• Journal of the Korean Institute of Intelligent Systems
• /
• v.23 no.4
• /
• pp.304-309
• /
• 2013

This paper proposes a intelligent approach on range decision of figure of merit. Unknown range of the underwater target and the non-fixed signal excess make the uncertainty for the tracking process. Using the input data of signal excess related to the range, we establish the rule of the fuzzy set and the original data acquired by sonar can be transformed to the fuzzified data set. To reduce the error arisen from the unexpected data, we use the new data transformed in fuzzy set. The piecewise relations of the min value, max one, and the mean one are calculated. The three values are used for the expected range of the underwater target. By analysing the fluctuation of the data, we can expect the target's position and the characteristics of the maneuvering. The examples are presented to show the performance and the effectiveness of the proposed method.

• The Journal of the Acoustical Society of Korea
• /
• v.42 no.1
• /
• pp.16-24
• /
• 2023

The salinity of sea water is known as a less influencing variable in the calculation of the sound speed of the sea water. This study investigated how the low salinity of sea water affects the vertical structure of the sound speed near the mouth of the Yangtze (Changjiang) River when the diluted fresh water extends toward the East China Sea in the summer. As a result of comparing two types of sound speeds considered measured and fixed salinity, sound speeds appeared distinguishable when the halocline formed steeper than the thermocline due to Yangtze-River Diluted Water (YRDW). In addition, unlikely with fixed salinity conditions, when measured salinity was considered, an underwater sound channel appeared in the middle of the thermocline of which the source depth is located. Accordingly, considering the salinity, this study suggests using Expendable Conductivity Temperature Depth (XCTD) and Expendable Sound Velocimeter (XSV) rather than Expandable Bathy Thermograph (XBT) when calculating sound speed because of the strong halocline due to YRDW in the summer.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.11 no.3
• /
• pp.808-814
• /
• 2010

In this paper we executed a SBL(Short Baseline) underwater acoustic positioning system that is a kind of underwater position estimation system to estimates the 3-dimensional position of ROV(Remotely Operated Vehicle) using hydrophones and DAQ(Data Acquisition) system in the basin which dimensions are $3{\times}3{\times}1.7(m)$. For this experiment, we let 4 hydrophones in different positions of the basin for receiver and 1 hydrophone is fixed on the underwater vehicle for transmitting sensor(pinger). These five hydrophones are communicated with each other to find the 3-D positions of the moving ROV in the basin. The measured signals are collected by DAQ system and the positions of the ROV are plotted by LabView program in real-time. To estimate the position of the ROV we used a trigonometric method. In X and Y plane the estimated data has a small errors but in Z plane the estimated data has large errors so we cannot use this data for position control. One solution of this problem is using depth sensor that implemented of the underwater vehicle. Hereafter, we will test in the ocean using designed SBL system.

• The Journal of the Acoustical Society of Korea
• /
• v.24 no.6
• /
• pp.303-308
• /
• 2005

In this paper, the acoustic properties of the light bulb are presented based on a new light bulb source system of continuously transmitting implosive signal . We describe the results of analysis of bulb signals and comparison with Previous works. The results show that Peak-source-level and Primary resonant frequency are increasing with increasing source depth. This bulb source can be used for the purpose of geoacoustic parameter inversion and source tracking in sha]low water via matched field processing.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
• /
• 2003.05a
• /
• pp.89-93
• /
• 2003

The Korea Research Institute of Ships and Ocean Engineering (KRISO), the ocean engineering branch of KORDI, has designed and manufactured a model of an autonomous underwater vehicle (AUV) to test underwater docking. This paper introduces the AUV model, ASUM, equipped with a visual servo control system to dock into an underwater station with a camera and motion sensors. To make a visual servoing AUV, this paper implemented the visual servo control system designed with an augmented state equation, which was composed of the optical flow model of a camera and the equation of the AUV's motion. The system design and the hardware configuration of ASUM are presented in this paper. A small long baseline acoustic positioning system was developed to monitor and record the AUV's position for the experiment in the Ocean Engineering Basin of KRISO, KORDI. ASUM recognizes the target position by processing the captured image for the lights, which are installed around the end of the cone-type entrance of the duct. Unfortunately, experiments are not yet conducted when we write this article. The authors will present the results for the docking test of the AUV in near future.

• Proceedings of the Acoustical Society of Korea Conference
• /
• spring
• /
• pp.249-252
• /
• 2000

본 논문에서는 수중음향측정을 위한 수직선배열측정 체계 설계 개념을 연구한다. 본 연구에서는 수직선배열 측정체계를 이용한 음향측정 시 고려해야 할 설계 기법들을 고찰하고, 측정 주파수 대역에서 지향지수가 균일하게 유지되는 비선형 센서배열 설계 알고리즘과 피측정 음원의 위치추정을 위한 음향학적 능/수동 추적 알고리즘을 제안한다 제안 알고리즘의 유용성은 시뮬레이션과 해상시험으로 확인한다.

