Fig. 1. Environment of ROV test underwater.
Fig. 2. Installed ROV around-view sonar & excavation depth measurement sonar (a: image sonar, b: multi-beam echo sounder).
Fig. 3. Diagram of around-view & excavation depth measurement sonar.
Fig. 4. Examples of image sonar principles.
Fig. 5. Concept of operating image sonar.
Fig. 6. Sample of around-view sonar image (barge).
Fig. 7. Concept of excavation depth measurement sonar.
Fig. 8. Concept of excavation depth measurement sonar.
Fig. 9. Sample of excavation depth measurement sonar.
Fig. 10. Concept of around-view sonar test in water tank.
Fig. 11. Result image of around-view sonar test in water tank.
Fig. 12. Concept of maximum excavation depth measurement test in water tank.
Fig. 13. Result image of maximum excavation depth measurement test in water tank (2D & 3D).
Fig. 14. Shoal seabed image of around-view sonar.
Fig. 15 Rocky & pebble seabed image of around-view sonar.
Fig. 16. Rocky & pebble seabed image of around-view sonar (excavation area).
Fig. 17. ROV slip image of around-view sonar.
Fig. 18. Excavation seabed image of excavation depth measurement sonar (2D, width, height measurement).
Fig. 19. Excavation seabed image of excavation depth measurement sonar (3D).
참고문헌
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- C. Shin, I. -S. Jang, K. Kim, H. -T. Choi, and S. -H Lee, "Performance analysis of sonar system applicable to underwater construction sites with high turbidity," J. the Korea Academia-Industrial cooperation Society, 14, 4507-4513 (2013). https://doi.org/10.5762/KAIS.2013.14.9.4507
- R. J. Urick, Principles of Underwater Sound (Peninsular Publishing, Los Altos Hills 1983), pp. 406-418.
- A. D. Waite, Sonar For Practising Engineers (John Wiley & Sons. LTD, Chichester, 2002), pp. 221-231.
- R. T. DeKeyzer, J. S. Byrne, J. D. Case, B. A. Clifford, and W. S. Simmons, "A comparison of acoustic imagery of sea floor features using a towed side scan sonar and a multibeam echo sounder," Proc. IEEE OCEANS MTS Conf., 2060-2067 (2002).