• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.188-195
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• 2024

This paper proposes a photorealistic real-time dense 3D mapping system that utilizes a neural network-based image enhancement method and mesh-based map representation. Due to the characteristics of the underwater environment, where problems such as hazing and low contrast occur, it is hard to apply conventional simultaneous localization and mapping (SLAM) methods. At the same time, the behavior of Autonomous Underwater Vehicle (AUV) is computationally constrained. In this paper, we utilize a neural network-based image enhancement method to improve pose estimation and mapping quality and apply a sliding window-based mesh expansion method to enable lightweight, fast, and photorealistic mapping. To validate our results, we utilize real-world and indoor synthetic datasets. We performed qualitative validation with the real-world dataset and quantitative validation by modeling images from the indoor synthetic dataset as underwater scenes.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.12 no.3
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• pp.142-146
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• 2007

Ambient noise was measured for 3 hours on May, 2001 at a site of 20 m water depth in the Korean coast of the Yellow Sea. During the measurement, the strong underwater sound assuming by marine life was continually observed. The spectrum level of this sound was very high compared to that of underwater ambient noise over the frequency range from 1 to 20 kHz. Therefore, this underwater sound can continually affect the ambient noise level. In this study, the source of the underwater sound was investigated. The snapping shrimp was estimated as reliable source. It was confirmed through comparison with experimental results described in previously literatures. It was also confirmed through analysis of snapping shrimp sound measured under laboratory conditions.

• Explosives and Blasting
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• v.28 no.2
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• pp.119-132
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• 2010

There are many dispute with a construction due to such environment problem as vibration and noise. Generally, we have a standard for acceptance level in land. But we have not a sufficient standard for acceptance level or guide line in underwater sound. In other countries, a acceptance level or guide line in underwater sound has been suggested. Especially the management criterion of underwater noise for fish has bee suggested using the measurement data (peak pressure, rms, energy and SEL) by a hydrophone. In Korea, there is no management criterion of underwater noise for fish. This study suggested the management criteria of underwater noise for fish based on the measured data by a hydrophone.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.5
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• pp.645-652
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• 2015

In underwater, such as fish farm and sea, turbidity is increased by water droplets and various suspended, therefore light attenuation occurs depending on the depth also caused by the scattering effect of light float. In this paper, in order to improve the visibility of underwater images obtained from these aquatic environment, we propose a visibility enhancement method using a haze removal method based on dark channel prior and a trained color transform model. In order to train a color transform model, we used underwater pattern images captured from Pohang and Yeosu, and to measure the performance of the proposed method, we carried out experiment of visibility enhancement using underwater images collected from Yeosu, Geomundo and Philippines. The results show that the proposed method can improve the visibility of underwater images of various locations.

• Journal of Sensor Science and Technology
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• v.26 no.3
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• pp.199-203
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• 2017

In this paper, we developed an underwater localization system for underwater robot docking using the electromagnetic wave attenuation model. Electromagnetic waves are generally known to be impossible to use in water environment. However, according to the conclusions of the previous studies on the attenuation characteristics in underwater, the attenuation pattern is uniform and its model was accurately proposed and verified in 3-dimensional space via the omnidirectional antenna. In this paper, a docking structure and localization sensor system are developed for a widely used cone type docking mechanism. First, we fabricated electromagnetic wave range sensor transmit modules. And a mobile sensor node is equipped with unmanned underwater vehicle(UUV)s. The mobile node senses the four different signal strength (RSS: Received Signal Strength) from fixed nodes, and the obtained RSS data are transformed to each distance information using the 3-Dimensional EM wave attenuation model. Then, the relative localization between the docking area and underwater robot can be achieved according to optimization algorithm. Finally, experimental results show the feasibility of the proposed localization system for the docking induction by comparing the errors in the actual position of the mobile node and the theoretical position through the model.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.173-183
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• 2017

