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Sample records for deep steep underwater

  1. Deep Learning Methods for Underwater Target Feature Extraction and Recognition

    Directory of Open Access Journals (Sweden)

    Gang Hu

    2018-01-01

    Full Text Available The classification and recognition technology of underwater acoustic signal were always an important research content in the field of underwater acoustic signal processing. Currently, wavelet transform, Hilbert-Huang transform, and Mel frequency cepstral coefficients are used as a method of underwater acoustic signal feature extraction. In this paper, a method for feature extraction and identification of underwater noise data based on CNN and ELM is proposed. An automatic feature extraction method of underwater acoustic signals is proposed using depth convolution network. An underwater target recognition classifier is based on extreme learning machine. Although convolution neural networks can execute both feature extraction and classification, their function mainly relies on a full connection layer, which is trained by gradient descent-based; the generalization ability is limited and suboptimal, so an extreme learning machine (ELM was used in classification stage. Firstly, CNN learns deep and robust features, followed by the removing of the fully connected layers. Then ELM fed with the CNN features is used as the classifier to conduct an excellent classification. Experiments on the actual data set of civil ships obtained 93.04% recognition rate; compared to the traditional Mel frequency cepstral coefficients and Hilbert-Huang feature, recognition rate greatly improved.

  2. DEEP 1.4 GHz FOLLOW-UP OF THE STEEP SPECTRUM RADIO HALO IN A521

    International Nuclear Information System (INIS)

    Dallacasa, D.; Macario, G.; Setti, G.; Brunetti, G.; Cassano, R.; Venturi, T.; Giacintucci, S.; Kassim, N. E.; Lane, W.

    2009-01-01

    In a recent paper, we reported on the discovery of a radio halo with very steep spectrum in the merging galaxy cluster A521 through observations with the Giant Metrewave Radio Telescope. We showed that the steep spectrum of the halo is inconsistent with a secondary origin of the relativistic electrons and supports a turbulent acceleration scenario. At that time, due to the steep spectrum, the available observations at 1.4 GHz (archival NRAO-Very Large Array-VLA-CnB-configuration data) were not adequate to accurately determine the flux density associated with the radio halo. In this paper, we report the detection at 1.4 GHz of the radio halo in A521 using deep VLA observations in the D configuration. We use these new data to confirm the steep spectrum of the object. We consider A521 the prototype of a population of very steep spectrum halos. This population is predicted assuming that turbulence plays an important role in the acceleration of relativistic particles in galaxy clusters, and we expect it will be unveiled by future surveys at low frequencies with the LOFAR and LWA radio telescopes.

  3. Terrain and subsurface influences on runoff generation in a steep, deep, highly weathered system

    Science.gov (United States)

    Mallard, J. M.; McGlynn, B. L.; Richter, D. D., Jr.

    2017-12-01

    Our understanding of runoff generation in regions characterized by deep, highly weathered soils is incomplete, despite the prevalence occupation of these landscapes worldwide. To address this, we instrumented a first-order watershed in the Piedmont of South Carolina, USA, a region that extends east of the Appalachians from Maryland to Alabama, and home to some of the most rapid population growth in the country. Although regionally the relief is modest, the landscape is often highly dissected and local slopes can be steep and highly varied. The typical soils of the region are kaolinite dominated ultisols, with hydrologic properties controlled by argillic Bt horizons, often with >50% clay-size fraction. The humid subtropical climate creates relatively consistent precipitation intra-annually and seasonally variable energy availability. Consequently, the mixed deciduous and coniferous tree cover creates a strong evapotranspiration-mediated hydrologic dynamic. While moist soils and extended stream networks are typical from late fall through spring, relatively dry soils and contracting stream networks emerge in the summer and early fall. Here, we seek to elucidate the relative influence of the vertical soil and spatial terrain structure of this region on watershed hillslope hydrology and subsequent runoff generation. We installed a network of nested, shallow groundwater wells and soil water content probes within an ephemeral to first-order watershed to continuously measure soil and groundwater dynamics across soil horizons and landscape position. We also recorded local precipitation and discharge from this watershed. Most landscape positions exhibited minimal water table response to precipitation throughout dry summer periods, with infrequently observed responses rarely coincident with streamflow generation. In contrast, during the wetter late fall through early spring period, streamflow was driven by the interaction between transient perched water tables and

  4. Uncovering deep mysteries: the underwater life of an amphibious louse.

    Science.gov (United States)

