• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.667-675
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• 2013

This paper presents vision-based techniques for underwater landmark detection, map-based localization, and SLAM (Simultaneous Localization and Mapping) in structured underwater environments. A variety of underwater tasks require an underwater robot to be able to successfully perform autonomous navigation, but the available sensors for accurate localization are limited. A vision sensor among the available sensors is very useful for performing short range tasks, in spite of harsh underwater conditions including low visibility, noise, and large areas of featureless topography. To overcome these problems and to a utilize vision sensor for underwater localization, we propose a novel vision-based object detection technique to be applied to MCL (Monte Carlo Localization) and EKF (Extended Kalman Filter)-based SLAM algorithms. In the image processing step, a weighted correlation coefficient-based template matching and color-based image segmentation method are proposed to improve the conventional approach. In the localization step, in order to apply the landmark detection results to MCL and EKF-SLAM, dead-reckoning information and landmark detection results are used for prediction and update phases, respectively. The performance of the proposed technique is evaluated by experiments with an underwater robot platform in an indoor water tank and the results are discussed.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.1
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• pp.133-141
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• 2023

Accurate measurement of seafloor topography plays a crucial role in developing marine industries such as maritime safety, resource exploration, environmental protection, and coastal management. The seafloor topography is constructed using side scan sonar (SSS) and single beam echosounder (SBES) or multibeam echosounder (MBES), which transmit and receive ultrasound waves through a device attached to a marine survey vessel. However, the use of a sonar system is affected by noise pollution areas, and the single beam has a limited scope of application. At the same time, the multibeam is mainly applicable for depth observation. For these reasons, it is difficult to determine the boundaries and areas of seafloor topography. Therefore, this study proposes a method to improve the backscatter data of multibeam echosounder, which has a relationship with the seafloor quality, by using digital image processing to classify the shape of the underwater surface.

• Journal of the Korean Society of Industry Convergence
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• v.24 no.1
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• pp.61-67
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• 2021

With the recent development of bathemetry technology, the hydrographic surveying method has been changed from single beam depth device use to multi beam acoustic sounding technology. Also, various studies have been reported to obtain high accuracy and precision in the process of river bed topographic data. Especially south korea is geographically on three sides of the sea and the river topography is very developed. To build information about the underwater, and riverbed status, the public investigations has been continuously progressed. In this study, We investigasted the riverbed topography near Baeckma river leisure park. for this purpose, In this study, as the first preliminary survey, location of navigational dangerous objects and reefs and the dangerous areas are identified. Also, ground control points is selected for the optimal GPS surveying. Secondary, through test surveying the Gain, TVG, and pulse length are determined. In addition, the investigation of dangerous objects for navigation is also conducted. As the last step, the error analysis are conducted for the acquired data, and this process involves the removal and adjustments of errors. This section includes the analysis of tide level and navigational contributions, and finally generates a submarine topographic map.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.1
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• pp.187-192
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• 2015

Underwater acoustic communication channels have very complex channel characteristics caused by time-varying sea surface, submarine topography, sound speed, and geometry between transmitter and receiver. Especially, the channel has time-variance and doppler effect due to wind and sea current. We have to recognize the channel state and apply it to communication technique for increasing transmission efficiency in the underwater acoustic channel. In this paper, we present the frame recursive modulation and demodulation method using ambiguity function and autocorrelation function to estimate the doppler frequency. Furthermore, we conducted the simulation and sea experiment to evaluate the performance of the proposed method. When the channel coding technique was not used, the bit error rate performance of the proposed method was improved about 32 % compared with conventional method.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.663-663
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• 2002

The National Oceanographic Research Institute of KOREA started to survey for the basic data necessary to territorial sea and EEZ identification and marine development with Multi-Beam Echo Sounder(L3 SeaBeam 2112) since 1996. The Multi-Beam surveys has provided a very new and precise way of describing the morphology and nature of the underwater seabed. Multi-Beam Echo Sounder systems employ sound waves propagating at angles which vary from vertical to nearly horizontal. The locations on the bottom where echoes are generated cover a swath whose port to starboard width may be equal to many times the water depth. Newer Multi-beam bathymetric sonars provide both a beam by beam depth and backscatter amplitude of the bottom. But The backscattered amplitude didn't use for identification of bottom properties because backscatter amplitude effects by the many environmental variables of underwater and seabed. We investigates the utilization of geo-referenced backscatter amplitude and analysis of relationship between The Backscattered Amplitude and Sidescan Sonar imagery from Sea Beam 2112. For the backscattered amplitude imagery mainly represents the properties of sediment, we computed the beam geometry, time-varied amplifier gain, and mainly incidence angle to the topography using bathymetric model at each ping. In this paper, those issues are illustrated, and the angular independent imagery based on swath topographic model is described.

