• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.141-148
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• 2003

This paper presents a rotating ann test for assessment of an underwater hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit (IMU), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying a magnetic compass. The errors of inertial measurement units increase with time due to the bias errors of gyros and accelerometers. A navigational system model is derived to include the error model of the USBL acoustic navigation sensor and the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 25 in the order. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors and correct the state equation when the measurements are available. The rotating ann tests are conducted in the Ocean Engineering Basin of KRISO, KORDI to generate circular motion in laboratory, where the USBL system was absent in the basin. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.149-156
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• 2003

This paper presents an underwater hybrid navigation system for a semi-autonomous underwater vehicle (SAUV). The navigation system consists of an inertial measurement unit (IMU), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying a magnetic compass. The errors of inertial measurement units increase with time due to the bias errors of gyros and accelerometers. A navigational system model is derived to include the error model of the USBL acoustic navigation sensor and the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 25 in the order. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors and correct the state equation when the measurements are available. Simulation was performed with the 6-d.o.f. equations of motion of SAUV in a lawn-mowing survey mode. The hybrid underwater navigation system shows good tracking performance by updating the error covariance and correcting the system's states with the measurement errors from a DVL, a magnetic compass and a depth senor. The error of the estimated position still slowly drifts in horizontal plane about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.

• Journal of Ocean Engineering and Technology
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• v.18 no.4 s.59
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• pp.33-39
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• 2004

This paper presents a hybrid underwater navigation system for unmanned underwater vehicles, using an additional range sonar, where the navigation system is based on inertial and Doppler velocity sensors. Conventional underwater navigation systems are generally based on an inertial measurement unit (IMU) and a Doppler velocity log (DVL), accompanying a magnetic compass and a depth sensor. Although the conventional navigation systems update the bias errors of inertial sensors and the scale effects of DVL, the estimated position slowly drifts as time passes. This paper proposes a measurement model that uses the range sonar to improve the performance of the IMU-DVL navigation system, for extended operation of underwater vehicles. The proposed navigation model includes the bias errors of IMU, the scale effects of VL, and the bias error of the range sonar. An extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation, when the external measurements are available. To illustrate the effectiveness of the hybrid navigation system, simulations were conducted with the 6-d.o.f. equations of motion of an AUV in lawn-mowing survey mode.

• Journal of Korean Society on Water Environment
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• v.27 no.6
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• pp.926-931
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• 2011

Among various techniques for hydrogen production from organic wastewater, a dark fermentation is considered to be the most feasible process due to the rapid hydrogen production rate. However, the main drawback of it is the low hydrogen production yield due to intermediate products such as organic acids. To improve the hydrogen production yield, a co-culture system of dark and photo fermentation bacteria was applied to this research. The maximum specific growth rate of R. sphaeroides was determined to be $2.93h^{-1}$ when acetic acid was used as a carbon source. It was quite high compared to that of using a mixture of volatile fatty acids (VFAs). Acetic acid was the most attractive to the cell growth of R. sphaeroides, however, not less efficient in the hydrogen production. In the co-culture system with glucose, hydrogen could be steadily produced without any lag-phase. There were distinguishable inflection points in the accumulation of hydrogen production graph that resulted from the dynamic production of VFAs or consumption of it by the interaction between the dark and photo fermentation bacteria. Lastly, the hydrogen production rate of a repeated fed-batch run was $15.9mL-H_2/L/h$, which was achievable in the sustainable hydrogen production.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.48 no.6
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• pp.456-461
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• 1999

In this study, the characteristics of Ultrasonic Transducer fabricated with PZT-Polymer 1-3 type piezoelectric ceramic/polymer composite are investigated. 3-D underwater object restoration using the self-made ultrasonic transducer and modified SCL(Simple Competitive Learning) neural network was presented. The ultrasonic transducer was satisfied with the required condition of commerical ultrasonic transducer in underwater. The modified SCL neural network using the acquired object data $16\times16$ low resolution image was used for object restoration of $32\times32$ high resolution image. The experimental results have shown that the ultrasonic transducer fabricated with PZT-Polymer 1-3 type piezoelectric ceramic/polymer composite could be applied for SONAR system.