    Leonardi, Maria Soledad; Aznar, F Javier; Crespo, Enrique A; Lazzari, Claudio R

    2014-12-01

    Despite the incredible success of insects in colonizing almost every habitat, they remain virtually absent in one major environment--the open sea. A variety of hypotheses have been raised to explain why just a few insect species are present in the ocean, but none of them appears to be fully explanatory. Lice belonging to the family Echinophthiriidae are ectoparasites on different species of pinnipeds and river otters, i.e. they have amphibious hosts, who regularly perform long excursions into the open sea reaching depths of hundreds of meters (thousands of feets). Consequently, lice must be able to support not only changes in their surrounding media, but also extreme variations in hydrostatic pressure as well as breathing in a low oxygen atmosphere. In order to shed some light on the way lice can survive during the diving excursions of their hosts, we have performed a series of experiments to test the survival capability of different instars of Antarctophthirus microchir (Phthiraptera: Anoplura) from South American sea lions Otaria flavescens, when submerged into seawater. These experiments were aimed at analyzing: (a) immersion tolerance along the louse life; (b) lice's ability to obtain oxygen from seawater; (c) physiological responses and mechanisms involved in survival underwater. Our experiments showed that the forms present in non-diving pups--i.e. eggs and first-instar nymphs--were unable to tolerate immersion in water, while following instars and adults, all usually found in diving hosts, supported it very well. Furthermore, as long as the level of oxygen dissolved in water was higher, the lice survival capability underwater increased, and the recovery period after returning to air declined. These results are discussed in relation to host ecology, host exploitation and lice functional morphology. Copyright © 2014 Elsevier Ltd. All rights reserved.

  5. Underwater Inherent Optical Properties Estimation Using a Depth Aided Deep Neural Network

    Directory of Open Access Journals (Sweden)

    Zhibin Yu

    2017-01-01

    Full Text Available Underwater inherent optical properties (IOPs are the fundamental clues to many research fields such as marine optics, marine biology, and underwater vision. Currently, beam transmissometers and optical sensors are considered as the ideal IOPs measuring methods. But these methods are inflexible and expensive to be deployed. To overcome this problem, we aim to develop a novel measuring method using only a single underwater image with the help of deep artificial neural network. The power of artificial neural network has been proved in image processing and computer vision fields with deep learning technology. However, image-based IOPs estimation is a quite different and challenging task. Unlike the traditional applications such as image classification or localization, IOP estimation looks at the transparency of the water between the camera and the target objects to estimate multiple optical properties simultaneously. In this paper, we propose a novel Depth Aided (DA deep neural network structure for IOPs estimation based on a single RGB image that is even noisy. The imaging depth information is considered as an aided input to help our model make better decision.

  6. Underwater Inherent Optical Properties Estimation Using a Depth Aided Deep Neural Network.

    Science.gov (United States)

    Yu, Zhibin; Wang, Yubo; Zheng, Bing; Zheng, Haiyong; Wang, Nan; Gu, Zhaorui

    2017-01-01

    Underwater inherent optical properties (IOPs) are the fundamental clues to many research fields such as marine optics, marine biology, and underwater vision. Currently, beam transmissometers and optical sensors are considered as the ideal IOPs measuring methods. But these methods are inflexible and expensive to be deployed. To overcome this problem, we aim to develop a novel measuring method using only a single underwater image with the help of deep artificial neural network. The power of artificial neural network has been proved in image processing and computer vision fields with deep learning technology. However, image-based IOPs estimation is a quite different and challenging task. Unlike the traditional applications such as image classification or localization, IOP estimation looks at the transparency of the water between the camera and the target objects to estimate multiple optical properties simultaneously. In this paper, we propose a novel Depth Aided (DA) deep neural network structure for IOPs estimation based on a single RGB image that is even noisy. The imaging depth information is considered as an aided input to help our model make better decision.

  7. Manned underwater intervention during deep-water operations

    Energy Technology Data Exchange (ETDEWEB)

    Lothe, Mikal Sjur

    2010-07-01

    The focus for deep and remote areas operations are Remote Operated systems. Manned intervention is generally first choice when looking for intervention methods in most areas of the world. As an industry we need to focus on the most cost effective and safe method for construction, Maintenance and Repair. The focus is on advances in diving methods related to surface oriented and saturation diving, such as shallow water tie-ins of risers and umbilicals, inspection and evaluations of FPSOs including thruster change-out and wet docking. Also, the options for efficient repair scenarios utilizing man's ability to work in low visibility areas by feel etc. Finally the presentation will show new technology in Saturation Diving based on the 24 man saturation systems onboard the 3rd generation Divex systems used by Technip and Subsea 7. (Author)

  8. Reliability considerations of electronics components for the deep underwater muon and neutrino detection system

    International Nuclear Information System (INIS)

    Leskovar, B.

    1980-02-01

    The reliability of some electronics components for the Deep Underwater Muon and Neutrino Detection (DUMAND) System is discussed. An introductory overview of engineering concepts and technique for reliability assessment is given. Component reliability is discussed in the contest of major factors causing failures, particularly with respect to physical and chemical causes, process technology and testing, and screening procedures. Failure rates are presented for discrete devices and for integrated circuits as well as for basic electronics components. Furthermore, the military reliability specifications and standards for semiconductor devices are reviewed

  9. Photomultiplier characteristics considerations for the deep underwater muon and neutrino detection system

    International Nuclear Information System (INIS)

    Leskovar, B.

