• Title/Summary/Keyword: Underwater drone

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Collaborative Obstacle Avoidance Method of Surface and Aerial Drones based on Acoustic Information and Optical Image (음향정보 및 광학영상 기반의 수상 및 공중 드론의 협력적 장애물회피 기법)

  • Man, Dong-Woo;Ki, Hyeon-Seung;Kim, Hyun-Sik
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.64 no.7
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    • pp.1081-1087
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    • 2015
  • Recently, the researches of aerial drones are actively executed in various areas, the researches of surface drones and underwater drones are also executed in marine areas. In case of surface drones, they essentially utilize acoustic information by the sonar and consequently have the local information in the obstacle avoidance as the sonar has the limitations due to the beam width and detection range. In order to overcome this, more global method that utilizes optical images by the camera is required. Related to this, the aerial drone with the camera is desirable as the obstacle detection of the surface drone with the camera is impossible in case of the existence of clutters. However, the dynamic-floating aerial drone is not desirable for the long-term operation as its power consumption is high. To solve this problem, a collaborative obstacle avoidance method based on the acoustic information by the sonar of the surface drone and the optical image by the camera of the static-floating aerial drone is proposed. To verify the performance of the proposed method, the collaborative obstacle avoidances of a MSD(Micro Surface Drone) with an OAS(Obstacle Avoidance Sonar) and a BMAD(Balloon-based Micro Aerial Drone) with a camera are executed. The test results show the possibility of real applications and the need for additional studies.

Drone Saver : Underwater Drone search and rescue system using Mothership and ROV (Drone Saver : 모선과 수중 탐사정을 이용한 수중 드론 탐색 및 구조 시스템)

  • Ko, Seon-Jae;Park, Jae-Jeong;Kim, Seo-Jin;Jeong, Joo-Yeon;Choi, Byoung-Jo
    • Proceedings of the Korea Information Processing Society Conference
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    • 2017.11a
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    • pp.1250-1253
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    • 2017
  • 본 논문은 드론 산업이 발전함에 따라 하천, 호수, 바다 상공에서 활용하는 드론이 수중에 빠졌을 때, 물에 빠진 드론을 모선(Mothership)과 집게팔이 달린 ROV(Remotely Operated Vehicle)를 이용하여 인양하는 시스템을 제안한다. 제안한 시스템의 구성 요소는 세 가지로 첫 번째는 실시간으로 GCS(Ground Control Station)에 영상을 전송하며 ROV와 전력선 모뎀을 이용하여 통신을 하는 모선, 두 번째는 수중에 들어가 수중 카메라를 이용하여 육안으로 드론을 탐색하고 장착된 집게팔로 드론을 몸체에 고정시키는 ROV, 세 번째는 모선, ROV와 실시간으로 영상 데이터와 명령 신호를 주고 받는 GCS 이다.

Research of the Objective Quality Comparison of Underwater Cameras (수중 촬영용 카메라의 객관적 화질 비교에 관한 연구)

  • Ha, Yeon-Chul;Park, Jun-Mo
    • Journal of the Institute of Convergence Signal Processing
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    • v.21 no.2
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    • pp.92-100
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    • 2020
  • Currently, the demand for underwater or underwater photography is growing very fast. Its coverage of underwater shooting for broadcasting, leisure and sports, and military and operational use is also growing rapidly. Among them, we specifically select the best camera to be used in underwater drones to photograph and inspect marine life attached to the ship's hull. To compare three cameras performance, they are compared and evaluated using objective and subjective criteria in special circumstances such as underwater shooting. This study checks whether performance criteria, such as resolution of a camera, meet objective and subjective standards in the unusual situation of underwater shooting. And it shows that in addition to the filter that calibrates the image, proper camera selection is important for providing good picture quality. Even after this study, research using more diverse cameras could provide an appropriate standard for comparison of underwater camera quality.

Analysis of Seabottom and Habitat Environment Characteristics based on Detailed Bathymetry in the Northern Shore of the East Sea(Gyeongpo Beach, Gangneung) (정밀 해저지형 자료 기반 동해 북부 연안(강릉 경포) 서식지 해저면 환경 특성 연구)

