• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2010.10a
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• pp.1-3
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• 2010

수중 무인항체(Autonomous Underwater Vehicle, AUV)를 고정밀, 고위험 임무수행 분야에 이용하기 위해서는 연속적이고 정확한 항법정보를 제공하는 기술이 반드시 필요하다. 특히, 최근에는 항공분야에서 국내외적으로 연속적이고 정확한 항법정보를 제공하기 위하여 여러 가지 센서를 결합한 통합 항법시스템에 관한 연구가 활발하며, GPS나 음향장치를 관성센서와 통합하는 방법이 대표적이다. 하지만 수중 무인항체에 경우는 해수면 노출로 인한 탐사시간 장기화와 음향장치 설치 및 회수의 한계로 인하여 GPS나 음향장치 이외에 센서를 이용한 통합 항법시스템의 필요성이 커지고 있다. 본 논문에서는 자율성이 높으면서, 적은 비용으로 설치가 가능한 영상센서를 이용하여 항법성능을 효과적으로 증대시키는 Vision/INS 통합 항법을 제안한다. 제안한 통합 항법알고리즘은 외부표정요소 직접결정기법을 이용하여 영상 데이터로부터 항체의 위치와 자세를 추정하고, 추정된 결과를 INS의 추정치와 비교한다. 그리고 추정한 위치와 자세오차를 입력으로 칼만필터를 구동하도록 설계하였다. 모의실험을 통해 제안한 방법의 유효성을 확인하였다.

• Advances in robotics research
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• v.2 no.2
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• pp.141-149
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• 2018

In image processing and robotic applications, two-dimensional (2D) black and white patterned planar markers are widely used. However, these markers are not detectable in low visibility environment and they are not changeable. This research proposes an active and adaptive marker node, which displays 2D marker patterns using light emitting diode (LED) arrays for easier recognition in the foggy or turbid underwater environments. Because each node is made to blink at a different frequency, active LED marker nodes were distinguishable from each other from a long distance without increasing the size of the marker. We expect that the proposed system can be used in various harsh conditions where the conventional marker systems are not applicable because of low visibility issues. The proposed system is still compatible with the conventional marker as the displayed patterns are identical.

• Journal of Advanced Marine Engineering and Technology
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• v.32 no.6
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• pp.989-996
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• 2008

Recently, a few types of fish-cage in open sea are researched. This fish-cage has to operate monitoring system for keeping an optimum living condition for fish. The most efficient monitoring system is WVMS(Wireless Vision Monitoring System) for fish-cage in open sea. WVMS should be able to transmit video signal and communicate with each controller. So. it needs to be based on WLAN(Wireless LAN) which has characteristic of higher transfer-rate, In this paper, we propose a structure of WVMS using WLAN equipments for maritime environment and prove its effectiveness. We present the propagation loss model of WVMS's communication channel. measured by field test, and discuss its validity compared with the predictive value based on the Friss propagation model and Plane earth reflection model. We present the number of frames that is received from WLAN modem connecting with underwater-camera in field test spots. As a result, we confirmed that proposed WVMS is suitable for maritime environment and it is possible to be applied to fish-cage in open sea on 'seogwipo'.

• Journal of the Korean Society of Visualization
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• v.20 no.3
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• pp.128-135
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• 2022

Cavitation occurs inevitably in marine propellers rotating at high speed in the water, which is a major cause of underwater radiated noise. Cavitation-induced noise from propellers rotating at a specific frequency not only reduces the sonar detection capability, but also exposes the ship's location, and it causes very fatal consequences for the survivability of the navy vessels. Therefore cavity inception speed (CIS) is one of the important factors determining the special performance of the ship. In this study, we present a method using computer vision that can detect and quantitatively estimate tip vortex cavitation on a propeller rotating at high speed. Based on the model test results performed in a large cavitation tunnel, the effectiveness of this method was verified.

• The Journal of the Korea institute of electronic communication sciences
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• v.13 no.4
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• pp.845-850
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• 2018

In this paper, we propose a method to estimate the number of biofouling attached to the surface of marine structures. This method estimates the number of biofouling by calculating the region maxima using images taken in underwater. To do this, we analyze the correlation between the region maxima and the number of biofouling. The analysis showed that there is a significant correlation between the number of region maxima and the number of biofouling. By using the results of this analysis, the experiments were conducted on images taken in the underwater. Experimental results show that the higher the region maxima of the image, is greater than the number of biofouling in the image. The proposed method can be used as an important technology in computer vision for underwater images.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.3
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• pp.164-173
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• 2014

In underwater robotics, vision would be a key element for recognition in underwater environments. However, due to turbidity an underwater optical camera is rarely available. An underwater imaging sonar, as an alternative, delivers low quality sonar images which are not stable and accurate enough to find out natural objects by image processing. For this, artificial landmarks based on the characteristics of ultrasonic waves and their recognition method by a shape matrix transformation were proposed and were proven in Part 1. But, this is not working properly in undulating and dynamically noisy sea-bottom. To solve this, we propose a framework providing a selection phase of likelihood candidates, a selection phase for final candidates, recognition phase and tracking phase in sequence images, where a particle filter based selection mechanism to eliminate fake candidates and a mean shift based tracking algorithm are also proposed. All 4 steps are running in parallel and real-time processing. The proposed framework is flexible to add and to modify internal algorithms. A pool test and sea trial are carried out to prove the performance, and detail analysis of experimental results are done. Information is obtained from tracking phase such as relative distance, bearing will be expected to be used for control and navigation of underwater robots.

