• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2016.10a
• /
• pp.961-964
• /
• 2016

This paper describes the implementation of AUSV system for Sonar Image acquisition. The system be controlled by FF-PID algorithm for the thrusters using motion sensor and DGPS. As experimental results, the control performance is that the error distance from the destination positions are under 5m in total survey track of 1km, and the image deviation is under 12 pixel from the manned survey method, which the comparison with the total image quality is almost the same as the manned survey one. Thus the AUSV system is a new method of system can be utilized on the limited survey area as the surveyor should not be able to approach on sea surface.

• Journal of Ocean Engineering and Technology
• /
• v.28 no.5
• /
• pp.440-451
• /
• 2014

A multi-static SONAR system consists of the transmitters and receivers separately in space. The active target echoes are received along the transmitter-target-receiver path and depend on the shape and aspect angle of the submerged objects at each receiver. Thus, the target echo algorithm used with a mono-static system, in which the transmitter and receiver are located at the same position, has limits in simulating the target echoes for a multi-static SONAR system. In this paper, a target echo modeling procedure for a 3D submerged object in space is described based on the Kirchhoff approximation, and the SONAR system is extended to a multi-static SONAR system. The scattered field from external structures is calculated on the visible surfaces, which is determined based on the locations of the transmitter and receiver. A series of experiments in an acoustic water tank was conducted to measure the target echoes from scaled targets with a single transmitter and 16 receivers. Finally, the numerical results were compared with experimental results and shown to be useful for simulating the target echoes/target strength in a multi-static SONAR system.

• Journal of Advanced Marine Engineering and Technology
• /
• v.38 no.7
• /
• pp.844-853
• /
• 2014

Since the active sonar for a naval vessel is usually installed in a bulbous bow, GRP(Glass reinforced plastic) material with low density and high strength is used for the material of the sonar dome window in order to prohibit impact by slamming wave or foreign material in the sea. The structural safety of the sonar dome is varied according to the interior and exterior distributed pressure on the sonar dome. Therefore, the variation of the structural safety according to the pressure variation of the sonar dome window caused by the drain valve state is studied by CAE.

• The Journal of Korea Robotics Society
• /
• v.15 no.1
• /
• pp.8-15
• /
• 2020

This research is a case study of underwater object tracking based on real-time recurrent regression networks (Re³). Re³ has the concept of generic object tracking. Because of these characteristics, it is very effective to apply this model to unclear underwater sonar images. The model also an pursues object tracking method, thus it solves the problem of calculating load that may be limited when object detection models are used, unlike the tracking models. The model is also highly intuitive, so it has excellent continuity of tracking even if the object being tracked temporarily becomes partially occluded or faded. There are 4 types of the dataset using multi-beam sonar images: including (a) dummy object floated at the testbed; (b) dummy object settled at the bottom of the sea; (c) tire object settled at the bottom of the testbed; (d) multi-objects settled at the bottom of the testbed. For this study, the experiments were conducted to obtain underwater sonar images from the sea and underwater testbed, and the validity of using noisy underwater sonar images was tested to be able to track objects robustly.

• The Journal of the Acoustical Society of Korea
• /
• v.22 no.3
• /
• pp.224-232
• /
• 2003

In this paper, efficient deployment method of sensors and target positioning performance with respect to measurement error are dealt with. Active sonar can be categorized into Monostatic, Bistatic, Multistatic sonar, and characteristics of respective sonar are different. Assuming that each sensor can receive range and angular information, we compare the performance of Monostatic, Bistatic, and Multistatic systems. And we suggest Weighted least square (WLS) which gives the weight to former case, LS. In particular. adopting suggested method we investigate the target positioning performance according to number of sensor, distance from transmitter to receiver, and propose efficient arrangement rule for Multistatic sonar configurations. According to the experimental results, RMSE of Multistatic sonar is found to be superior to Monostatic and Bistatic by 35.98%. 37.45% respectively, and WLS is superior to LS approximately by 7.4% in average. Furthermore, as the difference of respective sensor's variance is large, it is observed that the improvement ratio of target positioning performance is increased.

