• 한국수산과학회지
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• 제42권6호
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• pp.703-710
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• 2009

The spectral irradiance and underwater transmission characteristics of a combined high-luminance light-emitting diode (LED) lights have been studied to evaluate suitable light sources for fishing lamps of the next generation. The wavelengths at which the irradiance was maximum were changed from 473, 501, 525, and 465 nm for blue, peacock blue, green, and white LED light to 475, 504 and 528 nm for [$F_{WB}$], [$F_{PB}$] and [$F_{GB}$] combined LED lights, respectively. If the irradiance characteristics at 400-700 nm wavelengths are set as 100%, the irradiance rates at 450-499 nm and 500-549 nm were decreased from 82.4% and 56% for blue, peacock blue LED light to 60.0%, 38.5% for [$F_{WB}$], [$F_{WP}$] combined LED lights. The underwater transmission characteristics of the combined LED lights were superior in the order [$F_{WB}$], [$F_{BP}$], [$F_{GB}$] in optical water type I; [$F_{WB}$], [$F_{PB}$], [$F_{GP}$] in optical water type II-III; and [$F_{GP}$], [$F_{WP}$], [$F_{PB}$] in optical water type 1. Setting the 10m depth underwater transmission characteristics of the combined LED lights in optical water type I at 100%, the transmission of water types II, III and 1 drops to 29.5%, 8.0% and 2.2%. Based on the distribution of spectral irradiance and underwater transmission characteristics calculated in optical water types II-III, where was the jigging ground for fishing lamps, the [$F_{WB}]$ and [$F_{GP}$] combined LED lights can be used as a suitable light sources for fishing lamps of the next generation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제16권8호
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• pp.2552-2570
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• 2022

Underwater images usually have various problems, such as the color cast of underwater images due to the attenuation of different lights in water, the darkness of image caused by the lack of light underwater, and the haze effect of underwater images because of the scattering of light. To address the above problems, the channel attention mechanism, strengthen-operate-subtract (SOS) boosting mechanism and gated fusion module are introduced in our paper, based on which, an underwater image recovery network is proposed. First, for the color cast problem of underwater images, the channel attention mechanism is incorporated in our model, which can well alleviate the color cast of underwater images. Second, as for the darkness of underwater images, the similarity between the target underwater image after dehazing and color correcting, and the image output by our model is used as the loss function, so as to increase the brightness of the underwater image. Finally, we employ the SOS boosting module to eliminate the haze effect of underwater images. Moreover, experiments were carried out to evaluate the performance of our model. The qualitative analysis results show that our method can be applied to effectively recover the underwater images, which outperformed most methods for comparison according to various criteria in the quantitative analysis.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.316-320
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• 2003

This paper introduces an autonomous underwater vehicle (AUV) model, ASUM, equipped with a visual servo control system to dock into an underwater station with a camera and motion sensors. To make a visual servoing AUV, this paper implemented the visual servo control system designed with an augmented state equation, which was composed of the optical flow model of a camera and the equation of the AUV's motion. The system design and the hardware configuration of ASUM are presented in this paper. ASUM recognizes the target position by processing the captured image for the lights, which are installed around the end of the cone-type entrance of the duct. Unfortunately, experiments are not yet conducted when we write this article. The authors will present the results for the AUV docking test.

• 한국해양공학회지
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• 제21권3호
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• pp.33-39
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• 2007

The more deeply the researches make progress in ocean researches including the seabed resource investigation or the oceanic ecosystem investigation, the more important the role of UUV gets. In case of study on the deep sea, there are difficulties in telecommunications between AUV and ships, and in data communication and recharging. Therefore, docking is required. In AUV docking system, the AUV should identify the position of docking device and make contact with a certain point of docking device. MOERI (Maritime & Ocean Engineering Research Institute), KORDI has conducted the docking testing on AUV ISIMI in KORDI ocean engineering water tank. As AUV ISIMI approachs the docking device, there is some cases of showing an unstable attitude, because the lights which is on Image Frame are disappeared. So we propose the docking algorithm that is fixing the rudder and stem, if the lights on image frame are reaching the specific area in the Image Frame. Also we propose the new docking device, which has a variety of position and light number. In this paper, we intend to solve the some cases of showing an unstable attitude that were found in the testing, which, first, will be identified the validity via simulation.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2006년 창립20주년기념 정기학술대회 및 국제워크샵
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• pp.335-338
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• 2006

The more deeply the researches make progress in ocean researches including the seabed resource investigation or the oceanic ecosystem investigation, the more important the role of UUV gets. In case of study on the deep sea, there are difficulties in telecommunications between AUV and ships, and in data communication and recharging. Therefore, docking is required. In AUV docking system, the AUV should identify the position of docking and make contact with a certain point of docking device. MOERI (Maritime & Ocean Engineering Research Institute), KORDI has conducted the docking testing on AUV ISIMI in KORDI Ocean Engineering Water Tank. As AUV ISIMI approachs the docking device, it is presented that attitude is unstable, because the lights Which is on Image Frame are disappeared. So we fix the rudder and stem, if the lights on Image Frame are reaching the specific area in the Image Frame. In this paper, we intend to solve the problems that were found in the testing, which, first, will be identified via simulation.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.89-93
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• 2003

