• 한국정보통신학회논문지
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• 제25권2호
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• pp.327-329
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• 2021

Underwater acoustic communication channel is influenced by environmental parameters such as multipath, background noise and scattering. Therefore, a transmitted signal is influenced by the sea surface and the sea bottom boundaries, and a received signal shows a delay spread. These factors create a noise in the image and degrade the quality of underwater acoustic communication. To solve these problems, in this paper, we evaluate the performance of an underwater acoustic communication model using a denoising auto-encoder used for unsupervised learning. Noise images generated by the underwater multipath channel were collected and used as training data. Experimental results were analyzed as a PSNR parameter that expressed the noise ratio of the two images.

• 로봇학회논문지
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• 제19권2호
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• pp.188-195
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• 2024

This paper proposes a photorealistic real-time dense 3D mapping system that utilizes a neural network-based image enhancement method and mesh-based map representation. Due to the characteristics of the underwater environment, where problems such as hazing and low contrast occur, it is hard to apply conventional simultaneous localization and mapping (SLAM) methods. At the same time, the behavior of Autonomous Underwater Vehicle (AUV) is computationally constrained. In this paper, we utilize a neural network-based image enhancement method to improve pose estimation and mapping quality and apply a sliding window-based mesh expansion method to enable lightweight, fast, and photorealistic mapping. To validate our results, we utilize real-world and indoor synthetic datasets. We performed qualitative validation with the real-world dataset and quantitative validation by modeling images from the indoor synthetic dataset as underwater scenes.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.109-114
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• 2003

Wireless communication systems are inevitable for efficient underwater activities. Because of the poor propagation characteristics of light and electromagnetic waves, acoustic waves are generally used for the underwater wireless communication. Although there are many kinds of information type, visual images take an essential role especially for search and identification activities. For this reason, we developed an acoustic-based underwater image transmission system under a dual use technology project supported by MOCIE (Ministry of Commerce, Industry and Energy). For the application to complicated and time-varying underwater environments all-digital transmitter and receiver systems are investigated. Array acoustic transducers are used at the receiver, which have the center frequency of 32kHz and the bandwidth of 4kHz. To improve transmission speed and quality, various algorithms and systems are used. The system design techniques will be discussed in detail including image compression/ decompression system, adaptive beam- forming, fast RLS adaptive equalizer, ${\partial}/4$ QPSK (Quadrilateral Phase Shift Keying) modulator/demodulator, and convolution coding/ Viterbi. Decoding.

• 한국전자통신학회논문지
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• 제10권5호
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• pp.645-652
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• 2015

양식장 또는 바다와 같은 수중은 물방울과 다양한 부유물에 의하여 탁도가 높아지므로, 깊이에 따라 빛의 감쇠가 발생하고 부유물에 의한 빛의 산란 효과도 발생한다. 본 논문에서는 이러한 수중 환경에서 획득한 수중 영상의 가시성을 개선하기 위하여, dark channel prior 개념을 이용한 안개 제거 방법과 학습된 색상 변환 모델을 이용하여 색을 복원하는 수중 영상의 가시성 개선 방법을 제안하였다. 색상 변환 모델을 학습하기 위하여 여수와 포항에서 획득한 수중 패턴 영상을 사용하였으며, 제안 방법의 제안된 방법의 성능을 측정하기 위하여 여수, 거문도, 필리핀 등에서 수집한 수중 영상을 사용하여 가시성 개선 실험을 수행하였다. 실험 결과 제안 방법이 다양한 장소에서 수집된 수중 영상의 가시성을 개선시킴을 확인하였다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 Ⅳ
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• pp.2259-2262
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• 2003

This paper describes visual tracking procedure of the underwater mobile robot for nuclear reactor vessel inspection, which is required to find the foreign objects such as loose parts. The yellowish underwater robot body tend to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color informations, yellow and indigo. The center coordinates extraction procedures is as follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences: binarization labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth.

