• 제어로봇시스템학회논문지
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• 제19권8호
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• pp.688-693
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• 2013

This paper proposes a new method on attitude control of an underwater robot by using five ABTs (Attitude Ballast Tank). A pipe is connected to the bottom of the ABTs and transfers water by a pump, while another pipe is connected to the top of the ABT to transfer air. The buoyancy center of the underwater robot can be changed by means of the water transfer. This way, the attitude of the underwater robot can be maintained and/or controlled as desired. The changes of the center of gravity and the buoyancy central are estimated by a Lagrangian function which is similar to that for an inverted pendulum. The controller in this paper is designed by modeling of the underwater robot and selecting suitable gains of a PD controller which has fast response characteristics. This paper shows the possibility of the attitude control of an underwater robot by changing the center of gravity and the buoyancy center of the robot. Moreover, experimental results verify that the controller is effective in maintaining Roll/Pitch of the underwater robot with very low power consumption.

• 한국멀티미디어학회논문지
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• 제18권4호
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• pp.506-523
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• 2015

The intent is to determine whether or not the custody transfer is helpful for data transmission in challenging underwater communications when running Bundle protocol or underwater protocols. From the point of view defending side, Underwater Acoustic Network (UAN) will be a serious threat for its strong functionality long rang and high precision of surveillance and detection. Therefore, countermeasures must be taken to weaken its effect. Our purpose is analyzed that how to benefit from the UIoT to learn from, exploit and preserve the natural underwater resources. Delay/Disruption Tolerant Network (DTN) is essential part of the network heterogeneity communication network. The vulnerability and potential security factors of UIoT are studied thereafter. Security mechanisms for an underwater environment are difficult to apply owing to the limited bandwidth. Therefore, for underwater security, appropriate security mechanisms and security requirements must be defined simultaneously. The paper consists of mathematical and security model. Most important point of view in the security challenges of effective Buffer and Storage management in DTN.

• IEIE Transactions on Smart Processing and Computing
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• 제6권3호
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• pp.141-150
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• 2017

Images obtained from underwater are usually degraded due to the environmental conditions. Some of the typical degradation factors include turbidity and color degradation. These degradations can be attributed to the absorptive and scattering properties of underwater degradation in terms of optical parameters, such as modulation transfer function (MTF), optical transfer function (OTF),point spread function (PSF), and color constancy. In this paper, we use the CODE V optical simulation software to mimic underwater conditions and model the imaging platform, thereby studying various parameters, such as PSF and MTF, and we use the PSF to remove the underwater turbidity. Experimental results show increased performance with the algorithm, compared to other existing methods.

• 한국전자파학회논문지
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• 제29권11호
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• pp.851-856
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• 2018

본 논문에서는 수중 환경에서 자기공진기반 무선전력전송 특성을 분석하고, 수중 무선전력전송에 적합한 등가모델을 제시한다. 제안하는 수중 무선전력전송 등가모델은 자유공간 무선전력전송 T 등가모델을 확장하여 매질에 따른 전자기장 감쇠를 반영한 저항, 공진주파수 변화 및 상호인덕턴스 변화를 반영한 커패시터 및 인덕터를 포함한다. 전송매질인물의 염도에 따른 S 파라미터를 기반으로 제안한 등가모델의 변수를 추출하는 방법을 제시하였다. 제안하는 모델을 검증하기 위하여 6.78 MHz 수중 무선전력전송 시스템을 구축하고, 모델의 전력전송효율 계산 값과 측정값을 비교하였으며, 그 결과 제안하는 모델은 평균 3 % 이내 오차로 특성변화를 예측함을 확인하였다.

• Ocean Systems Engineering
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• 제10권4호
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• pp.435-449
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• 2020

This paper proposes a method to estimate the underwater target object's yaw angle using a sonar image. A simulator modeling imaging mechanism of a sonar sensor and a generative adversarial network for style transfer generates realistic template images of the target object by predicting shapes according to the viewing angles. Then, the target object's yaw angle can be estimated by comparing the template images and a shape taken in real sonar images. We verified the proposed method by conducting water tank experiments. The proposed method was also applied to AUV in field experiments. The proposed method, which provides bearing information between underwater objects and the sonar sensor, can be applied to algorithms such as underwater localization or multi-view-based underwater object recognition.