• Korean Journal of Remote Sensing
• /
• v.13 no.2
• /
• pp.133-150
• /
• 1997

The purpose of this paper is to develop an algorithm of classification and interpretation of seafloor based on side scan sonar data. The algorithm consists of mosaicking of sonar data using navigation data, correction and compensation of the acouctic amplitude data considering the charateristics of the side scan sonar system, and segmentation of the seafloor using digital image processing techniques. The correction and compensation process is essential because there is usually difference in acoustic amplitudes from the same distance of the port-side and the starboard-side and the amplitudes become attenuated as the distance is increasing. In this paper, proposed is an algorithm of compensating the side scan sonar data, and its result is compared with the mosaicking result without any compensation. The algorithm considers the amplitude characteristics according to the tow-fish's depth as well as the attenuation trend of the side scan sonar along the beam positions. This paper also proposes an image segmentation algorithm based on the texture, where the criterion is the maximum occurence related with gray level. The preliminary experiment has been carried out with the side scan sonar data and its result is demonstrated.

• The Journal of the Acoustical Society of Korea
• /
• v.41 no.4
• /
• pp.419-425
• /
• 2022

This paper aims to evaluate the acoustic detection performance for the deployment of the source and receiver positions of a bi-static sonar. In contrast with a mono-static sonar, a bi-static sonar has a large amount of computation and complexity for deployment. Therefore, in this study, we propose an assessment method that reduces the amount of computation while considering the variability of the ocean environment as a method to apply to the placement of the source and receiver of a bi-static sonar. First, we assume the representative ocean environment in the shallow and deep water. The signal excess is calculated with the source to receiver ranges and sensor depths. And the result is compared with the proposed assessment method of acoustic detection performance.

• The Journal of the Acoustical Society of Korea
• /
• v.43 no.4
• /
• pp.437-444
• /
• 2024

Bistatic sonar performance varies significantly depending on the ocean environment, the location (latitude, longitude) and water depth of the source and receiver. Therefore, research on optimal deployment of bistatic sonar considering ocean environment is necessary. In this study, we suggest an algorithm to optimize the location and water depth of source and receiver when operating monostatic and bistatic sonar on two spatially separated surface ships in the Ulleung Basin in the East Sea. A particle swarm optimization algorithm was used to search the location and water depth of the source and receiver to maximize the detectable area within the search area. As a result of performing bistatic sonar deployment using the algorithm proposed in this study, the detectable area increased as the number of model iterations increased. Additionally, it was confirmed that the source and receiver on the two surface ships converged to the optimal location and water depth.

• The Journal of the Acoustical Society of Korea
• /
• v.41 no.5
• /
• pp.481-491
• /
• 2022

The active sonar transmission system consists of a transmitter that outputs an electrical signal and an underwater acoustic transducer that converts the amplified electrical signal into an acoustic signal. In general, the transmitter output characteristics are dependent on load impedance, and an underwater acoustic transducer, which is a transmitter load, has a characteristic that the electrical impedance varies largely according to frequency when driven. In such a variable impedance condition, the output of the active sonar transmission system may become unstable. Hence, this paper proposes a design and control technique of a sonar transmitter for transmitting a stable transmission signal even under variable impedance conditions of an underwater acoustic transducer in an active sonar transmission system. The electrical impedance characteristics of the underwater acoustic transducer are experimentally analyzed, and the sonar transmitter is composed of a single-phase full-bridge inverter, an LC filter, and a matching circuit. In this paper, the design and output control method of the sonar transmitter is proposed to protect the transmitter and transducer. It can secure stable output voltage characteristics even if it transmits the Linear Frequency Modulation (LFM) signal. The validity is verified through the simulation and the experiment.

• Proceedings of the Acoustical Society of Korea Conference
• /
• autumn
• /
• pp.275-280
• /
• 1999

Deep-water sonar transducers of FFR (Free Flooded Ring) type have been designed using a coupled FE-BEM. The proposed sonar transducers are composed of piezoelectric ceramic tubes and structural steel materials for simple fabrication. In order to have an omnidirectional beam pattern around 30 kHz, a conic steel is placed below a piezoelectric tube or a steel disc is placed between two piezoelectric tubes. The dynamics of the sonar transducer is modelled in three dimensions and is analyzed with external electrical excitation conditions. Various results are available such as directivity patterns and transmitting voltage responses. The most optimal structure and dimensions of the steel material were calculated, so that the beam patterns of the sonar transducers had +/- 3 dB omnidirectivity at 30 kHz.