• 전자공학회논문지SC
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• 제43권3호
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• pp.51-59
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• 2006

본 논문에서는 QPSK(Quadrature Phase Shift Keying) 변조 방식을 이용하여 수중 통신을 위한 우수한 성능의 초음파 송수신기를 설계하였다. 송신 장치에서는 전력 증폭기를 통해서 송신 센서를 구동하여 최대 음압 187dB re $1{\mu}Pa/V@1m$ 레벨까지 수중에서 정지 영상 정보를 송신하였다. 수신 장치에서는 수중을 통해 받은 신호를 100kHz의 샘플링 주파수로 디지털 변환하고 검파 및 디코딩 과정을 거친 정보가 송신된 영상 정보와 일치함을 확인하였다. 이 논문에서 제시한 시스템의 최대 통신가능 거리는 1.17Km이며 이 거리에서 정지 영상 전달상의 어려움을 극복하기 위해서 이를 보완할 수 있는 송수신 센서 및 회로개발의 주요 변수를 도출하고 구현하였으며 이를 분석하였다. 기존 대부분의 수중 통신은 음성 신호를 전달하였으나 본 논문에서는 정지 영상 정보를 전달하기위한 효율적인 수중 통신 시스템을 구축하였다.

• 한국음향학회지
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• 제37권2호
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• pp.118-128
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• 2018

본 논문은 사이드 스캔 소나 영상을 컨볼루션 신경망으로 학습하여 수중물체를 탐색하는 방법을 다루었다. 사이드 스캔 소나 영상을 사람이 직접 분석하던 방법에서 컨볼루션 신경망 알고리즘이 보강되면 분석의 효율성을 높일 수 있다. 연구에 사용한 사이드 스캔 소나의 영상 데이터는 미 해군 수상전센터에서 공개한 자료이고 4종류의 합성수중물체로 구성되었다. 컨볼루션 신경망 알고리즘은 관심영역 기반으로 학습하는 Faster R-CNN(Region based Convolutional Neural Networks)을 기본으로 하며 신경망의 세부사항을 보유한 데이터에 적합하도록 구성하였다. 연구의 결과를 정밀도-재현율 곡선으로 비교하였고 소나 영상 데이터에 지정한 관심영역의 변경이 탐지성능에 미치는 영향을 검토함으로써 컨볼루션 신경망의 수중물체 탐지 적용성에 대해 살펴보았다.

• 제어로봇시스템학회논문지
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• 제21권4호
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• pp.349-355
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• 2015

Underwater robots generally show better performances for tasks than humans under certain underwater constraints such as. high pressure, limited light, etc. To properly diagnose in an underwater environment using remotely operated underwater vehicles, it is important to keep autonomously its own position and orientation in order to avoid additional control efforts. In this paper, we propose an efficient method to assist in the operation for the various disturbances of a remotely operated vehicle for the diagnosis of underwater structures. The conventional AHRS-based bearing estimation system did not work well due to incorrect measurements caused by the hard-iron effect when the robot is approaching a ferromagnetic structure. To overcome this drawback, we propose a sensor fusion algorithm with the camera and AHRS for estimating the pose of the ROV. However, the image information in the underwater environment is often unreliable and blurred by turbidity or suspended solids. Thus, we suggest an efficient method for fusing the vision sensor and the AHRS with a criterion which is the amount of blur in the image. To evaluate the amount of blur, we adopt two methods: one is the quantification of high frequency components using the power spectrum density analysis of 2D discrete Fourier transformed image, and the other is identifying the blur parameter based on cepstrum analysis. We evaluate the performance of the robustness of the visual odometry and blur estimation methods according to the change of light and distance. We verify that the blur estimation method based on cepstrum analysis shows a better performance through the experiments.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2625-2627
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• 2001

Recently wavelet transform is used in various fields. Especially it is available in image compression. In this paper we will present wavelet compression of acoustic-based underwater image by simulation.

• Ocean Systems Engineering
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• 제13권2호
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• pp.195-224
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• 2023

This paper proposes a method for the acoustic imaging wherein the traditional requirement of the relative movement between the transmitter and target is overcome. This is facilitated through the beamforming acoustic array in the transmitter, in which the target is illuminated by the array at various azimuth and elevation angles without the physical movement of the acoustic array. The concept of beam steering of the acoustic array facilitates the formation of the beam at desired angular positions of azimuth and elevation angles. This paper substantiates that the combination of illumination of the target from different azimuth and elevation angles with respect to the transmitter (through the beam steering of beam forming acoustic array) and the beam steering at multiple frequencies (through SF) results in enhanced reconstruction of images of the target in the underwater scenario. This paper also demonstrates the possibility of reconstruction of the image of a target in underwater without invoking the traditional algorithms of Digital Image Processing (DIP). This paper comprehensively and succinctly presents all the empirical formulae required for modelling the acoustic medium and the target to facilitate the reader with a comprehensive summary document incorporating the various parameters of multi-disciplinary nature.