• IEMEK Journal of Embedded Systems and Applications
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• v.13 no.2
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• pp.65-71
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• 2018

In order to make the underwater vehicle carry out the mission in a submarine environment, it is needed to plan a safe and efficient route to a given destination and prevent the autonomous submersible from colliding with obstacles while moving along the planned route. The function of collision avoidance makes the travel distance of the autonomous submersible longer. Moreover, it should move slowly near to obstacles against their moving disturbance. As a result, this invokes the degradation of the navigation efficiency in the process of collision avoidance. The side effect of the collision avoidance is not ignorable in the case of high congested environments such as the coast with many obstacles. In this paper, we suggest a path planning method which provides the route with minimum travel time considering collision avoidance in congested environment. For the purpose, we define environmental congestion map related to geometric information and obstacles. And we propose a method to consider the moving cost in the RRT scheme that provides the existing minimum distance path. We verified that the efficiency of our algorithm with simulation experiments.

• The Journal of Korea Robotics Society
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• v.8 no.1
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• pp.37-42
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• 2013

In this paper, a localization algorithm and an autonomous controller for PETASUS system II which is an underwater vehicle-manipulator system, are proposed. To estimate its position and to identify manipulation targets in a structured environment, a multi-rate extended Kalman filter is developed, where map information and data from inertial sensors, sonar sensors, and vision sensors are used. In addition, a three layered control structure is proposed as a controller for autonomy. By this controller, PETASUS system II is able to generate waypoints and make decisions on its own behaviors. Experiment results are provided for verifying proposed algorithms.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 1996.11a
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• pp.316-319
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• 1996

In this study, characteristics of ultrasonic transducer fabricated with porous piezoelectric resonator are investigated, 3-D underwater object recognition using the self-made ultrasonic transducer and SOFM(Self-Organizing Feature Map) neural network are presented. The self-made transducer was satisfied the required condition of ultrasonic transducer in water, and the recognition rates for the training data and the testing data were 100 and 95.3% respectively. The experimental results have shown that the ultrasonic transducer fabricated with porous piezoelectric resonator could be applied for sonar system.

• Journal of Sensor Science and Technology
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• v.32 no.2
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• pp.110-117
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• 2023

Reconstructing underwater geometry in real time with forward-looking sonar is critical for applications such as localization, mapping, and path planning. Geometrical data must be repeatedly calculated and overwritten in real time because the reliability of the acoustic data is affected by various factors. Moreover, scattering of signal data during the coordinate conversion process may lead to geometrical errors, which lowers the accuracy of the information obtained by the sensor system. In this study, we propose a three-step data processing method with low computational cost for real-time operation. First, the number of data points to be interpolated is determined with respect to the distance between each point and the size of the data grid in a Cartesian coordinate system. Then, the data are processed with a nonlinear interpolation so that they exhibit linear properties in the coordinate system. Finally, the data are transformed based on variations in the position and orientation of the sonar over time. The results of an evaluation of our proposed approach in a simulation show that the nonlinear interpolation operation constructed a continuous underwater geometry dataset with low geometrical error.

• The Journal of the Acoustical Society of Korea
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• v.36 no.6
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• pp.413-418
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• 2017

When measuring the radiated noise of an underwater vehicle, range information between acoustic source and receiver is an important evaluating factor, but it cannot use GPS. There is a method of using the cross correlation for finding the range of the acoustic source instead of the GPS. However, this method has heavy computational loads. This paper proposes a fast Fourier transform based method with a relatively small amount of computation to estimate the range of a source. The proposed method estimates Doppler frequencies of CW signals received at multiple receivers by fast Fourier transform and estimates the source range by comparing theoretical Doppler frequencies map previously calculated by a receiver position and source depth information. Simulation and lake trial were performed to verify the performance.

• 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%).

