• Journal of Ocean Engineering and Technology
• /
• v.18 no.4 s.59
• /
• pp.33-39
• /
• 2004

This paper presents a hybrid underwater navigation system for unmanned underwater vehicles, using an additional range sonar, where the navigation system is based on inertial and Doppler velocity sensors. Conventional underwater navigation systems are generally based on an inertial measurement unit (IMU) and a Doppler velocity log (DVL), accompanying a magnetic compass and a depth sensor. Although the conventional navigation systems update the bias errors of inertial sensors and the scale effects of DVL, the estimated position slowly drifts as time passes. This paper proposes a measurement model that uses the range sonar to improve the performance of the IMU-DVL navigation system, for extended operation of underwater vehicles. The proposed navigation model includes the bias errors of IMU, the scale effects of VL, and the bias error of the range sonar. An extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation, when the external measurements are available. To illustrate the effectiveness of the hybrid navigation system, simulations were conducted with the 6-d.o.f. equations of motion of an AUV in lawn-mowing survey mode.

• Applied Microscopy
• /
• v.34 no.2
• /
• pp.103-111
• /
• 2004

Fresh specimens of the aquatic macrophyte, Spirodela polyrhiza, have been examined employing scanning and transmission electron microscopy. Observations revealed the occurrence of microbial colonization during development. Submerged parts of the small, free-floating S. polyrhiza body exhibited a variety of microorganisms such as bacteria, cyanobacteria, and diatoms throughout their development. However, immature and/or young plants normally demonstrated much less microbial colonization compared to mature plants. During the study, heavy colonization by the microorganisms was routinely encountered at maturity, especially in the fully developed abaxial fronds and root caps. The mucilaginous layer was shown along the root caps, and the microorganisms appeared to be either clustered or attached to this layer. In contrast, only moderate degrees of colonization were observed in the root, and little to no colonization was observable in the adaxial frond surface. Transmission electron microscopy clearly demonstrated the microbial colonization to be external in the S. polyrhiza specimen examined in the current study. The association between the microorganisms and S. polyrhiza has been considered non-harmful, as no frond senescence and almost no mechanical penetration of the plant by the microorganisms were noticed during the study.

• Korean Journal of Environmental Biology
• /
• v.25 no.2
• /
• pp.149-157
• /
• 2007

This study focused on patterning waterbirds occurrences at the western costal area of the Korean Peninsula in winter and relating the occurrence patterns with their environmental factors. Waterbird communities were monitored at 10 different study areas, and the composition of land cover as environmental factors was estimated at each study area. Overall dabbling ducks were the most abundant with 84% of total individuals, followed by shorebird and diving ducks. Species Anae platyrhynchos was the first dominant species, and Anas formosa was the second one. Self-organizing map (SOM), an unsupervised artificial neural network, was applied for patterning wintering waterbird communities, and identified 6 groups according to the differences of communities compositions. Each group reflected the differences of indicator species as well as their habitats.

• Journal of the Korea Society for Simulation
• /
• v.25 no.3
• /
• pp.15-28
• /
• 2016

It is necessary to analyze underwater acoustics channel(UAC) modeling and simulation for underwater weapon system development and acquisition. In order to analyze UAC, there are underwater acoustics propagation numerical analysis models(Ray theory, Parabolic equation, Normal-mode, Wavenumber integration). However, If these models are used for multiple frequency signal analysis, they are inaccurate to calculate result of analysis effectiveness and restricted for signal processing and analysis. In this paper, to overcome this problem, we propose simple/multiple frequency signal analysis model of the Pseudospectral Time-Domain Method synthetic environment UAC applied to underwater environment noise model as like as realistic underwater environment. In order to confirm the validation of the model, we performed the 9 scenarios simulation(4 scenarios of single frequency signal, 4 scenarios of multiple frequency signal, 1 scenario of single/multiple frequency signal like submarine radiated noise) for validation and confirmed the validation of this model through the simulation model.

• Journal of Fisheries and Marine Sciences Education
• /
• v.12 no.1
• /
• pp.11-21
• /
• 2000

Most of artificial reefs in the examined areas were normally established except for some lower parts demersed slightly, and some to function. 1) Twenty species of fish were captured by fishing gear, and 10 species were observed by scuba in the examined areas. 2) Five algal and five fisheries animal species were observed as fouling organism. 3) C.P.U.E of trap, long liner and gill netter in the examined areas was respectively 2.12, 10.23, and 4.93, where as that in contral was established as 1.41, 4.43 and 2.86. 4) Species composition by the fishing gear the trap, long liner and gill netter in the examind areas was respectively 94, 85 and 118, where as that in control was established as 58, 37 and 62. Accordingly, The fishing effects in the artificial reefs installation sector was two times higher than comparative sector.

