• The Journal of Korea Robotics Society
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• v.15 no.1
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• pp.32-38
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• 2020

This paper describes a method for tracking attitude and position of underwater robots. Underwater work with underwater robots is subject to differences in work efficiency depending on the skill of the operator and the utilization of additional sensors. Therefore, this study developed an underwater robot that can operate autonomously and maintain a certain attitude when working underwater to reduce difference of work efficiency. The developed underwater robot uses 8 thrusters to control 6 degrees of freedom motion, IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log) and PS (Pressure Sensor) to measure attitude and position. In addition, the thruster allocation algorithm was designed to follow the control desired value using 8 thrusters, and the motion control experiments were performed in the engineering water basin using the thruster allocation method.

• Journal of Positioning, Navigation, and Timing
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• v.5 no.2
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• pp.97-107
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• 2016

Military Autonomous Underwater Vehicle (AUV) is utilized to search a mine under the sea. This paper presents design and performance verification of real-time hybrid navigation system for AUV. The navigation system uses Doppler Velocity Log (DVL) integration method to correct INS error in underwater. When the AUV is floated on the water, the accumulated error of navigation algorithm is corrected using position/velocity of GPS. The navigation algorithm is verified using 6 Degree Of Freedom (DOF) simulation, Program In the Loop Simulation (PILS). Finally, the experiments are performed in real sea environment to prove the reliability of real-time hybrid navigation algorithm.

• International Journal of Ocean System Engineering
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• v.1 no.2
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• pp.102-109
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• 2011

This paper describes the implementation of a precise underwater navigation solution using a multiple sensor fusion technique based on USBL, GPS, DVL and AHRS measurements for the operation of a remotely operated mine disposal vehicle (MDV). The estimation of accurate 6DOF positions and attitudes is the key factor in executing dangerous and complicated missions. To implement the precise underwater navigation, two strategies are chosen in this paper. Firstly, the sensor frame alignment to the body frame is conducted to enhance the performance of a standalone dead-reckoning algorithm. Secondly, absolute position data measured by USBL is fused to prevent cumulative integration error. The heading alignment error is identified by comparing the measured absolute positions with the DR algorithm results. The performance of the developed approach is evaluated with the experimental data acquired by MDV in the South-sea trial.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.774-781
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• 2013

The purpose of this paper is to design a DVL-RPM based VKF (Velocity Kalman Filter) design for a performance improvement underwater integrated navigation system. The proposed approach relies on a VKF, augmented by a altitude from Echo-sounder based switching architecture to yield robust performance, even when DVL (Doppler Velocity Log) exceeds the measurement range and the measured value is unable to be valid. The proposed approach relies on two parts: 1) Indirect feedback navigation Kalman filter design, 2) VKF design. To evaluate proposed method, we compare the results of the VKF aided navigation system with simulation result from a PINS (Pure Inertial Navigation System) and conventional INS-DVL method. Simulations illustrate the effectiveness of the underwater navigation system assisted by the additional DVL-RPM based VKF in underwater environment.

• Journal of Ocean Engineering and Technology
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• v.27 no.2
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• pp.93-99
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• 2013

This paper describes a robust algorithm for an integrated underwater navigation system based on VKF (velocity Kalman filter). The proposed approach relies on a VKF, augmented by the altitude from an echo-sounder-based switching architecture to yield robust performance, even when DVL (Doppler velocity log) exceeds the measurement range and the measured value cannot be valid. The proposed approach relies on three parts: 1) PINS (pure inertial navigation system), 2) VKF design, and 3) VKF-aided integrated navigation filter design. To evaluate the proposed method, we compare the results of the VKF-aided navigation system with the simulation result from a PINS and conventional INS-DVL method.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.9 no.2
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• pp.60-67
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• 2010

In the ubiquitous age, applications of wireless personal area network (WPAN) technology using LEDs are in progress. However, visible light communications (VLC) using the LEDs have weakness which deteriorate performance of communication because of multi-path fading that occurs propagation delay by interior walls or other things in indoor environments. In this paper, orthogonal frequency division multiplexing (OFDM) scheme is adapted to decrease multi-path fading and multi-path dispersion and to provide high speed data transmission. Besides, to reduce information losses caused by optical noise (incandescent lamps, fluorescent lamps, sunbeam etc.) also proposed channel coding using turbo codes. The encoding and decoding of the proposed system is described, and simulation results are analyzed. We can know that performance of proposed system is increased about 4 [dB] through the simulation results. Also, when the system take doppler effect, the system performance worsened.

