• 한국산학기술학회논문지
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• 제14권9호
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• pp.4507-4513
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• 2013

수중사석고르기와 같은 수중공사작업을 수행하기 위하여 개발 진행 중인 무인수중장비를 수중공사현장에 투입할 경우, 작업 시 발행하는 부유물들로 인하여 탁도가 높아진다. 이러한 수중환경에서 광학카메라를 이용할 경우, 수중전방인식이 불가능할 수 있다. 이를 극복하기 위하여 무인수중장비에 소나를 탑재하고자 한다. 소나를 무인수중 장비에 적용하기에 앞서, 본 연구에서는 소나의 분해능, 탁도가 높은 물 속에서 스캐닝한 소나이미지를 확인하여 장비의 성능을 분석하였다. 그리고 수중공사현장의 경계면을 표시하기 위한 방법을 제안하였다. 이를 통하여 무인수중 장비에 적용하기 위한 소나의 기초 성능을 확인하였다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제8권1호
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• pp.82-86
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• 2008

The article presents ARTMAP and Fuzzy BK-Product approach underwater obstacle avoidance for the Autonomous underwater Vehicles (AUV). The AUV moves an unstructured area of underwater and could be met with obstacles in its way. The AUVs are equipped with complex sensorial systems like camera, aquatic sonar system, and transducers. A Neural integrated Fuzzy BK-Product controller, which integrates Fuzzy logic representation of the human thinking procedure with the learning capabilities of neural-networks (ARTMAP), is developed for obstacle avoidance in the case of unstructured areas. In this paper, ARTMAP-Fuzzy BK-Product controller architecture comprises of two distinct elements, are 1) Fuzzy Logic Membership Function and 2) Feed-Forward ART component. Feed-Forward ART component is used to understanding the unstructured underwater environment and Fuzzy BK-Product interpolates the Fuzzy rule set and after the defuzzyfication, the output is used to take the decision for safety direction to go for avoiding the obstacle collision with the AUV. An on-line reinforcement learning method is introduced which adapts the performance of the fuzzy units continuously to any changes in the environment and make decision for the optimal path from source to destination.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.166-172
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• 2004

An underwater motion measurement system was constructed for applications to the model basin. A commercial motion capture system, FALCON of Motion Analysis Corp., which corrects automatically the distortion caused by refraction of the light passing through water and air, was adopted for underwater motion measurement. The modifications of FALCON system were performed: waterproofing camera housings, markers, connectors, and a new blue ring lighter. the accuracy of the motion measurement was obtained within the calibration error of 0.87mm in average and 0.89mm in standard deviation for the distance of 500mm between two markers on the calibration device. the volume of $2100mm(length)\times2100mm(breadth)\times2300mm(Height)$ was covered with 4 cameras of the underwater motion measurement system. For the performance verification, motion measurement test of a vertical mooring chain model excited at the top end was carried out. The 3D motions of mooring model were measured with variable amplitude and period of the forced excitation. Higher order motions of the mooring model were observed as the excitation period decreases. the performance of the system was verified by successfully measuring 3D motion of mooring model.

• 전기전자학회논문지
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• 제22권4호
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• pp.1180-1187
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• 2018

본 논문은 수족관에서 유사 3D 플로팅 홀로그램로 구현되는 전래동화를 배경으로 물고기 로봇과 관람객이 상호 교감하는 수중무대를 구현한다. 색상인식 알고리즘을 이용하여 관람객과 수중로봇의 개체 위치인식을 수행하였고, 관람객과 전래동화의 개체를 추종하기 위한 위치 추종 알고리즘을 제안하였다. 본 실험장치는 수중로봇 제어를 위한 물고기로봇, 카메라, KIOSK와 수중영상을 연출하기 위한 빔 프로젝트로 구성된다. 본 실험은 전래동화와 수중로봇을 기반으로 관람객과 상호 교감하는 수중무대 구현을 국립부산과학관에서 수행한 결과 성능이 우수함을 확인하였다.

• 한국해양공학회지
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• 제8권1호
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• pp.50-61
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• 1994

A 300 meter class ROV(CROV300) is composed of three parts : a surface unit, a tether cable and an underwater vehicle. The vehicle controller is based on two processors : an Intel 8097-16-bit one chip micro-processor and a Texas Instruments TMS320E25 digital signal processor. In this paper, the surface controller, the vehicle controller and peripheral devices interfaced with the processors are described. These controllers transmit/receive measured status data and control commands through RS422 serial communication. Depth, heading, trimming, camera tilting, and leakage signals are acquired through the embedded AD converters of the 8097. On the other hand, altitude of ROV and lbstacle avoidance signals are processed by the DSP processor and periodically fetched by the 8097. The processor is interfaced with a 4-channel 12-bit D/A converter to generate control signals for DC motors an dseveral transistors to handle the relays for on/off switching of external devices.

