• The Journal of the Acoustical Society of Korea
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• v.35 no.2
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• pp.125-133
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• 2016

In order to obtain high-resolution seafloor images, research on SA (Synthetic Aperture) processing and the development of related underwater systems have been performed in many countries. Recently the SA processing is also recognized as an important technique in Korea and researchers started related basic study. However, most previous studies ignored the Doppler effect by a moving receiver array. In this paper reconstructed SAS (Synthetic Aperture Sonar) images and position errors are analyzed according to the speed of a moving array for understanding its moving effect on the SAS images. In the analysis the spatial frequency domain interpolation algorithm is used. The results show that as the moving speed of the array increases the estimated position error also increases and image distortion gets worse when we do not consider the array motion. However, if the compensated receiver signals considering the array motion are used the position error and image distortion can be eliminated. In conclusion a signal processing scheme which compensates the Doppler effect is necessary especially in the condition where the array speed is over 1 m/s.

• Smart Structures and Systems
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• v.8 no.1
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• pp.39-52
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• 2011

We are developing a biomimetic robot based on the Sea Lamprey. The robot consists of a cylindrical electronics bay propelled by an undulatory body axis. Shape memory alloy (SMA) actuators generate propagating flexion waves in five undulatory segments of a polyurethane strip. The behavior of the robot is controlled by an electronic nervous system (ENS) composed of networks of discrete-time map-based neurons and synapses that execute on a digital signal processing chip. Motor neuron action potentials gate power transistors that apply current to the SMA actuators. The ENS consists of a set of segmental central pattern generators (CPGs), modulated by layered command and coordinating neuron networks, that integrate input from exteroceptive sensors including a compass, accelerometers, inclinometers and a short baseline sonar array (SBA). The CPGs instantiate the 3-element hemi-segmental network model established from physiological studies. Anterior and posterior propagating pathways between CPGs mediate intersegmental coordination to generate flexion waves for forward and backward swimming. The command network mediates layered exteroceptive reflexes for homing, primary orientation, and impediment compensation. The SBA allows homing on a sonar beacon by indicating deviations in azimuth and inclination. Inclinometers actuate a bending segment between the hull and undulator to allow climb and dive. Accelerometers can distinguish collisions from impediment to allow compensatory reflexes. Modulatory commands mediate speed control and turning. A SBA communications interface is being developed to allow supervised reactive autonomy.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.2
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• pp.155-162
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• 2016

TASS(Towed Array Sonar System) is a sonar system which tows the sensor array behind a platform. Array shape is generally assumed to be a straight line. But the array shape is often distorted by oceanic current or platform maneuvering which causes the performance loss of signal processing method like beamforming. So array shape estimation methods are needed. Typically the method based on Kalman filter using heading sensor is used. In practice, the measurement is corrupted by biases which are caused by rotation of the tow cable, varying magnetic fields and slowly varying stresses in the mechanical construction. Although they can't be calibrated but can be estimated. In this paper, we suggest the array shape estimation method based on Kalman filter compensating the sensor biases.

• Journal of the Korea Institute of Military Science and Technology
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• v.5 no.1
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• pp.59-64
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• 2002

Passive sonar system forms the various beams in any desired directions to obtain the improvement in Signal-to-Noise(S/N) ratio, bearing detection and localization of targets, and the attenuation of interferences from other directions. Detection of modern underwater targets is becoming increasingly difficult as noise reduction technology leads to considerably low-level acoustic emissions. Therefore, the improvement of beamforming is very important to detect modern underwater targets at the long range in the complex environmental sea. Also, to react to the fast attack mobiles such as torpedoes, port and starboard discrimination is required to be performed very quickly. In this paper, we proposed the implementation of omnidirectional target bearing detector without port and starboard ambiguity to detect effectively the low-level underwater targets. The port and starboard discrimination is performed by cardioid processing and the improvement of beamforming utilizes the cross correlation matrix of individual hydrophone pairs of linear array sensors. The sea test result shows that the system implemented is good for the detection of the low-level underwater targets.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.51 no.2
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• pp.178-186
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• 2018

A chirp-echo data acquisition and processing system was developed for use as a simplified, PC-based chirp echo-sounder with some data processing software modules. The design of the software and hardware system was implemented via a field-programmable gate array (FPGA). Digital signal processing algorithms for driving a single-channel chirp transmitter and dual-channel receivers with independent TVG (time varied gain) amplifier modules were incorporated into the FPGA for better real-time performance. The chirp-echo data acquisition and processing system consisted of a notebook PC, an FPGA board, and chirp sonar transmitter and receiver modules, which were constructed using three chirp transducers operating over a frequency range of 35-210 kHz. The functionality of this PC-based chirp echo-sounder was tested in various field experiments. The results of these experiments showed that the developed PC-based chirp echo-sounder could be used in the acquisition, processing and analysis of broadband acoustic echoes related to fish species identification.

