• 한국음향학회지
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• 제39권4호
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• pp.292-302
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• 2020

기계학습 알고리즘은 소나 및 레이더를 포함한 다양한 분야에서 사용되고 있다. 최근 개발된 GAN(Generative Adversarial Networks)의 변형인 Cycle-Consistency Generative Adversarial Network(CycleGAN)은 쌍을 이루지 않은 이미지-이미지 변환에 대해 검증된 네트워크이다. 본 논문에서는 높은 품질로 수중 선박 엔진음을 변환시킬 수 있는 변형된 CycleGAN을 제안한다. 제안된 네트워크는 수중 음향을 기존영역에서 목표영역으로 변환시키는 생성자 모델과 데이터를 참과 거짓으로 구분하는 개선된 식별자 그리고 변환된 수환 일관성(Cycle Consistency) 손실함수로 구성된다. 제안된 CycleGAN의 정량 및 정성분석은 공개적으로 사용 가능한 수중 데이터 ShipsEar을 사용하여 기존 알고리즘들과 Mel-cepstral분포, 구조적 유사 지수, 최소 거리 비교, 평균 의견 점수를 평가 및 비교함으로써 수행되었고, 분석결과는 제안된 네트워크의 유효성을 입증하였다.

• 한국해양공학회지
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• 제30권5호
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• pp.400-404
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• 2016

This paper presents experimental results for the vibration characteristics of the small unmanned underwater vehicle (UUV) OPKO 300, which was designed and manufactured by Daewoo ship and Marine Engineering Ltd. The autonomy of UUVs has led to an increase in their use in scientific, military, and commercial areas because their autonomy makes it possible for UUVs to be utilized instead of humans in hazardous missions such as mine countermeasure missions (MCM). Since it is impossible to use devices based on electromagnetic waves to gather information in an underwater environment, only sonar systems, which use sound waves, can be used in underwater environments, and their performance can strongly affect the autonomy of a UUV. Since a thruster system, which combines a motor and propeller in a single structure, is widely used as the propulsion system of a UUV and is mounted on the outside of a UUV’s stern, it can generate vibration, which can be transferred throughout the shell of the UUV from its stern to its bow. The transferred vibration can affect the performance of various sonar systems such as side-scan sonar or forward-looking sonar. Therefore, it is necessary to estimate the effect of the transferred vibration of the UUV on the sonar systems. Even if various numerical methods were used to analyze the vibration problem of a UUV, it would be hard to predict the vibration phenomena of a UUV at the initial design stage. In this work, an experimental study using OKPO 300 and an impact hammer was carried out to analyze the vibration feature of a small real UUV in the air. The frequency response function of the vibration based on the experimental results is presented.

• 한국소음진동공학회논문집
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• 제26권5호
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• pp.528-535
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• 2016

The vibration of a ship gives a significant effect on the noise radiated into the water. This paper focused on the vibration of ship hull due to the sub-generator located on the deck in the anchored condition. The contributions of the transfer paths between sub-generator and ship hull were analyzed using the TPA and the OTPA method. While the sub-generator was operation and the main engine was turned off, the vibrations were measured simultaneously at the 38 locations of the ship and the one hydrophone was arranged to measure the underwater radiated noise at the overside ship. The results of the transfer path by applying TPA and OTPA were compared and discussed. As a result of these methods, the top of stovepipe and valve are contributive. Reinforcing these structures is the most effective to reduce the vibration of ship hull.

• 수산해양기술연구
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• 제41권2호
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• pp.156-164
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• 2005

The size of the ship's turning circle is influenced by various factors, such as block coefficient, underwater side shape, rudder area ratio, draft, trim and Froude's number. Most of them are already fixed on departure from a port. However, the ship's speed and the rudder angle are controllable factors which operations are able to change optionally during sailing. The DGPS measured the turning circles according to the ship's speed and the rudder angle. The maximum advances by slow and full ahead were 302m and 311m, and the maximum transfers were 460m and 452m, respectively. There occurs almost no difference in size of the turning circle by variation of the ship's speeds. When the rudder angles were changed to $10^{\circ}$, $20^{\circ}$ and $30^{\circ}$, the maximum advances were 447m, 271m and 202m, and then also the maximum transfers 657m, 426m and 285m, respectively. The diameter of the tuning circle was decreased exponentially when the rudder angle was increased. The maneuverability was better when the direction of turning and propulsion of propeller are in the opposite direction rather than in the same one togetherm. The distance of the maximum transfer was always bigger than that of the maximum advance.

• 한국정보통신학회논문지
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• 제13권8호
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• pp.1534-1542
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• 2009

본 논문은 SSB(Single Side Band) 변조 기법을 이용하여 실제 해상에서 실험을 수행한 결과를 분석하였다. 현재 수중 통신 분야에서의 연구는 디지털 변조 기법 및 OFDM(Orthogonal Frequency Division Modulation)이나 MIMO(Multiple Input Multiple Output) 시스템을 적용하고 있으나, 실제 해상에서 사용되는 상용 통신기로는 아날로그 변조 방식을 많이 사용하고 있다. 그에 따라 본 연구에서는 한국 해양 특성에 맞는 고품질의 수중 통신기기 개발을 목적으로 실험을 수행하였다. 실험은 SSB 아날로그 변조 기법으로 경상남도 진해 연안 천해의 조건에서 수행되었으며, 실제적인 채널의 영향을 해석하기 위해 도플러 효과, 잔향 특성, 전달 특성 등을 분석하였다. 결과적으로 수중 통신에 있어서 잔향과 배에서 방사되는 잡음이 가장 큰 장애 요인임을 확인하였다.