• The Journal of the Acoustical Society of Korea
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• v.15 no.5
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• pp.118-124
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• 1996

Signal frequency lines generated from the acoustic targets are of particular importance for target detection and classification in passive sonar systems. The underwater noise consists of a mixture of ambient noise and radiated noise of targets. Detction of exact signal frequency lines depends on signal detection threshold and variation of ambient noise. In this paper, a detection method of signal frequency lines for acoustic targets using autoassociative memory (ASM) neural network, which is not sensitive to variation of signal detection threshold and ambient noise, is proposed. It is confirmed by simulation and application of real acoustic targets that the proposed method shows good performance for detection of signal frequency lines.

• Transactions of Materials Processing
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• v.26 no.1
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• pp.35-40
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• 2017

Laser forming is an advanced process in sheet metal forming in which thermal stress originated from the laser heat source is used to shape the metal sheet. However, substantial waiting time is normally necessary for the workpiece to cool down between consecutive scans so that a steep temperature gradient can be reestablished in the next scan. In order to solve this drawback, laser bending characteristics are experimentally implemented in underwater condition. Laser forming effects under various conditions, including different laser power, scanning velocity, beam diameter, number of passes and material, are investigated. The results show that the underwater laser forming facilitates deliberate forming. The bending angle per respective laser scan is decreased with increasing the number of passes and scanning velocity.

• Journal of Sensor Science and Technology
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• v.14 no.3
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• pp.198-205
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• 2005

Recently, the systems using multiple sensors such as magnetic, acoustic and pressure sensor are used for detection of underwater objects or vehicles. Those systems have difficulty of maintenance and repair because they operate underwater. Thus, this paper describes a hybrid detection system with long term operating reliability. This has a multi-signal transmission structure to have a high reliability. First, a signal transmission & receiving part, which transfers data from underwater sensors to land and receive control message from land through optical cable, has 4 multi-path. Second, the nodes for signal transmission are connected dually each other with single-hop construction and sensors are connected to a couple of neighboring nodes. This enables the output signal to transmit from a node to the next node and the next but one node together. Also, the signal from a sensor can be transmitted to two nodes at the same time. Therefore, the system with this construction has high reliability in long term operation because it makes possible to transmit sensor data to another node which works normally although a transmission node or cable in system have some faults.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.5
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• pp.559-566
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• 2016

Cables for Towed Array Sonar System(TASS) were developed. In order to verify the performance of cables, environmental and operational conditions as well as functional requirements were investigated during design stage. Double armored high and low voltage integrated cable for towed body and two kinds of cables, armored and light weight power and optic hybrid cables for towed array sensor system were developed by modeling and simulation. Customized manufacturing process and test method, such as foam extrusion and dynamic fatigue test were applied to this development. In conclusion, underwater towed hybrid cable with high tensile strength and compact structure were developed.

• Journal of Environmental Science International
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• v.11 no.7
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• pp.729-735
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• 2002

In order to examine the inhibition effect of other heavy metal ions on the removal of heavy metal ions by crab shell in aqueous solution, 10 heavy metal ions $(Cr^{3+},\;Cd^{2+},\;Ni^{2+},\;Zn^{2+},\;Hg^{2+},\;Cu^{2+},\;Mn^{2+],\;Fe^{2+},\;Fe^{3+},\;Pb^{2+})$ were used as single heavy metal ions and mixed heavy metal ions, respectively. In single heavy metal ions, $Pb^{2+},\;Cr^{3+},\;Cu^{2+}$ were well removed by crab shell, however, $Cd^{2+},\;Ni^{2+},\;Zn^{2+},\;Mn^{2+}$ were not. The heavy metal removal increased as the increase of covalent index (Xm$^2$r), and the relationship classified heavy metal ions as 2 heavy metal groups $(Fe^{3+},\;Fe^{2+},\;Cu^{2+},\; Cr^{3+},\;Mn^{2+},\;Ni^{2+},\;Zn^{2+}\;group\;and\;Pb^{2+},\;Hg^{2+},\;Cd^{2+}\;group)$. In mixed heavy metal ions, the removals of $Fe^{2+},\;Fe^{3+},\;Pb^{2+},\;Cu^{2+}$ as 0.49 m㏖/g, regardless of the existence of other heavy metal ions, were similar to the result of single heavy metal ions experiment. The removals of $Mn^{2+},\;Cd^{2+},\;Ni^{2+}$ decreased as the existence of other heavy metal ions, however, the removal of $Zn^{2+},\;Cr^{3+},\;Hg^{2+}$ increased.