• 한국멀티미디어학회논문지
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• 제25권1호
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• pp.61-71
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• 2022

When communication such as light, radio wave, or magnetic field is used underwater, the communication distance is very short, so sound waves are mainly used. However, by combining the strengths of each medium and communicating, stable communication may be possible. Underwater multi-media communication requires a protocol stack that supports it, which is very complex. To this end, this paper proposes a standard protocol stack and modeling technique to enable easy protocol stack modeling for the purpose. In fact, in this paper, a random model was created and analyzed through the proposal of modeling elements and similarity measurement methods, and as a result, it was analyzed that it was very helpful in creating a new model based on a standard model.

• 한국해양공학회지
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• 제29권5호
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• pp.392-397
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• 2015

An autonomous underwater vehicle (AUV) can perform flexible operations even in complex underwater environments because of its autonomy. Localization is one of the key components of this autonomous navigation. Because the inertial navigation system of an AUV suffers from drift, observing fixed objects in an inertial reference system can enhance the localization performance. In this paper, we propose a method of AUV localization using visual measurements of underwater structures. A camera measurement model that emulates the camera’s observations of underwater structures is designed in a particle filtering framework. Then, the particle weight is updated based on the extracted visual information of the underwater structures. The proposed method is validated based on the results of experiments performed in a structured basin environment.

• 한국정보통신학회논문지
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• 제8권3호
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• pp.645-653
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• 2004

수중 어류의 행동이나 현상을 예측하여 시각화하기 위해서는 어류의 탐지와 어류반응행동의 파악이 우선 이루어져야 한다. 수중이라는 다변적인 환경요인이 현장 계측을 매우 어렵게 하거나 어류의 행동이 비선형적으로 복잡하고 혼돈스러우므로 기존의 단순한 그래픽처리는 실제 수중현상간의 차이를 극복하지 못해왔던 실정이다. 이에 본 논문에서는 매우 복잡 다양한 어류행동반응의 패턴에 대하여 기존의 연구에서 제안된 혼돈이론을 응용한 어류반응행동 모델을 이용하여 시각화 도구를 제안함으로써 수중의 어류이동현상을 예측하거나 평가, 또는 보다 더 정확히 분석하는 자료를 얻을 수 있게 구현하였다. 아울러, 어탐 디스플레이를 동시에 적용하여 사용자에게 반응에 따르는 어류의 탐지상황도 제공하였다. 제안된 시각화 도구를 평가하기 위하여 현장 계측된 어류의 이동 정보와 비교한 결과, 제안된 시각화 도구는 사실성 높은 어류 행동과 시각적인 이해도를 높일 수 있음을 확인 할 수 있었다.

• International Journal of Naval Architecture and Ocean Engineering
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• 제8권3호
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• pp.243-251
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• 2016

Autonomous Underwater Vehicles (AUVs) generally work in complex marine environments. Any fault in AUVs may cause significant losses. Thus, system reliability and automatic fault diagnosis are important. To address the actuator failure of AUVs, a fault diagnosis method based on the Gaussian particle filter is proposed in this study. Six free-space motion equation mathematical models are established in accordance with the actuator configuration of AUVs. The value of the control (moment) loss parameter is adopted on the basis of these models to represent underwater vehicle malfunction, and an actuator failure model is established. An improved Gaussian particle filtering algorithm is proposed and is used to estimate the AUV failure model and motion state. Bayes algorithm is employed to perform robot fault detection. The sliding window method is adopted for fault magnitude estimation. The feasibility and validity of the proposed method are verified through simulation experiments and experimental data.

• Journal of information and communication convergence engineering
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• 제14권2호
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• pp.78-83
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• 2016

In underwater acoustic communication, the transmitted signals are severely influenced by the reflections from both the sea surface and the sea bottom. As very large reflection signals from these boundaries cause an inter-symbol interference (ISI) effect, the communication quality worsens. A channel estimation-based equalizer is usually adopted to compensate for the reflected signals under the acoustic communication channel. In this study, a feed-forward equalizer (FFE) with the least mean squares (LMS) algorithm was applied to a quadrature phase-shift keying (QPSK) transmission system. Two different types of equalizers were adopted in the QPSK system, namely a real-coefficient equalizer and a complex-coefficient equalizer. The performance of the complex-coefficient equalizer was better than that of two real-coefficient equalizers. Therefore, a Hilbert transform was applied to the real-coefficient binary phase-shift keying (BPSK) system to obtain a complex-coefficient BPSK system. Consequently, we obtained better results than those of a real-coefficient equalizer.

