• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.2
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• pp.105-112
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• 2017

To control the depth of an underwater glider, a control method by using Lyapunov's direct method is proposed. The underwater glider has a torpedo-shape hull, a movable mass in the hull, and an inflatable buoyancy bag in the hull, but doesn't have large wings that increase the lift force for the conventional underwater glider. The control laws to adjust the position of the movable mass and the mass of the inflatable buoyancy bag are derived. For a selected speed and an angle of attack, we simulated the operation of the underwater glider using Matlab/Simulink. The efficiency of the proposed controller is shown in the fact that the control effort is active during only a short period of time when the zigzag trajectory is changed from downward to upward or vice versa.

• Journal of Ocean Engineering and Technology
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• v.29 no.5
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• pp.392-397
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• 2015

An autonomous underwater vehicle (AUV) can perform flexible operations even in complex underwater environments because of its autonomy. Localization is one of the key components of this autonomous navigation. Because the inertial navigation system of an AUV suffers from drift, observing fixed objects in an inertial reference system can enhance the localization performance. In this paper, we propose a method of AUV localization using visual measurements of underwater structures. A camera measurement model that emulates the camera’s observations of underwater structures is designed in a particle filtering framework. Then, the particle weight is updated based on the extracted visual information of the underwater structures. The proposed method is validated based on the results of experiments performed in a structured basin environment.

• The Journal of the Acoustical Society of Korea
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• v.42 no.4
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• pp.370-376
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• 2023

In the underwater image, it is not clear to distinguish the shape of the target due to underwater noise and low resolution. In addition, as an input of deep learning, underwater images require pre-processing and segmentation must be preceded. Even after pre-processing, the target is not clear, and the performance of detection and identification by deep learning may not be high. Therefore, it is necessary to distinguish and clarify the target. In this study, the importance of target shadows is confirmed in underwater images, object detection and target area acquisition by shadows, and data containing only the shape of targets and shadows without underwater background are generated. We present the process of converting the shadow image into a 3-mode image in which the target is white, the shadow is black, and the background is gray. Through this, it is possible to provide an image that is clearly pre-processed and easily discriminated as an input of deep learning. In addition, if the image processing code using Open Source Computer Vision (OpenCV)Library was used for processing, the processing speed was also suitable for real-time processing.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2011.06a
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• pp.213-213
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• 2011

Hydrophobic hairs of some insects make bubbles underwater. These bubbles makes possible for insects to breathe underwater. In this thesis, influence of geometric characteristics on air-liquid interface with pressure is investigated. Air-liquid interface shape with hair diameter over distance between hairs is analyzed This results expects to be used in the developments of artificial gill technology.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.10
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• pp.1566-1573
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• 2004

When a projectile travels at high speed underwater, supercavitating flow arises, in which a huge cavity is generated behind the projectile so that only the nose, i.e., the cavitator, of the projectile is wetted, while the rest of it should be surrounded by the cavity. In that case, the projectile can achieve very high speed due to the reduced drag. Furthermore if the nose of the body is shaped properly, the attendant pressure drag can be maintained at a very low value, so that the overall drag is also reduced dramatically. In this study, shape optimization technique is employed to determine the optimum cavitator shape for minimum drag, given certain operating conditions. Shape optimization technique is also used to solve the potential flow problem fur any given cavitator, which is a free boundary value problem having the cavity shape as unknown a priori. Analytical sensitivities are derived for various shape parameters in order to implement a gradient-based optimization algorithm. Simultaneous optimization technique is proposed for efficient cavitator shape optimization, in which the cavity and cavitator shape are determined in a single optimization routine.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1876-1881
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• 2003

When a projectile travels at high speed underwater, supercavitating flow arises, in which a huge cavity is generated behind the projectile so that only the nose, i.e., the cavitator, of the projectile is wetted, while the rest of it should be surrounded by the cavity. In that case, the projectile can achieve very high speed due to the reduced drag. Furthermore if the nose of the body is shaped properly, the attendant pressure drag can be maintained at a very low value, so that the overall drag is also reduced dramatically. In this study, shape optimization technique is employed to determine the optimum cavitator shape for minimum drag, given certain operating conditions. Shape optimization technique is also used to solve the potential flow problem for any given cavitator, which is a free boundary value problem having the cavity shape as unknown a priori. Analytical sensitivities are derived for various shape parameters in order to implement a gradient-based optimization algorithm. Simultaneous optimization technique is proposed for efficient cavitator shape optimization, in which the cavity and cavitator shape are determined in a single optimization routine.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.10
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• pp.116-122
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• 2016

This paper proposes a practical object shape reconstruction method using an underwater imaging sonar. In order to reconstruct the object shape, three methods are utilized. Firstly, the vertical field of view of imaging sonar is modified to narrow angle to reduce an uncertainty of estimated 3D position. The wide vertical field of view makes the incorrect estimation result about the 3D position of the underwater object. Secondly, simple noise filtering and range detection methods are designed to extract a distance from the sonar image. Lastly, a low pass filter is adopted to estimate a probability of voxel occupancy. To demonstrate the proposed methods, object shape reconstruction for three sample objects was performed in a basin and results are explained.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.2
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• pp.217-224
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• 2017

This study proposes an evaluation method for time delay function(TDF) of Point Detonation(PD) fuse using underwater explosion and water entry phenomena. Until now, nothing but the naked eyes of an observer or video images have been used to determine whether the TDF of PD fuze is operated or not. The observer has verified the performance of TDF by analysing the shape of the plume formed by underwater explosion. However, it is very difficult to evaluate the TDF of PD fuse by these conventional methods. In order to overcome this issue, we propose a method using underwater sound signal emitted from the underwater explosion of high explosive charge. The result shows that the measured sound signal is in accord with the physical phenomena of water entry of warhead as well as underwater explosion. Also, from the hypothesis test of bubble period, difference on underwater sound analysis between dud event and delay one is proved.

• International Journal of Ocean System Engineering
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• v.1 no.2
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• pp.68-75
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• 2011

This paper addresses an underwater landmark for updating UUV positioning information. A method is proposed in which the landmark's cubic shape and edge are recognized. The reliability, installation load, and management of landmark design were taken into consideration in order to assess practical applications of the landmark. Landmark recognition was based on topological features. The straight line recognition confirmed the landmark's location and enabled an UUV to accurately estimated its underwater position with respect to the landmark. An efficient recognition method is proposed, which provides real-time processing with limited UUV computing power. An underwater experiment was conducted in order to evaluate the proposed method's reliability and accuracy.

• International Journal of Naval Architecture and Ocean Engineering
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• v.13 no.1
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• pp.758-771
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• 2021

This paper presents a novel control scheme for the three-dimensional (3D) path following of underactuated Autonomous Underwater Vehicle (AUVs) subject to unknown internal and external disturbances, in term of the time scale decomposition method. As illustration, two-time scale motions are first artificially forced into the closed-loop control system, by appropriately selecting the control gain of the integrator. Using the singular perturbation theory, the integrator is considered as a fast dynamical control law that designed to shape the space configuration of fast variable. And then the stabilizing controller is designed in the reduced model independently, based on the time scale decomposition method, leading to a relatively simple control law. The stability of the resultant closed-loop system is demonstrated by constructing a composite Lyapunov function. Finally, simulation results are provided to prove the efficacy of the proposed controller for path following of underactuated AUVs under internal and external disturbances.