• IEIE Transactions on Smart Processing and Computing
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• 제4권4호
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• pp.216-223
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• 2015

The autonomous underwater vehicle (AUV) is being widely researched in order to achieve superior performance when working in hazardous environments. This research focuses on using image processing techniques to estimate the AUV's egomotion and the changes in orientation, based on image frames from different time frames captured from a single high-definition web camera attached to the bottom of the AUV. A visual odometry application is integrated with other sensors. An internal measurement unit (IMU) sensor is used to determine a correct set of answers corresponding to a homography motion equation. A pressure sensor is used to resolve image scale ambiguity. Uncertainty estimation is computed to correct drift that occurs in the system by using a Jacobian method, singular value decomposition, and backward and forward error propagation.

• Metals and materials international
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• 제24권6호
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• pp.1327-1332
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• 2018

In this study, a novel approach to the explosive synthesis of titanium carbide (TiC) is discussed. Nonstoichiometric $TiC_x$ powder was produced via the underwater explosion of a Ti powder encapsulated within a spherical explosive charge. The explosion process, bubble formation, and synthesis process were visualized using high-speed camera imaging. It was concluded that synthesis occurred within the detonation gas during the first expansion/contraction cycle of the bubble, which was accompanied by a strong emission of light. The recovered powders were studied using scanning electron microscopy and X-ray diffraction. Submicron particles were generated during the explosion. An increase in the carbon content of the starting powder resulted in an increase in the carbon content of the final product. No oxide byproducts were observed within the recovered powders.

• 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.

• 전자공학회논문지SC
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• 제48권6호
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• pp.91-98
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• 2011

본 논문에서는 수중로봇에 쓰일 수 있는 카메라 영상을 기반으로 하는 인공표식물의 인식 및 추종 기법을 제안한다. 문제를 풀기 위해 제안된 방법은 인식과 추종의 두 개의 단계로 이루어져 있으며 인식단계에서는 물체의 외형에 관한 특징을 분석한 후 비선형 최적화 알고리즘을 통하여 알맞은 목표물로 분류한다. 이 후 추종 단계에서는 분류된 목표물에서 색깔 히스토그램을 추출한 후 meanshift 추종 법을 이용하여 지속적으로 추종하는 방법을 택하였다. 히스토그램 매칭 시에는 Bhattacharyya 거리를 계산하는 방법을 이용하였다. 결과적으로 제안하는 접근법은 수중로봇의 영상처리 분야에 다음과 같은 공헌을 할 것으로 기대한다. 1) 제안하는 방법은 카메라의 움직임으로 생기는 물체의 자세변화나 크기 변화에도 강인하게 대처할 수 있으며 2) 카메라 센서를 통한 방법이므로 초음파 센서 등의 기기들에 비하여 가격 경쟁력이 우수하다. 3) 또한 본 논문에서는 일반적으로 많이 쓰이는 특징 점을 기반으로 한 방법이 탁도 변화에서는 형태를 기반으로 한 방법보다 열등할 수 있음을 실험을 통하여 보였다. 4) 마지막으로 제안된 방법의 성능을 기존의 방법들과 비교하여 수치적으로 검증해 보았다.

• 수산해양기술연구
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• 제32권1호
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• pp.50-58
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• 1996

The authors carried out a field experiment to confirm the effect of underwater sound on the luring of fish schools in a setnet in the coast of Cheju Island. The effects of the acoustic emission on the luring of fish schools were observed using a manufectured underwater speaker in the setnet, and pure sound, of which frequency was 600Hz and the source level was 126dB, was emitted on and off at 5 minutes intervals in the set net during the night of ,July 29 and ,July 31. So we had recorded behavior of fish schools by the telesounder with two channel and shape of the setnet by underwater video camera and analyzed them. When the flood and ebb currents were around the setnet, the nets rised to the surface of water and it happened occasionaly at the stand of tide. Therefore, it was in the state that fish schools feel constraint to enter into the setnet, and was required a new design of the setnet stand up to strong tidal current. As the pure sound, of which frequency was 600Hz was emitted for the luring of fish schools in a setnet, the catch ammounts of fish, the young horce mackereWI'rachllrlls japonicus), was increased 4~6 times than not emitted.