세이다. 수중음향통신은 다중경로로 인한 신 호간의 간섭으로 성능 및 전송율이 열약한 실정이다. 따라서 다중 경로 전달 환경인 수중음향통신에서 원활한 통신과 함께 수신 신호의 성능 을 향상시키기 위하여 낮은 SNR에서도 우수한 성능을 보이는 채널 부호화 기법에 대해 연구하였다. 본 논문에서는 데이터 길이의 가변성이 좋은 BCJR기반 (2,1,7) 컨볼루션 부호를 적용하였으며, 다중 경로 전달로 인해 왜곡된 데이터를 보상하기 위해 결정 궤환 등화기가 결합된 터 보 등화기 구조를 적용하였다. 문경시 경천호에서의 실제 수중 실험을 통하여 BCJR 기반의 터보 등화 구조가 다른 비터비 복호방식의 경판 정, 연판정 기법에 비해 성능이 우수함을 검증하였다. 이러한 BCJR 복호의 성능은 반복횟수는 평균 1회에서 3회 정도에 오류가 정정되고, 복 호기 입력단의 오류율이  이하이면 모두 복호가 가능함을 볼 수 있으며, 16번의 수중통신 실험은 약 83%의 성공률을 획득하였다.

열악한 작업환경 때문에 수중항만공사를 기계화하려는 많은 노력들이 시도되고 있다. 본 논문은 수중항만공사 중 사석 고르기 작업을 수행하는 수중건설로봇에 대해 기술한다. 로봇의 블레이드는 울퉁불퉁한 지형에서도 사석 마운드를 기준면에 대해 평편하게 고르고, 다목적 암은 사석을 파고, 채울 수 있게 설계되었다. 본 연구는 로봇에 설치된 위치 및 방위 센서와 동기를 이루면서 주행과 스윙운동이 포함된 다목 적암과 블레이드의 기구학을 해석한다. 기준수심센서에 부여된 월드좌표에 대해서 블레이드와 다목적암의 위치와 방위를 나타내고, 기준면과 나란한 고르기 작업을 위한 형상을 찾는다. 고르기 작업을 위한 유압제어시스템을 개발하며, 로봇에 의한 육상 및 수중 사석 고르기 작업을 실시해 실험결과를 보인다. 로봇의 작업속도는 잠수부보다 8배 정도 빠르며 작업품질도 우수한 것으로 평가된다. 잠수부가 작업할 수 없는 대 수심에서는 효율성이 더 좋을 것으로 기대된다.

In order to recover lithium ions from aqueous solution, a novel SAN-LMO beads were prepared by immobilizing lithium manganese oxide (LMO) with styrene acrylonitrile copolymers (SAN). The optimum condition for synthesis of SAN-LMO beads was 5 g of LMO and 3 g of SAN content. The characterization of the prepared SAN-LMO beads by SEM and XRD were confirmed that LMO was immobilized in SAN-LMO beads. The removal and the distribution coefficient of lithium ions decreased with increasing lithium ion concentration and solution pH. Even when the prepared SAN-LMO beads were reused 5 times, the leakage of LMO and the damage of SAN-LMO beads was not observed.

In this study, the fish-migration ratios of rivers were analyzed, with the aim of proposing objective materials to help South Koreans to establish fish migration systems efficiently in the future. A total of 34,012 weirs have been built in the five major basins, with 5,081 fish-ways observed. Consequently, the fish migration ratio was considered low (14.9 %). According to the findings of the study analyzing the 5,081 fish-ways, standard-type fish-ways took up 68 % of the total while the non-standard types accounted for 32 %. The five major basins were observed to have a total fish-migration ratio of 21.4 %. Regarding tributaries, Tributary 1 accounted for 27.5 % of the fish-migration ratio, while Tributary 2 and 3 accounted for 19.8 % and 16.3 %, respectively. In conclusion, the study argues that any relevant field in the fishing industry of South Korea needs to improve their understanding of the fish-migration ratio. This would be expected, eventually, to help them maximize the efficiency of a minimum number of fish-ways. In addition, the study supports the need for those in relevant fields to study carefully the ecological needs of each fish species, before establishing priority standards for the building of fish-ways.