• Journal of the Korean Society of Industry Convergence
• /
• v.21 no.6
• /
• pp.389-394
• /
• 2018

Remotely operated vehicle(ROV) and autonomous underwater vehicle(AUV) have been used for underwater surveys, underwater exploration, resource harvesting, offshore plant maintenance and repair, and underwater construction. It is hard for people to work in the deep sea. Therefore, we need a vision control system of underwater submersible that can replace human eyes. However, many people have difficulty in developing a deep-sea image control system due to the deep sea special environment such as high pressure, brine, waterproofing and communication. In this paper, we will develop an Ethernet based remote image control system that can control the image mounted on ROV.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.109.5-109
• /
• 2002

Autonomous underwater vehicles (AUVs) are unmanned underwater vessels to investigate sea environments, oceanography and deep-sea resources autonomously. Docking systems are required to increase the capability of the AUVs to recharge the batteries and to transmit data in real time in underwater. This paper presents a visual servo control system for an AUV to dock into an underwater station with a camera. To make the visual servo control system , this paper derives an optical flow model of a camera mounted on an AUV, where a CCD camera is installed at the nose center of the AUV to monitor the docking condition. This paper combines the optical flow equation of the camera with the AUV's equation o...

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
• /
• 2002.10a
• /
• pp.142-148
• /
• 2002

Autonomous underwater vehicles (AUVs) are unmanned underwater vessels to investigate sea environments, oceanography and deep-sea resources autonomously. Docking systems are required to increase the capability of the AUVs to recharge the batteries and to transmit data in real time for specific underwater works, such as repeated jobs at sea bed. This paper presents a visual servo control system for an AUV to dock into an underwater station with a camera mounted at the nose center of the AUV. To make the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and derives a state equation for the visual servoing AUV. This paper proposes a discrete-time MIMO controller minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servoing AUV, simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

• Geophysics and Geophysical Exploration
• /
• v.10 no.3
• /
• pp.173-182
• /
• 2007

It is well known that manganese nodules enriched with valuable metals are abundantly distributed in the abyssal plain area in the Clarion-Clipperton (C-C) fracture zone of the northeast Pacific. Previous studies using deep-sea camera (DSC) system reported different observations about the relation of seafloor topographic change and nodule abundance, and they were sometimes contradictory. Moreover, proper foundation on the estimation of DSC underwater position, was not introduced clearly. The variability of the mining condition of manganese nodule according to seafloor topography was examined in the Korea Deep Ocean Study (KODOS) area, located in the C-C zone. In this paper, it is suggested that the utilization of deep towing system such as DSC is very useful approach to whom are interested in analysing the distributional characteristics of manganese nodule filed and in selecting promising minable area. To this purpose, nodule abundance and detailed bathymetry were acquired using deep-sea camera system and multi-beam echo sounder, respectively on the seamount free abyssal hill area of southern part ($132^{\circ}10'W$, $9^{\circ}45'N$) in KODOS regime. Some reasonable assumptions were introduced to enhance the accuracy of estimated DSC sampling position. The accuracy in the result of estimated underwater position was verified indirectly through the comparison of measured abundances on the crossing point of neighboring DSC tracks. From the recorded seafloor images, not only nodules and sediments but cracks and cliffs could be also found frequently. The positions of these probable unminable area were calculated by use of the recorded time being encountered with them from the seafloor images of DSC. The results suggest that the unminable areas are mostly distributed on the slope sides and hill tops, where nodule collector can not travel over.

• Ocean and Polar Research
• /
• v.27 no.3
• /
• pp.335-339
• /
• 2005

The underwater positioning system is important in interpreting data that are acquired from towing vehicles such as the deep-sea camera (DSC) system. Currently, several acoustic positioning systems such as long baseline (LBL), short baseline (SBL), and ultra short baseline (USBL), are used for underwater positioning. The accurate position of DSC, however, could not be determined in a R/V Onnuri unequipped with any of these underwater positioning systems. As an alternative, the DSC position was estimated based on the topography of towing track and cable length in the cruises before 1999. The great uncertainties, however, were found in the areas of flat bottom topography. In the 2003 and 2004 cruises these uncertainties were reduced by calculating the position of DSC with the cable length and seafloor depth below the vessel. The Japanese cruises for Mn-nodule used a similar estimation method for the DSC positioning system with a CTD sensor. Although the latter can provide better information for the position of DSC, the USBL underwater positioning system is strongly recommended for establishing better positioning of DSC and other towing devices.