• The Journal of the Acoustical Society of Korea
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• v.36 no.1
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• pp.57-63
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• 2017

This paper presents an active acoustic-reflection control algorithm based on a single sensor. The proposed algorithm operates in a system comprising a single sensor located nearby the reflective surface and a control transducer mounted on the reflective surface. First, the incident and reflected acoustic signals are separated from the sensor signal, and a control signal is generated using the separated signals. For the signal separation, the proposed algorithm requires the response of the reflection path which is estimated from the acoustic response between an external sound source and the sensor. Finally, the control filter is adjusted using the FxLMS (Filtered-x Least Mean Square) algorithm. To verify the effectiveness of the proposed algorithm, it was implemented in real time using a DSP (Digital Signal Processing) board, and the experimental results obtained in one-dimensional air-acoustic environment show that the reflections of the 1 kHz burst can be reduced by 11.6 dB.

• The Journal of the Acoustical Society of Korea
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• v.20 no.1E
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• pp.7-13
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• 2001

In this paper we propose a new subspace tracking algorithm based on the PASTd (Projection Approximation Subspace Tracking with deflation). The algorithm is obtained via introducing the variable forgetting factor which adapts itself to the time-varying subspace environments. The tracking capability of the proposed algorithm is demonstrated by computer simulations in an abruptly changing DOA scenario. The estimation results of the variable forgetting factor PASTd(VFF-PASTd) outperform those of the PASTd in the nonstationary case as well as in the stationary case.

• Journal of the Institute of Convergence Signal Processing
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• v.5 no.2
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• pp.106-110
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• 2004

The noise characteristics of the submarines and vessels are composed of tonal signals and background noises. Tonal signals are from the revolution of the motors or engines, and background noises are from the generation and disappearing of the bubbles around the vessels. We analyze the noises from maneuvering underwater vessels with ATW algorithm. We design broadband asymptotic noise generator using Hilbert transform and design the system which can generate asymptotic noise with sum of generated background noise and synthesized tonal signals. This system can be used as a cheating system from the torpedo shacks.

• The Journal of the Acoustical Society of Korea
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• v.32 no.6
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• pp.532-540
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• 2013

In this paper, we propose the modified SED (Subband Energy Detection) which can assign weights adapting to the receiving signal level for the broadband energy detection in the passive SONARs. SED which is one of the broadband processing mainly employed by passive SONARs to detect a target is more robust against interference like multi signals or a clutter than CED (Conventional Energy Detection), but it degrades detection performance to assign weights independent of extracted extrema level of the receiving signal. Therefore, in this paper, the weighting method which can efficiently assigns rewards or penalties adapting to extracted extrema level of the receiving signal is proposed. In order to evaluate the performance of proposed method, we conducted experiments by using simulation and real ocean acoustic signal which is acquired from Yellow Sea. From the experiments, our proposed method has shown better performance than conventional SED.

• The Journal of the Acoustical Society of Korea
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• v.20 no.5
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• pp.83-91
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• 2001

This paper proposes the Focused beamforming to estimate the location of target residing near to the observation platform in the underwater environment. The Focused beamforming technique provides the location of target by the coherent summation of a series of incident spherical waveforms considering distinct propagation delay times at the sensor array. But due to the movement of the observation platform and the variation of the underwater environment, the shape of the sensor array is no longer to be linear but it becomes distorted as the platform moves. Thus the Focused beamforming should be peformed regarding to the geometric shape variation at each time. To estimate the target location, the artificial image plane comprised of cells is constructed, and the delays are calculated from each cell where the target could be proximity to sensors for the coherent summation. After the coherent combining, the beam pattern can be obtained through the Focused beamforming on the image plane. Futhermore to compensate the variation of the shape of the sensor array, the paper utilizes the Nth-order polynomial approximation to estimate the shape of the sensor array obeying the water pulley modeling. Simulation results show the performance of the Focused beamforming for different frequency bands of the radiated signal.