The Korea Research Institute of Ships and Ocean Engineering (KRISO), the ocean engineering branch of KORDI, has designed and manufactured a model of an autonomous underwater vehicle (AUV) to test underwater docking. This paper introduces the AUV model, ASUM, equipped with a visual servo control system to dock into an underwater station with a camera and motion sensors. To make a visual servoing AUV, this paper implemented the visual servo control system designed with an augmented state equation, which was composed of the optical flow model of a camera and the equation of the AUV's motion. The system design and the hardware configuration of ASUM are presented in this paper. A small long baseline acoustic positioning system was developed to monitor and record the AUV's position for the experiment in the Ocean Engineering Basin of KRISO, KORDI. ASUM recognizes the target position by processing the captured image for the lights, which are installed around the end of the cone-type entrance of the duct. Unfortunately, experiments are not yet conducted when we write this article. The authors will present the results for the docking test of the AUV in near future.

• 융합신호처리학회논문지
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• 제20권4호
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• pp.186-192
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• 2019

일반적으로 운항 중인 선박이나 건조 중인 선박의 선저에는 많은 해양 생물들이 부착된다. 이러한 현상으로 인해 선박 표면의 거칠기가 증가하여 선박속도의 손실이 발생하게 되고 결과적으로 경제적 손실 및 환경오염 등의 발생을 초래하게 된다. 본 연구에서는 선박 선저에 부착된 해양생물 및 선저 상태를 검사하는 수중드론 등의 카메라 영상을 획득/활용한다. 획득된 해당 영상은 관리자 육안확인에 의해 해양 생물들에 따른 거칠기 등을 판단하게 된다. 이에 영상을 보정하는 필터 알고리즘을 원본 영상에 적용함으로써 해양 생물들 부착 여부 등에 대한 올바른 판단에 도움을 줄 수 있다. 수중 영상의 보정 알고리즘에는 다양한 필터가 필요하며, 어두운 수중 환경에 맞는 조명이 판단에 많은 영향을 미치므로 조명의 밝기 정도에 따른 해양 생물 부착 여부 판단에 대한 내용도 소개하고자 한다. 본 연구에서 적용된 보정 알고리즘 및 각 알고리즘별 조명 밝기에 따른 연구테스트 결과는 많은 분야에 적용 가능할 것으로 사료된다.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2010년도 추계학술대회
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• pp.730-733
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• 2010

본 논문은 녹색조명설비의 구현으로 얇은 패널구조의 LED 조명등을 제작하여 가로등조명, 수중배양 양식조명, 집어등 및 수중탐사의 특수조명 활용성을 확인하였다. 제작된 패널구조의 녹색조명등은 상기한 용도의 조명등으로서 매우 탁월함이 확인되었다. 그 중 집어등의 경우는, 작은 치어 등의 미세생물체와 어류의 조광이동성 및 군집 활동성 증진에 효과적이었으며, 수중배양 양식 조명에서는 녹색 조류, 해초, 수초 및 각종 유기체의 광합성 성장에 유용하였고, 특히 수중조명장치로서의 방수성 및 방열작용의 탁월성이 확인되었다.

• 한국수산과학회지
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• 제34권6호
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• pp.624-631
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• 2001

오징어 채낚기 어선의 집어등을 점등한 상태에서의 오징어 군을 어군 탐지기에 의해 관찰하고, 어선 양현의 조획기에 설치된 낚시의 도달 심도를 달리하여 광원 출력 조건별로 조획 시험을 실시하여 어군의 분포 심도를 추정하는 한편 수심별 수중 조도를 측정함으로써 어군이 밀집하여 분포하고 있는 조획 심도에서의 광 환경에 대해서 검토하였다 집어등 점등시 어군 탐지기에 나타난 어군은 낚시 어구 주위를 중심으로 수심 50m까지의 얕은 곳에서 높은 밀도의 반응을 보였으나, 시간이 경과함에 따라 어군 층은 침하하여 수심 $60\~80m$사이에서 안정되었다. 어선의 각 현별 낚시 최선단의 도달 심도를 변화시킨 경우의 조획량은 심도를 90m로 설정한 현측이 60m로 설정한 현보다 많았으나, 조획이 적어진 해뜰 무렵에 광원 출력을 할로겐등 24kW로 절환하여 조업한 후에는 60m 충에서 조획 증가 경향이 현저하게 나타났다. 어군 탐지기와 조획 시험에서 추정된 오징어의 중요한 조획층으로 사료되는 수심 $60\~80m$에서의 수중 조도는 각 광원 출력별 평균 $3.0\times10^{-2}\sim\;3.4\times10^{-2}lx$의 범위에서 분포하였다.