• Journal of Korea Multimedia Society
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• v.24 no.11
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• pp.1526-1537
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• 2021

Due to the difference between the underwater communication environment and the terrestrial communication environment, the radio communication mainly used on the ground cannot be used in underwater. For this reason, in the underwater communication environment, various communication media such as acoustic waves, infrared rays, light and so on has been studied, but there exist several difficulties in operating them individually due to their physical limitations. The concept for overcoming these difficulties is the very underwater multi-media communication, a method to select a communication medium best suitable for the current underwater environment among underwater communication multimedia whenever there occurs underwater communication failure. In this paper, we present an underwater multi-media communication network based on star topology and a fragmentation and reassembly technique to solve the problems caused by the different MTU (Maximum Transmission Unit) sizes among different underwater communication media. We also present the estimations and analysis on processing times in each of fragmentation and reassembly and the total data amount for transmitting fragments in our proposed underwater multi-media communication network.

• 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.

• The Journal of Korea Robotics Society
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• v.18 no.1
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.4
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• pp.372-378
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• 2013

In this paper, we research the localization problem of the crawler-type inspection robot for underwater structure which travels an outer wall of underwater structure. Since various factors of the underwater environment affect an encoder odometer, it is hard to localize robot itself using only on-board sensors. So in this research we used a depth sensor and an IMU to compensate odometer which has extreme error in the underwater environment through using Extended Kalman Filter(EKF) which is normally used in mobile robotics. To acquire valid measurements, we implemented precision sensor modeling after assuming specific situation that robot travels underwater structure. The depth sensor acquires a vertical position of robot and compensates one of the robot pose, and IMU is used to compensate a bearing. But horizontal position of robot can't be compensated by using only on-board sensors. So we proposed a localization algorithm which makes horizontal direction error bounded by using kinematics relationship. Also we implemented computer simulations and experiments in underwater environment to verify the algorithm performance.

• Journal of the Korea Society for Simulation
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• v.25 no.3
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• pp.15-28
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• 2016

It is necessary to analyze underwater acoustics channel(UAC) modeling and simulation for underwater weapon system development and acquisition. In order to analyze UAC, there are underwater acoustics propagation numerical analysis models(Ray theory, Parabolic equation, Normal-mode, Wavenumber integration). However, If these models are used for multiple frequency signal analysis, they are inaccurate to calculate result of analysis effectiveness and restricted for signal processing and analysis. In this paper, to overcome this problem, we propose simple/multiple frequency signal analysis model of the Pseudospectral Time-Domain Method synthetic environment UAC applied to underwater environment noise model as like as realistic underwater environment. In order to confirm the validation of the model, we performed the 9 scenarios simulation(4 scenarios of single frequency signal, 4 scenarios of multiple frequency signal, 1 scenario of single/multiple frequency signal like submarine radiated noise) for validation and confirmed the validation of this model through the simulation model.

• Journal of the Korea Institute of Military Science and Technology
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• v.5 no.2
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• pp.132-148
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• 2002

In this paper, development procedures of an Underwater Vehicle HILS/MILS System in SE(Synthetic Environment) are described. As this System is developed, we can obtain the more powerful tool which can be used to test and verify operational logics and algorithms of an Underwater Vehicle as well as its hardware in various tactical situations.

• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.14-21
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• 2019

In the ground environment, mobile robot research uses sensors such as GPS and optical cameras to localize surrounding landmarks and to estimate the position of the robot. However, an underwater environment restricts the use of sensors such as optical cameras and GPS. Also, unlike the ground environment, it is difficult to make a continuous observation of landmarks for location estimation. So, in underwater research, artificial markers are installed to generate a strong and lasting landmark. When artificial markers are acquired with an underwater sonar sensor, different types of noise are caused in the underwater sonar image. This noise is one of the factors that reduces object detection performance. This paper aims to improve object detection performance through distortion and rotation augmentation of training data. Object detection is detected using a Faster R-CNN.

• IEMEK Journal of Embedded Systems and Applications
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• v.7 no.4
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• pp.187-191
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• 2012

In these days, there are huge increases of concerning underwater acoustic sensor networks (UWASNs) to explore marine resources and to monitor climate change. To collect information from sensor nodes which are randomly deployed in underwater, Multi-Dimensional Scaling (MDS) based locating methods have been recently introduced, which consider sound speed to be constant in underwater. However, underwater sound speed tends to vary depending on underwater environment factors, such as depth, temperature, and salinity. In this paper, we propose a method considering environment factors, can influence upon sound speed in underwater, and introduce experimental setup which can follow up environmental factors.

• Physical Therapy Rehabilitation Science
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• v.7 no.2
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• pp.83-87
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• 2018

Objective: The purpose of this study was to investigate the relationship between heart rate (HR), self-awareness of exercise intensity (rating of perceived exertion, RPE), and 5-meter walk test (5MWT) of persons affected by stroke during backward walking according to the preferred stride frequency (PSF), PSF+3 and PSF+6 conditions. Design: Cross-sectional study. Methods: A total of 11 persons with stroke (9 males, 2 females) participated voluntarily. All patients underwent backward walking under the PSF, PSF+3, and PSF+6 conditions in underwater and ground environments, and each condition was performed for 5 minutes. The HR, RPE, and walking speeds were measured during walking, and the measured values from underwater and ground environments were compared. Results: The HR and RPE in the ground environment were significantly increased (p<0.05), and although the 5MWT showed an increase in speed, it was not significant. The HR and RPE in the underwater environment were also significantly increased (p<0.05), however, although the 5MWT results was increased, it was not significant. The HR and RPE were significantly increased in the PSF+6 condition (p<0.05). Conclusions: The results of this study showed that backward gait training underwater can provide an appropriate exercise intensity for stroke survivors and suggests that exercises performed in an underwater environment is more effective compared to the ground environment.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.2
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• pp.679-687
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• 2019

This paper presents the autonomous swimming technology developed for an Autonomous Underwater Vehicle (AUV) operating in the underwater jacket structure environment. To prevent the position divergence of the inertial navigation system constructed for the primary navigation solution for the vehicle, we've developed kinds of marker-recognition based underwater localization methods using both of optical and acoustic cameras. However, these two methods all require the artificial markers to be located near to the cameras mounted on the vehicle. Therefore, in the case of the vehicle far away from the structure where the markers are usually mounted on, we may need alternative position-aiding solution to guarantee the navigation accuracy. For this purpose, we develop a sonar image processing based underwater localization method using a Forward Looking Sonar (FLS) mounted in front of the vehicle. The primary purpose of this FLS is to detect the obstacles in front of the vehicle. According to the detected obstacle(s), we apply an Occupancy Grid Map (OGM) based path planning algorithm to derive an obstacle collision-free reference path. Experimental studies are carried out in the water tank and also in the Pohang Yeongilman port sea environment to demonstrate the effectiveness of the proposed autonomous swimming technology.