  • Lee, Myoung Hoon;Rho, Hyun Soo;Lee, Hee Gab;Park, Chan Hong;Kim, Chang Hwan
    • Economic and Environmental Geology
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    • v.53 no.6
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    • pp.729-742
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    • 2020
  • In this study, we analyze seabottom conditions and characteristics integrated with topographic data, seafloor mosaic, underwater images and orthophoto(drone) of soft-hard bottom area around the Sib-Ri rock in the northern shore of the East Sea(Gyeongpo Beach, Gangneung). We obtained field survey data around the Sib-Ri rock(about 600 m × 600 m). The Sib-Ri rock is formed by two exposed rocks and surrounding reef. The artificial reef zone made by about 200 ~ 300 structures is shown the western area of the Sib-Ri rock. The underwater rock region is extended from the southwestern area of the exposed the Sib-Ri rock with 9 ~ 11 m depth range. The most broad rocky seabottom area is located in the southwestren area of the Sib-Ri rock with 10 ~ 13 m depth range. The study area were classified into 4 types of seabottom environment based on the analysis of bathymetric data, seafloor mosaics, composition of sediments and images(underwater and drone). The underwater rock zones(Type I) are the most distributed area around the Sib-Ri Rock(about 600 m × 600 m). The soft seabottom area made by sediments layer showed 2 types(Type II: gS(gravelly Sand), Type III: S(Sand)) in the areas between underwater rock zones and western part of the Sib-Ri rock(toward Gyeongpo Beach). The artificial reef zone with a lot of structures is located in the western part of the Sib-Ri rock. Marine algae(about 6 species), Phylum porifera(about 2 species), Phylum echinodermata(about 3 species), Phylum mollusca(about 3 species) and Phylum chordata(about 2 species) are dominant faunal group of underwater image analysis area(about 10 m × 10 m) in the northwestern part of the Sib-Ri rock. The habitat of Phylym mollusca(Lottia dorsuosa, Septifer virgatus) and Phylum arthropoda(Pollicipes mitella, Chthamalus challengeri hoek) appears in the intertidal zone of the Sib-Ri rock. And it is possible to estimate the range and distribution of the habitat based on the integrated study of orthphoto(drone) and bathymetry data. The integrated visualization and mapping techniques using seafloor mosaic images, sediments analysis, underwater images, orthophoto(drone) and topographic data can provide and contribute to figure out the seabottom conditions and characteristics in the shore of the East Sea.

Development of underwater drone for underwater envorment image acquisition and road view interface enviroment (수중 환경 정보 채집용 수중드론 개발 및 수중 로드뷰 인터페이스 환경 구축 개발)

  • Je-Hui Jeon;Hang-Duck Jo;Tea-Min Kim;Ji-Seok Yu;Yeong-Ki Gwon;Jian Kim
    • Proceedings of the Korea Information Processing Society Conference
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    • 2023.11a
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    • pp.959-960
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    • 2023
  • 본 연구에서는 수중 환경 정보 수집과 수집된 환경 정보를 쉬운 인터페이스 환경 구축하고자 부력제어 방식의 수중 드론을 제작하고 수중 지형 지물의 로드뷰 제작 기법을 개발 수행한다.

A Study on the Applicability of Unmanned Aerial Vehicles for Underwater Cultural Heritage Survey in Intertidal Zones (조간대에서의 수중문화재 조사를 위한 무인항공기의 적용 가능성에 관한 연구)

  • Young-Hyun Lee;Dong-Won Choi;Sang-Hee Lee;Sung-Bo Kim
    • Journal of the Korean Society of Industry Convergence
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    • v.26 no.4_2
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    • pp.697-703
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    • 2023
  • Intertidal zones, akin to tidal flats, are among the potential areas where underwater cultural heritage might be submerged. However, the shallow depths in these regions present challenges for conventional vessel-based survey methods. Moreover, during low tides, intertidal zones transform into tidal flats, limiting the efficiency of survey efforts due to restricted access and potential risks. As a result, proper underwater cultural heritage surveys encounter difficulties in these environments. In recent times, extensive research is underway to address these issues by investigating underwater cultural heritage surveys in intertidal zones, encompassing diverse fields, including equipment-based investigations. This study aimed to explore the feasibility of utilizing unmanned aerial vehicles (UAVs) to conduct intertidal cultural heritage surveys, employing aerial photography and 3D mapping to create detailed orthoimages and 3D models. The study focused on assessing the potential application of these techniques for cultural heritage surveying within intertidal zones. Notably, the survey conducted in Jindo's Naesan-ri demonstrated high-resolution capabilities, enabling the distinction of actual pottery fragments mixed within gravel fields. Similarly, in the survey of Jindo's Byeokpa-hang, it was found that a wooden pillar structure existed in a section about 200m long. The integration of various sensors, including LiDAR, with UAVs allows for diverse investigation possibilities, including bathymetric measurements, and is expected to facilitate the acquisition of varied datasets for further research and assessment.