• Korean Journal of Ichthyology
• /
• v.33 no.2
• /
• pp.142-147
• /
• 2021

A single specimen (52.5 mm SL) of Neoclinus chihiroe, belonging to the family Chaenopsidae, was firstly collected from Dokdo, East Sea of Korea on 9 December 2020. This species was characterized by a black spot between the first and the second dorsal spines, and a black spot on upper part of opercular membrane. The species was morphologically similar to N. okazakii, but distinctly distinguished by pectoral fin base without a black dot. This study documents the first record of N. chihiroe in Korean waters and suggests the new Korean name 'Dong-hae-bi-neul-be-do-la-chi' for the species.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
• /
• v.14 no.2
• /
• pp.140-148
• /
• 2021

In this paper, we intend to improve the availability by integrating Sonobuoy, the most essential detection system used in anti-submarine operations, with LTE communication of smart devices. Anti-submarine capability to respond to the threat of North Korean submarine forces is becoming increasingly important, and continuous research and development is required. This paper aims to enhance the ability of acoustic tactics by using a military-only LTE communication system installed on a ship, smart devices that can be linked to it, and a multi-static sonobuoy controlled by them. The proposed system can increase the visual effect by not only displaying coordinate values by receiving accurate coordinate information of each sonobuoy to a smart device, but also displaying a marker on a map.

• Journal of Ocean Engineering and Technology
• /
• v.33 no.5
• /
• pp.454-461
• /
• 2019

In autonomous interventions using an underwater vehicle with a manipulator, grasping based on target detection and recognition is one of the core technologies. To complete an autonomous grasping task, the vehicle body approaches the target closely and then holds it through operating the end-effector of the manipulator, while the vehicle maintains its position and attitude without unstable motion. For vehicle motion control, it is very important to identify the hydrodynamic parameters of the underwater vehicle, including the propulsion force. This study examined the propulsion characteristics of the autonomous intervention ROV developed by KRISO, because there is a difference between the real exerted force and the expected force. First, the mapping between the input signal and thrusting force for each underwater thruster was obtained through a water tank experiment. Next, the real propulsion forces and moments of the ROV exerted by thrusting forces were directly measured using an F/T (force/torque) sensor attached to the ROV. Finally, the differences between the measured and expected values were confirmed.

• KIPS Transactions on Software and Data Engineering
• /
• v.10 no.6
• /
• pp.201-210
• /
• 2021

Navigation Software for the various weapon systems has common functionalities which give the possibility of common use among them. SPL(Software Product Line) framework of the navigation software for weapon system refers to developing a standardized navigation software platform from common functionalities of navigation software, managing the standardized navigation software platform, and developing weapon system navigation software such as navigation software for missile, UAV(Unmanned Air Vehicle), submarine, and etc. from the standardized navigation software platform. In this paper, we propose SPL based navigation software development process, Integrated Development Environment and operational concept of SPL framework. The operational concept will be defined by specifying the role of every stake holders and their activity scenario. The Operational concept would be referenced to implement SPL for other domain through using with detail implementation guide.

• Journal of the Society of Naval Architects of Korea
• /
• v.59 no.4
• /
• pp.214-224
• /
• 2022

It is necessary to estimate manoeuvring characteristics of submerged bodies at the design stage in order to ensure the safe operations. In this study, added mass coefficients in the mathematical model of submerged bodies are estimated by captive model tests and numerical calculations. Two kinds of models, MARIN 'BB2'submarine model and AUV (Autonomous unmanned vehicle) model are utilized in the forced oscillation tests. Compared to BB2 submarine, AUV with cylindrical type hull form shows relatively small added masses in roll, pitch, and yaw directions. Next, numerical calculations based on potential theory are performed under the assumption that viscous effects on inertia forces are negligible. Added masses obtained by numerical calculations are in good agreements with forced oscillation test results. And if slow manoeuvres of submerged bodies are presumed, some of velocity coupled terms can be approximated by combinations of added mass coefficients.