• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.4
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• pp.564-571
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• 2011

During navigation of warships, sonar domes have been damaged by collision with floating objects like logs. In order to analyze the damage of a sonar dome from collisions with a log, The analytical method and the numerical analysis using ABAQUS are performed. Throughout the analytical method, the mechanism of collision between a sonar dome and log is analyzed. To design a sonar dome, the numerical analysis for A type sonar dome and the B type sonar dome have done considering fluid loading effect around the sonar domes with normal and maximum speeds of the ship, respectively. The numerical analysis results of the A type sonar dome and the B type sonar dome are compared and analyzed.

• Journal of the Korea Institute of Military Science and Technology
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• v.9 no.2 s.25
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• pp.26-33
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• 2006

A sonar dome is basically designed and installed to protect sonar array from shocks, sea wave slaps and floating matters. The acoustic wave passing through sonar dome, however, can be distorted in magnitude and phase. This paper presents a numerical method for predicting the steady-state sound pressure on the surface of transducer array in the sonar dome and typical results of sonar beam pattern affected by sonar dome. A beam tracing model with phase information and a multi-layered elastic boundary model are involved. A full three-dimensional sonar dome is modeled as a GRP acoustic window, a rubber coated steel baffle and a rubber coated steel hull. A transducer array is modeled as thick steel cylinder. There are some assumptions such as incidence of plane wave, specular reflection on boundary and directionality of transducer element.

• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.1
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• pp.40-46
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• 2018

In order to successfully detect and identify underwater targets located on the seabed, unmanned surface vehicles (USVs) typically acquire acoustic signals with a side-scan sonar device and reconstruct information about the target from the processed images. As the quality of the side-scan sonar images acquired by USVs depends on the environment and operating parameters, using modeling and simulation techniques to design side-scan sonar devices can help optimize the reconstruction of the sonar images. In this work, we study a side-scan sonar design for use in USVs, that takes the movement of the platform into account. First, we constructed a simulated seabed environment with underwater targets, and specified the maneuvering conditions and sonar systems. We then generated the acoustic signals from the simulated environment using the sonar equation. Finally, we successfully imaged the simulated seabed environment using simple signal processing. Our results can be used to derive USV side-scan sonar design parameters, predict the resulting sonar images in various conditions, and as a basis for determining the optimal sonar parameters of the system.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.683-686
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• 1999

In this paper, we develop an active sonar signal synthesis model to analyze the detection performance of active sonar systems in a shallow water environment. Using this model, we synthesize the return signal of a bistatic sonar system at a typical operating frequency. This signal can be used to test proper active sonar signal processing techniques for real applications.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.94-102
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• 2021

This study addresses a method for 3D reconstruction using acoustic data with heterogeneous sonar devices: Forward-Looking Multibeam Sonar (FLMS) and Profiling Sonar (PS). The challenges in sonar image processing are perceptual ambiguity, the loss of elevation information, and low signal to noise ratio, which are caused by the ranging and intensity-based image generation mechanism of sonars. The conventional approaches utilize additional constraints such as Lambertian reflection and redundant data at various positions, but they are vulnerable to environmental conditions. Our approach is to use two sonars that have a complementary data type. Typically, the sonars provide reliable information in the horizontal but, the loss of elevation information degrades the quality of data in the vertical. To overcome the characteristic of sonar devices, we adopt the crossed installation in such a way that the PS is laid down on its side and mounted on the top of FLMS. From the installation, FLMS scans horizontal information and PS obtains a vertical profile of the front area of AUV. For the fusion of the two sonar data, we propose the probabilistic approach. A likelihood map using geometric constraints between two sonar devices is built and a monte-carlo experiment using a derived model is conducted to extract 3D points. To verify the proposed method, we conducted a simulation and field test. As a result, a consistent seabed map was obtained. This method can be utilized for 3D seabed mapping with an AUV.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2005.11a
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• pp.152-153
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• 2005

Side scan sonar System occupies an important position as one of marine survey equipments. The purpose of this research is to express sonar' scan images in underwater and compare with the measured size, shape and the quality of the material. Also we confirm the effectiveness of obtained images using the Side scan sonar.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.273-279
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• 2009

In this paper, we address the problem of detecting incorrect sonar measurements. We use ideas from the inconsistency of information among sonar measurements together with the sound pressure of the wave from the sonar sensor to develop a new method, called the comparison of the sound pressure (CSP), to detect incorrect sonar readings. The inconsistency of information in cells can be a clue that indicates candidates for incorrect measurements, and the sound pressure of the wave from the sonar sensor determines incorrect readings among the candidates. From various experiments, the proposed method is confirmed that it is better than existing method at deciding the state of sonar measurements.

• Journal of Ocean Engineering and Technology
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• v.30 no.3
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• pp.214-220
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• 2016

Imaging sonars such as side-scanning sonar or forward-looking sonar are becoming fundamental sensors in the underwater robotics field. However, using sonar images for underwater perception presents many challenges. Sonar images are usually low resolution with inherent speckled noise. To overcome the limited sensor information for underwater perception, we investigated preprocessing methods for sonar images and feature detection methods for a nonlinear scale space. In this paper, we focus on a comparative analysis of (1) preprocessing for sonar images and (2) the feature detection performance in relation to the scale space composition.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.575-576
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• 2014

The Hull Mounted Sonar Dome housing the sonar sensor array is a ship's structure protruded from ship bottom, which is under turbulent flow. The flow of sonar surface is highly disturbed and turbulent. In this case the wall pressure fluctuations within the turbulent boundary layer are one of the most important flow induced self noise sources of the SONAR system. We investigate the characteristics of the wall pressure fluctuations of the hull mounted sonar dome through the model test in the cavitation tunnel. This paper contains the wall pressure fluctuation spectra at various free stream velocities.

• Ocean Systems Engineering
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• v.10 no.4
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• pp.435-449
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• 2020

This paper proposes a method to estimate the underwater target object's yaw angle using a sonar image. A simulator modeling imaging mechanism of a sonar sensor and a generative adversarial network for style transfer generates realistic template images of the target object by predicting shapes according to the viewing angles. Then, the target object's yaw angle can be estimated by comparing the template images and a shape taken in real sonar images. We verified the proposed method by conducting water tank experiments. The proposed method was also applied to AUV in field experiments. The proposed method, which provides bearing information between underwater objects and the sonar sensor, can be applied to algorithms such as underwater localization or multi-view-based underwater object recognition.