• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.676-681
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• 2013

For underwater vehicles, the use of sensors such as cameras and laser scanners is limited by the difference in environment compared to robots designed to work on dry land. In underwater environments, if use is made of sound signals, valuable information can be obtained. The most important application is the localization of underwater sound sources. The estimated location of a sound source can be used to control underwater robots or submarines. Thus, the purpose of this research is to estimate the source's direction and location in a noisy underwater environment. The direction of the sound source is obtained using two hydrophones. Furthermore, if we assume that the robot or sound source is moving, the location of the sound source is estimated using more than two estimated directions. The feasibility of the developed algorithm is examined by experiments in a water tank and in the ocean.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.11a
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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.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.3
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• pp.529-536
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• 2012

Recently, the interest of 3D contents are increased and viewers demand a variety of 3D contents. In such circumstances, underwater 3D contents are an alternative to meet the demands of viewers. Cause that underwater mass density is 1.33 times that in air the objects in underwater is bigger and closer in real. Therefore it needs to modify the distance between cameras, the distance to objects and the convergence value. In this paper, we present the method to set optimal depth values with the particularities of underwater space. In addition, through the case of underwater 3D production we present the method of underwater 3D contents development. We expect that a lot of material with colorful, variety marine organism in underwater will be made of 3D contents.

• Journal of Conservation Science
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• v.38 no.1
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• pp.14-32
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• 2022

Underwater photographing and image recording are essential for pre-excavation survey and during excavation in underwater archaeology. Unlike photographing on land, all underwater images suffer various quality degradations such as shape distortions, color shift, blur, low contrast, high noise levels and so on. Outcome is very often heavily photographing equipment and photographer dependent. Excavation schedule, weather conditions, and water conditions can put burdens on divers. Usable images are very limited compared to the efforts. In underwater archaeological study in very turbid water such as in the Yellow Sea (between mainland China and the Korean peninsula), underwater photographing is very challenging. In this study, off-site image distortion and color compensation techniques using an image processing/analysis software is investigated as an alternative image quality enhancement method. As sample images, photographs taken during the excavation of 800-year-old Taean Mado Shipwrecks in the Yellow Sea in 2008-2010 were mainly used. Significant enhancement in distortion and color compensation of archived images were obtained by simple post image processing using image processing/analysis software (PicMan) customized for given view ports, lenses and cameras with and without optical axis offsets. Post image processing is found to be very effective in distortion and color compensation of both recent and archived images from various photographing equipment models and configurations. Merits and demerit of in-situ, distortion and color compensated photographing with sophisticated equipment and conventional photographing equipment, which requires post image processing, are compared.

• The Journal of Information Systems
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• v.32 no.4
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• pp.137-147
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• 2023

Purpose The domestic aquaculture industry in South Korea utilizes both formulated feeds and live feeds for the cultivation of fish. While nutrient-rich live feeds, particularly using fry, have been preferred since the past, formulated feeds are gaining attention due to issues related to overfishing and environmental concerns. Formulated feeds are advantageous for storage and supply but require a sustained feeding regimen due to the comparatively slower growth rate compared to live feeds. As the aging population in rural areas leads to a shortage of labor, automated feeding systems are increasingly being adopted in aquaculture facilities. To enhance the efficiency of such systems, it is crucial to quantitatively analyze the behavioral changes in fish based on the presence or absence of feed. Design/methodology/approach In the study, RGB cameras and infrared cameras were used to analyze fish activity according to feeding, and an outline extraction algorithm was applied to analyze the differences resulting from this. Findings Unlike RGB cameras, infrared cameras are more suitable for analyzing underwater fish activity as they convert objects' thermal energy into images. It was observed that Canny, Sobel, and Prewitt filters showed the most distinct identification of fish activity.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2007.05a
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• pp.271-273
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• 2007

This paper presents the experimental results of underwater discharges in 25 mm point-plane gap caused by impulse voltage. Discharge phenomena were observed by digital cameras and recorded by oscilloscope. As a result, discharge patterns in positive and negative polarity have different shapes according to applied voltage amplitudes. The positive discharge is like root but the negative discharge is similar to bush. As the voltage is increased, the discharge routs are thick and have more branches. Also the time to breakdown is inversely proportional to voltage.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1116-1120
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• 2004

