• The Journal of the Acoustical Society of Korea
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• v.28 no.8
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• pp.755-760
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• 2009

In this paper, we apply a reverberation suppression method using difference of singular values to improve the short-distance underwater obstacle detection probability in reverberation environment induced by a linear frequency modulation signal. The reverberation suppression method using difference of singular values suppresses LFM reverberation based on subtracting the singular values for a reference beam, assumed to contain only the reverberation, from those for the current beam of interest, assumed to contain the reverberation and target echo. For the validation, the reverberation suppression method using difference of singular values is applied to real oceanic data, which are acquired using the cross type array.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.3
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• pp.312-318
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• 2012

Recently, although the need of marine robots being raised in extreme areas, the basis is very deficient. Fortunately, as the robot competition is vitalizing and the need of the robot education is increasing, it is desirable to establish the basis of the R&D and industrialization of marine robots and to train professionals through the development and diffusion of marine robot kits. However, in conventional case, there is no underwater-type autonomous marine robot kit for the marine robot competition, which has the abilities of the underwater locomotion and target detection and avoidance. To solve this problem, a marine robot kit which has the abilities of the underwater locomotion, the waterproof and the weight adjustment, is developed. To verify the performance of the developed kit, test and evaluation such as surge, pitch, yaw, obstacle avoidance is performed. The test and evaluation results show that the possibility of the real applications of the developed kit.