• 한국멀티미디어학회논문지
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• 제17권5호
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• pp.631-639
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• 2014

Recently, research on Media Access Control (MAC) techniques for underwater acoustic communication has been conducted actively. For successful acoustic communication in underwater conditions, development of environmentally adaptive MAC techniques, which is taking narrow bandwidth, distance, depth, noise level, salinity, multipath and etc into account, is an especially important work. In this paper, knowledge based system is introduced not only to obtain adaptive and optimal communication parameters but also increase network efficiency and availability by requesting change of MAC techniques based on decisions from knowledge-based system Smart Decision Block (SDB). Computer simulations were also conducted to verify the performance of the proposed system in underwater conditions.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제8권1호
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• pp.82-86
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• 2008

The article presents ARTMAP and Fuzzy BK-Product approach underwater obstacle avoidance for the Autonomous underwater Vehicles (AUV). The AUV moves an unstructured area of underwater and could be met with obstacles in its way. The AUVs are equipped with complex sensorial systems like camera, aquatic sonar system, and transducers. A Neural integrated Fuzzy BK-Product controller, which integrates Fuzzy logic representation of the human thinking procedure with the learning capabilities of neural-networks (ARTMAP), is developed for obstacle avoidance in the case of unstructured areas. In this paper, ARTMAP-Fuzzy BK-Product controller architecture comprises of two distinct elements, are 1) Fuzzy Logic Membership Function and 2) Feed-Forward ART component. Feed-Forward ART component is used to understanding the unstructured underwater environment and Fuzzy BK-Product interpolates the Fuzzy rule set and after the defuzzyfication, the output is used to take the decision for safety direction to go for avoiding the obstacle collision with the AUV. An on-line reinforcement learning method is introduced which adapts the performance of the fuzzy units continuously to any changes in the environment and make decision for the optimal path from source to destination.

• Journal of information and communication convergence engineering
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• 제14권3호
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• pp.200-206
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• 2016

Images can be obtained by collecting rays from objects. The characteristics of electromagnetic wave propagation depend on the medium. In particular, in an underwater imaging system, the interface between air and water must be considered. Further, reflection and transmission coefficients can be found by using electromagnetic theory. Because of the fact that the values of these coefficients differ according to the media, the recorded light intensities will change. A color image sensor has three different color channels. Therefore, the reflection and transmission coefficients have to be calculated individually. Thereafter, by using these coefficients, we can compensate for the color information of underwater objects. In this paper, we present a method to compensate for the color information of underwater objects by using electromagnetic wave propagation theory. To prove our method, we conducted optical experiments and evaluated the quality of the compensated image by a metric known as mean square error.

• 전자공학회논문지
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• 제54권2호
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• pp.61-67
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• 2017

이 논문에서는 협대역과 낮은 전송속도의 제약을 가진 수중의 다양한 환경에 적응적인 MAC 기법을 제안하였다. 이미 발표된 Underwater Packet Flow Control (UPFC) 기법은 전송회수와 전송시간을 이용한 세 가지 전송타입을 제안하여 일반전송, 블럭전송, 병렬전송이 가능하도록 설계되었으나 기존 머지전송을 보완하여 최대전송가능 페이로드를 기준으로 효율적인 큐잉방법에 대한 기법 Effective Queuing-UPFC (EQ-UPFC)을 제안하였다. 제안한 기법의 전송효율의 검증을 위해 수학적 모델을 제시하였으며 시뮬레이션을 수행하여 전송회수 및 전송량 대비 효율성의 증가를 검증하였다.