• International Journal of Computer Science & Network Security
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• 제23권1호
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• pp.96-102
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• 2023

In this paper, we proposed Channel Transfer Function estimation based on Delay and Doppler Profile for underwater acoustic OFDM communication system. It improved the estimation accuracy of the channel transfer function by linear time interpolation the change of Scattered Pilot (SP) insertion frequency in the time direction and the time by Delay and Doppler profile that analyzes the multipath situation of the channel investigated the performance of interpolation by simulation and report it. Previous works is inserted SP every 4 OFDM. It was effective under the environment without multipath, but it has observed that the effect of CTF compensation has been lowered in multipath channel condition. In addition to be better when inserted SP every 2 OFDM. But the amount of sending data will be decrease. Therefore, we conducted research to improve 4 OFDM with new interpolator. A computer simulation was performed as a comparison of SP inserted every 4 OFDM, SP inserted every 2 OFDM, and 4 OFDM with new interpolator. the performance of the proposed system is overwhelmingly improved, and the performance is slightly improved even 64 QAM.

• 융합신호처리학회논문지
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• 제12권1호
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• pp.44-49
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• 2011

The need of data transmission in oceans and other underwater mediums are increasing day by day, so as the research. The underwater medium is very different from that of air. Propagation of electromagnetic wave in water or underground is very difficult because of the conductivity of the propagation materials. In this case, we usually use acoustic signals as ultrasonic but, they are not easy to transfer long distance with coherent method because of time varying multipaths, Doppler effects and attenuations. So, we use non-coherent methods such as FSK or ASK to communicate between long distances. But, as the propagation speed of acoustic wave is very slow, BW of the channel is narrow. It is very hard to guaranty the enough speed for the transmission of digital image data. In previous studies, we proposed this data communication protocol theoretically. In this paper, an underwater channel is modeled and this protocol is tested in this channel condition. The results show that the protocol is 4-6 times faster than ASK. Some relations and results are shown depending on the data length, channel length, bit rate etc.

• 한국전자통신학회논문지
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• 제17권5호
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• pp.853-858
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• 2022

본 논문에서는 레이저 다이오드를 활용하여 수중 광 전력과 수중 광 무선통신의 동시전송을 연구하고 이에 대한 실험 결과를 보인다. 본 실험에서는 송신부에 전/광 변환을 위한 레이저 다이오드를 사용하고 수신부에는 광/전 변환을 위한 태양전지를 사용하였다. 수중 전송 실험을 위해서는 플라스틱 관에 물을 채워 구현하였으며, 수중 광 무선통신 및 수중 광 무선충전을 위해 레이저 송신단과 수신단 시스템을 최적화하였다. 본 실험에서는 100 mW 급 레이저를 사용하였으며, 레이저의 최대 전/광 변환효율을 18.5 % 였다. 수중 광 무선충전 및 수중 광 무선통신의 동시전송 실험결과, 수중에서 최대 5 m 전송시에 0.33 %의 DC-to-DC 전송효율을 보였으며, 수중 무선 광통신은 수중에서 1 m 전송시에 최대 50 kbps의 전송속도를 보였다.

• 제어로봇시스템학회논문지
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• 제15권6호
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• pp.567-572
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• 2009

The underwater launch system using an ATP consists of five parts: compressor tank, proportional flow control servo valve, expulsion spool valve, air turbine pump, and discharge tube. The purpose of this study is to develop an underwater launch system using an ATP and to verify the validity of the system. The proportional flow control servo valve is modeled as a 2nd order transfer function. The projectile is ejected by pressurized water through the air turbine pump, which is controlled by expulsion valve. The mathematical model is derived to estimate the dynamic characteristics of the system, and the important design parameters are derived by using simulations. The computer simulation results show the dynamic characteristics and the possibility of control for underwater launch system.

• 로봇학회논문지
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• 제15권1호
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• pp.1-7
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• 2020

In this paper, we introduce the methodology that utilizes deep learning-based front-end to enhance underwater feature matching. Both optical camera and sonar are widely applicable sensors in underwater research, however, each sensor has its own weaknesses, such as light condition and turbidity for the optic camera, and noise for sonar. To overcome the problems, we proposed the opti-acoustic transformation method. Since feature detection in sonar image is challenging, we converted the sonar image to an optic style image. Maintaining the main contents in the sonar image, CNN-based style transfer method changed the style of the image that facilitates feature detection. Finally, we verified our result using cosine similarity comparison and feature matching against the original optic image.