• 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.

• 한국지구물리탐사학회:학술대회논문집
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• 2003.11a
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• pp.370-378
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• 2003

Continuous seismic refraction, reflection and echo-sounder surveys conducted at Koyna Project site provided geotechnical information which helped in choosing the alignment for Head race tunnel and in designing and choosing the site for Lake Tap. Seismic refraction survey both on land and in shallow water determined depths to bedrock and helped in inferring the bedrock quality. Seismic reflection survey mapped the subsurface stratigraphy with high resolution. Reservoir-bed and bedrock contours drawn from the results of the survey helped in choosing the tunnel alignment and the lake tap position cost effectively. It was inferred from the results of the survey that the geology and the quality of rock do not change unexpectedly around the site for extension of Head race tunnel and the lake tapping. The bedrock levels evaluated by seismic survey agreed remarkably well with those inferred in boreholes having Rock Quality Designation 90 percent or more.

• 한국지형공간정보학회:학술대회논문집
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• 2003.09a
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• pp.157-162
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• 2003

실시간 동적 GPS 측위를 이용한 해저수심측량은 GPS 수신기가 이동중인 상태에서 신호단절 없이 연속적인 수심측정이 가능하며 등수심도와 등고선 제작에 정확한 위치를 결정할 수 있고, 음향측심기는 발사파와 수신파의 도달시간을 측정하여 수심을 관측할 수 있기 때문에 실시간으로 정확한 3차원 측량이 가능하다. 본 논문에서는 해안지역에 대한 지형 분석을 하기 위하여 기준점에 대한 정지관측을 실시하여 좌표변환계수를 산출하고, 이로부터 실시간 동적 GPS 측량과 음향측심기를 이용하여 해운대 해수욕장과 해안을 관측하였다. 1:1,200 축척의 수치지도에서 추출한 수치표고모델에서의 체적은 $97953.9m^3$이며, 실시간 동적 GPS와 음향측심기를 이용하여 추출한 수치표고모델에서의 체적은 $95994.9m^3$로 나타났다. 이는 수치지도에서의 체적과 측량결과의 체적이 단지 2.0%정도로 나타나 실시간 동적 GPS와 음향측심기의 결합에 의한 해저수심측량이 매우 성공적임을 알 수 있었다.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 1994.11a
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• pp.183-186
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• 1994

Porous piezoelectric ceramics of P7T have been newly developed to apply for transducers in an echo sounder PZT powders were prepared by the molten salt synthesis method. The porous PZT was prepared from a mixture of PZT and polyvinylalcohol(PVA) powders by BURPS(Burnout Plastic Sphere) technique. The piezoelectric and acoustic properties with various PVA wt.% have studied. The density of porous PZT ceramics was decreased linearly with increasing the PVA sphere wt.%. Piezoelectric coefficient d$\_$33/ of porous PZT ceramics was almost same to that of single phase PZT ceramics. The thickness mode coupling factor k$\_$t/ was ranged over 0.53∼0.59 comparable with the single phase PZT ceramics(k$\_$t/=0.7).

• 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.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 1999.11a
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• pp.218-223
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• 1999

국제 수로 기구(IHO, International Hydrographic Organization)에서는 해도제작을 위한 해양조사의 기준을 마련하고, 전세계적으로 사용되는 해도의 정확도를 표준화하고 있다. IHO에서는 탐사 기술의 발달을 반영하여, 기존의 단 빔 음향 측심기 이외에도 멀티 빔 음향 측심기(Multibeam Echo Sounder)와 사이드 스캔 소나(Side Scan Sonar)를 이용한 해양 탐사 시에 요구되는 정확도와 탐사 자료에 대한 메타 데이터(Metadata)의 작성을 요구하고 있다. 본 논문은 수로 측량에서 얻어진 측량 자료들의 처리절차와 자료관리 기법에 대한 연구이다. IHO 해양탐사 기준에 맞는 탐사 자료 처리와, 메타 데이터를 자동으로 생성하여 측량자료관리 DB구축 및 관리를 주 기능으로 하는 시스템을 설계하고 구현한다. 특히, 본 논문은 해양 탐사 자료 처리 시스템을 개발하기 위하여, 해양 자료 처리 과정을 표준화하고, 국제적 해양 자료의 교환 표준인 MGD77과 호환 가능한 메타 데이터를 자동 생성하며, 1Hz로 수집되는 GPS 측위자료로부터 특징점(Waypoint)을 정의하고, 이를 추출하여 측심선을 벡터화 (Trackline Vectorizing) 하는 알고리즘을 구현한다. 개발된 시스템은 현재 국립 해양조사원의 해양2000호에서 획득된 탐사자료에 적용, 운영되고 있다.

