• Ocean and Polar Research
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• v.36 no.4
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• pp.447-454
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• 2014

In August, 2013, we collected epifaunal megabenthos using a deep sea camera (DSC) around a benthic impact study (BIS) site. This was located in the KR5 block of the Korea Deep Ocean Study (KODOS) area in the Northeastern Pacific. The DSC was positioned at $6.8{\pm}2.9m$ (SD) from the sea bottom and was operated from a position at $131^{\circ}56.85^{\prime}-131^{\circ}55.02^{\prime}W$ for 2.3 h at a speed of 1-2 knot. The geographical features of the study area consisted of two structures; a trough in the middle and hills at the east and west sides. Sediment conditions were consistent within six blocks and were affected by slope and polymetallic nodule deposits. We analyzed 226 megafaunal species. Sipunculida comprised the highest percentage of individuals (39%), and the dominant epifaunal megabenthos were Hormathiidae sp., Primnoidae sp., Hexactinellida sp., Hyphalaster inermis, Freyella benthophila, Paelopatides confundens, Psychropotes longicauda, and Peniagone leander. More than 80% of the total density of megafauna occurred on sea plain (D- and E-blocks). We found two distinct groups in the community, one located on sea plains and the other along both sides of the sea slop. Our results suggest that geographical features such as slope and polymetalic nodule deposits are important in controlling the distribution of the epifaunal megabenthos around the KODOS area.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.6
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• pp.389-394
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• 2018

Remotely operated vehicle(ROV) and autonomous underwater vehicle(AUV) have been used for underwater surveys, underwater exploration, resource harvesting, offshore plant maintenance and repair, and underwater construction. It is hard for people to work in the deep sea. Therefore, we need a vision control system of underwater submersible that can replace human eyes. However, many people have difficulty in developing a deep-sea image control system due to the deep sea special environment such as high pressure, brine, waterproofing and communication. In this paper, we will develop an Ethernet based remote image control system that can control the image mounted on ROV.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.109.5-109
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• 2002

Autonomous underwater vehicles (AUVs) are unmanned underwater vessels to investigate sea environments, oceanography and deep-sea resources autonomously. Docking systems are required to increase the capability of the AUVs to recharge the batteries and to transmit data in real time in underwater. This paper presents a visual servo control system for an AUV to dock into an underwater station with a camera. To make the visual servo control system , this paper derives an optical flow model of a camera mounted on an AUV, where a CCD camera is installed at the nose center of the AUV to monitor the docking condition. This paper combines the optical flow equation of the camera with the AUV's equation o...

• Geophysics and Geophysical Exploration
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• v.10 no.3
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• pp.173-182
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• 2007

It is well known that manganese nodules enriched with valuable metals are abundantly distributed in the abyssal plain area in the Clarion-Clipperton (C-C) fracture zone of the northeast Pacific. Previous studies using deep-sea camera (DSC) system reported different observations about the relation of seafloor topographic change and nodule abundance, and they were sometimes contradictory. Moreover, proper foundation on the estimation of DSC underwater position, was not introduced clearly. The variability of the mining condition of manganese nodule according to seafloor topography was examined in the Korea Deep Ocean Study (KODOS) area, located in the C-C zone. In this paper, it is suggested that the utilization of deep towing system such as DSC is very useful approach to whom are interested in analysing the distributional characteristics of manganese nodule filed and in selecting promising minable area. To this purpose, nodule abundance and detailed bathymetry were acquired using deep-sea camera system and multi-beam echo sounder, respectively on the seamount free abyssal hill area of southern part ($132^{\circ}10'W$, $9^{\circ}45'N$) in KODOS regime. Some reasonable assumptions were introduced to enhance the accuracy of estimated DSC sampling position. The accuracy in the result of estimated underwater position was verified indirectly through the comparison of measured abundances on the crossing point of neighboring DSC tracks. From the recorded seafloor images, not only nodules and sediments but cracks and cliffs could be also found frequently. The positions of these probable unminable area were calculated by use of the recorded time being encountered with them from the seafloor images of DSC. The results suggest that the unminable areas are mostly distributed on the slope sides and hill tops, where nodule collector can not travel over.

• Ocean and Polar Research
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• v.26 no.2
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• pp.207-218
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• 2004

Lomilik Seamount in the west Pacific was seismically surveyed and photographed to illuminate the bottom topography, the condition of manganese crust, and the characteristics of sedimentary environment. Lomilik Seamount has a NW-SE elongated bottom topography with steep slopes in the NESW direction part. Even though the steep slopes of the seamount are devoid of deposits, the summit area and gentle slope of the seamount are covered with thick deposits. The seismic data indicate that Lomilik Seamount is a flat-topped and step-faulted guyot of volcanic origin. Deep-sea camera photographs show that much of the seafloor is rippled in symmetrical and asymmetrical patterns. The traces of biological activity were distinct on gentle seafloor suggesting the low-energy bottom conditions. Some photographs also show outcrops encrusted with manganese crusts. Sedimentary environments in the Lomilik Seamount appear have been governed by regional morphology and strong bottom current.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2002.10a
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• pp.142-148
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• 2002

