• Journal of Korea Multimedia Society
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• v.23 no.1
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• pp.102-110
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• 2020

This study covers exploration of seabed around Heuksando Island using hover drones. To do so, we inspected the terrain of the island and set autonomous flight waypoints on each area of the island's shores. Next, we designated seabed scan radius for drones. Then the drones fitted with laser sensor hover autonomously on their assigned area and acquire seabed data. Finally, we match the seabed data on all areas according to GPS. Our final goal is to make immersive VR maritime cultural map based on 『Jasan Urbo』.

• 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.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2012.06a
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• pp.219-219
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• 2012

• Korean Journal of Remote Sensing
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• v.38 no.6_1
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• pp.1527-1539
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• 2022

As coastal erosion of the east coast is accelerating, the need for scientific and quantitative coastal erosion monitoring technology for a wide area increases. The traditional method for observing changes in the coast was precision monitoring based on field surveys, but it can only be applied to a small area. The airborne bathymetric Light Detection And Ranging (LiDAR) system is a technology that enables economical surveying of coastal and seabed topography in a wide area. In particular, it has the advantage of constructing topographical data for the intertidal zone, which is a major area of interest for coastal erosion monitoring. In this study, time series analysis of coastal seabed topography acquired in Aug, 2021 and Mar. 2022 on the littoral cell GW36 in Gangwon was performed using the Seahawk Airborne Bathymetric LiDAR (ABL) system. We quantitatively monitored the topographical changes by measuring the baseline length, shoreline and Digital Terrain Model (DTM) changes. Through this, the effectiveness of the ABL surveying technique was confirmed in coastal erosion monitoring.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.10a
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• pp.250-253
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• 2003

This paper concerns about an experimental investigation about steering performance of tracked vehicle on extremely soft soil based on DOE(Design Of Experiment) using L8 orthogonal Array. A tracked vehicle model with principal dimensions of $0.9m{\times}0.8m{\times}0.4m$ and weight 167kg was constructed with a pair of driving chain links driven by two AC-servo motors. The tracks are configured with detachable grousers, the span of which can be varied. Deep seabed was simulated by means of bentonite-water mixture in a soil bin of $6.0m{\times}3.7m{\times}0.7m$. Turning radii of vehicle and torques of motors were measured with respect to experimental variables; steering ratio, driving speed, grouser chevron angle, grouser span, grouser height. The effects of experiment variables on steering performance are evaluated.

• Journal of Navigation and Port Research
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• v.39 no.3
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• pp.253-260
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• 2015

There are many efforts to mechanize the process for underwater port construction due to the severe and adverse working environment. This paper presents an underwater construction robot to level rubbles on the seabed for port construction. The robot is composed of a blade and a multi-functional arm to flatten the rubble mound with respect to the reference level at uneven terrain and to dig and dump the rubbles. This research analyzes the kinematics of the blade and the multi-functional arm including track and swing motions with respect to a world coordinate assigned to a reference depth sensor. This analysis is conducted interfacing with the position and orientation sensors installed at the robot. A hydraulic control system is developed to control a track, a blade and a multi-functional arm for rubble leveling work. The experimental results of rubble leveling work conducted by the robot are presented in land and subsea. The working speed of the robot is eight times faster than that of a human diver, and the working quality is acceptable. The robot is expected to have much higher efficiency in deep water where a human diver is unable to work.

• Economic and Environmental Geology
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• v.52 no.6
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• pp.561-571
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• 2019

The Hupo Basin, continental marginal basin, of the East Sea extends to Uljin-gun and Yeongdeok-gun. The Hupo Bank, a terrain that is higher than the surrounding seabed, is located at the eastern boundary of the Hupo Basin. KIOST(Korea Institute of Ocean Science and Technology) conducted detailed bathymetry surveys in the northern, central and southern areas of the Hupo Basin from 2011 to 2013. The Hupo Basin, bounded by steep slopes of the Hupo Bank, is deepened from the west coast to the east and deepest to a maximum depth of about 250 m. A narrow seafloor channel appears in the northern, central, and southern areas with the deepest depths. Numerous pockmarks appear on the seafloor at depths of about 150 ~ 250 m in all the three areas of the detailed bathymetry surveys. These pockmarks generally have diameters of about 20 to 50 m and depths of about 4 to 6 m, with craterlike submarine topography of various sizes. Seafloor sediments in the pockmark areas consist of fine silt. Comparing the shape and size of the pockmark of the Hupo Basin with that of other regions of the world, it is considered to be classified as a normal pockmark. There are about 7 pockmarks/1 ㎢ in the northern part of the three areas and about 8 pockmarks/1 ㎢ in the central part. The southern part has about 5 pockmarks/1 ㎢. If the area with the possibility of pockmarks is extended to the depth area of about 150 ~ 250 m in the entire Hupo Basin, the number of pockmarks is estimated to be more than about 4800. The pockmark of the Hupo Basin is more likely to be generated by a fluid such as a liquid than a gas. But it is necessary to scrutinize the cause and continuously monitor the pockmark.