• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.6
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• pp.91-98
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• 2011

This paper proposes an efficient and accurate vision based recognition and tracking framework for texture free objects. We approached this problem with a two phased algorithm: detection phase and tracking phase. In the detection phase, the algorithm extracts shape context descriptors that used for classifying objects into predetermined interesting targets. Later on, the matching result is further refined by a minimization technique. In the tracking phase, we resorted to meanshift tracking algorithm based on Bhattacharyya coefficient measurement. In summary, the contributions of our methods for the underwater robot vision are four folds: 1) Our method can deal with camera motion and scale changes of objects in underwater environment; 2) It is inexpensive vision based recognition algorithm; 3) The advantage of shape based method compared to a distinct feature point based method (SIFT) in the underwater environment with possible turbidity variation; 4) We made a quantitative comparison of our method with a few other well-known methods. The result is quite promising for the map based underwater SLAM task which is the goal of our research.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.05a
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• pp.115-118
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• 2014

Underwater Wireless Communication System can be useful for research of quality of water, ocean resources exploration, analysis ocean environment and so on. However, there exist security threats including data loss, data forgery, and another variety of security threats, because of characteristics of water, various geographical factors, intended attack, etc. To solve these problem, in this paper, we propose a CCM-UW mode of operation modified form of CCM mode of operation, providing data confidentiality, integrity, origin authentication and anti-attack prevent, for the Underwater Wireless Communication System. By implementing CCM-UW in MACA protocol(Underwater Wireless Communication MAC Protocol) and measuring speed of communication, we confirm the applicability of the security and analyze the communication environment impact.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.402-410
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• 2017

Acoustic based localization is essential to operate autonomous robotic systems in underwater environment where the use of sensorial data is limited. This paper proposes a localization method using artificial underwater acoustic sources. The proposed method acquires directional angles of acoustic sources using time difference of arrivals of two hydrophones. For this purpose, a probabilistic approach is used for accurate estimation of the time delay. Then, Gaussian sum filter based SLAM technique is used to localize both acoustic sources and underwater vehicle. It is performed by using bearing of acoustic sources as measurement and inertial sensors as prediction model. The proposed method can handle directional ambiguity of time difference based source localization by generating Gaussian models corresponding to possible locations of both front and back sides. Through these processes, the proposed method can provide reliable localization method for underwater vehicles without any prior information of source locations. The performance of the proposed method is verified by experimental results conducted in a real sea environment.

• Journal of the Korea Society for Simulation
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• v.15 no.4
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• pp.87-96
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• 2006

Wireless Sensor Network (WSN) is researched in various filed. Underwater Sensor Network (UWSN) is used various purpose such as underwater environment monitoring. But, WSN is researched in the terrestrial that uses mainly radio frequency, The existing terrestrial research is incongruent to apply to underwater. Therefore, we propose UWSN architecture that considers underwater environment. In this paper, UWSN applied cluster technique and functional node constructs. Each cluster collects and sends cluster data. Dual super cluster head receives cluster data and transmits each in the base-station. We implement WSN routing algorithm, and construct test-bed and analyze cluster data receive rate.

• The Journal of the Korea institute of electronic communication sciences
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• v.14 no.1
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• pp.49-54
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• 2019

Since the underwater communication environment, which is used mainly in acoustic channel, is different from terestrial communication, it needs to analyze the appropriate transmission performance in underwater environment to implement the communication services. Appropriate traffic process method for a communication service is required through transmission performance of object traffic for the communication service. In this paper, transmission performance of video traffic on underwater MANET(Mobile Ad-hoc Network) is analyzed and video traffic configuration scheme on underwater MANET with results of performance analysis is suggested, This study is done with computer simulation based on NS(Network Simulator)-3. throughput, transmission delay, packet loss rate is used for transmission performance.

• Journal of the Korea Society for Simulation
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• v.15 no.4
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• pp.79-86
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• 2006

Data transmission in poor environment like underwater has considerably serious delay rate and ewer rate. Like this environment usually has heavy fluctuation of error rate and limited wireless communication state. Therefore, mechanism using in such environment has to be efficient and simple. This paper suggests a new block ack mechanism, called the Pervasive Block ACK (PBA), which transmits aggregated ACKs. This mechanism takes effect on reducing number of traffic, decreasing overhead and delay rate in poor environment networks like underwater. Additionally, we can expect energy consumption. We verify propriety and efficiency of PBA through describing numerical result based analytical formula in this paper.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.10
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• pp.920-927
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• 2013

The requirement of acoustic performance about underwater acoustic material which is used in underwater environment more increases. Underwater acoustic material was made by viscoelastic material such as a rubber and a polyurethane etc. In order to increase an acoustic performance, several kinds of inclusions were added to viscoelastic material. In this paper, acoustic modelling and analysis techniques were introduced and the acoustic characteristics of underwater acoustic material were studied. Echo reduction and transmission loss were calculated with volume fraction of inclusion in the material. Also the characteristic impedance and the input impedance of underwater acoustic material were obtained and effects on the echo reduction and transmission loss of material were discussed.

• International Journal of Ocean System Engineering
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• v.1 no.2
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• pp.89-94
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• 2011

Underwater localization is a crucial capability for reliable operation of various types of underwater vehicles including submarines and underwater robots. However, sea water is almost impermeable to high-frequency electromagnetic waves, and thus absolute position fixes from Global Positioning System (GPS) are not available in the water. The use of acoustic telemetry systems such as Long Baseline (LBL) is a practical option for underwater localization. However, this telemetry network system needs to be pre-deployed and its availability cannot always be assumed. This study focuses on demonstrating the validity of terrain-based localization techniques in a GPS-denied underwater environment. Since terrain-based localization leads to a nonlinear estimation problem, nonlinear filtering methods are required to be employed. The extended Kalman filter (EKF) which is a widely used nonlinear filtering algorithm often shows limited performance under large initial uncertainty. The feasibility of using a particle filter is investigated, which can improve the performance and reliability of the terrain-based localization.

• Journal of Ocean Engineering and Technology
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• v.29 no.5
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• pp.392-397
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• 2015

An autonomous underwater vehicle (AUV) can perform flexible operations even in complex underwater environments because of its autonomy. Localization is one of the key components of this autonomous navigation. Because the inertial navigation system of an AUV suffers from drift, observing fixed objects in an inertial reference system can enhance the localization performance. In this paper, we propose a method of AUV localization using visual measurements of underwater structures. A camera measurement model that emulates the camera’s observations of underwater structures is designed in a particle filtering framework. Then, the particle weight is updated based on the extracted visual information of the underwater structures. The proposed method is validated based on the results of experiments performed in a structured basin environment.

• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.146-155
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• 2016

Localization of underwater vehicle is essential to use underwater robotic systems for various applications effectively. For this purpose, this paper presents a method of two-dimensional SLAM for underwater vehicles equipped with two hydrophones. The proposed method uses directional angles for underwater acoustic sources. A target signal transmitted from acoustic source is extracted using band-pass filters. Then, directional angles are estimated based on Bayesian process with generalized cross-correlation. The acquired angles are used as measurements for EKF-SLAM to estimate both vehicle location and locations of acoustic sources. Through these processes, the proposed method provides reliable estimation for two dimensional locations of underwater vehicles. Experimental results demonstrate the performance of the proposed method in a real sea environment.