• 한국전자통신학회논문지
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• 제13권6호
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• pp.1379-1386
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• 2018

양식장에서 사용되는 기존의 수중 카메라는 제한된 구역만 촬영할 수 있으며, 수중 오염으로 인해 훼손되기 쉽다. 또한 양식장 그물망에 사료 공급에 따른 잉여 찌꺼기가 퇴적되어 양식장을 오염시키는 문제점이 있다. 이에 본 논문은 양식장 수중 모니터링과 그물망 청소를 위한 수중 드론을 제안한다. 수중 드론을 이용한다면 수중 영상 촬영, 모니터링과 양식장 그물망 청소가 가능하다. 이를 활용하면 양식장 환경 변화를 감지해 데이터를 수집할 수 있고 그 데이터를 기반으로 양식장 내에서 발생하는 변화에 대응할 수 있다. 더불어 통합관제 시스템을 구축하게 되면 이를 통해 효율적이고 안정적인 스마트 양식장 구축이 가능할 것이다.

• 제어로봇시스템학회논문지
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• 제21권4호
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• pp.349-355
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• 2015

Underwater robots generally show better performances for tasks than humans under certain underwater constraints such as. high pressure, limited light, etc. To properly diagnose in an underwater environment using remotely operated underwater vehicles, it is important to keep autonomously its own position and orientation in order to avoid additional control efforts. In this paper, we propose an efficient method to assist in the operation for the various disturbances of a remotely operated vehicle for the diagnosis of underwater structures. The conventional AHRS-based bearing estimation system did not work well due to incorrect measurements caused by the hard-iron effect when the robot is approaching a ferromagnetic structure. To overcome this drawback, we propose a sensor fusion algorithm with the camera and AHRS for estimating the pose of the ROV. However, the image information in the underwater environment is often unreliable and blurred by turbidity or suspended solids. Thus, we suggest an efficient method for fusing the vision sensor and the AHRS with a criterion which is the amount of blur in the image. To evaluate the amount of blur, we adopt two methods: one is the quantification of high frequency components using the power spectrum density analysis of 2D discrete Fourier transformed image, and the other is identifying the blur parameter based on cepstrum analysis. We evaluate the performance of the robustness of the visual odometry and blur estimation methods according to the change of light and distance. We verify that the blur estimation method based on cepstrum analysis shows a better performance through the experiments.

• 전자공학회논문지CI
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• 제48권6호
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• pp.97-108
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• 2011

과거 유선 및 비실시간으로 구축되던 수중 생태 모니터링, 자원 탐사 시스템 등은 수중 무선 센서네트워크 시스템 기술의 연구 개발을 통해 실시간 정보 송수신이 가능한 디지털 융합의 형태로 진화될 수 있다. 이를 가능하게 하는 핵심 기술 중의 하나는 배터리에 의해 동작하는 초소형 수중 음향통신 모뎀 구현 기술이며, 본 연구에서는 무지향성 수중 음향 트랜스듀서를 탑재한 초소형 수중 음향통신 모뎀을 설계하고 개발한다. 또한, 구현된 수중 모뎀의 성능을 검증하기 위하여 경기도 양평의 북한강에서 송수신 실험을 수행하고 그 결과를 분석한다. 실험 결과에 따르면, 개발한 모뎀은 최대 250 m의 거리에서 200 bps의 전송속도와 $7.8{\times}10^{-5}$의 비트오율로 무선 데이터 송수신이 가능하였다. 개발된 수중 모뎀은 향후 수중 무선 센서네트워크를 활용한 다양한 응용 시스템에 적용 가능할 것으로 기대된다.

• 한국인터넷방송통신학회논문지
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• 제9권5호
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• pp.243-247
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• 2009

수중통신은 지상과는 다른 환경적 문제에 의해 고속 데이터 전송률을 얻기 위해서는 여러 가지 어려움이 있다. 이러한 문제점을 극복하기 위해서 끊임없는 연구가 계속되어 왔다. 본 논문에서는 수중 채널의 특성을 살펴보고 현재 수중 통신을 위한 다양한 송, 수신 기법에 대한 설명과 국내 외 수중 통신 동향을 알아본다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1110-1115
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• 2004