• The Bulletin of The Korean Astronomical Society
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• v.35 no.1
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• pp.29.2-29.2
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• 2010

The Extreme ultraviolet Imaging Spectrometer (EIS) on board Hinode provide us with excellent imaging spectroscopic data with very good spatial and spectral resolutions, which can be used for detecting Doppler flows in transition region and coronal lines as well as diagnosing plasma properties such as temperature, density, and non-thermal velocity. In this study we have made an EUV-imaging spectroscopic study of the source region of a partial halo coronal mass ejection (CME) that occurred on 2007 July 9 in NOAA 10961. Dopplergrams are obtained before and after the CME eruption using 12 EIS spectral lines (Log T= 4.9~7.2). Major results are summarized as follows. First, it is noted that either red shifts disappeared or blue shifts newly appeared for all spectral lines lower than Log T =6.0. Second, there were significant intensity increases for all wavelengths. Third, there were no significant variations in non-thermal motions for all wavelengths. We found one interesting bright point that newly appeared after the CME eruption. We discuss the implication on the results in terms of the CME eruption.

• Journal of Wetlands Research
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• v.21 no.3
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• pp.207-214
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• 2019

This study investigated the flow characteristics in an annular flume with a free water surface using the Acoustic Doppler Velocimeter(ADV) in the laboratory. The flow was driven by the rotation of the inner cylinder in a way designed not to interfere with flocculation of cohesive sediments. The effect of the inner cylinder for the longitudinal velocities showed highest near the moving boundary and decreased towards the outer wall. At the lower longitudinal velocity, there was a peak in turbulent kinetic energy near the bed, whereas it moved upward to with increasing of the velocity. The longitudinal velocities estimated using the power law were in good agreement with the measured values than the values predicted by the log-law with roughness lengths. The average friction velocities evaluated by Reynolds shear stress were smaller than the values calculated using the log-law and power law when increasing the longitudinal velocity.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.702-708
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• 2013

Underwater TRN (Underwater Terrain Referenced Navigation) estimates an underwater vehicle state by measuring a distance between the vehicle and undersea terrain, and comparing it with the known terrain database. TRN belongs to absolute navigation methods, which are used to compensate a drift error of dead reckoning measurements such as IMU (Inertial Measurement Unit) or DVL (Doppler Velocity Log). However, underwater TRN is different to other absolute methods such as USBL (Ultra-Short Baseline) and LBL (Long Baseline), because TRN is independent of the external environment. As a magnetic-field-based navigation, TRN is a kind of geophysical navigation. This paper develops an EKF (Extended Kalman Filter) formulation for underwater TRN. A filter propagation part is composed by an inertial navigation system, and a filter update is executed with echo-sounder measurement. For large-initial-error cases, an adaptive EKF approach is also presented, to keep the filter be stable. At the end, simulation studies are given to verify the performance of the proposed TRN filter. With simplified sensor and terrain database models, the simulation results show that the underwater TRN could support conventional underwater navigation methods.

• Journal of The Korean Astronomical Society
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• v.42 no.6
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• pp.145-153
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• 2009

We present measurements of diffuse interstellar $H_2$ absorption lines in the continuum spectra of 10 early-type stars. The data were observed with the Berkeley Extreme and Far-Ultraviolet Spectrometer (BEFS) of the ORFEUS telescope on board the ORFEUS-SPAS I and II space-shuttle missions in 1993 and 1996, respectively. The spectra extend from the interstellar cutoff at 912 $\AA$ to about 1200 $\AA$ with a resolution of ~ 3000 and statistical signal-to-noise ratios between 10 and 65. Adopting Doppler broadening velocities from high-resolution optical observations, we obtain the $H_2$ column densities of rotational levels J" = 0 through 5 for each line of sight. The kinetic temperatures derived from J" = 0 and 1 states show a small variation around the mean value of 80 K, except for the component toward HD 219188, which has a temperature of 211 K. Based on a synthetic interstellar cloud model described in our previous work, we derive the incident UV intensity IUV and the hydrogen density $n_H$ of the observed components to be -0.4 $\leq$ log $I_{UV}\leq2.2$ and $6.3{\leq}n_H2500cm^{-3}$, respectively.