• Journal of the Korean Society for Precision Engineering
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• v.30 no.10
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• pp.1031-1039
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• 2013

This paper presents gain optimization of a 6-DOF underwater robotic platform with 4 rotatable thrusters. To stabilize the 6-DOF motion of the underwater robotic platform, a back-stepping controller is designed with 6 proportional gains and 6 derivative gains. The 12 gains of the backstepping controller are optimized to decrease settling time in step response in 6-DOF motion independently. Stability criterion and overshoots are used as a constraint of the optimization problem. Trust-region algorithm and hybrid Taguchi-Random order Coordinate search algorithm are used to determine the optimal parameters, and the results by two methods are analyzed. Additionally, the resulting controller shows improved performance under disturbances.

• The Journal of the Convergence on Culture Technology
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• v.6 no.1
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• pp.433-439
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• 2020

This study compared and analyzed the change of air consumption according to water depth with human characteristics and theoretical values. The experimental results are as follows. First, subjects A and B showed similar rise rates depending on the water depth. Second, subject C had a significantly higher rate of increase in air consumption at 25m underwater because the body responded sensitively to deep water pressure, which increased air consumption because breathing was faster than other participants. Third, the subjects D and E showed significantly lower overall air consumption. D and E were 37 and 35 years of age, respectively, the youngest, strongest and most experienced in deep sea diving at the time of military service. Fourth, the average air consumption per minute of the test subjects increased from 5m in water to 1.45 times, 10m in water to 1.85 times, and 20m in water to 2.8 times. This seems to be a result of different experiences, physical fitness, the degree of adaptation of the body to underwater, and different breathing techniques. Lastly, the difference between the experimental average value and the theoretical value appears to be the result of using more or less air than the theoretical value depending on the experiences and physical strength of each of the 5 rescuers, the degree of adaptation of the body underwater, and the method of underwater breathing.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.5
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• pp.824-830
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• 2010

It is not easy job to find a underwater target using sonar system in the ASW operations. Many researchers have tried to solve anti-submarine search problem aiming to maximize the probability of detection under limited searching conditions. The classical 'Search Theory' deals with search allocation problem and search path problem. In both problems, the main issue is to prioritize the searching cells in a searching area. The number of possible searching path that is combination of the consecutive searching cells increases rapidly by exponential function in the case that the number of searching cells or searchers increases. The more searching path we consider, the longer time we calculate. In this study, an effective algorithm that can maximize the probability of detection in shorter computation time is presented. We show the presented algorithm is quicker method than previous algorithms to solve search problem through the comparison of the CPU computation time.

• The Journal of the Convergence on Culture Technology
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• v.8 no.3
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• pp.99-104
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• 2022

This study was to analyze the effects of sudden rise in cortisol and human symptoms in the situation of rescue at river, The experimental results are as follows. The subjects were A, B, C, and the values of cortisol elevation before and after diving were 6.30ug/dl, 6.50ug/dl, and 6.57ug/dl, respectively. However, in the subject D, the elevation of cortisol before and after diving was significantly elevated to 11.00ug/dl. The reason for this is thought to be the depletion of physical strength through weighty due to the inferiority of the underwater view and tense during the sudden rise. The subjects E showed significantly lower cortisol elevation before and after diving, as 4.28ug/dl, because the age of E was the youngest of the subjects and the anxiety was low due to abundant experience of deep sea diving. Fatigue is 7 to 8, anxiety is 7 to 9, Both showed high values. Psychological strain increased fatigue in underwater search, and poor visual field seemed to increase anxiety. The research results will be provided as empirical data on the safe underwater search activities of rescuers.

