Head alignment of a single-beam scanning sonar installed on a multi-legged underwater robot

Jin Yeong Park; Gyeong Mok Lee; Hyungwon Shim; Hyuk Baek; Pan Mook Lee; Bong Huan Jun; Jung Yup Kim

doi:10.1109/OCEANS.2012.6405137

Head alignment of a single-beam scanning sonar installed on a multi-legged underwater robot

Jin Yeong Park, Gyeong Mok Lee, Hyungwon Shim, Hyuk Baek, Pan Mook Lee, Bong Huan Jun, Jung Yup Kim

Dept. of Mechanical System and Design Engineering

MOERI

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

In this paper, head alignment of a single-beam scanning sonar installed on a multi-legged underwater robot is described. The multi-legged underwater robot is supposed to survey seafloor, underwater structures, etc. Typical optic cameras, however, are not appropriate to show high quality scenes in a turbid water. Therefore, to collect images in a low visible underwater environment, the single-beam scanning sonar is proper and installed on the back of the robot. To collect sonar images without distortion caused by geological conditions of the sea floor, the robot needs to sense the attitude of the sonar and control it. This paper introduces a kinematic model of the multi-legged robot and its proper pose for head alignment of the sonar.

Original language	English
Title of host publication	OCEANS 2012 MTS/IEEE
Subtitle of host publication	Harnessing the Power of the Ocean
DOIs	https://doi.org/10.1109/OCEANS.2012.6405137
State	Published - 2012
Event	OCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean - Virginia Beach, VA, United States Duration: 14 Oct 2012 → 19 Oct 2012

Publication series

Name	OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean

Conference

Conference	OCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean
Country/Territory	United States
City	Virginia Beach, VA
Period	14/10/12 → 19/10/12

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10.1109/OCEANS.2012.6405137

Cite this

@inproceedings{e36cb0c3faf54c19a73e9664e55e0882,

title = "Head alignment of a single-beam scanning sonar installed on a multi-legged underwater robot",

abstract = "In this paper, head alignment of a single-beam scanning sonar installed on a multi-legged underwater robot is described. The multi-legged underwater robot is supposed to survey seafloor, underwater structures, etc. Typical optic cameras, however, are not appropriate to show high quality scenes in a turbid water. Therefore, to collect images in a low visible underwater environment, the single-beam scanning sonar is proper and installed on the back of the robot. To collect sonar images without distortion caused by geological conditions of the sea floor, the robot needs to sense the attitude of the sonar and control it. This paper introduces a kinematic model of the multi-legged robot and its proper pose for head alignment of the sonar.",

author = "Park, \{Jin Yeong\} and Lee, \{Gyeong Mok\} and Hyungwon Shim and Hyuk Baek and Lee, \{Pan Mook\} and Jun, \{Bong Huan\} and Kim, \{Jung Yup\}",

year = "2012",

doi = "10.1109/OCEANS.2012.6405137",

language = "English",

isbn = "9781467308298",

series = "OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean",

booktitle = "OCEANS 2012 MTS/IEEE",

note = "OCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean ; Conference date: 14-10-2012 Through 19-10-2012",

}

Park, JY, Lee, GM, Shim, H, Baek, H, Lee, PM, Jun, BH & Kim, JY 2012, Head alignment of a single-beam scanning sonar installed on a multi-legged underwater robot. in OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean., 6405137, OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean, OCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean, Virginia Beach, VA, United States, 14/10/12. https://doi.org/10.1109/OCEANS.2012.6405137

Head alignment of a single-beam scanning sonar installed on a multi-legged underwater robot. / Park, Jin Yeong; Lee, Gyeong Mok; Shim, Hyungwon et al.
OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean. 2012. 6405137 (OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Head alignment of a single-beam scanning sonar installed on a multi-legged underwater robot

AU - Park, Jin Yeong

AU - Lee, Gyeong Mok

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AU - Baek, Hyuk

AU - Lee, Pan Mook

AU - Jun, Bong Huan

AU - Kim, Jung Yup

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AB - In this paper, head alignment of a single-beam scanning sonar installed on a multi-legged underwater robot is described. The multi-legged underwater robot is supposed to survey seafloor, underwater structures, etc. Typical optic cameras, however, are not appropriate to show high quality scenes in a turbid water. Therefore, to collect images in a low visible underwater environment, the single-beam scanning sonar is proper and installed on the back of the robot. To collect sonar images without distortion caused by geological conditions of the sea floor, the robot needs to sense the attitude of the sonar and control it. This paper introduces a kinematic model of the multi-legged robot and its proper pose for head alignment of the sonar.

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SN - 9781467308298

T3 - OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean

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T2 - OCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean

Y2 - 14 October 2012 through 19 October 2012

ER -

Head alignment of a single-beam scanning sonar installed on a multi-legged underwater robot

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