• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.35 no.3
• /
• pp.284-290
• /
• 1999

This paper describes a Frequency Shift Keying (FSK) modulator and demodulator and the experimented underwater data ommunication equipment to transfer the analog echo signal in real-time from an underwater vehicle to the mother ship. The system consists of an echo signal transfer unit equipped to the vehicle and an ultrasonic receiver equipped on the ship. The former includes an ultrasonic transceiver unit of 180kHz for echo detection and a continuous wave transmitter of 50kHz with a FSK modulator for echo transmission to the ship. The latter includes an ultrasonic receiver of 50kHz and the FSK demodulator. The results of experiment are as follows. 1. The characteristics of the FSK modulating and demodulating circuits designed with the use of C-MOS IC 4046 was good and confirmed its usefulness in underwater data communication system.2. The prototype ultrasonic transceiver unit shows profitable driving power while the pulse duration was short less than 3 msec, but it was found that the driving power is not sufficient while the long pulse duration or continuous wave is used. The gain of the ultrasonic receiver was 80 dB and the receiving bandwidth 700Hz (at - 3 dB point).3. It was found that the system designed by the author has some possibility to use in underwater echo transfer.4. At the FSK modulator, the widths of voltage and frequency which represent linearity were 3.5 V, 1600Hz, respectively, at the FSK demodulator 2.6 V, 700Hz, respectively.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.35 no.3
• /
• pp.285-285
• /
• 1999

This paper describes a Frequency Shift Keying (FSK) modulator and demodulator and the experimented underwater data ommunication equipment to transfer the analog echo signal in real-time from an underwater vehicle to the mother ship. The system consists of an echo signal transfer unit equipped to the vehicle and an ultrasonic receiver equipped on the ship. The former includes an ultrasonic transceiver unit of 180kHz for echo detection and a continuous wave transmitter of 50kHz with a FSK modulator for echo transmission to the ship. The latter includes an ultrasonic receiver of 50kHz and the FSK demodulator. The results of experiment are as follows. 1. The characteristics of the FSK modulating and demodulating circuits designed with the use of C-MOS IC 4046 was good and confirmed its usefulness in underwater data communication system.2. The prototype ultrasonic transceiver unit shows profitable driving power while the pulse duration was short less than 3 msec, but it was found that the driving power is not sufficient while the long pulse duration or continuous wave is used. The gain of the ultrasonic receiver was 80 dB and the receiving bandwidth 700Hz (at - 3 dB point).3. It was found that the system designed by the author has some possibility to use in underwater echo transfer.4. At the FSK modulator, the widths of voltage and frequency which represent linearity were 3.5 V, 1600Hz, respectively, at the FSK demodulator 2.6 V, 700Hz, respectively.

• Ocean and Polar Research
• /
• v.28 no.2
• /
• pp.145-151
• /
• 2006

A broadband self-recording hydrophone was developed to conveniently assemble a hydrophone array for use in receiving underwater sound waves. A trigger device with an electromagnetic induction coupler was also developed to control the hydrophone's operation. Main configurations and specifications of the self-recording hydrophone are introduced in this paper. We present experiment results conducted in a water tank to examine the operating behavior of the hydrophone. Some advantages are discussed when the self-recording hydrophones are used to make up a hydrophone array.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.15 no.2
• /
• pp.1102-1108
• /
• 2014

This study was to compare the protection abilities of an SPF through ground or underwater casting. A mat of 1/10 scale was made and then mortar was placed on the ground and submerged conditions. A limit velocity of each mat was estimated with this experiment. As a result of the test, the mat failed because of the decrease of bearing power in the center of the waterway. On the one hand, the edge of the mat, where the velocity is slow, secures stability. The result of the limit velocity analysis suggests that a velocity of ground placement with 6.51m/s and underwater casting with 9.80m/s is the minimum to ensure stability. When SPF mat with a thickness of 0.50m is replaced with a concrete block, it is calculated to need a maximum thickness of 2.21m.

• 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.

