• Economic and Environmental Geology
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• v.41 no.6
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• pp.747-761
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• 2008

In order to experiment the acoustic remote classification of seabed sediment, we achieved ground-truth data(i.e. video and grab samples, etc.) and developed post-processing for automatic classification procedure on the basis of 300 kHz MultiBeam Echo Sounder(MBES) backscattering data, which was acquired using KONGBERG Simrad EM3000 at Sock-Cho Port, East Sea of South Korea. Sonar signal and its classification performance were identified with geo-referenced video imagery with the aid of GIS (Geographic Information System). The depth range of research site was from 5 m to 22.7 m, and the backscattering amplitude showed from -36dB to -15dB. The mean grain sizes of sediment from equi-distanced sampling site(50 m interval) varied from 2.86$(\phi)$ to 0.88(\phi). To acquire the main feature for the seabed classification from backscattering amplitude of MBES, we evaluated the correlation factors between the backscattering amplitude and properties of sediment samples. The performance of seabed remote classification proposed was evaluated with comparing the correlation of human expert segmentation to automatic algorithm results. The cross-model perception error ratio on automatic classification algorithm shows 8.95% at rocky bottoms, and 2.06% at the area representing low mean grain size.

• Journal of Korean Society for Geospatial Information Science
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• v.16 no.3
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• pp.65-69
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• 2008

This study is aimed to develope a remote control ship for acquisition of various underwater information. Remote control ship equipped with GPS, echosounder, sidescan sonar, subbottom profiler. Remote control ship is an automatic system for acquisition of inland water and coast information. For the development of remote control ship, underwater information acquisition of reservoir, dam, polluted area is expected. Also, multibeam echosounder, image sensor, water analysis sensor, etc. could be equipped in one ship. So robot-ship will be applied for the most part of industry managing water resources and preventing the flood by making bed topographic map and estimating water volumes.

• Ocean Systems Engineering
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• v.14 no.2
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• pp.101-114
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• 2024

Seafloor sediment mapping is an essential research topic in shallow coastal waters, especially in port development, benthic habitat mapping, and underwater communications. The seafloor sediments can be interpreted by collecting sediment samples directly in the field using a grab sampler or corer. Another method is optical, especially using underwater cameras and videos. Both methods each have weaknesses in terms of area coverage (mechanic) and accurate positioning (optic). The latest technology used to overcome it is the acoustic method (echosounder) with Global Navigation Satellite System (GNSS) Real Time Kinematic (RTK) positioning. Therefore, in this study will propose the classification of seafloor sediments in coastal waters using acoustic method that is Multibeam Echosounder (MBES) multi-frequency with five frequency (200 kHz, 250 kHz, 300 kHz, 350 kHz, and 400 kHz). In this study, the deep neural network (DNN) used the bathymetric multi frequency, bathymetric difference inters frequencies, and bathymetric features from 5 (five) frequencies as input layer and 4 (four) sediment types in 74 (seventy-four) sample sediment as output layer to make a seafloor sediment map. Results of sediment mapping using the DNN method show an overall accuracy of 71.6% (significant) and a kappa coefficient of 0.59 (moderate). The distribution of seafloor sediment in the study area is mainly silt (41.6%), followed by clayey sand (36.6%), sandy silt (14.2%), and silty sand (7.5%).

• The Journal of the Acoustical Society of Korea
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• v.40 no.4
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• pp.382-390
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• 2021

Synthetic aperture sonars as well as side scan sonars or multibeam echo sounders have been commercialized and are widely used for seafloor imaging. In Korea related research such as the development of a towed synthetic aperture sonar system is underway. In order to obtain high-resolution synthetic aperture sonar images, it is necessary to accurately estimate the platform motion on which it is installed, and a precise underwater navigation system is required. In this paper we are going to provide reference data for determining the required navigation accuracy and precision of navigation sensors by quantitatively analyzing how much distortion of the sonar images occurs according to motion characteristics of the platform equipped with the synthetic aperture sonar. Five types of motions are considered and normalized root mean square error is defined for quantitative analysis. Simulation for error analysis with parameter variation of motion characteristics results in that yaw and sway motion causes the largest image distortion whereas the effect of pitch and heave motion is not significant.

• Journal of The Korean Astronomical Society
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• v.49 no.6
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• pp.255-259
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• 2016

We estimate the fractal dimension of the ${\rho}$ Ophiuchus Molecular Cloud Complex, associated with star forming regions. We selected a cube (${\upsilon}$, l, b) database, obtained with J = 1-0 transition lines of $^{12}CO$ and $^{13}CO$ at a resolution of 22" using a multibeam receiver system on the 14-m telescope of the Five College Radio Astronomy Observatory. Using a code developed within IRAF, we identified slice-clouds with two threshold temperatures to estimate the fractal dimension. With threshold temperatures of 2.25 K ($3{\sigma}$) and 3.75 K ($5{\sigma}$), the fractal dimension of the target cloud is estimated to be D = 1.52-1.54, where $P{\propto}A^{D/2}$, which is larger than previous results. We suggest that the sampling rate (spatial resolution) of observed data must be an important parameter when estimating the fractal dimension, and that narrower or wider dispersion around an arbitrary fit line and the intercepts at NP = 100 should be checked whether they relate to firms noise level or characteristic structure of the target cloud. This issue could be investigated by analysing several high resolution databases with different quality (low or moderate sensitivity).