This paper proposes an integrated positioning system to localize a moving object in the shadow-area that exists in the water tank. The new water tank for underwater robots is constructed to evaluate the navigation performance of underwater vehicles. Several sensors are integrated in the water tank to provide the position information of the underwater vehicles. However there are some areas where the vehicle localization becomes very poor since the very limited sensors such as sonar and depth sensors are effective in underwater environment. Also there are many disturbances at sonar data. To reduce these disturbances, an extended Kalman filter has been adopted in this research. To localize the underwater vehicles under the hostile situations, a SVR (Support Vector Regression) has been systematically applied for estimating the position stochastically. To demonstrate the performance of the proposed algorithm (an extended Kalman filter + SVR analysis), a new UI (User Interface) has been developed.

• Journal of Ocean Engineering and Technology
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• v.26 no.5
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• pp.81-86
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• 2012

Unmanned underwater vehicles have many applications in scientific, military, and commercial areas because of their autonomy. In many cases, an underwater vehicle adopts a control algorithm based on a tactical inertial sensor for precise control. However, a control algorithm that uses a tactical inertial sensor is unsuitable for some underwater vehicle missions such as torpedo decoys. This paper proposes a control algorithm for an unmanned underwater vehicle that does not require precise control. The control algorithm proposed for an unmanned underwater vehicle adopts a low cost MEMS inertial sensor, and simulations using the specifications of the MEMS inertial sensor under development are performed to verify the control algorithm under a real environment. The results of these simulations are presented.

• Journal of Ocean Engineering and Technology
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• v.31 no.2
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• pp.170-176
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• 2017

In this paper, we propose an underwater localization scheme through the fusion of an inertial navigation system (INS) and the received signal strength (RSS) of electromagnetic (EM) wave sensors to guarantee precise localization performance with high sampling rates. In this localization scheme, the INS predicts the pose of the unmanned underwater vehicle (UUV) by dead reckoning at every step, and the RF sensors corrects the UUV position functions using the Earth-fixed reference when the UUV is located in underwater wireless sensor networks (UWSN). The localization scheme and state modeling were conducted in the extended Kalman filter framework, and UUV localization experiments were conducted in a basin environment. The scheme achieved reliable localization accuracy during long-term navigation, demonstrating the feasibility of exploiting EM wave attenuation as Earth-fixed reference sensors.

• ETRI Journal
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• v.43 no.2
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• pp.184-196
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• 2021

The research domain of underwater communication has garnered much interest among researchers exploring underwater activities. The underwater environment differs from the terrestrial setting. Some of the main challenges in underwater communication are limited bandwidth, low data rate, propagation delay, and high bit error rate (BER). As such, this study assessed the underwater acoustic (UWA) aspect and explored the expression of error performance based on t-distribution noise. Filter orthogonal frequency-division multiplexing refers to a new waveform candidate that has been adopted in UWA, along with turbo and polar codes. The empirical outcomes demonstrated that the noise did not adhere to Gaussian distribution, whereas the simulation results revealed that the filter applied in orthogonal frequency-division multiplexing could significantly suppress out-of-band emission. Additionally, the performance of the turbo code was superior to that of the polar code by 2 dB at BER 10-3.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.5
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• pp.336-342
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• 2017

Recently, there has been an increasing need for underwater communication systems to monitor ocean environments and prevent marine disasters, as well as to secure ocean resources. Most underwater communication systems adopted acoustic communication with a consideration of attenuation, absorption, and scattering in conductive sea water, and developed fully digital modems based on processors. In this study, a digital up converter (DUC) and a digital down converter (DDC) was developed for an underwater basestation based on underwater acoustic communication systems. Because one of the most important issues in underwater acoustic communication systems is low power consumption due to environmental problems, this study developed a specific hardware module for DUC and DDC. It supported four links of underwater acoustic communication systems and converted the sampling rate and frequency. The systemwas designed and verified using Verilog-HDL in ModelSim environment with the test data generated from baseband layer parts for an underwater base station.