• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2009년도 춘계 학술발표회
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• pp.1210-1224
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• 2009

The present paper illustrates the outcome of the monitoring of the consolidation behavior of a soft foundation soil under a large submerged sand embankment. Measurements of settlements and excess pore water pressures showed a good agreement with predictions evaluated using the large strain consolidation theory. Soft soil improvement by means of deep mixing has been optimized. Moreover, the principles and developments of underwater geosynthetics applications are discussed.

• Journal of Advanced Marine Engineering and Technology
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• 제38권7호
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• pp.923-928
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• 2014

수중통신은 통신채널로서의 물이 가시광 영역을 제외한 전자파 영역에는 본질적으로 전도성이 매우 떨어지므로 공기 중 통신에 비하여 성능이 심각하게 제한된다. 음파통신은 장거리 전송이 가능하지만 전자파에 비하여 음속이 수중에서 매우 느리므로 통신 속도에 제한이 있다. 한편 광무선 통신은 수중 관측이나 해중 모니터링을 위한 요구조건을 충족시킬 수 있는 대안 중의 하나로 제안되었다. 본 연구에서는 블루투스를 이용하여 모선의 통신시스템과 결합할 수 있는 수중 가시광 통신 시스템을 개발하였다. LED 조명통신 시스템과 블루투스의 인터페이스로 수중-수상 통신시스템을 연동할 수 있으며, 수중 3 m 거리에서 230.4 kbps 전송속도로 이미지와 문자를 에러 없이 전송할 수 있음을 보였다. 이러한 노력은 수중 무선 시스템과 수상에서 모니터링을 위한 모선과의 통신을 효과적으로 상호 연결하는 인프라를 강화하는데 기여할 것이다.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2012년도 추계학술발표대회
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• pp.20-23
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• 2012

최근 해양자원의 중요성이 대두됨에 따라, 해양환경을 모니터링 하기 위해 Underwater Acoustic Sensor Networks(UW-ASN)가 활발히 연구되고 있다. UW-ASN 는 해양환경에 대한 데이터를 Sensing, gathering 하고 이를 Monitoring Center로 delivering 하는 Mission 을 수행한다. 이 논문에서는 해양에서 수집한 데이터를 수질 자동 측정망(TMS: Tele Monitoring System)에 전송하기 위해, 음파통신을 통해 수신된 해양 데이터를 수질 자동 측정망의 규격에 맞는 데이터로 변환시키고 CDMA 통신을 통해 가상의 TMS에 전송하는 Gateway 구현을 제안한다.

• 대한임베디드공학회논문지
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• 제12권5호
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• pp.303-310
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• 2017

Underwater robots operating in constrained underwater environment have requirements for software systems. Firstly, it is necessary to provide reusable common software components for hardware interface of sensors and actuators that are frequently used in underwater robots. Secondly, it is required to support distributed execution environment on multiple embedded controllers. Thirdly, it is need to implement a monitoring system capable of high-speed and large-data transmission for underwater robots operating in an environment where it is difficult to check the robot status. For these requirements, we have designed the layered architecture pattern and applied several design patterns to enhance the reusability and the maintainability of software components, In addition, we overlaid the broker architecture pattern to support distributed execution environments. Finally, we implemented the underwater robot software system using ROS framework based on the software architecture design. In order to evaluate the performance of the implemented software system, we performed an experiment to measure the response time between components and the transmission rate of the monitoring data, and obtained the results satisfying the required performance.

• 전자공학회논문지
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• 제49권11호
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• pp.110-117
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• 2012

내수면 및 연근해에서 수질 오염 감시, 수중 생태 관찰, 수중 침입 감지 등을 효과적으로 수행하는 시스템이 요구됨에 따라 근거리 수중 음파 통신을 수행하는 음향 모뎀에 대한 관심도 증대되고 있다. 얕은 수심에서는 음파의 수중 전달 과정에서 발생하는 확산, 흡수, 반사, 산란 등에 의해 채널 해석이 용이하지 않으며 음향 모뎀의 개발 사례 및 성능이 매우 제한적이다. 또한, 얕은 수심에서 수중 음파 통신 시스템을 구성할 경우 고정형 수중 노드 및 이동형 수중 이동체에 탑재되는 수중 모뎀의 크기에 대한 제약이 존재한다. 본 논문에서는 수중 채널에서 음파의 전송 중 발생하는 손실에 대해 고찰하고, 고정형 및 이동형 근거리 수중 음파 통신에 적합한 고효율 초소형 음향 모뎀을 설계 구현한다. 개발한 수중 음향 모뎀을 활용하여 최대 500 미터, 2 kbps의 전송속도로 수심이 얕은 호수에서 실증 실험을 실시함으로써 적용 가능성을 검증한다.

