• 로봇학회논문지
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• 제11권3호
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• pp.146-155
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• 2016

Localization of underwater vehicle is essential to use underwater robotic systems for various applications effectively. For this purpose, this paper presents a method of two-dimensional SLAM for underwater vehicles equipped with two hydrophones. The proposed method uses directional angles for underwater acoustic sources. A target signal transmitted from acoustic source is extracted using band-pass filters. Then, directional angles are estimated based on Bayesian process with generalized cross-correlation. The acquired angles are used as measurements for EKF-SLAM to estimate both vehicle location and locations of acoustic sources. Through these processes, the proposed method provides reliable estimation for two dimensional locations of underwater vehicles. Experimental results demonstrate the performance of the proposed method in a real sea environment.

• International Journal of Naval Architecture and Ocean Engineering
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• 제11권2호
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• pp.865-874
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• 2019

A controller for an underwater glider is presented. Considered underwater glider is a torpedo-shaped autonomous underwater vehicle installing adjustable buoyancy bag and movable battery in it. The controller is composed of an LQR controller to maintain zigzag vertical movement for gliding and two PD controllers to control elevator/rudder angles. The LQR controller controls the pumping speed into the buoyancy bag and the moving speed to locate the battery. One of the PD controller controls the elevator angle to assist the LQR controller, and the other controls the rudder angle to adjust the direction of the underwater glider. A reduced order Luenberger observer is adopted to estimates the center of gravity of the glider and the buoyancy mass that are essential but cannot be measured. Mathematical simulation using Matlab proved the validity of the proposed controller to obtain better performance than conventional LQR only controller under the influence of sea current.

• 한국해양공학회지
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• 제1권2호
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• pp.67-73
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• 1987

The feasibility for a practical use of underwater wet arc welding process is experimentally investigated by using low hydrogen and high oxide type electrodes and TMCP steel plates. Main results are summarized as follows: 1)The absorption speed of the coated low hydrogen and high titanium oxide type eletrodes becomes constant after about 30 minutes in water, and more steeping time in water does not influnce welding arc behavior. 2) By bead appearance and X-ray inspection, the high titanium oxide type electrode is better than the low hydrogen type in underwater arc welding process. 3) The mechanical properties of underwater wet arc welds depend upon welding conditions more than those of in-air welds, and the optimum welding condition can be obtained. 4) Because of quenching effect by rapid cooling rate in underwater wet welding, the maximum hardness of HAZ is increased relatively higher in underwater wet welding, process.

• 한국건축시공학회지
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• 제3권3호
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• pp.91-97
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• 2003

At present, the antiwashout underwater concretes are used as popular construction materials in European countries, the United States and Japan. The water-soluble polymers in the antiwashout underwater concretes provide excellent segregation or washout resistance, self-compaction and self-leveling property to the concretes. The purpose of this study is to recommend to optimum mix proportions of antiwashout underwater concretes according to compressive strength of 300kgf/$\textrm{cm}^2$ to 500kgf/$\textrm{cm}^2$. The antiwashout underwater concretes are prepared with various unit cement content, unit water content, sand-aggregate ratio, unit antiwashout agent and superplasticizer content. And they are tested for flowability, and compressive strength. From the test results, it is possible to recommend the optimum mix proportions of antiwashout underwater concretes according to compressive strengths within the range of 300kgf/$\textrm{cm}^2$ to 500kgf/$\textrm{cm}^2$.

• 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.

• 로봇학회논문지
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• 제16권3호
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• pp.238-244
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• 2021

Image mosaicking is a common and useful technique to visualize a global map by stitching a large number of local images obtained from visual surveys in underwater environments. In particular, visual inspection of underwater structures using underwater robots can be a potential application for image mosaicking. Feature-based pairwise image registration is a commonly employed process in most image mosaicking algorithms to estimate visual odometry information between compared images. However, visual features are not always uniformly distributed on the surface of underwater structures, and thus the performance of image registration can vary significantly, which results in unnecessary computations in image matching for poor-conditioned image pairs. This study proposes a pairwise registrability measure to select informative image pairs and to improve the overall computational efficiency of underwater image mosaicking algorithms. The validity and effectiveness of the image mosaicking algorithm considering the pairwise registrability are demonstrated using an experimental dataset obtained with a full-scale ship in a real sea environment.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제16권2호
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• pp.544-564
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• 2022

Underwater images often suffer from color distortion, blurring and low contrast, which is caused by the propagation of light in the underwater environment being affected by the two processes: absorption and scattering. To cope with the poor quality of underwater images, this paper proposes a multiscale fusion underwater image enhancement method based on channel attention mechanism and local binary pattern (LBP). The network consists of three modules: feature aggregation, image reconstruction and LBP enhancement. The feature aggregation module aggregates feature information at different scales of the image, and the image reconstruction module restores the output features to high-quality underwater images. The network also introduces channel attention mechanism to make the network pay more attention to the channels containing important information. The detail information is protected by real-time superposition with feature information. Experimental results demonstrate that the method in this paper produces results with correct colors and complete details, and outperforms existing methods in quantitative metrics.

• 로봇학회논문지
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• 제18권1호
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• pp.53-58
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• 2023

In general, in order to operate an autonomous underwater vehicle (AUV) in an underwater environment, a navigation system such as a Doppler Log (DVL) using a Doppler phenomenon of ultrasonic waves is used for speed and direction estimation. However, most of the ultrasonic sensors in underwater is large for long-distance sensing and the cost is very high. In this study, not only canal neuromast on the fish's lateral lines but also superficial neuromast are studied on the simulation to obtain pressure values for each pressure sensor, and the obtained pressure data is supervised using spherical CNN. To this end, through supervised learning using pressure data obtained from a pressure sensor attached to an underwater vehicle, we can estimate the speed and angle of the underwater vehicle in a quasi-static underwater environment and propose a method for a non-ultrasonic based navigation system.

• 반도체디스플레이기술학회지
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• 제23권2호
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• pp.23-27
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• 2024

Underwater images are typically degraded due to color distortion, light absorption, scattering, and noise from artificial light sources. Restoration of these images is an essential task in many underwater applications. In this paper, we propose a two-phase deep learning-based method, Underwater Deep Curve Estimation (UWDCE), designed to effectively enhance the quality of underwater images. The first phase involves a white balancing and color correction technique to compensate for color imbalances. The second phase introduces a novel deep learning model, UWDCE, to learn the mapping between the color-corrected image and its best-fitting curve parameter maps. The model operates iteratively, applying light-enhancement curves to achieve better contrast and maintain pixel values within a normalized range. The results demonstrate the effectiveness of our method, producing higher-quality images compared to state-of-the-art methods.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 1999년도 학회창립 10주년 기념 1999년도 가을 학술발표회 논문집
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• pp.95-98
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• 1999

Recently, the use of the underwater concrete constructions with the antiwashout underwater concrete is increasing. In this study, we investigate the properties of pH, suspended solids, slump flow, box test, air contents of fresh antiwashout underwater concrete and the Unit weight, compressive strength of hardened antiwashout underwater concrete which Ground Granulated Blast Furnace Slag contents 0%, 10%, 20%, 30%, 50%, 60% at 7days and 28days age which is produced and cured in the water and sea water. As a result, Ground Granulated Blast Furnace Slag contents 30% was excellent.