• International Journal of Naval Architecture and Ocean Engineering
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• 제11권1호
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• pp.448-461
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• 2019

Changes in gravity and buoyancy of a Full Ocean Depth Autonomous Underwater Vehicle (FOD-AUV) during its descending and ascending process must be considered very carefully compared with a Human Occupied Vehicle (HOV) or a Remotely Pperated Vehicle (ROV) whose activities rely on human decision. We firstly designed a two-step weight dropping pattern to achieve a high descending and ascending efficiency and a gravity-buoyancy balance at designed depth. The static equations showed that gravity acceleration, seawater density and displacement are three key aspects affecting the balance. Secondly, we try our best to analysis the gravity and buoyancy changing according to the previous known scientific information, such as anomaly of gravity acceleration, changing of seawater states. Finally, we drew conclusion that gravity changes little (no more than 0.1kgf, it is impossible to give a accurate value). A density-depth relationship at the Challenger Deep was acquired and the displacement changing of the FOD-AUV was calculated preciously.

• 한국정보통신학회논문지
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• 제20권7호
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• pp.1229-1236
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• 2016

수중 음향 다중경로 채널에서 수중음향 통신 시스템의 성능은 채널의 시변적 경계면 상태 변동에 의해 영향을 받는다. 이러한 채널에서 시공간적 변동에 의해 송신 신호와 수신 신호의 위상과 주파수가 일치하지 않아 반송 주파수 옵셋이 발생되고 위상편이키잉 방식의 수중음향통신시스템의 성능을 저하시킨다. 본 논문에서는 수중 음향 통신 채널의 시 공간적 변동 채널에서 위상 코드를 적용한 반송 주파수 옵셋 보상 추정 기법의 성능을 평가하였다. 위상 코드는 주파수 옵셋을 추정하고 보상하기 위한 코드로 CAZAC를 적용하였으며, 실내 수조에서 성능을 평가하였다. QPSK 시스템에 위상코드를 적용한 결과는 적용하지 않은 경우보다 약 4-6배 비트오류율이 개선되었다.

• 대한임베디드공학회논문지
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• 제7권4호
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• pp.187-191
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• 2012

In these days, there are huge increases of concerning underwater acoustic sensor networks (UWASNs) to explore marine resources and to monitor climate change. To collect information from sensor nodes which are randomly deployed in underwater, Multi-Dimensional Scaling (MDS) based locating methods have been recently introduced, which consider sound speed to be constant in underwater. However, underwater sound speed tends to vary depending on underwater environment factors, such as depth, temperature, and salinity. In this paper, we propose a method considering environment factors, can influence upon sound speed in underwater, and introduce experimental setup which can follow up environmental factors.

• International Journal of Naval Architecture and Ocean Engineering
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• 제11권2호
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• pp.865-874
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• 2019

A controller for an underwater glider is presented. Considered underwater glider is a torpedo-shaped autonomous underwater vehicle installing adjustable buoyancy bag and movable battery in it. The controller is composed of an LQR controller to maintain zigzag vertical movement for gliding and two PD controllers to control elevator/rudder angles. The LQR controller controls the pumping speed into the buoyancy bag and the moving speed to locate the battery. One of the PD controller controls the elevator angle to assist the LQR controller, and the other controls the rudder angle to adjust the direction of the underwater glider. A reduced order Luenberger observer is adopted to estimates the center of gravity of the glider and the buoyancy mass that are essential but cannot be measured. Mathematical simulation using Matlab proved the validity of the proposed controller to obtain better performance than conventional LQR only controller under the influence of sea current.

• Ocean Systems Engineering
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• 제10권4호
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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.

• 로봇학회논문지
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• 제16권3호
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• pp.238-244
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• 2021

Image mosaicking is a common and useful technique to visualize a global map by stitching a large number of local images obtained from visual surveys in underwater environments. In particular, visual inspection of underwater structures using underwater robots can be a potential application for image mosaicking. Feature-based pairwise image registration is a commonly employed process in most image mosaicking algorithms to estimate visual odometry information between compared images. However, visual features are not always uniformly distributed on the surface of underwater structures, and thus the performance of image registration can vary significantly, which results in unnecessary computations in image matching for poor-conditioned image pairs. This study proposes a pairwise registrability measure to select informative image pairs and to improve the overall computational efficiency of underwater image mosaicking algorithms. The validity and effectiveness of the image mosaicking algorithm considering the pairwise registrability are demonstrated using an experimental dataset obtained with a full-scale ship in a real sea environment.