• Journal of the Korea Society for Simulation
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• v.12 no.4
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• pp.17-24
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• 2003

In this paper, we propose a model that simulates the reflective waveform from underwater objects by means of Doppler effect, highlight and elongation phenomenon. Also, this paper presents a hardware Implementation of simulation model with the input and output parameters. The underwater target simulator consists of transducer, receiver, transmitter and control parts. According to the experimental results of the simulator, it carried out the performances of real target in response to transmission signal.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.10
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• pp.2137-2142
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• 2012

Many studies in detection and classification of the targets in the underwater environments have been conducted for military purposes, as well as for non-military purpose. Due to the complicated characteristics of underwater acoustic signal reflecting multipath environments and spatio-temporal varying characteristics, active sonar target classification technique has been considered as a difficult technique. And it has a difficult in collecting actual underwater data. In this paper, we implemented the simulator to synthesize the active target signal, to extract feature and to classify the target in the underwater environment. In target signal synthesis, highlight and three-dimensional model are used and multi-aspect based hidden markov model is used for target classification.

• Ocean Systems Engineering
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• v.10 no.4
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• pp.435-449
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• 2020

This paper proposes a method to estimate the underwater target object's yaw angle using a sonar image. A simulator modeling imaging mechanism of a sonar sensor and a generative adversarial network for style transfer generates realistic template images of the target object by predicting shapes according to the viewing angles. Then, the target object's yaw angle can be estimated by comparing the template images and a shape taken in real sonar images. We verified the proposed method by conducting water tank experiments. The proposed method was also applied to AUV in field experiments. The proposed method, which provides bearing information between underwater objects and the sonar sensor, can be applied to algorithms such as underwater localization or multi-view-based underwater object recognition.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.228-238
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• 2017

The CALEB10 is a multi-legged biomimetic underwater robot. In the last research, we developed a swimming pattern named ESPG (Extended Swimming Pattern Generator) by observing diving beetle's swimming actions and experimented with a positive buoyancy state in which CALEB10 floats on the water. In this paper, however, we have experimented with CALEB10 in a neutral buoyancy state where it is completely immersed in water for pitch motion control experiment. And we found that CALEB10 was unstably swimming in the pitch direction in the neutral buoyancy state and analyzed that the reason was due to the weight proportion of the legs. In this paper, we propose a pitch motion control method to mimic the pitch motion of diving beetles and to solve the problem of CALEB10 unstably swimming in the pitch direction. To control the pitch motion, we use the method of controlling additional joints while swimming with the ESPG. The method of obtaining propulsive force by the motion of the leg has a problem of giving propulsive force in the reverse direction when swimming in the surge direction, but this new control method has an advantage that a propulsive moment generated by a swimming action only on a target pitch value. To demonstrate validity this new control method, we designed a dynamics-based simulator environment. And the control performance to the target pitch value was verified through simulation and underwater experiments.

• Journal of the Korea Society for Simulation
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• v.29 no.2
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• pp.21-33
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• 2020

This study develops a simulator for determining the sonar sensor configuration of unmanned underwater vehicles (UUVs) based on a scenario, in order for UUVs to conduct an effective anti-submarine warfare (ASW). First, we analyze the missions and operational concepts of UUVs in the field of ASW, and then select a Hold-at-Risk scenario as the one with the highest priority. Next, for modeling the components of a simulator, the motion, acoustic characteristic, and environment condition of the platforms (UUV and target submarine) are specified. Especially, based on the beam pattern of each sonar configuration considered in this paper, the passive sonar equation is used to verify target detection, and we further estimate the azimuth and elevation of the target using amplitude and phase of the received signal, respectively. The simulation results show the performance tendency depending on the sonar sensor configurations of a UUV, and the simulator provides a high applicability under various scenarios.

• Journal of Advanced Research in Ocean Engineering
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• v.3 no.3
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• pp.136-148
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• 2017

The paper presents dual arm ROV manipulation using deep reinforcement learning. The purpose of this underwater manipulator is to investigate and excavate natural resources in ocean, finding lost aircraft blackboxes and for performing other extremely dangerous tasks without endangering humans. This research work emphasizes on a self-learning approach using Deep Reinforcement Learning (DRL). DRL technique allows ROV to learn the policy of performing manipulation task directly, from raw image data. Our proposed architecture maps the visual inputs (images) to control actions (output) and get reward after each action, which allows an agent to learn manipulation skill through trial and error method. We have trained our network in simulation. The raw images and rewards are directly provided by our simple Lua simulator. Our simulator achieve accuracy by considering underwater dynamic environmental conditions. Major goal of this research is to provide a smart self-learning way to achieve manipulation in highly dynamic underwater environment. The results showed that a dual robotic arm trained for a 3DOF movement successfully achieved target reaching task in a 2D space by considering real environmental factor.

• Journal of the Korea Society for Simulation
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• v.28 no.2
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• pp.89-95
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• 2019

This paper introduces the simulation concepts and technical approach of underwater weapon system performance analysis simulator, especially focused on probabilistic target detection concepts. We calculated the signal excess (SE) value using SONAR equation, then derived the probability density function(PDF) for target presence($H_1$) or absence($H_0$) cases, respectively. With the Neyman-Pearson detector criterion, we got the probability of detection($P_D$) while satisfying the given probability of false alarm($P_{FA}$). At every instance of simulation, target detection is decided in the probabilistic perspective. With the proposed detection implementation, we improved the model fidelity so that it could support the tactical decision during the operation.

• Journal of the Korea Society for Simulation
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• v.30 no.2
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• pp.11-22
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• 2021

Sonobuoy is widely used as a very important sensor in combat management system using P-3 patrol aircraft due to its advantages of rapid searching into wide exploration range. It is necessary to verify the performance of developed sonobuoy system using various maritime test data in order to be successfully applied in combat management system. But it is difficult to acquire various real maritime data because it needs much time and effort. Therefore we have developed in this paper a synthetic signal generator and a simulator that they can verify the performance of sonobuoy system and evaluate its operational effectiveness without conducting maritime test. We have synthesized target signals based on the characteristics of underwater sound sources, and then developed the synthesized signal generator which consider to sound propagation etc. like as underwater environment. And in the simulator development we use a HMI technique to enhance the convenience of operator, and design to verify the performance of sonobuoy system. The developed signal generator and simulator can be used as useful tools to evaluate the operational effectiveness such as optimal deployment of sonobuoy in combat management system using P-3 patrol aircraft.