• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.694-701
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• 2013

This paper deals with the problem of accurately tracking a single target moving through UWSNs (Underwater Wireless Sensor Networks) by employing underwater acoustic sensors. This paper addresses the issues of estimating the states of the target, and improving energy efficiency by applying a Kalman filter in a distributed architecture. Each underwater wireless sensor nodes composing the UWSNs is battery-powered, so the energy conservation problem is a critical issue. This paper provides an algorithm which increases the energy efficiency of each sensor node through WuS (Waked-up/Sleeping) and VM (Valid Measurement) selecting schemes. Simulation results illustrate the performance of the distributed tracking filter.

• The Journal of the Acoustical Society of Korea
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• v.15 no.6
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• pp.104-109
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• 1996

In passive sonar system, frequency lines generated by underwater target are very important for detection, tracking and classification. In this paper, the extraction method of unstable frequency line from the time samples of the radiated noise of underwater target is studied. As unstable frequency line is time varying, an extended Kalman filter algorithm which is desirable for nonlinear system is applied to extract unstable frequency line. The proposed method shows good extraction of unstable frequency line by application of simulated signal and real target.

• Journal of Ocean Engineering and Technology
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• v.17 no.1
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• pp.1-7
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• 2003

Autonomous underwater vehicles (AUVs) are unmanned, underwater vessels that are used to investigate sea environments in the study of oceanography. Docking systems are required to increase the capability of the AUVs, to recharge the batteries, and to transmit data in real time for specific underwater works, such as repented jobs at sea bed. This paper presents a visual :em control system used to dock an AUV into an underwater station. A camera mounted at the now center of the AUV is used to guide the AUV into dock. To create the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and deriver a state equation for the visual servo AUV. Further, this paper proposes a discrete-time MIMO controller, minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servo AUV simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

• Journal of The Korean Society of Agricultural Engineers
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• v.49 no.4
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• pp.35-41
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• 2007

The most agricultural concrete structures for the irrigation and drainage are exposed to the underwater condition at the irrigation period and they take the influence on very severe cold in the winter. Therefore, it is impossible to use repair materials used to the general concrete structures. The research need the development of the repair material for a performance enhance of the agricultural underwater concrete structures. This research evaluated the mechanical and durability performance of the latex modified repair mortar for underwater concrete structures which peformed the repair in the underwater according to the characteristic of the agricultural concrete structure. The latex modified repair mortar is a material that minimize the effect of the ecosystem, environment and the segregation. In this research, the construction condition of the latex modified repair mortar for agricultural concrete structures was considered and the test specimens made in the underwater condition. Test results was then compared with target performance and commercial repair mortar. Experimental test results indicated that the mechanical and durability performance of latex modified repair mortar for agricultural underwater concrete structure satisfied all target performance. Also, the latex modified repair mortar resulted in better repair performance than the commercial repair mortar.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.3
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• pp.369-375
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• 2017

One of good DF(Direction Finding) methods is based on TDOA(Time Difference of Arrival) estimation when finding underwater moving target. For small DF error, high time resolution A/D(Analog-to-digital) conversion board and long baseline are needed. But the result of sea trial about close-range and high speed moving target, spatial correlation coefficient and appeared poor properties below 0.3 when hydrophone arrangement are separated over 6 ${\lambda}$ because of underwater fading channel. And we also find out that the distance between hydrophone should be under 4 ${\lambda}$ apart to take advantage of spatial correlation coefficient gain and performance of DF in underwater moving channel environments.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.5
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• pp.1253-1258
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• 2013

This Paper deals with detection and defense methods for underwater weapons because there are so many dangers of underwater weapons not only in the war period but also in the peace time. Underwater mines are the representative strategic arms. The sensors and target detection methods, threat elimination method of mines included in this paper. Among the various sensors of mine, we use the magnetometor for target detection method in the simulation and execute the analysis of magnetic field of detected target ships. It will be also provided that effectiveness of target detection, sweeping method of mine, tactics of mine planning and mine sweeping and so on.

• The Journal of the Acoustical Society of Korea
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• v.33 no.3
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• pp.174-183
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• 2014

When a active sonar signal is transmitted and returned back from a target, it has been distorted by various properties of acoustic channel such as multipath arrivals. And signals have been appeared to be different form by target position and attitude. Therefore, we simulated the target echo signal using 3 dimensional target model include reflects target features. In this paper, we develop components form of a simulated target model is made up equally spaced highlight points, and each part of the target consists of shape function. We can simulate a target echo signal and Target strength (TS) according to wave incident angle. To verify, we made small scale target in kit form and we had got underwater target signal for comparing simulation result in water tank.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.6
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• pp.146-151
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• 2016

In this paper, we present a method for estimating the ratio of CPA distance to velocity of underwater target using target bearing information in CPA situation. This ratio can be estimated by previous research which is Envelope CPA using proximity sensor but it has low performance if the target is close to receiver sensor or bigger interference caused by multi-path effects. Therefore we propose a Bearing CPA technique using a target bearing information as a way to overcome.

• Journal of the Korea Institute of Military Science and Technology
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• v.4 no.1
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• pp.93-103
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• 2001

A reflection signal in an active sonar using a high frequency is mainly formed of a specular reflection from the surface of an object along with several equivalent scatters inside, which are characterized by the spatial distribution of the highlight on the object. This study analyze the existing echo signal synthesis models eq, random distribution model, equivalent interval distribution model & MUTAHID(Modified Underwater TArget by HIlight Distribution) model for simulated target, and compare the characteristics of the reflected signal synthesis results for each model in various conditions. These highlight distribution models can be efficiently applied to the simulated target signals synthesis of various real systems requiring the echo signal synthesis on the underwater target.

• Journal of the Korea Institute of Military Science and Technology
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• v.18 no.5
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• pp.517-524
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• 2015

In this paper, we propose a new target tracking filter architecture using active and passive sensors in underwater environment. A passive sensor for target tracking needs a bearing measurement of target. And target tracking filter for using passive sensor has the observability problem. On the other hand, an active sensor does not have the problem associated with system observability problem because an active sensor uses bearing and range measurement. In this paper, the tracking filter algorithm that could be used in the active and passive sensor system is proposed to analyze maneuvering target and to improve target tracking performance. The proposed tracking filter algorithm is tested by a series of computer simulation runs and the results are analyzed and compared with existing algorithm.