• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.4
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• pp.645-651
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• 2009

In this paper, we present bit error rate(BER) performance of an adaptive decision feedback equalizer(DFE) using experimental data. The experiment was performed at the shore of Geoje in November 2007. The BER of the adaptive DFE whose tap weight is updated by RLS is described with change of feedforward filter length, feedback filter length, training sequence length, and delay, which shows that the uncoded average BER is $4{\times}10^2\;and\;1.5{\times}10^{-2}$ with transmission range of 9.7km and 4km, respectively. The BER of the adaptive DFE can be lower than 10-3 by a forward error correction code and therefore the adaptive DFE may be a good candidate for a high speed AUV communications since the volume and weight of the underwater acoustic modem should be small because of the restricted space and power in the battery-operated AUV.

• Journal of Navigation and Port Research
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• v.47 no.4
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• pp.212-219
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• 2023

Vessel Traffic Service (VTS) area presents a complex traffic pattern due to ships entering or leaving the port to utilize port facilities, as well as ships passing through the coastal area. To ensure safe and efficient management of maritime traffic, VTS operators continuously monitor and control vessels in real time. However, during periods of high traffic congestion, the workload of VTS operators increases, which can result in delayed or inadequate VTS services. Therefore, it would be beneficial to predict traffic congestion and congested areas to enable more efficient traffic control. Currently, such prediction relies on the experience of VTS operators. In this paper, we defined vessel traffic congestion from the perspective of a VTS operator. We proposed a method to generate traffic networks using historical navigational data and predict traffic congestion and congested areas. Experiments were performed to compare prediction results with real maritime data (Daesan port VTS) and examine whether the proposed method could support VTS operators.

• Journal of Navigation and Port Research
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• v.33 no.10
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• pp.703-707
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• 2009

In order to evaluate applicability of cylindrical slit type block breakwater to the field water, which was designed from the previous physical model study, it is analyzed the calmness of harbor area by the numerical model experiment. For a small fishery port in southern coast of Korea a SWAN model using the wave action balance equation was formulated. The reflection and transmission coefficients induced by the physical model test were introduced to the numerical model. The model response with cylindrical slit type breakwater was compared with the impermeable breakwater case and the possibility of water quality improvement through the water circulation by the new structure was investigated. For numerical simulation, parameters of deepwater design wave from the prediction report II for overall deepwater design wave by KORDI were used and wind parameters from the 50years return period observed for 37years(1970~2006) were adopted in the numerical model. The response of west breakwater in Mijo port applying the NE and NNE waves, which were dominant in this area, was analyzed. It was found that the transmission characteristic of designed cylindrical slit breakwater was well presented in the numerical model.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.3
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• pp.164-173
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• 2014

In underwater robotics, vision would be a key element for recognition in underwater environments. However, due to turbidity an underwater optical camera is rarely available. An underwater imaging sonar, as an alternative, delivers low quality sonar images which are not stable and accurate enough to find out natural objects by image processing. For this, artificial landmarks based on the characteristics of ultrasonic waves and their recognition method by a shape matrix transformation were proposed and were proven in Part 1. But, this is not working properly in undulating and dynamically noisy sea-bottom. To solve this, we propose a framework providing a selection phase of likelihood candidates, a selection phase for final candidates, recognition phase and tracking phase in sequence images, where a particle filter based selection mechanism to eliminate fake candidates and a mean shift based tracking algorithm are also proposed. All 4 steps are running in parallel and real-time processing. The proposed framework is flexible to add and to modify internal algorithms. A pool test and sea trial are carried out to prove the performance, and detail analysis of experimental results are done. Information is obtained from tracking phase such as relative distance, bearing will be expected to be used for control and navigation of underwater robots.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.32 no.1A
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• pp.19-30
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• 2012

Recently, vision-based dynamic deflection measurement techniques have significant interests and are getting more popular owing to development of the high-quality and low-price camcorder and also image processing algorithm. However, there are still several research issues to be improved including the self-vibration of vision device, i.e. camcorder, and the image processing algorithm in device aspect, and also the application area should be extended to measure three dimensional movement of floating structures in application aspect. In this study, vision-based dynamic motion measurement technique using multiple targets is proposed to measure three dimensional dynamic motion of floating structures. And also a new scheme to select threshold value to discriminate the background from the raw image containing targets. The proposed method is applied to measure the dynamic motion of large concrete floating quay in open sea area under several wave conditions, and the results are compared with the measurement results from conventional RTK-GPS(Real Time Kinematics-Global Positioning System) and MRU(Motion Reference Unit).