• Journal of IKEEE
• /
• v.22 no.4
• /
• pp.1180-1187
• /
• 2018

This paper had implemented the underwater stage through interaction with fish robots and visitors in the background of traditional fairy tales using 3D floating hologram in an aquarium. The recognition of the object position of the spectator and the underwater robot were performed using the color recognition algorithm. Also, the position tracking algorithm was proposed to follow the object of the visitor and the original fairy tale. This experimental system consists of fish robot, camera, KIOSK for underwater robot control and beam project for underwater imaging. This experiment was carried out by the National Busan Science Museum, and it had satisfied the performance of the underwater stage.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.27 no.3
• /
• pp.416-427
• /
• 2024

The wake-homing underwater guided weapon that detects and tracks wake generated during voyage of a surface ship is impossible to avoid with the present acoustic deception torpedo defense system. Therefore, research on bubble-generating wake decoy is necessary to deceive wake-homing underwater guided weapon. Experiments in various environments are required to verify the effective operation method and performance of the wake decoy, but performance verification through underwater experiment is limited. In this paper, we develop a simulator for an torpedo defense system of surface ship, which is applied bubble-generating wake decoy, against acoustic, wake, and hybrid homing underwater guided weapon attack. The simulator includes surface ship model, acoustic decoy(static, mobile) model, bubble-generating wake decoy model, search and motion model of underwater guided weapon and so on. By integrating various models, MATLAB GUI simulator was developed. Through the simulation results for various environmental variables by this simulator, it is judged that effective operation method and performance verification of the bubble-generating wake decoy can be performed.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.12 no.5
• /
• pp.303-310
• /
• 2017

Underwater robots operating in constrained underwater environment have requirements for software systems. Firstly, it is necessary to provide reusable common software components for hardware interface of sensors and actuators that are frequently used in underwater robots. Secondly, it is required to support distributed execution environment on multiple embedded controllers. Thirdly, it is need to implement a monitoring system capable of high-speed and large-data transmission for underwater robots operating in an environment where it is difficult to check the robot status. For these requirements, we have designed the layered architecture pattern and applied several design patterns to enhance the reusability and the maintainability of software components, In addition, we overlaid the broker architecture pattern to support distributed execution environments. Finally, we implemented the underwater robot software system using ROS framework based on the software architecture design. In order to evaluate the performance of the implemented software system, we performed an experiment to measure the response time between components and the transmission rate of the monitoring data, and obtained the results satisfying the required performance.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.20 no.9
• /
• pp.1688-1695
• /
• 2016

Underwater communication has multipath error because of reflection by sea-level and sea-bottom. The multipath of underwater channel causes signal distortion and error floor. The excessive multipath encountered in underwater communication channel creates inter symbol interference, which is a limiting factor to achieve a high data rate and bit error rate performance. Therefore, to increase throughput efficiency and improve performance, this paper consider FTN (Faster-than-Nyquist) signalling based on turbo equalization. FTN signalling is a technique of transmitting information at a rate higher than the allowed Nyquist limit. This paper presented efficient decoder structure of FTN transmission in the environment of multipath underwater channel and we compare the performance between FTN method and conventional punctured method in lake experimentation. As a results of lake experiment, we confirmed FTN method based on turbo equalization is applicable and efficiency in underwater communication.

• Journal of Navigation and Port Research
• /
• v.39 no.4
• /
• pp.293-297
• /
• 2015

Underwater acoustic communications has been limited use for military purposes in the past. However, the fields of underwater applications expend to detection, submarine and communication in recent. The excessive multipath encountered in underwater acoustic communication channel is creating inter symbol interference, which is limiting factor to achieve a high data rate and bit error rate performance. To improve the performance of a received signal in underwater communication, many researchers have been studied for channel coding scheme with excellent performance at low SNR. In this paper, we applied BCJR decoder based ( 2,1,7 ) convolution codes and to compensate for the distorted data induced by the multipath, we applying the turbo equalization method. Through the underwater experiment on the Gyeungcheun lake located in Mungyeng city, we confirmed that turbo equalization structure of BCJR has better performance than hard decision and soft decision of Viterbi decoding. We also confirmed that the error rate of decoder input is less than error rate of $10^{-1}$, all the data is decoded. We achieved sucess rate of 83% through the experiment.