• Journal of Advanced Navigation Technology
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• v.21 no.2
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• pp.171-178
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• 2017

In this paper, in order to verify the performance of a localization algorithm using GPS as an auxiliary sensor, the algorithm was applied to a hovering-type autonomous underwater vehicle (AUV) to perform a field test. The applied algorithm is an algorithm to improve the accumulated positional error of dead reckoning using doppler velocity logger(DVL) and tilt-compensated compass module (TCM) mounted on the AUV. GPS when surfaced helps the algorithm to estimate the position and the heading bias error of TCM for geodetic north, which makes it possible to perform dead reckoning on north-east-down (NED) coordinates. As a result of field test performing heading control, it was judged that the algorithm could improve the positional error, enhance the operational capability of AUV and contribute to the research of underwater navigation depending on a magnetic compass.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.43 no.2
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• pp.116-125
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• 2007

An experiment to acoustically analyze the shape of gill-net in the current was conducted in Jaran Bay, Gosung, Korea on the 9th to 10th September(spring tide) and 28th to 29th September(neap tide) 2006. It was measured by a 3D underwater positioning system with a radio-acoustic linked positioning buoys. Six of 7 acoustic transmitters used in the experiment were attached on the float line of the gill-net and the other was fixed on the sea bed. During spring tide, the maximum movement of the gill-net was 27.0m(22:00) in the west(4.4cm/s, $311.9^{\circ}$) and 20.6m(04:00) in the east(3.9cm/s, $66.5^{\circ}$). The maximum extension of the gill-net(the distance between P1 and P6) was 119.8m(21:00, 11.6cm/s, $321.9^{\circ}$) and the minimum was 109.9m(23:00, 16.1cm/s, $88.5^{\circ}$). During neap tide, the maximum movement was 38.0m(20:00) in the east(9.6cm/s, $278.2^{\circ}$) and 11.0m(12:00) in the west(1.9cm/s, $232.1^{\circ}$). The maximum extension was 99.6m(14:00, 12.5cm/s, $94.7^{\circ}$) and the minimum was 85.0m(06:00, 9.0cm/s, $265.8^{\circ}$). During spring tide, the maximum height of the gill-net from the sea bed was 3.7m(02:00, 7.4cm/s, $151.6^{\circ}$) and the minimum was produced the three times as 1.5m. At that time, the current speed and direction was 17.9cm/s and $85.3^{\circ}$(23:30), 16.1cm/s and $249.4^{\circ}$(05:00), and 13.7cm/s and $291.4^{\circ}$(06:30), respectively. During neap tide, the maximum height was 3.6m(12:30, 2.1cm/s, $242.3^{\circ}$) and the minimum was 1.5m(14:00, 12.5cm/s, $94.7^{\circ}$).

• Korean Journal of Remote Sensing
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• v.38 no.1
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• pp.45-56
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• 2022

The Ieodo Ocean Research Station (IORS) lies between the exclusive economic zone (EEZ) boundaries of Korea, Japan, and China. The geographical positioning of the IORS makes it ideal for monitoring ships in the area. In this study, we introduce ship monitoring results by Automatic Identification System (AIS) and the Broadband 3G^TM radar, which has been developed for use in small ships using the Frequency Modulated Continuous Wave (FMCW) technique. AIS and FMCW radar data were collected at IORS from November 23th to 30th, 2013. The acquired FMCW radar data was converted to 2-D binary image format over pre-processing, including the internal and external noise filtering. The ship positions detected by FMCW radar images were passed into a tracking algorithm. We then compared the detection and tracking results from FMCW radar with AIS information and found that they were relatively well matched. Tracking performance is especially good when ships are across from each other. The results also show good monitoring capability for small fishing ships, even those not equipped with AIS or with a dysfunctional AIS.