• Journal of the Society of Naval Architects of Korea
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• v.39 no.1
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• pp.28-37
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• 2002

In this study nonlinear dynamic behaviors of towed tow-tension cables are numerically analysed. In the case of a taut cable analysis, a bending stiffness term is usually neglected due to its minor effect but it plays an important role in a low-tension cable analysis. A low-tension cable may experience large displacements due to relatively small restoring forces and thus the effects of fluid and geometric non-linearities become predominant. The bending stiffness and non-linearity effects are considered in this work. In order to obtain dynamic behaviors of a towed low-tension cable, three-dimensional nonlinear dynamic equation is described and discretized by employing a finite difference method. An implicit method and Newton-Raphson iteration are adopted for the time integration and nonlinear solutions. For the calculation of huge size of matrices. block tri-diagonal matrix method is applied, which is much faster than the well-known Gauss-Jordan method in two point boundary value problems. Some case studies are carried out and the results of numerical simulations are compared with those of a in-house program of WHOI Cable with good agreements.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.17 no.2
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• pp.130-137
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• 2012

The underwater glider using conception of Lagrangian method, is a new observation platform to understand the properties of the ocean vertically. In 2011 March, KORDI made a first successful autonomous trip from Hupo to west coast of Uleungdo piloting Littoral Glider of Alaska Native Technology LLC. The journey considered many environmental variables and route vigilantly selected, the glider covered 177 km horizontally and took approximately 6 days (153 hours). Despite the existence of 1 kt eddy current, Sound velocity sampling was conducted from 5 meters and reaching maximum of 200 meters depth at each dive. It successfully collected sound velocity and temperature profile at every 5 seconds totaling up to 1408 profiles using SVT&P sensor. During the flight it was also a mission to check the diverse modes of the glider i.e. spiral, waypoints, heading, drift and hover could function without a defect in a given situation. These modes were thoroughly monitored and it could be considered that the glider handled it well during the flight. As a result of this test flight, it was evident that the given underwater glider could operate under 2kt current environment with users defined heading and depth, also with the payload up to 5 kg without changing internal buoyancy.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.10
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• pp.16-22
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• 2020

The Korea Institute of Ocean Science & Technology is developing a free-fall cone penetration test system (FFCPT) that can acquire the characteristics of the seabed surface soil. To obtain the data through the FFCPT, a method of storing the signals for the entire time or a method of storing the signal for user-defined time can be considered. For efficient data storage and management, it is advantageous that data be stored by user definition. Therefore, this study analyzed the basic behavior using the signal acquired through a sensor mounted in the FFCPT and developed a trigger method to recognize the start and end of data storage using a depth sensor. The start and endpoints of the fall were determined using the moving average difference of 3 and 0.03 seconds of the depth signal. A real sea-trial test was performed using the FFCPT, and the developed trigger was operated normally.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.6
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• pp.867-874
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• 2021

The IoT (Internet of Things) technology is rapidly becoming an important consideration in many engineering fields in the current 4th industrial era. In recent years, the concepts of digital shipbuilding and smart factories have been adopted as trends in shipyards. However, there is active interest in research on implementing autonomous driving in autonomous vehicles and airplanes, which is currently available in commercial form in a limited capacity. The present study is regarding the path-tracking performance of a boat to accomplish an autonomous driving mission using a flight controller (FC) and real-time kinematic (RTK) global positioning system (GPS) based on an open-source Ardupilot; an actual sea test is also performed using this system on a calm lake. The boat's mission is to evaluate the maneuverability of the self-driving process to a specific point and returning to the home position. For a given speed, the difference between the preset mission trajectory and actual operational trajectory was analyzed, and a series of studies were conducted on the applicability of the system to ships. In addition, the movements and maneuverability of the OmniX-type hull with four propellers were investigated, and the driving path-tracking performance was observed to increase by a maximum of 48%.

• Journal of the Korean Society for Marine Environment & Energy
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• v.15 no.3
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• pp.208-218
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• 2012

Numerical simulation technique has been developed to calculate microwave backscattering from water surface. The simulation plays a role of a substitute for experiments. Validation of the simulation was shown by comparing with experimental results. Water area observations by microwave radar have been simulated to evaluate algorithms and systems. Furthermore, the simulation can be used to understand microwave scattering mechanism on the water surface. The simulation has applied to the various methods for water area observations, and the utilizations of the simulation are introduced in this paper. In the case of fixed radar, we show following examples, 1. Radar image with a pulse Doppler radar, 2. Effect of microwave irradiation width and 3. River observation (Water level observation). In addition, another application (4.Synthetic aperture radar image) is also described. The details of the applications are as follows. 1. Radar image with a pulse Doppler radar: A new system for the sea surface observation is suggested by the simulation. A pulse Doppler radar is assumed to obtain radar images that display amplitude and frequency modulation of backscattered microwaves. The simulation results show that the radar images of the frequency modulation is useful to measure sea surface waves. 2. Effect of microwave irradiation width: It is reported (Rheem[2008]) that microwave irradiation width on the sea surface affects Doppler spectra measured by a CW (Continuous wave) Doppler radar. Therefore the relation between the microwave irradiation width and the Doppler spectra is evaluated numerically. We have shown the suitable condition for wave height estimation by a Doppler radar. 3. River observation (Water level observation): We have also evaluated algorithms to estimate water current and water level of river. The same algorithms to estimate sea surface current and sea surface level are applied to the river observation. The simulation is conducted to confirm the accuracy of the river observation by using a pulse Doppler radar. 4. Synthetic aperture radar (SAR) image: SAR images are helpful to observe the global sea surface. However, imaging mechanisms are complicated and validation of analytical algorithms by SAR images is quite difficult. In order to deal with the problems, SAR images in oceanic scenes are simulated.