• The Journal of the Acoustical Society of Korea
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• v.37 no.2
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• pp.118-128
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• 2018

In this paper, we have studied how to search an underwater object by learning the image generated by the side scan sonar in the convolution neural network. In the method of human side analysis of the side scan image or the image, the convolution neural network algorithm can enhance the efficiency of the analysis. The image data of the side scan sonar used in the experiment is the public data of NSWC (Naval Surface Warfare Center) and consists of four kinds of synthetic underwater objects. The convolutional neural network algorithm is based on Faster R-CNN (Region based Convolutional Neural Networks) learning based on region of interest and the details of the neural network are self-organized to fit the data we have. The results of the study were compared with a precision-recall curve, and we investigated the applicability of underwater object detection in convolution neural networks by examining the effect of change of region of interest assigned to sonar image data on detection performance.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.316-319
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• 2009

Currently for exploring marine resources, After confirming the location of the resources by controlling search equipment and sensor module in research vessel, the method which collects sample of searched resources and analyzes the quality and a contents of the resources in research vessel is been applying. This search method is structure which analyzes an ingredient in ship and decides the quality of the resources. And real-time processing for an effective resources search is been demanding. Therefore in this paper, we have developed a resources identification algorithm that can display the type feature of resources by real-time 3D Graphic.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.2
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• pp.135-141
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• 2004

This paper proposes a new heuristic search technique for obstacle avoidance of autonomous underwater vehicles equipped with a looking ahead obstacle avoidance sonar. We suggest the fuzzy relation between the sonar sections and the properties of real world environment. Bandler and Kohout's fuzzy relational method are used as the mathematical implementation for the analysis and synthesis of relations between the partitioned sections of sonar over the real-world environmental properties. The direction of the section with optimal characteristics would be selected as the successive heading of AUVs for obstacle avoidance. For the technique using in this paper, sonar range must be partitioned into multi equal sections; membership functions of the properties and the corresponding fuzzy rule bases are estimated heuristically. With the two properties Safety, Remoteness and sonar range partitioned in seven sections, this study gives the good result that enables AUVs to navigate through obstacles in the optimal way to goal.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.3
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• pp.328-336
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• 2017

The goal of this study is simulation of optimal search pattern of ships based on performance surface which are reflected underwater environmental. The process is as follows. First, temporal and spatial environmental database are extracted in complex environment and input hull mounted SONAR system parameters. The environmental database and SONAR system parameters are substituted to SONAR equations, and calculate signal excess, detection probability, detection range. And then, the performance surface, which can be used to provide operational insight of SONAR detection performance, are pictorialized. Finally, optimal search pattern of ships are simulated using genetic algorithm based on performance surface. And then, we certify optimal search pattern in various ways.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.8
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• pp.1077-1085
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• 2020

In order to Mine Countermeasure (MCM), the search is carried out for the expected mine zone. At this time, mine hunting uses Autonomous Unmanned Vehicle(AUV), taking into account the danger of mine and the stability of our forces. Sonar system for identifying buried mines are equipped with Side Scan Sonar(SSS) or Synthetic Aperture Sonar(SAS). This paper describes the analysis of mine hunting effects according to the commercial SSS characteristics. Based on the characteristics of each SSS, the insonified area and recognition probability were modeled, and the analysis was performed according to the search pattern of the AUV. AUV's search pattern defines three patterns depending on the presence or absence of SSS or shaded areas. The analysis results derived search time and detection probability for each search pattern, and finally, the improvement of search depending on the presence or absence of side injection or shaded area.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.12
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• pp.2687-2696
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• 2011

A Clustering problem is one of the organizational problems to improve network lifetime and scalability in underwater acoustic sensor networks. This paper propose an algorithm to obtain an optimal clustering solution to be able to minimize a total transmission power for all deployed nodes to transmit data to the sink node through its clusterhead. In general, as the number of nodes increases, the amount of calculation for finding the solution would be too much increased. To obtain the optimal solution within a reasonable computation time, we propose a genetic algorithm to obtain the optimal solution of the cluster configuration. In order to make a search more efficient, we propose some efficient neighborhood generating operations of the genetic algorithm. We evaluate those performances through some experiments in terms of the total transmission power of nodes and the execution time of the proposed algorithm. The evaluation results show that the proposed algorithm is efficient for the cluster configuration in underwater acoustic sensor networks.