• Journal of Ocean Engineering and Technology
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• v.30 no.3
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• pp.227-233
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• 2016

This paper presents an underwater structure 3D reconstruction method using a 2D multibeam imaging sonar. Compared with other underwater environmental recognition sensors, the 2D multibeam imaging sonar offers high resolution images in water with a high turbidity level by showing the reflection intensity data in real-time. With such advantages, almost all underwater applications, including ROVs, have applied this 2D multibeam imaging sonar. However, the elevation data are missing in sonar images, which causes difficulties with correctly understanding the underwater topography. To solve this problem, this paper concentrates on the physical relationship between the sonar image and the scene topography to find the elevation information. First, the modeling of the sonar reflection intensity data is studied using the distances and angles of the sonar beams and underwater objects. Second, the elevation data are determined based on parameters like the reflection intensity and shadow length. Then, the elevation information is applied to the 3D underwater reconstruction. This paper evaluates the presented real-time 3D reconstruction method using real underwater environments. Experimental results are shown to appraise the performance of the method. Additionally, with the utilization of ROVs, the contour and texture image mapping results from the obtained 3D reconstruction results are presented as applications.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.10
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• pp.148-158
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• 2015

It is difficult to test a detection system in underwater acoustics channel environments. The system can be evaluated by using simulation analysis tool. In this paper, a simulation tool is proposed to analyze the effectiveness of underwater acoustics detection based on database for real environments. First, the underwater environment is built based on HYCOM underwater environment database. Then, a multipath characteristic is considered through calculating underwater acoustics propagation path/pressure based on the ray theory. Also, hydrophone thermal noise and underwater ambient noise are considered to reflect underwater noise characteristics.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.23 no.4
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• pp.401-408
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• 2005

Presently many constructions establish in underwater, but approaching to underwater constructions are difficult, for comparing with ground, underwater environment is different in media. Usually measurement methods for underwater constructions are using tapes, using depth gauges, using acoustic positioning systems. But, tapes are hard to measure the correct distance, for applying a right tension is not easy in underwater. Depth gauges have a weakness in settling, for it takes long time to do it. Acoustic positioning systems don't work well in confined spaces and cost a lot. Hence, the purpose of this study is, at first, to understand rays path in multimedia like water, glass and air. The second thing is to perform a camera calibration at the field to compare with the interior orientation parameter. And the third thing is to find out whether photogrammetry is applied for underwater object in using cube for accuracy examination. The last thing is to perform underwater photogrammetry about underwater object, which is pier model and riverbed. We came to the conclusion through this experiment that the applying underwater photogrammerty for underwater constructions and underwater ground is possible.

• Journal of Conservation Science
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• v.37 no.4
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• pp.312-321
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• 2021

Underwater archaeology relies heavily on photography and video image recording during surveillances and excavations like ordinary archaeological studies on land. All underwater images suffer poor image quality and distortions due to poor visibility, low contrast and blur, caused by differences in refractive indices of water and air, properties of selected lenses and shapes of viewports. In the Yellow Sea (between mainland China and the Korean peninsula), the visibility underwater is far less than 1 m, typically in the range of 30 cm to 50 cm, on even a clear day, due to very high turbidity. For photographing 1 m x 1 m grids underwater, a very wide view angle (180°) fisheye lens with an 8 mm focal length is intentionally used despite unwanted severe barrel-shaped image distortion, even with a dome port camera housing. It is very difficult to map wide underwater archaeological excavation sites by combining severely distorted images. Development of practical compensation methods for distorted underwater images acquired through the fisheye lens is strongly desired. In this study, the source of image distortion in underwater photography is investigated. We have identified the source of image distortion as the mismatching, in optical axis and focal points, between dome port housing and fisheye lens. A practical image distortion compensation method, using customized image processing software, was explored and verified using archived underwater excavation images for effectiveness in underwater archaeological applications. To minimize unusable area due to severe distortion after distortion compensation, practical underwater photography guidelines are suggested.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.702-708
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• 2013

Underwater TRN (Underwater Terrain Referenced Navigation) estimates an underwater vehicle state by measuring a distance between the vehicle and undersea terrain, and comparing it with the known terrain database. TRN belongs to absolute navigation methods, which are used to compensate a drift error of dead reckoning measurements such as IMU (Inertial Measurement Unit) or DVL (Doppler Velocity Log). However, underwater TRN is different to other absolute methods such as USBL (Ultra-Short Baseline) and LBL (Long Baseline), because TRN is independent of the external environment. As a magnetic-field-based navigation, TRN is a kind of geophysical navigation. This paper develops an EKF (Extended Kalman Filter) formulation for underwater TRN. A filter propagation part is composed by an inertial navigation system, and a filter update is executed with echo-sounder measurement. For large-initial-error cases, an adaptive EKF approach is also presented, to keep the filter be stable. At the end, simulation studies are given to verify the performance of the proposed TRN filter. With simplified sensor and terrain database models, the simulation results show that the underwater TRN could support conventional underwater navigation methods.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.6
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• pp.641-648
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• 2009