• Journal of Advanced Navigation Technology
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• v.18 no.5
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• pp.409-414
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• 2014

Since the five-day workweek has implemented and the spare time increased, the tourist industry has been showing the growth with quality. The tourist industry takes center stage as the twenty-first century higher value-added business on the strength of electronic communication development. Especially as being surrounded by water on three sides and national income has incremented, people have the interest in marine leisure industry. The Ministry of Maritime Affairs and Fisheries carries out a plan to promote marine tourism promotion plan through the significant policy support. Also, they makes an effort to lure the tourist through blending cultures. Therefore, through the 360 degree camera, the activity that mobilizes the policy fund can be monitored rightly and the application strategy that is useful to promote a higher value-added tourist industry can be suggested.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.20 no.5
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• pp.1591-1602
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• 1996

In operating the underwater engines such as encountered in exploring submarines, the dumping of the exhaust gas out of the engine requires a large portion of the total power, frequently amounting to 25-30% of the power generated. This unfavorable circumstance can be cured by liquefying the exhaust gas and storing it. In the present study, two liquefaction systems were simulated to enhance the overall efficiency; one is a closed cycle diesel engine and the other is a closed cycle LNG engine. The liquefied natural gas (LNG) is chosen as a fuel, not only because its use is economical but also because its cold energy can be utilized within the liquefaction system. Since a mixture of oxygen and carbon dioxide is used as an oxidizer, liquefying carbon dioxide is of major concern in this study. For further improving this system, the intercooling of the compressor is devised. The necessary power consumed for the liquefying system is examined in terms of the related properties such as pressure and temperature of the carbon dioxide vessel as a function of the amount of the exhaust gas which enters the compressor. The present study was successful to show that much gain in the power and reduction of the vessel pressure could be achieved in the case of the closed cycle LNG engine. The compression power of exhaust gas were observed remarkably lower, typically only 6.3% for the closed cycle diesel engine and 3.4% for the closed cycle LNG engine respectively, out of net engine power. For practicality, a design -purpose map of the operating parameters of the liquefaction systems was also presented.

• The Journal of the Acoustical Society of Korea
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• v.39 no.1
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• pp.38-46
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• 2020

LOw Frequency Analysis Recording (LOFAR) and Demodulation of Envelop Modulation On Noise (DEMON) grams are bearing-time-frequency plots of underwater acoustic signals, to visualize features for passive sonar. Those grams are characterized by tonal components, for which conventional data coding methods are not suitable. In this work, a novel LOFAR/DEMON gram compression algorithm based on binary map and prediction methods is proposed. We first generate a binary map, from which prediction for each frequency bin is determined, and then divide a frame into several macro blocks. For each macro block, we apply intra and inter prediction modes and compute residuals. Then, we perform the prediction of available bins in the binary map and quantize residuals for entropy coding. By transmitting the binary map and prediction modes, the decoder can reconstructs grams using the same process. Simulation results show that the proposed algorithm provides significantly better compression performance on LOFAR and DEMON grams than conventional data coding methods.

• Journal of the Korean Society of Industry Convergence
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• v.24 no.1
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• pp.61-67
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• 2021

With the recent development of bathemetry technology, the hydrographic surveying method has been changed from single beam depth device use to multi beam acoustic sounding technology. Also, various studies have been reported to obtain high accuracy and precision in the process of river bed topographic data. Especially south korea is geographically on three sides of the sea and the river topography is very developed. To build information about the underwater, and riverbed status, the public investigations has been continuously progressed. In this study, We investigasted the riverbed topography near Baeckma river leisure park. for this purpose, In this study, as the first preliminary survey, location of navigational dangerous objects and reefs and the dangerous areas are identified. Also, ground control points is selected for the optimal GPS surveying. Secondary, through test surveying the Gain, TVG, and pulse length are determined. In addition, the investigation of dangerous objects for navigation is also conducted. As the last step, the error analysis are conducted for the acquired data, and this process involves the removal and adjustments of errors. This section includes the analysis of tide level and navigational contributions, and finally generates a submarine topographic map.