• The Journal of the Convergence on Culture Technology
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• v.8 no.5
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• pp.541-546
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• 2022

This study is to analyze the effect of rapid rise in the rescue activity of suffering on the increase of reactive oxygen species. There is no study that tested the change rate of reactive oxygen species according to the rapid rise in 119 rescue workers, so we want to check the symptoms that appear in rescue workers' bodies. There were 5 subjects, and B, C, and E showed similar values before and after diving: 0.41µmol/L, 0.11µmol/L, and 0.87µmol/L, respectively. However, in subject D, the level of active oxygen rise before and after diving was significantly higher at 1.41µmol/L, which is believed to be due to increased anxiety caused by poor underwater visibility and increased fatigue during rapid ascent after underwater rescue activities. Subject A showed a significantly low increase in active oxygen before and after diving at 0.07µmol/L. The reason seems to be that A is 54 years old and has the most diving experience among the test subjects, and it seems that it is the result of receiving less stress from the poor watch due to the abundant experience of rescue activities as a 119 rescue worker and the skillful underwater activities. Fatigue and anxiety were both high at 4. It is thought that the psychological tension during underwater activities increased fatigue, and the turbidity of the underwater vision raised anxiet.

• Explosives and Blasting
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• v.22 no.3
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• pp.57-64
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• 2004

There are two major types of underwater blasting at Korea, bridges and harbor construction work. Pier blasting for lay the foundation bridges construction is used dry excavation working (drilling and charging) after pump out water and then fire pump in water that is same as bench blasting. In contrast, underwater blasting for harbor construction and increase of harbor load depth is used to barge with digging equipment that is in oder to drilling on the surface and blasting work(charge, hook-up) under water. Thus, there are need to special concern such as charge method and hook-up method different from tunnel blasting work and bench blasting work. If do not use special concern breaks out dead pressure and mis fire because of there are so many difficult condition such as water pressure, obstruct field of vision. In this study underwater blasting at Busan Harbor Construction have consider with special concern that is plastic pipe charge method used to MegaMITE I and specialized buoy hook- up method make far initial system detonate on the surface used to TLD. The results is designed blast pattern charge per delay effect an inspection of verify between predict velocity and measure velocity. minimized break out mis fire consideration charge method, hook up method. According to result best underwater blasting design is 105mm drilling dia, MeGAMITE II, HiNLL Plus(non electric detonator).

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.3
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• pp.56-62
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• 2010

Weakly electric fish uses active sensing to detect the distortion of self-generated electric field in the underwater environments. The active electrolocation makes it possible to identify target objects from the surroundings without vision in the dark sea. Weakly electric fish have many electroreceptors over the whole body surface of electric fish, and sensor readings from a collection of electroreceptors are represented as an electric image. Many researchers have worked on finding features in the electric image to know how the weakly electric fish identify the target object. In this paper, we suggest a new mechanism of how the electrolocation can recognize a given target object among object plants. This approach is based on the differential components of the electric image, and has a potential to be applied to the underwater robotic system for object localization.

• Journal of Korean Ophthalmic Optics Society
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• v.18 no.4
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• pp.357-363
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• 2013

Purpose: To investigate the visual function with prescription swimming goggles. Methods: 15 university students (mean age: $22{\pm}1.54$ years) participated, with a mean distance refractive error of RE: S-1.67 D/C-0.40 D, LE: S-1.70D/C-0.37 D. Inclusion criteria were no ocular pathology, able to wear soft contact lenses to correct their refractive error to emmetropia and able to swim. Participants were fitted with contact lenses to correct all ametropia. Subjective evaluation for satisfaction of visual acuity, asthenopia and balance were also measured using a questionnaire while wearing swimming goggles with cylinder (C+1.50 D, Ax $90^{\circ}$) compared with plano sphere outside the swimming pool area. Visual acuity was assessed using the same ETDRS chart. The prescription swimming goggles powers were assessed in random order and ranged in power from S+3.00 D to S-3.00 D in 0.50 D steps. Results: Subjective evaluation was significantly worse for the swimming goggles with cylinder than for the plano powered goggles for all 3 questions, visual acuity, asthenopia and balance. Visual acuity were significantly affected by the different power of the swimming goggles (p<0.05), but there was no significant difference between the in-air in-clinic and underwater in-swimming pool measures (p=0.173). However, visual acuity measured in the clinic was significantly better than underwater for some swimming goggle powers (+3.00, +1.00, +0.50, 0, -1.00 and -2.00 D). Conclusions: Wearing swimming goggles underwater may degrade the visual acuity compared to within air but as the difference is less than 1 line of Snellen acuity, and it is unlikely to result in significant real-life effects. Having an incorrect cylinder correction was found to be detrimental resulting in lower score of satisfaction. Considering slippery floor of swimming pool area, it can be a potential risk factor. Therefore, it is important to correct any refractive error in addition to astigmatism for swimming goggle.