• Journal of Ocean Engineering and Technology
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• v.24 no.3
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• pp.46-51
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• 2010

This paper describes the implementation of a precise underwater navigation solution using a multi-sensor fusion technique based on USBL, DVL, and IMU measurements. To implement this precise underwater navigation solution, three strategies are chosen. The first involves heading alignment angle identification to enhance the performance of a standalone dead-reckoning algorithm. In the second, the absolute position is found quickly to prevent the accumulation of integration error. The third one is the introduction of an effective outlier rejection algorithm. The performance of the developed algorithm was verified with experimental data acquired by the deep-sea ROV, Hemire, in the East-sea during a survey of a methane gas seepage area at a 1,500 m depth.

• Journal of International Academy of Physical Therapy Research
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• v.1 no.2
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• pp.120-125
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• 2010

The purpose of this study was to compare the effects of treadmill walking in underwater and overground which affects gait and physical function of people who have had a stroke. Twenty people after a stroke who have become hemiplegic over 6 months were participated. Participants were divided into two groups: underwater treadmill group(UTG) and overground treadmill group(OTG). The intervention was done 4 times per weeks for 6 weeks and 1 session lasted for 30 minutes. Gait and physical function elements were measured at baseline, at the middle(3 weeks) and at the end of the intervention(6 weeks). For the elements of gait, walking velocity, affected stance phase, affected weight bearing were assessed. For the elements of physical function, Short Form 8(SF-8) health survey was used. The result of this study showed that both groups improved similarly in walking velocity. However participants in UTG improved more than those in OTG in affected stance phase(p<.05), affected weight bearing(p<.05) and emotional aspect(p<.001). Based on the results of this study, it can be suggested that treadmill walking both in underwater and on the ground can be effective in improving hemiplegic gait and physical function of people who have had a stroke. The result also suggest that the underwater treadmill exercise can be more effective than overground treadmill in restoration of gait in people after stroke.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39B no.10
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• pp.645-653
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• 2014

Recently, the ocean field researches such as offshore plant, ocean survey and underwater monitoring systems are garnering the attention from both academy and industry. However, the communication in underwater environment is very difficult because of the unique irregular features in water. This is the reason that the application of terrestrial protocols to the water environment is not proper. This paper proposes a routing algorithm that can enhance communication reliability by utilizing channel properties in underwater environment. We address two problems that lead to the poor communication performance, signal attenuation and multi-path problem in water. Overcoming these problems, the proposed algorithm ensures high packet delivery ratio and low transmission delay. Also, this paper evaluates the performance through simulation.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39C no.3
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• pp.264-274
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• 2014

Time synchronization becomes a critical issue in underwater acoustic networks (UANets) because nodes cooperate together or individually work by communicating each other in diverse underwater applications. Compared with the time synchronization approaches in terrestrial networks, several intrinsic limitations of UANets (e.g., the unavailability of GPS, long propagation delay, mobility due to currents, limited energy consumption, or low data rate) need to be considered in synchronizing the timing among underwater nodes. For the purpose of developing more efficient time synchronization protocols for UANets, we review the existing approaches, which estimate both the clock offset and the clock skew of underwater nodes. Finally, we outline the state-of-the art time synchronization protocols for UANets by comparing and summarizing them according to their synchronization characteristics.

• Journal of Ocean Engineering and Technology
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• v.18 no.4 s.59
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• pp.33-39
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• 2004

This paper presents a hybrid underwater navigation system for unmanned underwater vehicles, using an additional range sonar, where the navigation system is based on inertial and Doppler velocity sensors. Conventional underwater navigation systems are generally based on an inertial measurement unit (IMU) and a Doppler velocity log (DVL), accompanying a magnetic compass and a depth sensor. Although the conventional navigation systems update the bias errors of inertial sensors and the scale effects of DVL, the estimated position slowly drifts as time passes. This paper proposes a measurement model that uses the range sonar to improve the performance of the IMU-DVL navigation system, for extended operation of underwater vehicles. The proposed navigation model includes the bias errors of IMU, the scale effects of VL, and the bias error of the range sonar. An extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation, when the external measurements are available. To illustrate the effectiveness of the hybrid navigation system, simulations were conducted with the 6-d.o.f. equations of motion of an AUV in lawn-mowing survey mode.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.4 no.1
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• pp.179-189
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• 2000