• Journal of Navigation and Port Research
• /
• v.42 no.1
• /
• pp.1-8
• /
• 2018

This study covers the selection of systems measuring the behaviour of the slender structure in the underwater environment and its performance assessment. From a comparison of an instrumentation system that can measure the continuous behaviour along the entire length of the slender structure, the underwater camera system is finally selected as the most appropriate semi-permanent measurement system for Deep-sea Ocean Engineering Basin of KRISO. An experiment on the rigid pipes for a basic performance evaluation of the underwater camera is conducted in this study. The motion of a top excited rigid pipe is measured with the utilization of the underwater camera system. The performance of the underwater camera is evaluated by comparing the movement of a pipe measured by the underwater camera with the measured input signals. Through the top excitation experiment for the slender structure, the real-time three-dimensional measurement of the underwater camera system is qualitatively evaluated in this case. The developed underwater camera system can apply to the system to measure dynamic behaviour of a slender structure and mooring line in Deep Ocean Engineering Basin.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.45 no.3
• /
• pp.151-156
• /
• 2009

This study shows that the distribution density of snow crab, Chionoecetes opilio, was estimated using an underwater video monitoring system attached on the towing sledge. The field experiments were carried out at the coastal waters around Chuksan, East Sea, where ranged from 110 to 130m depth during September and October 2007. The sledge was towed for 40 minutes and the towing speed was controlled between 1.5 to 1.7 knot and each research areas were calculated to multiply towed distance by the detection width of the video monitoring system(1.2m), and then, distribution density of snow crab in each observations were estimated as a counted number of crab per 1,000$m^2$. The result shows that their survey, taken between two months, reflected similar results during survey period, and the maximum and mean distribution densities in September estimated to be 77.0(number/1,000$m^2$) and 19.9, respectively, and those of October were 36.0 and 21.8, respectively.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.27 no.6
• /
• pp.679-688
• /
• 2009

Worldwide exploring and research for manganese nodules, as new energy resource, distributed on the deep seabed have progressed recently. Korea Ocean Research & Development Institute(KORDI) is a central organization to exploit the manganese nodules in the Pacific Ocean with 5,000m depth. Precise exploration is required for estimating amount of recoverable deposit, and this task could be accomplished by processing digital image processing techniques to the images taken by underwater camera system. Image processing and analysis provide information about characteristics of distribution of the manganese nodules. This study proposed effective methods to remove vignetting effect to improve image quality and to extract information. The results show more reliable information could be obtained by removing the vignetting and feasibility of utilizing image processing techniques for exploring the manganese nodules.

• KEPCO Journal on Electric Power and Energy
• /
• v.5 no.3
• /
• pp.149-156
• /
• 2019

In the field of maintenance of power transmission lines, drones have been used for their patrol and inspection by KEPCO since 2017. This drone technology was originally developed by KEPCO Research Institute, and now workers from four regional offices of KEPCO have directly applied this technology to the drone patrol and inspection tasks. In the drone inspection system, a drone with an optical zooming camera and a thermal camera can fly automatically along the transmission lines by the ground control system developed by KEPCO Research Institute, but its camera gimbal has been remotely controlled by a field worker. Especially the drone patrol and inspection has been mainly applied for the transmission lines in the inaccessible areas such as regions with river-crossings, sea-crossings and mountains. There are often communication disruptions between the drone and its remote controller in such extreme fields of mountain areas with many barriers. This problem may cause the camera gimbal be out of control, even though the inspection drone flies along the flight path well. In addition, interference with the reception of real-time transmitted videos makes the field worker unable to operate it. To solve these problems, we have developed the auto-tracking camera gimbal system with deep learning method. The camera gimbal can track the transmission line automatically, even when the transmitted video on a remote controller is intermittently unavailable. To show the effectiveness of our camera gimbal system, its field test results will be presented in this paper.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1550-1554
• /
• 2004

This paper deals with an unmanned vehicle system configuration using all terrain vehicle. Many research institutes and university study and develop unmanned vehicle system and control algorithm. Now a day, they try to apply unmanned vehicle to use military device and explore space and deep sea. These unmanned vehicles can help us to work is difficult task and approach. In the previous research of unmanned vehicle in our lab, we used 1/10 scale radio control vehicle and composed the unmanned vehicle system using ultrasonic sensors, CCD camera and kinds of sensor for vehicle's motion control. We designed lane detecting algorithm using vision system and obstacle detecting and avoidance algorithm using ultrasonic sensor and infrared ray sensor. As the system is increased, it is hard to compose the system on the 1/10 scale RC car. So we have to choose a new vehicle is bigger than 1/10 scale RC car but it is smaller than real size vehicle. ATV(all terrain vehicle) and real size vehicle have similar structure and its size is smaller. In this research, we make unmanned vehicle using ATV and explain control theory of each component