심해무인잠수정 해미래를 이용한 다중빔 음향측심기의 운용 - 마리아나 열수해역 탐사 결과 및 후처리 -

DOI QR코드

DOI QR Code

박진영;심형원;이판묵;전봉환;백혁;김방현;유승열;정우영
Park, Jin-Yeong;Shim, Hyungwon;Lee, Pan-Mook;Jun, Bong-Huan;Baek, Hyuk;Kim, Banghyun;Yoo, Seong-Yeol;Jeong, Woo-Young

  • 투고 : 2016.07.04
  • 심사 : 2017.02.10
  • 발행 : 2017.02.28

초록

This paper presents the operations of a multi-beam echo sounder (MBES) installed on the deep-sea remotely operated vehicle (ROV) Hemire. Hemire explored hydrothermal vents in the Forecast volcano located near the Mariana Trench in March of in 2006. During these explorations, we acquired profiling points on the routes of the vehicle using the MBES. Information on the position, depth, and attitude of the ROV are essential to obtain higher accuracy for the profiling quality. However, the MBES installed on Hemire does not have its own position and depth sensors. Although it has attitude sensors for roll, pitch, and heading, the specifications of these sensors were not clear. Therefore, we had to merge the high-performance sensor data for the motion and position obtained from Hemire into the profiling data of the MBES. Then, we could properly convert the profiling points with respect to the Earth-fixed coordinates. This paper describes the integration of the MBES with Hemire, as well as the coordinate conversion between them. Bathymetric maps near the summit of the Forecast volcano were successfully collected through these processes. A comparison between the bathymetric maps from the MBES and those from the Onnuri Research Vessel, the mother ship of the ROV Hemire for these explorations, is also presented.

키워드

심해 원격조종무인잠수정;해미래;다중빔 음향측심기;열수분출공;후처리

참고문헌

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  4. Kim, B.H., Lee, G.M., Baek, H., Lee, P.M., Jun, B.H., 2014. Improvement of Operating Software for a Deep-sea ROV Hemire. Proceedings of the Fall Conference of the Korea Ocean Engineering Society, Jeju, 434-437.
  5. Kim, B., Baek, H., Shim, H., Baek, S., Lee, P.M., Park, J.Y., Jun, B.H., Jeong, W.Y., Kang, H., Kim, W.S., 2015a. Seabed Exploration of the East Sea using a Deep-sea ROV, Hemire. Proceedings of the Fall Conference of the Korea Ocean Engineering Society, Daejeon, 434-437.
  6. Kim, B., Lee, P.M., Baek, H., Baek, S., 2015b. Device Scalability of a Deep-sea ROV, Hemire. Proceedings of the Korean Association of Ocean Science and Technology Societies Conference, Jeju, 347-350.
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  10. Lee, P.M., Jun, B.H., Baek, H., Kim, B., Shim, H., Park, J.Y., Yoo, S.Y., Jeong, W.Y., Baek, S., Kim, W.S., 2016. Explorations of Mariana Hydrothermal Vents in Southern Mariana Arc Submarine Volcanoes using ROV Hemire. Journal of Ocean Engineering and Technology 30(5), 389-399. https://doi.org/10.5574/KSOE.2016.30.5.389
  11. Min, W.G., Kim, J., Kim, W.S., Kim, D.S., Lee, P.M., Kang, J.H., 2016. Deep-sea floor exploration in the East Sea using ROV HEMIR. Journal of the Korea Academia-Industrial Cooperation Society, 17(4), 222-230. https://doi.org/10.5762/KAIS.2016.17.4.222
  12. Baek, S., Kim, B.H., Baek, H., Lee, P.M., Jun, B.H., 2014. Improvement of Video and Communication System for a Deep-sea ROV Hemire using Ethernet Fiber Optic Converter. Proceedings of the Fall Conference of the Korea Ocean Engineering Society, Jeju, 454-457.
  13. Baek, S., Lee, P.M., Kim B.H., Baek, H., 2015. Operation of Video System for a Deep-sea ROV, Hemire. Proceedings of the Korean Association of Ocean Science and Technology Societies (KAOSTS) Conference, Jeju, 391-394.
  14. Kang, M.K., Choi, Y.S., Chang, M.C., Yoon, H.S., 2010. A Study on MBES Error Data Removing using Motion Sensor. The Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography, 28(1), 39-46.

과제정보

연구 과제번호 : 심해 유무인 잠수정 기술개발 및 운용인프라 구축 - 기술개발

연구 과제 주관 기관 : 해양수산부