In the nuclear power plant, there are several cylindrical vessels such as reactor vessel, pressuriser and so on. The vessels are usually constructed by welding large rolled plates, forged sections or nozzle pipes together. In order to assure the integrity of the vessel, these welds should be periodically inspected using sensors such as ultrasonic transducer or visual cameras. This inspection is usually conducted under water to minimize exposure to the radioactively contaminated vessel walls. The inspections have been performed by using a conventional inspection machine with a big structural sturdy column, however, it is so huge and heavy that maintenance and handling of the machine are extremely difficult. It requires much effort to transport the system to the site and also requires continuous use of the utility's polar crane to move the manipulator into the building and then onto the vessel. Setup beside the vessel requires a large volume of work preparation area and several shifts to complete. In order to resolve these problems, we have developed an underwater mobile robot guided by the laser pointer, and performed a series of experiments both in the mockup and in the real reactor vessel. This paper introduces our robotic inspection system and the laser guidance of the mobile robot as well as the results of the functional test.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2017.05a
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• pp.131-136
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• 2017

High speed under water vehicle by using solid rocket motor, which is a natural cavitation type, was tested. The vehicle's speed and running distance was measured, and pressure sensors installed on the surface of the vehicle show pressure-time history of pressures according to the development of the supercavitation. Underwater cameras installed on the wall of the test pool recorded whole processes from the onset of the supercavitation to fully developed one. CNU-SuperCT based on 2-dimensional inviscid theoretical analysis was used to simulate the test result. In consideration of CNU-SuperCT does not include the control fins of the vehicle, simulation results agree with test results very well. Also, pictures from underwater cameras support the test results.

• Ocean Systems Engineering
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• v.14 no.2
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• pp.101-114
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• 2024

Seafloor sediment mapping is an essential research topic in shallow coastal waters, especially in port development, benthic habitat mapping, and underwater communications. The seafloor sediments can be interpreted by collecting sediment samples directly in the field using a grab sampler or corer. Another method is optical, especially using underwater cameras and videos. Both methods each have weaknesses in terms of area coverage (mechanic) and accurate positioning (optic). The latest technology used to overcome it is the acoustic method (echosounder) with Global Navigation Satellite System (GNSS) Real Time Kinematic (RTK) positioning. Therefore, in this study will propose the classification of seafloor sediments in coastal waters using acoustic method that is Multibeam Echosounder (MBES) multi-frequency with five frequency (200 kHz, 250 kHz, 300 kHz, 350 kHz, and 400 kHz). In this study, the deep neural network (DNN) used the bathymetric multi frequency, bathymetric difference inters frequencies, and bathymetric features from 5 (five) frequencies as input layer and 4 (four) sediment types in 74 (seventy-four) sample sediment as output layer to make a seafloor sediment map. Results of sediment mapping using the DNN method show an overall accuracy of 71.6% (significant) and a kappa coefficient of 0.59 (moderate). The distribution of seafloor sediment in the study area is mainly silt (41.6%), followed by clayey sand (36.6%), sandy silt (14.2%), and silty sand (7.5%).

• Korean Journal of Applied Biomechanics
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• v.14 no.1
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• pp.117-131
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• 2004

The foreign superior players and national team players' turning phase was measured, compared and analyzed to help the representative players improve the skill of turn. The underwater video camera used to analyze and evaluate the representative players' skill of turn in detail and the result is as follows. 1. The record for the phase of turn was similar to the rank of the last record. The improvement of the skill of turn was required because Korean players' record was lower than the foreign players' one. In case of 200m events the 1st turn was the fastest and it took more time as the turn is repeated. 2. It shows that the preparation phase and turing motion cause the difference between the players and within one player. 3. The horizontal movement of center of gravity moves to turning point slowly in the preparation phase, does not move nearly in the turning phase and increase again in the propulsion phase. Good record has short time for turn phase. The result means that the shorten the turning phase is the most important factor. Therefore the preparation for this is required. The vertical movement is maintained or increase a little and then move to from the turning phase. 4. The characteristic of horizontal velocity in center of gravity is that there is any big changes at the preparation phase, the faster velocity is found from the better record and the accelerating time is fast at the propulsion phasen. The wrong motion is made by not using the swimming velocity for fuming and waiting and more time is required by this. 5. The angle of knee when the player touch the turning point is 106.22-135.56 and the maximum angle of knee during the driving after the touch of tuning point is full extension. The size of maximum angle of knee did not match with the required time of propulsion phase. It seems that the individual difference is big when the players touch the turning point the angle of knee and the research for the individual angle which can reveal the maximum power should be carried out. The national team player's skill for the him is behind the foreign players' one and a lot of problems were found. It shows that the players could not practice the skill for turn during the training. The 1st reason for it is the various facilities like underwater window or analyzing equipment like underwater camera with which the coaches can teach and correct the players' detailed skill. It is need to evaluate the players' detailed skill exactly and correct it by objective data to complete the good skill in the future. In this regard, the investment for the facility is necessary.