• Journal of Ocean Engineering and Technology
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• v.33 no.5
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• pp.470-478
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• 2019

Because the global positioning system (GPS) is not available in underwater environments, an inertial navigation system (INS)/doppler velocity log (DVL) integrated navigation system is generally implemented. In general, an INS/DVL integrated system adopts a loosely coupled method. However, in this loosely coupled method, although the measurement equation for the filter design is simple, the velocity of the body frame cannot be accurately measured if even one of the DVL transducer signals is not received. In contrast, even if only one or two velocities are measured by the DVL transducers, the tightly coupled method can utilize them as measurements and suppress the error increase of the INS. In this paper, a filter was designed to regenerate the measurements of failed transducers by taking advantage of the tightly coupled method. The regenerated measurements were the normal DVL transducer measurements and the estimated velocity in RPM. In order to effectively estimate the velocity in RPM, a filter was designed considering the effects of the tide. The proposed filter does not switch all of the measurements to RPM if the DVL transducer fails, but only switches information from the failed transducer. In this case, the filter has the advantage of being able to be used as a measurement while continuously estimating the RPM error state. A Monte Carlo simulation was used to determine the performance of the proposed filters, and the scope of the analysis was shown by the standard deviation ($1{\sigma}$, 68%). Finally, the performance of the proposed filter was verified by comparison with the conventional tightly coupled method.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.37 no.1
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• pp.24-34
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• 2001

The authors reconstruct a mooring type underwater positioning system to measure the movement of bag-net in a set-net by long base line mode with four transponders attached on the bag-net in latitudinal and a transponder fixed on the sea bed. To confirm the practical use of the system, the field experiments were carried out at the Jaran Bay, Kosung, Kyungnam Prov., on October 6, 2000 (neap tide) and November 28, 2000 (spring tide). And the vertical oscillation of bag-net was observed with three data loggers attached on the bottom of bag-net in longitudinal on November 28, 2000. The longitudinal movement range, the latitudinal one and the vertical one of the bag-net were 3.2 m, 3.4 m and 2.1 m. respectively. At the spring tide, these variations were 7.8 m, 7.8 m and 5.0 m, respectively. The vertical oscillation range about the bottom of the bag-net at near point of the slope net, at the middle part and at far point from the slope net were 3.2 m, 3.7 m and 8.4 m, respectively. The depth of the bottom net was decreased and its vertical oscillation appeared frequently when the current speed was more than 10 cm/s and the current direction was significantly different from the longitudinal axis of the bag-net. The variation of hydrophone coordinates measured by the transponder fixed on the sea bed presents that hydrophones equipped to the frame line of the set-net could be moved within several meters due to the tidal current. The fact indicates that the compensation of hydrophone coordinates is necessary to reduce the measuring errors. The position measuring errors of x, y and z axis of the system measured in the cage of aquaculture were 0.6 m, 0.8 m, and 1.2 m, respectively. And the errors of the transponders those were close to the base lines or placed in the baselines were smaller than those of others.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.40 no.2
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• pp.115-125
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• 2004

An experiment to measure the volume variation of bag net in a set-net by acoustic telemetry system was conducted in Jaran Bay, Gosung, Korea on 10 April to 23 April 2003. The long baseline telemetry system consists of three radio-acoustic linked positioning (RAP) buoys, a time controller with a personal computer and seven pingers. Six pingers were attached on the bottom of the bag-net and the other one was fixed on the sea bed. The results obtained are summarized as follows : 1. The average RAP buoy fixing errors of x-axis, y-axis, and z-axis were 0.2m, 0.4m, and 0.1m, respectively. 2. In the neap tide the minimum and maximum volume of the bag-net on 11 April 2003 were 4,173$m^3$(17:00) and 4,757$m^3$(12:00), respectively. The average current direction and speed at those times were 99.9$^{\circ}$, 12.9cm/s and 104.0$^{\circ}$, 2.4cm/s, respectively. 3. In the spring tide on 17 April 2003, the minimum and maximum volume were 2,016$m^3$(18:30) and 4,454$m^3$(15:00), respectively. The average current direction and speed at those times were 315.6$^{\circ}$, 16.1cm/s and 289.0$^{\circ}$, 5.7cm/s, respectively. 4. In conclusion the maximum variation of the volume on 17 April to 20 April 2003 was 3,552$m^3$ and it was larger 1.4 times than time on 11 April to 16 April 2003.

• Nuclear Engineering and Technology
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• v.46 no.3
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• pp.439-446
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• 2014

An amphibious inspection robot system (hereafter AIROS) is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST) strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of installing sole cameras was a new approach for the exact and stable position control on the IRWST strainer, unlike a traditional robot for underwater facility inspection. The developed robot will be practically used to enhance the efficiency and reliability of the inspection of nuclear power plant components.