• Special Issue of the Society of Naval Architects of Korea
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• 2015.09a
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• pp.28-33
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• 2015

Speed log measurement has always been of utmost importance to the mariners. To date the most accurate maritime speed measurement comes from Doppler measurement, where speed may be measured relative to either water(speed through water) or seabed(speed over ground). Recently, a clarification has been issued by the International Maritime Organization (IMO) regarding the speed measuring devices, which could ultimately impact the final arrangement of these devices for ships being constructed after July 1, 2014. This paper will discuss the clarification in depth and necessary action which shall be taken by the owners and operators of the ships impacted.

• Journal of Digital Contents Society
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• v.18 no.2
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• pp.393-401
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• 2017

As the importance of software in various industry areas has been increased, the number of accidents related to software safety are growing up. The key industries such as railroads, aviation and medicine, recommend IEC 61508 and international safety standards for their own to achieve functional safety and reduce the issues caused by that. For equipment of ship navigation, there are not any particular standards or guidance which Korean users can introduce as considering software functional safety. This article defines the procedure and outcomes of the risk analysis in order to secure software functional safety in marine navigational equipment and applies them to an echo sounder as a case study.

• Korean Journal of Remote Sensing
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• v.36 no.2_1
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• pp.103-119
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• 2020

Recently, the rapid redeposition and erosion of rivers artificially created by climate change and the Four Rivers Restoration Project is questionable. According to the revised law in Korea, the river management agency will periodically carry out bed changes surveys. However, there are technical limitations in contrast to the trend of increasing spatial coverage, density and narrowing of intervals. National organizations are interest in developing innovative bed changessurvey techniquesfor efficiency. Core of bathymetry survey is to measure the depth of rivers under a variety of river conditions, but that is relatively more risky, time-consuming and expensive compared to conventional ground surveys. To overcome the limitations of traditional technology, echo sounder, which has been mainly used for ocean depth surveying, has been applied to rivers. However, due to various technical limitations, it is still difficult to periodically investigate a wide range of areas. Therefore, technique using the remote sensing has been spotlighted as an alternative, especially showing the possibility of depth measurement using spectral characteristics. In this study, we develop and examine a technique that can measure depth of water using reflectance from spectral characteristics. As a result of applying the technique proposed in thisstudy, it was confirmed that the measured depth and the correlation and error corresponding to 0.986 and 0.053 m were measured in the depth range within 0.95 m. In the future, this study could be applied to the measurement of spatial depth if it is applied to the hyperspectral sensor mounted on the drone.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.38 no.2
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• pp.140-148
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• 2002

The primary goal of this study is to determine the distribution characteristics using a scientific echo sounder in the Yellow Sea west of South Korea. The survey was carried out between 33$^{\circ}$00'N~37$^{\circ}$00'N latitude and 124$^{\circ}$00'E~126$^{\circ}$00'E longitude during the months of May and August, 1999 and April, 2000. The ships used in this survey were the R/V Chung-kyeong(G/T 300) and R/V Dong-baek(G/T 1,050) of Yeosu National University. The results obtained are as follows : 1. From the oceanographic data the Yellow Sea were divided into three sea areas which were the western waters of Chejudo, Mokpo and Kunsan. The oceanographic conditions were different in each of these three areas and the western waters of Chejudo were higher about 1~5$^{\circ}C$ more than the western waters of Gunsan. Generally, thermoclines were presented clearly in all three areas, but more so in August than in May according to seasons. 2. The horizontal distribution of S$_{A}$(area backscattering coefficient per unit area) value is that the western sea waters of Chejudo area are higher than that of the western sea waters of Mokpo and Gunsan. 3. The vortical distribution of S$_{A}$ value varies with thermocline that the harder thermocline is, the higher the S$_{A}$ value is. 4. The S$_{A}$ values on the types of biomass distribution are different with frequency. At the 38kHz, the demersal schools have higher values than the pelagic schools. At the 120kHz, the pelagic schools have higher values than the demersal schools.