Experimental Analysis to Derive Optimal Wavelength in Underwater Optical Communication Environment (수중 광통신 환경에서 최적 파장을 도출하기 위한 실험적 해석)

  • Dong-Hyun Kwak;Seung-il Jeon;Jung-rak Choi;Min-Seok Han
    • The Journal of Korea Institute of Information, Electronics, and Communication Technology
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    • v.16 no.6
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    • pp.478-488
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    • 2023
  • This paper investigates the naval application of laser communication as a potential replacement for traditional acoustic wave communication in underwater environments. We developed a laser transceiver using Arduino and MATLAB, conducting a water tank experiment to validate communication feasibility across diverse underwater conditions. In the first experiment, when transmitting data through a laser, the desired message was converted into data and transmitted, received, and confirmed to be converted into the correct message. In the second experiment, the operation of communication in underwater situations was confirmed, and in the third experiment, the intensity of light was measured using the CDS illuminance sensor module and the limits of laser communication were measured and confirmed in various underwater situations. Additionally, MATLAB code was employed to gather data on salinity, water temperature, and water depth for calculating turbidity. Optimal wavelength values (532nm, 633nm, 785nm, 1064nm) corresponding to calculated turbidity levels (5, 20, 55, 180) were determined and presented. The study then focuses on analyzing potential applications in naval tactical communication, remote sensing, and underwater drone control. Finally, we propose measures for overcoming current technological limitations and enhancing performance.

Analysis of trends in the use of geophysical exploration techniques for underwater cultural heritage (수중문화유산에 대한 지구물리탐사 기법 활용 동향 분석)

  • LEE Sang-Hee;KIM Sung-Bo;KIM Jin-Hoo;HYUN Chang-Uk
    • Korean Journal of Heritage :History & Science
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    • v.56 no.3
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    • pp.174-193
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    • 2023
  • Korea is surrounded by the sea and has rivers connecting to it throughout the inland areas, which has been a geographical characteristic since ancient times. As a result, there have been exchanges and conflicts with various countries through the sea, and rivers have facilitated the transportation of ships carrying grain, goods paid for by taxes, and passengers. Since the past, the sea and rivers have had a significant impact on the lives of Koreans. Consequently, it is expected that there are many cultural heritages submerged in the sea and rivers, and continuous efforts are being made to discover and preserve them. Underwater cultural heritage is difficult to discover due to its location in the sea or rivers, making direct visual observation and exploration challenging. To overcome these limitations, various geophysical survey techniques are employed. Geophysical survey methods utilize the physical properties of elastic waves, including their reflection and refraction, to conduct surveys such as bathymetry, underwater topography and strata. These techniques detect the physical characteristics of underwater objects and seafloor formation in the underwater environment, analyze differences, and identify underwater cultural heritage located on or buried in the seabed. Bathymetry uses an echo sounder, and an underwater topography survey uses a side-scan sonar to find underwater artifacts lying on or partially exposed to the seabed, and a marine shallow strata survey uses a sub-bottom profiler to find underwater heritages buried in the seabed. However, the underwater cultural heritage discovered in domestic waters thus far has largely been accidental findings by fishermen, divers, or octopus hunters. This study aims to analyze and summarize the latest research trends in equipment used for underwater cultural heritage exploration, including bathymetric surveys, underwater topography surveys and strata surveys. The goal is to contribute to research on underwater cultural heritage investigation in the domestic context.

Recent R&D Trends of Mobile FSO Technologies (모바일 자유공간 광전송(FSO) 기술 동향)

  • Yeo, C.I.;Heo, Y.S.;Ryu, J.H.;Lee, M.S.;Kang, H.S.;Park, S.W.;Kim, K.E.;Kim, S.C.
    • Electronics and Telecommunications Trends
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    • v.33 no.6
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    • pp.118-128
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    • 2018
  • With the massive increase in bandwidth for wireless communications, free space optical (FSO) communication has attracted significant interest owing to its outstanding strengths over conventional radio frequency wireless communication such as a wide bandwidth, unlicensed spectrum, low power consumption, small size, electromagnetic interference immunity, long-range propagation, and improved security. In recent years, FSO technology has been studied intensively for use in terrestrial and underwater autonomous and unmanned mobile systems, a rapidly growing application area, including robots, drones, unmanned aerial vehicles, autonomous vehicles, unmanned trains, and unmanned submarines. In this report, we review the recent trends and key technologies for the mobile FSO system, and introduce our drone-based mobile FSO system, which is currently under development.

A Study on the Detection of Marine Debris in Collection Blind Spots using Drones and a Method for Matching Latitude and Longitude (드론을 활용한 수거사각지대 해양쓰레기 탐지 및 위경도 매칭 방법에 관한 연구)

  • Sang-Hyun Ha;Eun-Sung Choi;Ji Yeon Kim;Sung-Hoon Oh;Seok Chan Jeong
    • The Journal of Bigdata
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    • v.8 no.1
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    • pp.73-82
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    • 2023
  • Marine debris not only affects the survival of marine life, water pollution, and scenery but also has secondary effects on economic loss and human health. While research on underwater and surface debris is actively ongoing, solutions to marine debris in hard-to-reach blind spots are being developed slowly. To address this problem, we utilize drones to detect and track marine debris in blind spots such as tetrapods. The detected debris is then visualized by calculating its location coordinates using the drone's GPS, altitude, and heading values. The proposed method of using drones for detecting marine debris and matching it with longitude and latitude coordinates provides an effective solution to the problem of marine debris in blind spots.