• Journal of Ocean Engineering and Technology
• /
• v.7 no.1
• /
• pp.62-72
• /
• 1993

This paper describes the results of 3 years project on the design and development of a 500 meter class ocean survery ROV model. The design concept and the design procedure are given for each component of the ROV model. The design concept and the design procedure are given for each component of the ROV. Special emphasis is laid on the development of the position control system together with the development of the performance evaluation technique.

• Proceedings of the KIEE Conference
• /
• 2003.11c
• /
• pp.536-539
• /
• 2003

This paper presents a study of position tracing system for Underwater Vehicle Robots(UVR) that is inspecting an atomic furnace. This system development is the basic research for the purpose of position estimation of UVR and preventing that UVR crash into the wall of an atomic furnace. For this purpose, Pan/Tilt Unit that is attached Laser is pointing PSD(Position Sensitive Detector) Sensor which is stuck to the upper side of UVR. Through this action, we can find the Position of UVR. In this paper, we construct the system for aiming the laser pointer at PSD Sensor using pan/tilt and study the optimum algorithm for finding the optional position that is located at the space which is pointable area by Laser device.

• The Journal of Bigdata
• /
• v.8 no.1
• /
• pp.73-82
• /
• 2023

Marine debris not only affects the survival of marine life, water pollution, and scenery but also has secondary effects on economic loss and human health. While research on underwater and surface debris is actively ongoing, solutions to marine debris in hard-to-reach blind spots are being developed slowly. To address this problem, we utilize drones to detect and track marine debris in blind spots such as tetrapods. The detected debris is then visualized by calculating its location coordinates using the drone's GPS, altitude, and heading values. The proposed method of using drones for detecting marine debris and matching it with longitude and latitude coordinates provides an effective solution to the problem of marine debris in blind spots.

• Proceedings of the Korea Water Resources Association Conference
• /
• 2004.05b
• /
• pp.1366-1370
• /
• 2004

한강은 남한 제1의 하천으로 지리적으로 한반도의 중심부에 위치하여 동에서 서로 흐르는 대하천이다. 매년 발생하는 홍수에 대한 한강하류부의 홍수관리는 대단히 중요하다. 본 연구는 한강의 지천유입량이 한강본류 수위에 미치는 영향을 수리학적 홍수추적 모형을 이용하여 분석하였다. 수리학적 홍수추적 모형은 하천의 지형적 특성과 여러인자들을 반영하여 하천의 흐름을 해석하기 때문에 하천에 설치되어 있는 교량, 수중보, 지천유입량, 조도계수 등을 적절히 반영하였을 때 보다 정확한 결과를 얻을 수 있다. 본 연구에서는 1차원 부정류 흐름으로 해석하였으며 미국 NWS(National Weather Service)에서 기존의 DWOPER 모형과 댐파괴 모형인 DAMBRK 모형을 통합하여 개선한 FLDWAV 모형을 사용하였다. 이 모형의 지배방정식은 연속방정식과 운동량방정식으로 구성되어 확장된 Saint-Venant 방정식이고, 수치기법으로는 가중4점음해법을 이용하려 비선형 연립방정식을 Newton-Raphson 방법으로 해석한다. 모형의 상류경계는 팔당댐 시간 방류량을 하류경계로는 전류수위표 지점의 수위를 이용하였다. 한강하류부에는 많은 지천들이 흘러들어 유입되고 있는데 지천유입량이 한강수위에 미치는 영향을 분석하기 위하여 비교적 유역면적이 큰 왕숙천, 탄천, 중랑천, 안양천 등의 지천유입량을 고려하였다. 2000년과 2001년에 발생한 2개의 실측사상을 FLDWAV 모형을 이용하여 계산된 수위값과 검증해 본 결과 실측수위를 잘 재현하고 있는 것을 알 수 있었다. 검증된 모형을 가지고 동일한 사상에 대해서 지천 유입량을 고려하지 않고 모의를 한 결과 지천유입량을 고려하였을 때와 고려하지 않았을 때의 지천유입량에 대한 수위상승량은 $1\~5cm$ 정도로 나타났다. 지천유입량에 의한 수위상승이 어느정도 일어나고 있지만 홍수기간에 이 정도의 수위상승은 한강의 흐름이나 한강하류부에 설치된 구조물의 침수피해에 크게 영향을 주지않을 것으로 판단되었다. 한강하류부의 수위는 지천유입량의 영향보다는 팔당댐의 방류량에 의해서 좌우되고 있고 홍수시에는 한강의 수위상승으로 인하여 지천에 미치는 배수영향이 훨씬 더 클 것으로 판단된다.