• Journal of Electrical Engineering and Technology
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• 제13권1호
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• pp.493-500
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• 2018

This paper addresses a decentralized observer-based output-feedback formation control problem for multiple unmanned underwater vehicles (UUVs). The complex nonlinear model for a UUV is feedback-linearized. It is assumed that each UUV in the formation exploits only the information regarding itself and the immediate predecessor, which imposes structural constraints on the formation controller gain matrices. The design condition is presented as a two-stage linear matrix inequalities problem. The synthesized controller demonstrates its own advantages through a numerical example.

• 대한조선학회논문집
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• 제54권5호
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• pp.439-446
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• 2017

This paper deals with an experimental study of the dynamics of an underwater bubbles and shock waves, generated by rapid underwater release of highly compressed gas. Aribag inflators, which are used for automobile's airbag system, are used to generate the extremely-rapid underwater gas release. Experimental studies of the complex underwater bubble dynamics as well as underwater shock wave were carried out in a specifically designed cylindrical water tank. The water tank is equipped with a high-speed camera and pressure sensors. The high-speed camera was used to capture the expansion and collapse of the gas bubble created by inflators, while pressure sensors was used to measure the underwater shock propagation and magnitudes. The experimental results were compared against the results of explosion of pentolite explosive. Several physical phenomena that has been observed and discussed, which are different from the explosive underwater explosion.

• 한국소음진동공학회논문집
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• 제22권4호
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• pp.328-334
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• 2012

Power flow finite element method(PFFEM) combining power flow analysis(PFA) with finite element method is efficient for vibration analysis of a built-up structure, and power flow boundary element method(PFBEM) combining PFA with boundary element method is useful for predicting the noise level of a vibrating complex structure. In this paper, the coupled PFFE/PFBE method is used to investigate the vibration and radiated noise of the unmanned underwater vehicle(UUV) in water. PFFEM is employed to analyze the vibrational responses of the UUV, and PFBEM is applied to analyze the underwater radiation noise. The vibrational energy of the structure is treated as an acoustic intensity boundary condition of PFBEM to calculate underwater radiation noise. Numerical simulations are presented for the UUV in water, and reliable results have been obtained.

• 한국음향학회지
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• 제31권8호
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• pp.551-560
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• 2012

시역전 기술을 활용한 수중음향장벽에 의한 수중물체 탐지는 능동소나와 수동소나의 기법과 이론적 배경이 명확한 시역전 처리의 개념을 포함하고 있다. 본 논문에서는 수동형 해양 시역전에 의한 수중탐지의 개념과 이론을 수립하였다. 또한 수중음향 전파모델을 활용하여 모델링을 통해 수동형 시역전 수중음향장벽의 성능 예측을 수행하였다. 본 연구의 결과는 수동형 시역전 개념을 이용한 수중음향장벽 탐지시스템의 설계 시 유용한 성능예측 도구로 활용될 수 있다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.1174-1179
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• 2000

In recent years, the structural shock response to underwater explosion has been studied as much, or more, through numerical simulations than through testing for several reasons. Very high costs and sensitive environmental concerns have kept destructive underwater explosion testing to a minimum. Increase of simulation capabilities and sophisticated simulation tools has made numerical simulations more efficient analysis methods as well as more reliable testing aids. For the simulation of underwater explosions against, surface ships or submerged structures one has to include the effects of the explosive shock wave, the motion of the gaseous reactive products, the local cavitation collapse, the different nonlinear structural properties and the complex fluid-structure interaction phenomena. In this study, as benchmark step for the validation of hydrocode LS/DYNA3D and of technology of fluid-structure interaction problems, two kinds of cavitation problems are analyzed and structural shock response of floating ship model are compared with experimental result.