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![Typical radiation pattern of dipole antenna [16].](profile/Jinhyun-Kim-6/publication/264098866/figure/fig1/AS:529744141578240@1503312253842/Typical-radiation-pattern-of-dipole-antenna-16.png)
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![Fig. 7. Setup the infrastructure-based localization [15].](profile/Jinhyun-Kim-6/publication/264098866/figure/fig4/AS:667811277983750@1536230024222/Setup-the-infrastructure-based-localization-15_Q320.jpg)
![Fig. 9. Typical radiation pattern of dipole antenna [16].](profile/Jinhyun-Kim-6/publication/264098866/figure/fig1/AS:529744141578240@1503312253842/Typical-radiation-pattern-of-dipole-antenna-16_Q320.jpg)
According to increasing the importance of underwater environments, the needs of UUV are growing. This paper represents the mechanism and algorithm of UUV docking system with 21-inch torpedo tubes for military submarines as a docking station. To improve the reliability of the docking, torpedo tubes launch a wired ROV and next the ROV combined with U...
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I was unable to add the two other co-authors Seth Priestman and Roberta Tomber . Sorry about that . I have no abstract of that paper which is very short : two pages only
A dynamically embedded plate anchor (DEPLA) is a rocket-shaped anchor that comprises a removable central shaft and a set of four flukes. The DEPLA penetrates to a target depth in the seabed by the kinetic energy obtained through free-fall in water. After embedment the central shaft is retrieved leaving the anchor flukes vertically embedded in the s...
Citations
... 항법이 주로 이용된다 [10][11][12][13][14] [16]. ...
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.
In this paper, we developed an underwater localization system for underwater robot docking using the electromagnetic wave attenuation model. Electromagnetic waves are generally known to be impossible to use in water environment. However, according to the conclusions of the previous studies on the attenuation characteristics in underwater, the attenuation pattern is uniform and its model was accurately proposed and verified in 3-dimensional space via the omnidirectional antenna. In this paper, a docking structure and localization sensor system are developed for a widely used cone type docking mechanism. First, we fabricated electromagnetic wave range sensor transmit modules. And a mobile sensor node is equipped with unmanned underwater vehicle(UUV)s. The mobile node senses the four different signal strength (RSS: Received Signal Strength) from fixed nodes, and the obtained RSS data are transformed to each distance information using the 3-Dimensional EM wave attenuation model. Then, the relative localization between the docking area and underwater robot can be achieved according to optimization algorithm. Finally, experimental results show the feasibility of the proposed localization system for the docking induction by comparing the errors in the actual position of the mobile node and the theoretical position through the model.
A broad-band underwater acoustic transducer that uses thickness vibration mode, derived from a disk type piezoelectric ceramic, has been proposed and designed for DVL (Doppler Velocity Log). Three different types of acoustic transducer were evaluated with respect to the transmitting voltage response, receiving voltage sensitivity and bandwidth of the transducer. The effect of the acoustic impedance matching layer and backing layer is discussed. The results demonstrated that three matching layer with lossy backing layer is the best configuration for underwater transducer. The trial underwater acoustic transducer with three matching layer has a frequency bandwidth of 55%, maximum transmitting voltage response of 200 dB and a maximum receiving voltage sensitivity of -187.3 dB.
In this paper, we discuss a 3-dimensional localization sensor node using EM waves (Electromagnetic waves) with RSSI (Received Signal Strength Indicator). Generally EM waves cannot be used in underwater environment, because the signal is highly attenuated by the water medium according to the distance. Although the signal quickly reduces in underwater, the reducing tendency is very clear and uniform. Hence EM waves have possibility as underwater distance sensors. The authors have verified the possibility by theory and several experiments, and developed calibration methods in case of linear and planer environment. For 3-dimensional localization in underwater, it must be known antenna's radiation pattern property in electric plane(called E-plane). In this paper, we proceed experiments to verify attenuation tendency with z axis movement, PLF (Polarization Loss Factor) and ILF (Inclination Loss Factor) with its theoretical approach.
