• Korean Journal of Fisheries and Aquatic Sciences
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• v.46 no.3
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• pp.266-272
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• 2013

The objective of this study was to monitor and evaluate the schooling characteristics, including the distribution density (volume backscattering strength) and acoustic size (target strength), of commercially valuable species swimming in response to artificial reefs installed at Suyeong Man, Busan, Korea. Fish aggregations at two artificial reef areas and at a nearby natural rocky reef habitat were recorded and analyzed using a 70 kHz split-beam echo sounder and 330 kHz side-scan sonar from August to September, 2006. An underwater CCTV camera system was also used to observe marine organisms in physical contact with and swimming very close to artificial reefs. During the acoustic observations at three reef sites, useful information about schooling characteristics of fish aggregations responding to artificial reefs were obtained, but more trials are needed to confirm significant differences in schooling behavior and geographical distributions in areas containing natural reef structures and artificial reefs.

• Journal of the Institute of Convergence Signal Processing
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• v.20 no.4
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• pp.186-192
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• 2019

In general, many marine organisms are attached to the bottom of a ship in operation or a ship in construction. Due to this phenomenon, the roughness of the ship surface increases, resulting in loss of ship speed, resulting in economic losses and environmental pollution. This study acquires / utilizes camera images attached to ship's bottom and underwater drones to check the condition of bottom. The acquired image will determine the roughness according to marine life by the administrator's visual confirmation. Therefore, by applying a filter algorithm to correct the image to the original image can help in the correct determination of whether or not attached to marine life. Various correction filters are required for the underwater image correction algorithm, and the lighting suitable for the dark underwater environment has a great influence on the judgment. The results of the research test according to the calibration algorithm and the roughness of each algorithm are considered to be applicable to many fields.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.6
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• pp.389-394
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• 2018

Remotely operated vehicle(ROV) and autonomous underwater vehicle(AUV) have been used for underwater surveys, underwater exploration, resource harvesting, offshore plant maintenance and repair, and underwater construction. It is hard for people to work in the deep sea. Therefore, we need a vision control system of underwater submersible that can replace human eyes. However, many people have difficulty in developing a deep-sea image control system due to the deep sea special environment such as high pressure, brine, waterproofing and communication. In this paper, we will develop an Ethernet based remote image control system that can control the image mounted on ROV.

• Ocean and Polar Research
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• v.27 no.3
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• pp.335-339
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• 2005

The underwater positioning system is important in interpreting data that are acquired from towing vehicles such as the deep-sea camera (DSC) system. Currently, several acoustic positioning systems such as long baseline (LBL), short baseline (SBL), and ultra short baseline (USBL), are used for underwater positioning. The accurate position of DSC, however, could not be determined in a R/V Onnuri unequipped with any of these underwater positioning systems. As an alternative, the DSC position was estimated based on the topography of towing track and cable length in the cruises before 1999. The great uncertainties, however, were found in the areas of flat bottom topography. In the 2003 and 2004 cruises these uncertainties were reduced by calculating the position of DSC with the cable length and seafloor depth below the vessel. The Japanese cruises for Mn-nodule used a similar estimation method for the DSC positioning system with a CTD sensor. Although the latter can provide better information for the position of DSC, the USBL underwater positioning system is strongly recommended for establishing better positioning of DSC and other towing devices.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.1
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• pp.135-141
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• 2016

Recently, the needs for the development and application of marine robots are increasing as marine accidents occur frequently. However, it is very difficult to acquire the information by utilizing marine robots in the marine environment. Therefore, the needs for the researches of sensor networks which are composed of underwater, surface and aerial robots are increasing in order to acquire the information effectively as the information from heterogeneous robots has less limitation in terms of coverage and connectivity. Although various researches of the sensor network which is based on marine robots have been executed, all of the underwater, surface and aerial robots have not yet been considered in the sensor network. To solve this problem, a collaborative control method based on the acoustic information and image by the sonars of the underwater robot, the acoustic information by the sonar of the surface robot and the optical image by the camera of the static-floating aerial robot is proposed. To verify the performance of the proposed method, the collaborative control of a MUR(Micro Underwater Robot) with an OAS(Obstacle Avoidance Sonar) and a SSS(Side Scan Sonar), a MSR(Micro Surface Robot) with an OAS and a BMAR(Balloon-based Micro Aerial Robot) with a camera are executed. The test results show the possibility of real applications and the need for additional studies.

• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.142-149
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• 2012

The camera has limitations of poor visibility in underwater environment due to the limited light source and medium noise of the environment. However, its usefulness in close range has been proved in many studies, especially for navigation. Thus, in this paper, vision-based object detection and tracking techniques using artificial objects for underwater robots have been studied. We employed template matching and mean shift algorithms for the object detection and tracking methods. Also, we propose the weighted correlation coefficient of adaptive threshold -based and color-region-aided approaches to enhance the object detection performance in various illumination conditions. The color information is incorporated into the template matched area and the features of the template are used to robustly calculate correlation coefficients. And the objects are recognized using multi-template matching approach. Finally, the water basin experiments have been conducted to demonstrate the performance of the proposed techniques using an underwater robot platform yShark made by KORDI.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.782-790
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• 2013

In this paper, we propose a better solution for swimming plans of an articulated underwater robot, Crabster, with a view point of biomimetics. As a biomimetic model of underwater organisms, we chose diving beetles structurally similar to Crabster. Various swimming locomotion of the diving beetle has been observed and sorted by robotics technology through experiments with a high-speed camera and image processing software Image J. Subsequently, coordinated patterns of rhythmic movements of the diving beetle are reproduced by simple control parameters in a parameter space which make it easy to control trajectories and velocities of legs. Furthermore, a simulation was implemented with an approximated model to predict the motion of the robot under development based on the classified forward and turning locomotion. Consequently, we confirmed the applicability of parameterized leg locomotion to the articulated underwater robot through the simulated results by the approximated model.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1244-1248
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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 tends 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 information, yellow and indigo. The center coordinates extraction procedures are 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.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.3
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• pp.463-471
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• 2020

Recently, various tries to apply ROV (Remotely Operated Vehicle) into underwater are being developed. However, due to underwater environment uniqueness, the additional problem must be taken into account when designing an ROV for the inspection of the underwater structure. This is because a GPS-based information method cannot be applied, and the obtainable image is also dependent on the turbidity. Also, it is necessary to be able to satisfy waterproof and operating speeds in consideration of most practical application environments. This paper describes the design results of the ROV system for underwater structure inspection considering the above problems. The designed system applied INS / DVL for location recognition and was configured to support 3D mapping and stereo camera-based image information using sonar depending on visibility. To satisfy the waterproof, a pressure vessel using a composite material was applied. And over-actuated system using eight thrusters to maintain a stable posture and operating speed was applied also. The designed system was verified by structural analysis and flow analysis also.

• Proceedings of the IEEK Conference
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• 2003.07e
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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.