• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.1
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• pp.120-129
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• 1990

In this paper, 3-dimensional object segmentation and classification are proposed. Planar object is segmented surface using jump boundary and internal boundary. Curved object is segmented surfaces by maximin clustering method. Segmented surfaces are classified by depth trends and angle measurement of normal vectors. Classified surfaces are merged according to adjacent surfaces and compared to Guassian curvature and mean curvature method. The proposed methods have been successfully applied to the synthetic range images and shows good classification.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2330-2332
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• 2000

In this study, 3-D underwater object recognition using ultrasonic sensor fabricated with PZT-Polymer 1-3 type composites and invariant moment vector and SOFM(Self Organizing Feature Map) neural networks are presented. The recognition rates for the training data and the testing data were 99% and 93%, respectively.

• ICROS
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• v.16 no.1
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• pp.23-34
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• 2010

대부분의 다중 로봇(Multi-robots) 시스템은 환경적으로 단일로봇의 운용을 포함하지만, 수많은 연구가들은 제시된 임무를 완수하기 위하여 로봇 그룹이 협력함으로써 나타나는 잠재적 장점에 주목하게 되었다. 미지의 해성 탐사(Exploring), 물체 일기(Object pushing), 그리고 유독성 폐기물 첨소와 같은 작업을 수행하기 위해서는, 매우 복잡한 로봇을 사용하기 보다는 소형이며 간단한 다수의 로봇을 사용하는 것이 보다 효과적이다.

• Bulletin of the Society of Naval Architects of Korea
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• v.24 no.2
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• pp.55-61
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• 1987

The wave system due to a moving submerged body is investigated both theoretically and numerically. Boussinesq equation, which is derived under the assumption that the effects of nonlinearity and wave dispersion are of the same order, is generalized to take the forcing agency into account. Furthermore, under the more restrive assumption that the disturbance is of higher order, inhomogeneous Korteweg-de Vries equation is derived. These equations are solved numerically to obtain the generated wave system and the wave-making resistance. These results are compared with those given by the linear theory.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.1
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• pp.222-229
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• 2016

Active synthetic aperture sonar on the small UUV is generated several trajectory disturbances under the influences of underwater environments, and causing a large error in the synthetic aperture processing. In this paper, we analyzed the effects of azimuth resolution for the phase mismatch of the synthetic aperture focus processing when the periodic or random trajectory disturbances was generated on the side direction. The simulation results show that ghost targets are generated and azimuth resolution is very deteriorated when disturbance amplitude is greater than $0.3{\lambda}$ and disturbance period is greater than $2L_{sa}$ in the periodic trajectory disturbances environments. And detection performance on the seabed small objects by the synthetic aperture processing is shown that there is a significant effects on the azimuth resolution depending on the types and conditions of the platform trajectory disturbance variations.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.3
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• pp.108-118
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• 2017

This paper presents experimental results of realtime sonar-based SLAM (simultaneous localization and mapping) using probability-based landmark-recognition. The sonar-based SLAM is used for navigation of underwater robot. Inertial sensor as IMU (Inertial Measurement Unit) and DVL (Doppler Velocity Log) and external information from sonar image processing are fused by Extended Kalman Filter (EKF) technique to get the navigation information. The vehicle location is estimated by inertial sensor data, and it is corrected by sonar data which provides relative position between the vehicle and the landmark on the bottom of the basin. For the verification of the proposed method, the experiments were performed in a basin environment using an underwater robot, yShark.

• The Journal of the Acoustical Society of Korea
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• v.35 no.4
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• pp.310-318
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• 2016

This study deals with a method to localize a noise source occuring in a marine vehicle in a 3D environment. Even when access to the noise source is limited for a marine vehicle, such as a ship or a submarine in operation, the signal received on a hydrophone located elsewhere contains Doppler effected noise by moving relatively. This study suggests noise localization algorithm in 3D based on Doppler effect by moving marine vehicle. Using a known source mounted on the vehicle, the noise source was estimated by reducing the range of Doppler center and closest point of approach via the least square method. The algorithm was verified through various simulations and it was shown that the noise could be localized in 3D based on Doppler effect by employing two fixed hydrophones located at the vehicle's exterior points and a known reference signal generator located somewhere on the vehicle.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.25 no.9B
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• pp.1551-1562
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• 2000

In the using of FBG developed in home land, we designed and manufactured three types of FBG sound transducers the first in Korea. On FBG transducers manufactured we made an demonstrated on respective frequency response peculiarties in the water and analyzed the special characters. As the experimental result on frequency response peculiarities, we made t possible underwater acoustic detection on C type to maximum 18kHz, And for the purpose of realization on multi-point signal detection on wide scope in the water, in the using of WDM(Wavelength Division Multiplexing) method and passive band-pass filter system, established arrays system and succeeded in multi-point underwater acoustic signal detection to the frequency 1.3KHz out of the two B type FBG transducers. Additionally, it would be possible directivity detection for the objects of its source as the intensity of detection signal varies with the sound source's direction and angle. From now on we prepared a new moment on the practical used study on FBG hydrophone.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.2
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• pp.87-94
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• 2017

Because the cavitation flow driven by an underwater propeller corrodes the materials around it and generates a high level of noise, it has become an important topic in engineering research. In this study, computational fluid dynamics techniques are applied to simulate cavitation flow, and the noise in the flow is predicted by applying the acoustic analogy to the predicted flow. The predicted results are compared with measurement results and other predictions in terms of surface pressure distribution and the temporal variation in liquid volume fraction. The predicted results are found to be in good agreement with the measured results. The source of the noise attributed to the time rate of change in the liquid volume fraction around the hydrofoil is modeled as a monopole source, and the source of the noise due to unsteady pressure perturbations on the hydrofoil surface is modeled as a dipole source. Then the predicted noise results are analyzed in terms of directivity and SPL spectrum. The noise caused by unsteady pressure perturbations was dominant in the entire frequency range considered in the study.

• Korean Journal of Heritage: History & Science
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• v.56 no.3
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• pp.174-193
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• 2023

Korea is surrounded by the sea and has rivers connecting to it throughout the inland areas, which has been a geographical characteristic since ancient times. As a result, there have been exchanges and conflicts with various countries through the sea, and rivers have facilitated the transportation of ships carrying grain, goods paid for by taxes, and passengers. Since the past, the sea and rivers have had a significant impact on the lives of Koreans. Consequently, it is expected that there are many cultural heritages submerged in the sea and rivers, and continuous efforts are being made to discover and preserve them. Underwater cultural heritage is difficult to discover due to its location in the sea or rivers, making direct visual observation and exploration challenging. To overcome these limitations, various geophysical survey techniques are employed. Geophysical survey methods utilize the physical properties of elastic waves, including their reflection and refraction, to conduct surveys such as bathymetry, underwater topography and strata. These techniques detect the physical characteristics of underwater objects and seafloor formation in the underwater environment, analyze differences, and identify underwater cultural heritage located on or buried in the seabed. Bathymetry uses an echo sounder, and an underwater topography survey uses a side-scan sonar to find underwater artifacts lying on or partially exposed to the seabed, and a marine shallow strata survey uses a sub-bottom profiler to find underwater heritages buried in the seabed. However, the underwater cultural heritage discovered in domestic waters thus far has largely been accidental findings by fishermen, divers, or octopus hunters. This study aims to analyze and summarize the latest research trends in equipment used for underwater cultural heritage exploration, including bathymetric surveys, underwater topography surveys and strata surveys. The goal is to contribute to research on underwater cultural heritage investigation in the domestic context.