Currently several kinds of sensor localization methods have been developed for terrestrial wireless sensor networks. This study, in order to extend the field to underwater environments, a localization technique is studied for UWSNs (Underwater Wireless Sensor Networks). In underwater environments, RF (Radio Frequency) signal is not suitable for underwater usage because of extremely limited propagation. Because of that reason UWSNs should be constituted with acoustic modems. But, to realize underwater application, we can borrow many design principles from ongoing research for terrestrial environments. So, in this paper we introduce the modified localization algorithm using ToA method which is based on the terrestrial research. First of all, we study the localization techniques for terrestrial environments where we investigate possible methods to underwater environment. And then the appropriate algorithm is presented in the underwater usage. Finally the proposed underwater based localization algorithm is evaluated by using computer.

• Journal of Ocean Engineering and Technology
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• v.13 no.4 s.35
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• pp.28-36
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• 1999

Wet underwater arc welding process is investigated by using experimentally developed flux coated underwater arc welding electrode and SS400 steel plate of 12mm thickness as base metal. Three kinds of different flux covered wet arc welding electrode of 4mm diameter(BK-01, BK-02, BK-03) are individually developed, and one of the improved underwater welding electrode (BK-03) may be put to practical use for underwater wet arc welding process. The results obtained from this experimental study are as follows : 1. Arc stability of developed underwater wet welding electrode is better than that of the domestic covered arc welding electrode. 2. Workability of welding electrode, remove ability of slag and bead appearances using improved underwater wet welding electrode are remarkably better than that of others. 3. Heat affected zone of test specimen welded in the underwater gets to become a lot smaller than that of test specimen welded in the air, and the maximum hardness of heat affect zone of developed underwater wet welding electrode is lower to that of domestic arc welding electrode.

• Journal of the Korea Concrete Institute
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• v.11 no.4
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• pp.21-29
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• 1999

In this study, an experiment was performed to analyze the influence of water-cement ratio on the fundamental characteristics of antiwashout underwater concrete using blended sand (sea sand:river sand = 1:1). The water-cement ratio (45%, 50%, 55%, 60%), andtiwashout underwater agent contents (0.82%, 1.00%, 1.14% of water contents per unit volume of concrete), and superplasticizer contents (1.5%, 2.0%, 2.5% of cement contents per unit volume of concrete) were chosen as the experimental parameters. The experimental results show that the underwater segregation resistance, unit weight of hardening concrete and compressive strength were increased as the water-cement ratio decreased and as the antiwashout underwater agent contents increased. On the other hand, the flowability(slump flow) was increased to the 55% of the increase of water-cement ratio, however, it was decreased at the ratio of 60%. From this study, the antiwashout underwater concrete can potentially be used as a materials underwater work of ocean if the water-cement ratio and chemical admixture contents for the suitable balance between cost and performance are properly selected.

• The Journal of the Korea institute of electronic communication sciences
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• v.12 no.6
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• pp.997-1002
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• 2017

Underwater communication, which is used acoustic channel of 1500[m/s] speed being different of wireless electric wave in terrestrial communication, is sensitive on water temperature and salinity and also affected from 3D underwater space. 3D underwater communication is sensitive on propagation loss of acoustic wave and underwater noise with complexity of communication space. In this paper, transmission performance with consideration of these characteristics of 3D underwater communication environments is measured and analyzed on MANET operated on 3D underwater communication environments. Some underwater MANET operation conditions will be suggested. Computer simulation with underwater simulator based on NS-2 will be used for performance measure, performance parameter like as throughput, transmission delay, packet loss rate and consumed energy will be used in simulation for performance measure.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2017.05a
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• pp.144-147
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• 2017

A hybrid rocket engine capable of thrust throttling and underwater-working was developed for the underwater high-speed vehicle propulsion system. The hybrid rocket engine was designed and made by two types of ground test motor and underwater working motors. An engine performance was verified by the ground tests with the ground test motor and in the case of underwater motors the ground tests and underwater tests were performed. For the underwater operation a two-stage ignition system was adopted and a rupture disc was installed at the end of nozzle for a water-tight just before an ignition. Successful ignition and propulsion were confirmed in the underwater test with the final selected double rupture disc.