• Journal of Advanced Navigation Technology
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• v.18 no.5
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• pp.409-414
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• 2014

Since the five-day workweek has implemented and the spare time increased, the tourist industry has been showing the growth with quality. The tourist industry takes center stage as the twenty-first century higher value-added business on the strength of electronic communication development. Especially as being surrounded by water on three sides and national income has incremented, people have the interest in marine leisure industry. The Ministry of Maritime Affairs and Fisheries carries out a plan to promote marine tourism promotion plan through the significant policy support. Also, they makes an effort to lure the tourist through blending cultures. Therefore, through the 360 degree camera, the activity that mobilizes the policy fund can be monitored rightly and the application strategy that is useful to promote a higher value-added tourist industry can be suggested.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.7
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• pp.673-678
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• 2009

The efficiency of active sonar that is used underwater observation equipment is important for obtain the information of topography and trace for the objects. Sound wave transmitted from sonar are distorted by acoustic window which is to protect sonar. Making various sonar dome is impossible for experiment, because consumed unnecessary time and expense. So, the purpose of this study is to simulate and analyze the acoustic window propagated sound wave from sonar for designing model reduced insertion loss. Simulation is performed by transient analysis and fluid-structure interaction analysis. As a result, this study will give a opportunity for efficient design of sonar dome without high cost and time consumption.

• Proceedings of the Korean Environmental Sciences Society Conference
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• 2003.11a
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• pp.145-150
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• 2003

16 APEX floats, autonomous profiling floats deployed as part of the Array for Real-time Geostrophic Oceanography (ARGO) program, are used to understand the currents at 800 m underwater in the southwestern East Sea. The flow penetrates into the Ulleung basin (UB) through two paths： an extension of the southward flowing the North Korean Cold Water along the east coast of Korea and between Ulleung Island and Dok island. Flows at 800 m are observed range 0.2 to 4.29 cm/sec and the variability in the north in the DB is stronger than that in the south. The eddy kinetic energy is found a few $cm^{2}$ $S^{-2}$. In the UB, cyclonic flows from 0.3 - 1.6 cm/see are observed with the bottom topography.

• Smart Media Journal
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• v.5 no.1
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• pp.9-14
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• 2016

Although the ocean observation and exploration equipment is necessary for the oceanographical observation and strengthening influence of the nation and the resource preemption, it depended on the oversees adoption rather than the domestic development. The MBESs were developed for seabed topography, sedimentary distribution information and underwater objects exploration, but there is no domestic production. So in this research we try the localization of the marine acoustic sounder. Especially about correcting the error occurred on the hardware, we confirmed it on software.

• Journal of Navigation and Port Research
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• v.42 no.3
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• pp.237-244
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• 2018

When underwater rubble leveling work is carried out by a robot, real-time information on the topography around the robot is required for remote control. If the topographical information with respect to the current position of the robot is displayed as a 3D graphic image, it allows the operator to plan the working schedules and to avoid accidents like rollovers. Up until now, the topographical recognition was conducted by multi-beam sonars, which were only used to assess the quality before and after the work and could not be used to provide real-time information for remote control. This research measures the force delivered to the bucket which presses the mound to determine whether contact is made or not, and the contact position is calculated by reading the cylinder length. A variable bang-bang control algorithm is applied to control the heavy robot arms for the positioning of the bucket. The proposed method allows operators to easily recognize the terrain and intuitively plan the working schedules by showing relatively 3-D gratifications with respect to the robot body. In addition, the operating patterns of a skilled operator are programmed for raking, pushing, moving, and measuring so that they are automatically applied to the underwater rubble leveling work of the robot.