Autonomous underwater vehicles (AUVs) are unmanned underwater vessels to investigate sea environments, oceanography and deep-sea resources autonomously. Docking systems are required to increase the capability of the AUVs to recharge the batteries and to transmit data in real time for specific underwater works, such as repeated jobs at sea bed. This paper presents a visual servo control system for an AUV to dock into an underwater station with a camera mounted at the nose center of the AUV. To make the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and derives a state equation for the visual servoing AUV. This paper proposes a discrete-time MIMO controller minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servoing AUV, simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

• Ocean and Polar Research
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• v.27 no.3
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• pp.335-339
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• 2005

The underwater positioning system is important in interpreting data that are acquired from towing vehicles such as the deep-sea camera (DSC) system. Currently, several acoustic positioning systems such as long baseline (LBL), short baseline (SBL), and ultra short baseline (USBL), are used for underwater positioning. The accurate position of DSC, however, could not be determined in a R/V Onnuri unequipped with any of these underwater positioning systems. As an alternative, the DSC position was estimated based on the topography of towing track and cable length in the cruises before 1999. The great uncertainties, however, were found in the areas of flat bottom topography. In the 2003 and 2004 cruises these uncertainties were reduced by calculating the position of DSC with the cable length and seafloor depth below the vessel. The Japanese cruises for Mn-nodule used a similar estimation method for the DSC positioning system with a CTD sensor. Although the latter can provide better information for the position of DSC, the USBL underwater positioning system is strongly recommended for establishing better positioning of DSC and other towing devices.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.24 no.1
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• pp.18-29
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• 2019

ROV surveys were conducted using 500 meter mini class ROV with HD video camera, 2 LED lights, a simple manipulator and 8 thrusters near the Dokdo and Simheungtaek seamount. Total six dives have been conducted using the ROV "V8 SII" from Sweden and ROV's support ship, "KOSAL V" at 4 stations between 45 and 370 meters with diving time ranged from 30 to 120 minutes. Dense communities of sea anemone (Actinostolidae sp.) and ophiuroids (Ophiuridae sp.) on the surface of rocky bottom and snow crab on the soft bottom with muddy-sand were observed at northwestern part of Simheungtaek seamount. We obtained the following results 1) habitats information for snow crab, one of the major fisheries resources, and deep-sea fauna, 2) observation on the specific topography and sediment conditions, 3) observation of the seabed surface covered with the discarded fishing gears. This study represents the first report of in situ visual observation of deep-sea organisms and their habitats near the Dokdo slopes and flat top of the Simheungtaek seamount in the East Sea. These results indicated that immediate oceanographic survey using the mini class ROV is available in the East Sea.

• Journal of Ocean Engineering and Technology
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• v.32 no.4
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• pp.287-295
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• 2018

This paper presents the results of an exploration of the ferromanganese crusts of Western Pacific Seamount registered by the Korean government. This area has been surveyed with a deep-sea camera and crust samples have been acquired by deep-sea dredging since 2013. On October 18-19, 2017, a united research team from KIOST and KRISO explored two blocks, OSM11 and OSM07, on the seamount using Hemire ROV. A precise survey was conducted on the ferromanganese crusts and sediments covering the slope/top of OSM11 and the middle flat area of OSM07. Rock samples were collected with precise positioning, and HD videos were recorded for 7 hours. This paper discusses the technical issues of this exploration in terms of (1) how to deal with an emergency situation during an electric power blackout, (2) the improvement of the thruster power by adding cooling plugs to the housings of the thruster amplifiers, (3) the relative motion of the depressor by changing the fixing method of the cable terminator, which affects the service life of the cable, (4) a sampling technique for the steep slope of the seamount, (5) integrated navigation under a USBL blackout, and (6) a 3-dimensional image mosaic for visualizing the distribution state of the crusts.

• Economic and Environmental Geology
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• v.49 no.2
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• pp.121-134
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• 2016

We characterize the spatial distribution of Cobalt-rich ferromanganese crusts covering the summit and slopes of a seamount in the western Pacific, using acoustic backscatter from multibeam echo sounders (MBES) and seafloor video observation. Based on multibeam bathymetric data, we identify that ~70% of the summit area of this flattopped seamount has slope gradients less than $5^{\circ}$. The histogram of the backscatter intensity data shows a bi-modal distribution, indicating significant variations in seabed hardness. On the one hand, visual inspection of the seafloor using deep-sea camera data exhibits that the steep slope areas with high backscatter are mainly covered by manganese crusts. On the other hand, the visual analyses for the summit reveal that the summit areas with relatively low backscatter are covered by sediments. The other summit areas, however, exhibit high acoustic reflectivity due to coexistence of manganese crusts and sediments. Comparison between seafloor video images and acoustic backscatter intensity suggests that the central summit has relatively flat topography and low backscatter intensity resulting from unconsolidated sediments. In addition, the rim of the summit and the slopes are of high acoustic reflectivity because of manganese crusts and/or bedrock outcrops with little sediments. Therefore, we find a strong correlation between the acoustic backscatter data acquired from sea-surface multibeam survey and the spatial distribution of sediments and manganese crusts. We propose that analyzing acoustic backscatter can be one of practical methods to select optimal minable areas of the ferromanganese crusts from seamounts for future mining.