• 한국해양공학회지
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• 제13권3B호
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• pp.73-82
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• 1999

In this research, an experimental study is presented to check the possibilities of offshore structures monitoring using AE techniques. The underwater transducer and preamplifier are fabricated. And, it is proved that this unit can be used for the detection of AE in offshore structures. Wave propagation studies have shown that supplementary attenuations due to seawater are significantly reducing the detection range of the sensors. It excludes the possibility of offshore structures monitoring with a small number of sensors. We conclude that AE waves would be correctly detected for a path of about 3m. Tubular joints have been tested in air and underwater using simulated elastic wave. Ability of AE techniques to detect and locate cracks early in their evolution has been demonstrated. Several parameters of AE generation have been set in evidence. It has also been shown that crack development goes with an increase of AE parameter. Conclusively, it is shown that AE techniques can provide practical alternatives to present methods being used for inspection of deep-water offshore structures undergoing structural degradation due to fatigue crack growth.

• 방사선산업학회지
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• 제17권3호
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• pp.219-224
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• 2023

A high-efficiency underwater radiation monitoring system, HydroGamma, has been developed for detecting ¹³⁷Cs and ¹³¹I in the event of waterborne radiation contamination. The system consists of a 3-inch NaI (Tl) detector, solar panels for power supply, data acquisition and transmission modules, and batteries. HydroGamma also includes a ⁴⁰K calibration source for remote performance evaluation and energy calibration. In this study, some simulations and experiments were carried out to evaluate the minimum detectable activities (MDA) of HydroGamma. We installed the HydroGamma at Tapjeongho Lake in Nonsan-si and acquired background data since MDA is calculated based on the experimental background data. The results show that the minimum detectable activities for ¹³⁷Cs and ¹³¹I were 1.78Bq L^-1 and 1.81Bq L^-1, respectively even though the gamma rays emitted from ⁴⁰K(1,460 keV) affect the minimum detectable activities for them.

• 한국해양공학회지
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• 제36권1호
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• pp.32-40
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• 2022

Underwater optical images face various limitations that degrade the image quality compared with optical images taken in our atmosphere. Attenuation according to the wavelength of light and reflection by very small floating objects cause low contrast, blurry clarity, and color degradation in underwater images. We constructed an image data of the Korean sea and enhanced it by learning the characteristics of underwater images using the deep learning techniques of CycleGAN (cycle-consistent adversarial network), UGAN (underwater GAN), FUnIE-GAN (fast underwater image enhancement GAN). In addition, the underwater optical image was enhanced using the image processing technique of Image Fusion. For a quantitative performance comparison, UIQM (underwater image quality measure), which evaluates the performance of the enhancement in terms of colorfulness, sharpness, and contrast, and UCIQE (underwater color image quality evaluation), which evaluates the performance in terms of chroma, luminance, and saturation were calculated. For 100 underwater images taken in Korean seas, the average UIQMs of CycleGAN, UGAN, and FUnIE-GAN were 3.91, 3.42, and 2.66, respectively, and the average UCIQEs were measured to be 29.9, 26.77, and 22.88, respectively. The average UIQM and UCIQE of Image Fusion were 3.63 and 23.59, respectively. CycleGAN and UGAN qualitatively and quantitatively improved the image quality in various underwater environments, and FUnIE-GAN had performance differences depending on the underwater environment. Image Fusion showed good performance in terms of color correction and sharpness enhancement. It is expected that this method can be used for monitoring underwater works and the autonomous operation of unmanned vehicles by improving the visibility of underwater situations more accurately.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권7호
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• pp.3064-3094
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• 2018

Currently, the Underwater Sensor Networks (UWSNs) is mainly an interesting area due to its ability to provide a technology to gather many valuable data from underwater environment such as tsunami monitoring sensor, military tactical application, environmental monitoring and many more. However, UWSNs is suffering from limited energy, high packet loss and the use of acoustic communication. In UWSNs most of the energy consumption is used during the forwarding of packet data from the source to the destination. Therefore, many researchers are eager to design energy efficient routing protocol to minimize energy consumption in UWSNs. As the opportunistic routing (OR) is the most promising method to be used in UWSNs, this paper focuses on the existing proposed energy efficient OR protocol in UWSNs. This paper reviews the existing proposed energy efficient OR protocol, classifying them into 3 categories namely sender-side-based, receiver-side-based and hybrid. Furthermore each of the protocols is reviewed in detail, and its advantages and disadvantages are discussed. Finally, we discuss potential future work research directions in UWSNs, especially for energy efficient OR protocol design.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1244-1248
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• 2003

This paper describes visual tracking procedure of the underwater mobile robot for nuclear reactor vessel inspection, which is required to find the foreign objects such as loose parts. The yellowish underwater robot body tends to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color information, yellow and indigo. The center coordinates extraction procedures are as follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences; binarization, labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth.