• Proceedings of the KIPE Conference
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• 2015.11a
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• pp.161-162
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• 2015

본 논문은 수중음향센서용 전력증폭기를 위한 멀티레벨 가변 출력전압 AC/DC 컨버터를 제안한다. 제안하는 AC/DC 컨버터는 멀티레벨 가변출력전압을 얻기 위해 2개의 flying-capacitor 3-level converters와 하나의 다이오드 브리지 회로로 구성되어 있다. 또한 본 논문에서는 제안하는 AC/DC 컨버터의 상세 회로도와 설계 가이드라인을 제시하였다.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.110-117
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• 2022

This paper describes a localization algorithm utilizing relative observations for multiple autonomous underwater vehicles (Multiple-AUVs). In order to maximize the efficiency of operation and mission accomplishment and to prevent problems such as collision and interference, the locations and directions of Multiple-AUVs must be precisely estimated. To estimate the locations and directions, we designed a localization algorithm utilizing relative observations and verified it with simulations based on sensor data sets acquired through real sea experiments. Also, an optimal combination of relative observation information for efficient localization is figured out through combining various relative observations. The proposed method shows improved localization results compared to those only using the navigation algorithm. The performance of localization is improved up to 58% depending on the combination of relative observations.

• Proceedings of the Korea Information Processing Society Conference
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• 2008.05a
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• pp.881-884
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• 2008

수중 음향 센서 네트워크는 무선 센서 네트워크의 한 분야로서 활발하게 연구되고 있다. 하지만 무선 센서 네트워크에서의 지상이라는 환경은 수중 음향 센서 네트워크에서의 수중이라는 환경과 많은 차이가 있다. 예를 들어 수중에서는 지상에서 보다 더 많은 통신 에너지를 필요로 하며 현재 단일채널 밖에 사용할 수 없다. 그러므로 수중 음향 센서 네트워크에서 무선 센서 네트워크의 메커니즘을 그대로 사용하기에는 적합하지 않다. 본 논문에서는 수중 음향 센서 네트워크에서의 에너지 효율적 클러스터링 메커니즘을 제안한다. 제안하는 클러스터링 메커니즘은 단일채널의 수중환경을 대상으로 클러스터 내 통신에서 발생하는 충돌문제를 최소화하여 에너지 효율을 증가시키기 위해 하향식방법을 이용하여 클러스터 헤드 노드를 선정하고 선정된 클러스터 헤드 노드를 중심으로 클러스터 범위를 결정하는 방법을 제시한다.

• Journal of Sensor Science and Technology
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• v.32 no.5
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• pp.300-306
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• 2023

A hull-cleaning robot sticks to the surface of a vessel and moves for efficient cleaning. Precise path planning and tracking using the current position is crucial. Many robots rely on the INS algorithm, but errors accumulate. To fix this, GPS, sonar, and USBL are used, though with limitations. Selecting suitable sensors for the surface operation and accurate positioning algorithm are vital. In this study, we developed a robot position estimation algorithm using the structure of a ship. Problems that arise when expanding the 2D position estimation algorithm used in existing wall structures to 3D were evaluated and methods for solving them were proposed. In addition, we aimed to improve performance by deriving singularities that exist in the robot path and proposing an error correction algorithm based on the singularities.

• Journal of Sensor Science and Technology
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• v.32 no.5
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• pp.313-319
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• 2023

In this study, we propose a method to improve the accuracy of acoustic odometry using optimal frame interval selection for Fourier-based image registration. The accuracy of acoustic odometry is related to the phase correlation result of image pairs obtained from the forward-looking sonar (FLS). Phase correlation failure is caused by spurious peaks and high-similarity image pairs that can be prevented by optimal frame interval selection. We proposed a method of selecting the optimal frame interval by analyzing the factors affecting phase correlation. Acoustic odometry error was reduced by selecting the optimal frame interval. The proposed method was verified using field data.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.6
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• pp.1337-1344
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• 2023

We aim to find out the effectiveness of performance evaluation to ensure safety of performance through development of high-frequency electrode probes, evaluation test protocol and evaluation simulator that is essential to ensure safety in performance evaluation and reliability evaluation of high-frequency electrode probes for underwater therapy used with high-frequency electrosurgical equipment.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.2
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• pp.178-185
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• 2011

In this paper, we propose the position estimation algorithm based on the multisensor fusion using equalization of state variables and feedback structure. First, the state variables measured from INS of main sensor with large error and DVL of assistance sensor with small error are measured before prediction phase. Next, the equalized state variables are entered to each filter and fused the enhanced state variables for prediction and update phases. Finally, the fused state variables are returned to the main sensor for improving the position estimation of UUV. For evaluation, we create the moving course of UUV by simulation and confirm the performance of position estimation by applying the proposed algorithm. The evaluation results show that the proposed algorithm is the best for position estimation and also possible for robust position estimation at the change period of moving courses.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.18 no.3
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• pp.58-67
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• 2019

The low-voltage connection box used as a low-voltage transmission line of KEPCO is intended to branch or connect to an underground line. In comparison with the utility considering the aesthetics of the distance, and safety measures are needed. In this paper, temperature and humidity, $CO_2$, water level, acceleration, and vibration sensor are installed inside the underground low voltage handhole, and the sensor data is transmitted to the ground using the Zigbee module. Antenna (Bolted Antenna) for communication with the ground was proposed and the data reception through it was confirmed. In the LF mode and the HEX mode, the transmitted data was confirmed to be a perfect reception success rate. In the case of the bolted antenna, the difference between the ground state and the underwater state was observed as a result of the experiment in the environmental environment. However, It was judged that reception sensitivity was sufficient for communication. The received data could be confirmed through PC based GUI.

• The Journal of the Acoustical Society of Korea
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• v.34 no.3
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• pp.200-209
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• 2015

An underwater sound surveillance system detects and tracks enemy ships in real-time using hydrophone arrays, in which seabed-mounted sensor arrays play a pivotal role. In this paper the conceptual design of seabed-mounted, cylindrical hydrophone arrays for use in shallow coastal waters is performed via finite element calculations. To stabilize the receiving characteristics under the ocean ambient noise, a technique for whitening the ambient noise spectrum using a metal baffle is proposed. Optimization of the array configuration is performed to achieve the directivity in the vertical and azimuthal directions. And the effects of the sonar dome shape and material on the structural vibration and sound scattering properties are studied. It is demonstrated that a robust hydrophone array, having a sensitivity deviation less than 4 dB over the frequency range of interest, can be obtained through the whitening of the ambient noise, the optimization of the array configuration, and the design of acoustically transparent sonar domes.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.5
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• pp.1-6
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• 2011

LED(Light Emitting Diode) components have advantages of longer lifetime, lower power consumption and easy-to-control, compare to normal lamp and fluorescent light, according to the development of recent technologies. Thus, lots of illuminations which utilize LED components could be used. Recently, Visible Light Communication(VLC) which is a part of communication technologies, utilizing high speed response characteristic of LED components, started receiving public attention. In case of VLC, there is no need of frequency allocation due to no use of radio, but also no interference exists during data transmission, much different in ISM((Industrial Scientific Medical band). This is the reason why a lot of research results about VLC are becoming issued. In this paper, a survey of feasibility for using VLC utilizing an original LED illumination for underwater applications has been done and a primitive possibility of its application has been examined.