• International Journal of Naval Architecture and Ocean Engineering
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• 제4권1호
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• pp.9-19
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• 2012

A set of equations of motion is derived for vibratory motions of an underwater cable connected to a moving vehicle at one end and with drogues at the other end. From the static analysis, cable configurations are obtained for different vehicle speeds and towing pretensions are determined by fluid resistance of drogues. Also the dynamic analysis is required to predict its vibratory motion. Nonlinear fluid drag forces greatly influence the dynamic tension. In this study, a numerical analysis program was developed to find out the characteristic of cable behaviour. The motion is described in terms of space and time coordinates based on Chebyshev polynomial expansions. For the spatial integration the collocation method is employed and the Newmark method is applied for the time integration. Dynamic tensions, displacements, velocities, accelerations were predicted in the time domain while natural frequencies and transfer functions were obtained in the frequency domain.

• International Journal of Ocean System Engineering
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• 제1권2호
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• pp.60-67
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• 2011

This paper presents an in-situ correction method to compensate for the position error of an autonomous underwater vehicle (AUV) near the sea floor. AUVs generally have an inertial navigation system assisted with auxiliary navigational sensors. Since the inertial navigation system shows drift in position without the bottom reflection of a Doppler velocity log, external acoustic positioning systems, such as an ultra short baseline (USBL), are needed to set the position without surfacing the AUV. The main concept of the correction method is as follows: when the AUV arrives near the sea floor, the vehicle moves around horizontally in a circular mode, while the USBL transceiver installed on a surface vessel measures the AUV's position. After acquiring one data set, a least-square curve fitting method is adopted to find the center of the AUV's circular motion, which is transferred to the AUV via an acoustic telemetry modem (ATM). The proposed method is robust for the outlier of USBL, and it is independent of the time delay for the data transfer of the USBL position with the ATM. The proposed method also reduces the intrinsic position error of the USBL, and is applicable to the in-situ calibration as well as the initialization of the AUVs' position. Monte Carlo simulation was conducted to verify the effectiveness of the method.

• 한국정보통신학회논문지
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• 제17권7호
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• pp.1577-1582
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• 2013

본 논문에서는 수조에서 실험을 통해 획득한 데이터를 이용하여 MIMO (Multi-Input Multi-Output) 수중음향통신의 성능을 분석하였다. 이를 위하여 먼저 여러 송수신 위치에서 채널 전달 특성을 측정하였다. 송신신호는 QPSK (Quadrature Phase Shift Keying)로 변조하였으며, 수신신호는 Zero Forcing 등화기 등을 포함하는 검출기를 거쳐 복원되었다. 실험이 이루어진 수조 환경이 물리적으로 폐쇄된 매우 심한 다중 경로 전달 환경이어서 최대 30~40 ms의 지연 현상이 나타났다. 실험 결과 송신 및 수신 센서가 각각 두 개인 $2{\times}2$ MIMO 시스템을 사용하였을 때 채널 특성으로 인해 비트 오차율이 비교적 크게 나타났지만 SISO (Single-Input Single-Output) 시스템에 비해 약 15% 정도 향상된 성능을 갖는 것을 확인하였다.

• 한국음향학회지
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• 제40권4호
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• pp.359-369
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• 2021

수중통신에서 빠른 채널 특성의 변화에 따른 성능 감소를 보상하기 위해, 동일한 데이터를 여러 개의 주파수 대역으로 전송하는 다중 밴드 기법을 적용한다. 그러나 다중 밴드의 적용 시 특정한 밴드의 성능 열화로 전체 성능이 감소하는 현상이 발생한다. 이를 극복하기 위해 각 밴드의 오류율을 분석하여 성능이 열악한 밴드에 낮은 가중치를 할당할 수 있다. 따라서 본 논문에서는 추정 Bit Error Rate(BER)을 이용한 가중치 설정 방법을 제안한다. 추정 BER을 이용한 가중치 설정 방식은 복호 된 데이터와 복조 후 데이터의 성능 차이를 이용하여 수신된 데이터의 신뢰도를 측정하며, 측정된 값을 이용하여 각 밴드별 가중치를 설정해 복호기로 입력하면 성능이 향상된다. 본 논문에서는 터보 부호화 기법을 적용하였으며 시뮬레이션을 이용하여 최적의 가중치 값을 설정해 해상 실험을 한 결과 추정 BER을 이용한 가중치 설정을 통해 오류를 모두 정정할 수 있었다.

• International Journal of Computer Science & Network Security
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• 제23권7호
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• pp.1-8
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• 2023

An Orthogonal Frequency Division Multiplexing (OFDM) based wireless communication system has drawn wide attention for its high transmission rate and high spectrum efficiency in not only radio but also Underwater Acoustic (UWA) applications. Because of the narrow sub-carrier spacing of OFDM, orthogonality between sub-carriers is easily affected by Doppler effect caused by the movement of transmitter or receiver. Previously, Doppler compensation signal processing algorithm for Desired propagation path was proposed. However, other Doppler shifts caused by delayed Undesired signal arriving from different directions cannot be perfectly compensated. Then Receiver Bit Error Rate (BER) is degraded by Inter-Carrier-Interference (ICI) caused in the case of Multi-path Doppler channel. To mitigate the ICI effect, a modified Delay and Doppler Profiler (mDDP), which estimates not only attenuation, relative delay and Doppler shift but also sampling clock shift of each multi-path component, is proposed. Based on the outputs of mDDP, an ICI canceling multi-tap equalizer is also proposed. Computer simulated performances of one-tap equalizer with the conventional Time domain linear interpolated Channel Transfer Function (CTF) estimator, multi-tap equalizer based on mDDP are compared. According to the simulation results, BER improvement has been observed. Especially, in the condition of 16QAM modulation, transmitting vessel speed of 6m/s, two-path multipath channel with direct path and ocean surface reflection path; more than one order of magnitude BER reduction has been observed at CNR=30dB.