Recently, due to the increasing interests in deep sea development, all possible efforts to the development of underwater unmanned working vehicles such as AUV(Autonomous Underwater Vehicle) or underwater robot are exerted. This paper proposes a new efficient acoustic-based underwater image data communication system, which ensures a certain level of maximum throughput regardless of the propagation delay of ultrasonic and allowsfast data transmission through the multiple ultrasonic communication channel. Proposed system consists of an acoustic transducer which operates at 136kHz center frequency and it's 10kHz bandwidth, pre-amplifier, $\pi/4 QPSK$(Quadrature Phase Shift Keying) modulation/demodu-lation method, image compressing method using JPEG technique and modified Stop & Wait protocol. The experimental result of the system make it possible to transfer the underwater image as a high throughput at the basin test. The results of test are also verified which allows to desirable transmission performance compared with the existing developed system and the possibility to put the practical use of survey and investigation in the water.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.51 no.1
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• pp.16-25
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• 2015

Visual census and hydro-acoustic survey was carried out at Ulju small scale marine ranching area (MRA) to estimate demersal fish aggregations on September and November 2013. In this hydro-acoustic survey, the authors combined an image sonar with a scientific echo sounder to monitor an underwater situation and compare two acoustic data. Consequently, visual census survey was useful to estimate fish species composition for hydro-acoustic survey, because it is easy to identify aggregated fish species and overcome limits on a fishing depth and ability of an conventional fishing gear like a bottom gill-net or a fish trap at marine ranching area. Mean fish density was estimated as $0.757g/m^2$ on September and $0.219g/m^2$ on November and Fish abundance was finally calculated as 1.51ton (coefficient of variation, CV=13.1%) on September and 0.44ton (CV=47.7%) on November, respectively. Hydro-acoustic survey combined with the image sonar was useful to monitor fish aggregations and estimate fish stocks around artificial reefs at shallow coastal MRA. We were able to easily identify the underwater structures like an artificial reef and a fishing rope as well as fish aggregations from image sonar data. Therefore, the method was effective to separate unwanted echo signals in acoustic data of scientific echo sounder.

• 한국지구물리탐사학회:학술대회논문집
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• 2004.08a
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• pp.118-137
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• 2004

Recently underwater geophysical problems for historical relics or UXO's are raised frequently. This study includes the applicabilities and limitations of the recent underwater metal detector and domestic case stories for underwater survey by electrical and magnetic method. Direct or indirect case stories are electrical and vertical magnetic gradiometry surveys beneath Han-river bottom for planning subway tunnel, electrical exploration on lake-bottom, electrical exploration on the tidal flats using high-power transmitter, and borehole three-component magnetic and electromagnetic surveys for detecting the undersea objects. A design of potable real-time, high-speed measurement system using multi-channel array sensors is also introduced here. Further study will be focussed on practical field applications of the fast water-bottom scanning system which is lately required by actual field.

• Proceedings of the Korean Geotechical Society Conference
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• 2000.11a
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• pp.593-600
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• 2000

Most of ground investigations can be grasped geological distribution which like rock name, geological structure, soil condition, underwater condition, land slide, ground cave-in, ground collapse by geological survey. But geological survey is limited to part region geological structure, not wide region. Therefore, Image Processing Method must need to grasp wide region geological structure. The object of this research is presented analysis data of geotechnical engineering in first step investigation.

• Korean Journal of Remote Sensing
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• v.37 no.6_1
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• pp.1773-1784
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• 2021

In order to minimize damage to oil spill accidents in the ocean, it is essential to collect a spilled area as soon as possible. Thus satellite-based remote sensing is a powerful source to detect oil spills in the ocean. With the recent rapid increase in the number of available satellites, it has become possible to generate a status report of marine oil spills soon after the accident. In this study, the oil spill area was calculated using various satellite images for the Symphony oil spill accident that occurred off the coast of Qingdao Port, China, on April 27, 2021. In particular, improving the accuracy of oil spill area determination was applied using high-resolution commercial satellite images with a spatial resolution of 2m. Sentinel-1, Sentinel-2, LANDSAT-8, GEO-KOMPSAT-2B (GOCI-II) and Skysat satellite images were collected from April 27 to May 13, but five images were available considering the weather conditions. The spilled oil had spread northeastward, bound for coastal region of China. This trend was confirmed in the Skysat image and also similar to the movement prediction of oil particles from the accident location. From this result, the look-alike patch observed in the north area from the Sentinel-1A (2021.05.01) image was discriminated as a false alarm. Through the survey period, the spilled oil area tends to increase linearly after the accident. This study showed that high-resolution optical satellites can be used to calculate more accurately the distribution area of spilled oil and contribute to establishing efficient response strategies for oil spill accidents.