Water covers two-thirds of the earth and has a great influence on the future existence of all human being. Thailand has extensive coastline and near shore water that contain vast biological and mineralogical resources. The rivers and canals can be found around the country especially in the Bangkok, which once called the Venice of the East. Autonomous underwater robot (AUR) will be soon a tool to help us better understand water resources and other environmental issues. This paper presents the design and basic control of a six-degree of freedom AUR "Chalawan", which was constructed to be used as a testbed for shallow. It is a simple low cost open-frame design, which can be modified easily to supports various research areas in the underwater environment. It was tested with a conventional proportional-integral-derivative (PID) controller. After fine-tuning of the controller gains, the results showed the controller's good performances. In the future, the dynamic model of the robot will be analyzed and identified. The advanced control algorithm will be implemented based on the obtained model.

• 수산해양기술연구
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• 제35권3호
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• pp.323-327
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• 1999

Most of the underwater noise emitted by small fishing boat are owing to vibration of main engine and generator etc.. This paper describe on the spectrum analysis of underwater noise by engine generating in small fishing boat in order to build up comfortable environment for fisheries man and to reduce ambient noise. The obtained results are summerized as follows:1. When the underwater noise of 10ton class fishing boat measure and the frequency spectrum in varied revolution of engine 750, 900, 1000rpm analyze, the frequency pattern is similar to each other, the faster revolution of engine increase, the higher frequency spectrum level becomes. 2. In comparison of spectrum level of underwater noise between 10ton class and 14ton class fishing boat, the former level is higher than the latter. 3. Frequency spectrum pattern of two 14ton class fishing boat is similar to each other but spectrum level is a little difference, it is suggested to different by fitting condition of engine.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2005년도 후기학술대회논문집
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• pp.154-155
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• 2005

A trial excavation of underwater cultural properties at Dongsam site in Busan has been conducted. The site is located in the vicinity of Dongsam shell mound. The trial excavation consists of the shore investigation and the underwater investigation. For the shore investigation four trenches were digged. For the underwater investigation twenty boreholes were cored, and sediments at four predetermined sites were removed by air lifting technique. From the trial excavation a stump of a tree with many pieces of wood, and a few fragments of earthenwares were found. A comprehensive study of the trail excavation might furnish data for studying ancient coastal environment.

• 수산해양기술연구
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• 제22권1호
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• pp.19-23
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• 1986

This paper describes that air noise and underwater noise in the Somjin Estuary are measured and analysed to get the basic data to find out the influence of environment on the underwater. The results obtained are summerized as follows: 1. The spectrum level of air noise in the Somjin Estuary increases until 500Hz, and decreases a little over 2KHz. 2. The spectrum level of underwater noise in the Somjin Estuary increases from 50 Hz to 1 KHz, but it decreases over 1 KHz as the depth is deeper. 3. When the influence of other factors is scarce but the influence of flowing speed is significant, the noise level seems to be higher at speedy layer than at slower layer. 4. The underwater sound level seems to be wider at speedy layer than at slower layer.

• 한국군사과학기술학회지
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• 제11권3호
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• pp.19-29
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• 2008

Underwater acoustic(UWA) communication is one of the most difficult field in terms of severe channel environments such as multipath propagation, high temporal and spatial variability of channel conditions. Therefore, it is important to model and analyze the characteristics of underwater acoustic channel such as multipath propagation, transmission loss, reverberation, and ambient noise. In this paper, UWA communication channel is modeled with a ray tracing method and applied to image transmission. Quadrature phase shift keying(QPSK) and multichannel decision feedback equalizer(DFE) are utilized as phase-coherent modulation method and equalization technique, respectively. The objective is to improve the performance of the image transmission using vertical sensor array instead of single sensor in the viewpoint of bit error rate(BER), constellation diagram, and received image quality.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2007년도 추계종합학술대회
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• pp.165-169
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• 2007

Due to the complexity of underwater acoustic channel, signal estimation in underwater acoustic communication field is considerably affected from time-varying multipath fading channels. On this reason, the original signals should have many long training signals to estimate the channel and the purposed signals, and the bit rate of signals having information may have small rate. In order to avoid this loss of efficiency in underwater communication, this paper employed a blind channel identification method which don't use training signals. Simulations have predicted performance of the employed method in multipath environment and an aquatic plant experiment has verified the simulation results.