• The Bulletin of The Korean Astronomical Society
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• v.37 no.1
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• pp.75.1-75.1
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• 2012

We have observed the part of the second quadrant of the Galactic Plane in $^{13}CO(1-0)$ using the multibeam receiver system installed on the 14 m telescope at Taeduk Radio Astronomy Observatory. The target region (L=108 to 112.5) is the part of the $^{12}CO$ Outer Galactic Plane Survey (Heyer et al. 1998), and it is for the exact Galactic plane with the latitude range of +1 and -1 degree. Total of 48,000 spectra (about 9 square degees) were obtained on 50" grid. The selected velocity resolution is 0.63 km/sec and sensitivity per channel is 0.17 K, and the covered velocity is 320 km/sec. We developed a new reduction method, which effectively deals with a relatively noisy 3-dimensional database. The collected $^{13}CO$ database will be manipulated with pre-existing $^{12}CO$ data to get several physical parameters. As it is located in the second quadrant, the kinematic distances of the individual clouds, which will be identified, can be estimated relatively easily without any distance ambiguity. In this meeting we present the reduction method, statistics, and some channel maps, integrated intensity maps, and spatial-velocity maps. We intend to clarify any difference of their characteristics between the clouds in the Outer Galaxy and Inner Galaxy using our data base.

• Journal of the Korean Society of Hazard Mitigation
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• v.8 no.1
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• pp.63-69
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• 2008

It has an important meaning that the maintenance and management of facility for a onshore construction shall be damaged by oceanic environment. A movement and displacement of these shall be investigated by up-to-date machinery tools like GPS and Lidar and MBES & Gyro. In current a lot of tools and methods for investigation shall be used as a displacement and movement on land mainly. For underwater facility it is very difficult to check because of special conditions below the water surface. In this study, a surveying methods for a movement and displacement of underwater facility as caisson shall be used, i.e. multibeam-echo-sounding system. A possibility as basic data for displacement and environmental monitoring shall be studied by MBES to acquire a caisson's inclination.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.46 no.9
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• pp.16-23
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• 2009

In this paper, we propose a new distributed Alamouti space-time block coding scheme using cooperative relay system composed of one source node, three relay nodes and one destination node. The source node is assumed to be equipped with two antennas which respectively use a 2-beam array to communicate with two nodes selected from the three relay nodes. During the first time slot, the two signals which respectively were transmitted by one antenna at the source, are selected by one relay node, added, amplified, and forwarded to the destination. During the second time slot, the other two relay nodes implement the conjugate and minusconjugate operations to the two received signals, respectively, each in turn is amplified and forwarded to the destination node. This transmission scheme represents a new distributed Alamouti space-time block code that can be constructed at the relay-destination channel. Through an equivalent matrix expression of symbols, we analyze the performance of this proposed space-time block code in terms of the chernoff upper bound pairwise error probability (PEP). In addition, we evaluate the effect of the coefficient $\alpha$ ($0{\leq}{\alpha}{\leq}1$) determined by power allocation between the two antennas at the source on the received signal performance. Through computer simulation, we show that the received signals at the three relays have same variance only when the value of $\alpha$ is equal to $\frac{2}{3}$, as a consequence, a better performance is obtained at the destination. These analysis results show that the proposed scheme outperforms conventional proposed schemes in terms of diversity gain, PEP and the complexity of relay nodes.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.70-77
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• 2015

This paper proposes an application of unscented Kalman filter(UKF) for localization of an underwater robot. The method compares the bathymetric measurement from the robot with the seabed terrain information. For the measurement of bathymetric range to seabed, it uses a DVL which typically yields four range data together with velocity of the robot. Usual extended Kalman filter is not appropriated for application in case of terrain navigation, since it is not feasible to derive Jacobian for the bathymetric range measurement. Though particle filter(PF) is a nice solution which doesn't require Jacobian and can deal with non-linear and non-Gaussian system and measurement, it suffers from heavy computational burden. The paper compares the localization performance and the computation time of the UKF approach and PF approach. Though there have been some UKF methods which are used for underwater navigation, application of the UKF for bathymetric localization is rare. Especially, the proposed method uses only four range data whereas many of the bathymetric navigation methods have used multibeam sonar which yields hundreds of scanned range data. The result shows feasibility of the UKF approach for terrain-based navigation using small numbers of range data.

• Geophysics and Geophysical Exploration
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• v.14 no.1
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• pp.80-87
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• 2011

Autonomous underwater vehicles (AUVs) present the important advantage of being able to approach the seafloor more closely than surface vessel surveys can. To collect bathymetric data, bottom material information, and sub-surface images, multibeam echosounder, sidescan sonar (SSS) and subbottom profiler (SBP) equipment mounted on an AUV are powerful tools. The 3000m class AUV URASHIMA was developed by the Japan Agency for Marine-Earth Science and Technology (JAMSTEC). After finishing the engineering development and examination phase of a fuel-cell system used for the vehicle's power supply system, a renovated lithium-ion battery power system was installed in URASHIMA. The AUV was redeployed from its prior engineering tasks to scientific use. Various scientific instruments were loaded on the vehicle, and experimental dives for science-oriented missions conducted from 2006. During the experimental cruise of 2007, high-resolution acoustic images were obtained by SSS and SBP on the URASHIMA around the northern Kumano Basin off Japan's Kii Peninsula. The map of backscatter intensity data revealed many debris objects, and SBP images revealed the subsurface structure around the north-eastern end of our study area. These features suggest a structure related to the formation of the latest submarine fan. However, a strong reflection layer exists below ~20 ms below the seafloor in the south-western area, which we interpret as a denudation feature, now covered with younger surface sediments. We continue to improve the vehicle's performance, and expect that many fruitful results will be obtained using URASHIMA.