    1980-01-01

    The results of an investigation of the characteristics of photomultipliers for the Deep Underwater Muon and Neutrino Detection (DUMAND) System are discussed. The pulse-height resolution, the afterpulsing phenomena and the gain sensitivity to the ambient magnetic field have been determined for large photocathode area photomultipliers. Furthermore, the transient time difference, the single photoelectron time spread, and the collection and photocathode quantum efficiency uniformity as a function of the position of the photocathode sensing area have been reviewed. Finally, an attempt has been made to estimate the photomultiplier reliability and its lifetime

  10. Compression of a Deep Competitive Network Based on Mutual Information for Underwater Acoustic Targets Recognition

    Directory of Open Access Journals (Sweden)

    Sheng Shen

    2018-04-01

    Full Text Available The accuracy of underwater acoustic targets recognition via limited ship radiated noise can be improved by a deep neural network trained with a large number of unlabeled samples. However, redundant features learned by deep neural network have negative effects on recognition accuracy and efficiency. A compressed deep competitive network is proposed to learn and extract features from ship radiated noise. The core idea of the algorithm includes: (1 Competitive learning: By integrating competitive learning into the restricted Boltzmann machine learning algorithm, the hidden units could share the weights in each predefined group; (2 Network pruning: The pruning based on mutual information is deployed to remove the redundant parameters and further compress the network. Experiments based on real ship radiated noise show that the network can increase recognition accuracy with fewer informative features. The compressed deep competitive network can achieve a classification accuracy of 89.1 % , which is 5.3 % higher than deep competitive network and 13.1 % higher than the state-of-the-art signal processing feature extraction methods.

  11. ANTARES: An underwater neutrino observatory for the exploration of both the deep Ocean and the deep Universe

    International Nuclear Information System (INIS)

    Escoffier, Stephanie

    2012-01-01

    Neutrino astronomy is a new and unique method to explore the Universe. It is full of promises, such as improving our knowledge on cosmic accelerators or distinguishing unambiguously between hadronic and electronic acceleration mechanisms of very high energy cosmic rays. In this document the issues of neutrino astronomy are introduced and an overview of current and former neutrino telescopes is given, with a description of the performance results expected from the ANTARES underwater detector. My research path is marked by contributions to the detector calibration and by studies of the trigger system with the development of a new data selection algorithm. The potential for discovery of the ANTARES telescope is then illustrated with two analyses, one dedicated to the research of high-energy neutrinos from gamma ray bursters and the other dedicated to the search for magnetic monopoles. Within this dissertation, I also discuss the opportunity offered by a submarine detector to understand the deep-sea environment. Indeed, ANTARES is a multidisciplinary, permanent marine observatory bringing its brick to the edifice of the global understanding of physical phenomena and biological oceanography in the context of global changes. I illustrate these remarks with studies on marine bioluminescence observed by ANTARES and its connection to the dense water formation originating from the Gulf of Lion. (author)

  12. DUMAND-II (Deep Underwater Muon and Neutrino Detector) PROGRESS Report

    OpenAIRE

    Young, Kenneth K.

    1994-01-01

    The DUMAND-II detector will search for astronomical sources of high energy neutrinos. Successful deployment of the basic infrastructure, including the shore cable, the underwater junction box, and an environmental module was accomplished in December, 1993. One optical module string was also deployed and operated, logging data for about 10 hours. The underwater cable was connected to the shore station where we were able to successfully exercise system controls and log further environmental dat...

  13. Motion analysis and trials of the deep sea hybrid underwater glider Petrel-II

    Science.gov (United States)

    Liu, Fang; Wang, Yan-hui; Wu, Zhi-liang; Wang, Shu-xin

    2017-03-01

    A hybrid underwater glider Petrel-II has been developed and field tested. It is equipped with an active buoyancy unit and a compact propeller unit. Its working modes have been expanded to buoyancy driven gliding and propeller driven level-flight, which can make the glider work in strong currents, as well as many other complicated ocean environments. Its maximal gliding speed reaches 1 knot and the propelling speed is up to 3 knots. In this paper, a 3D dynamic model of Petrel-II is derived using linear momentum and angular momentum equations. According to the dynamic model, the spiral motion in the underwater space is simulated for the gliding mode. Similarly the cycle motion on water surface and the depth-keeping motion underwater are simulated for the level-flight mode. These simulations are important to the performance analysis and parameter optimization for the Petrel-II underwater glider. The simulation results show a good agreement with field trials.

  14. An acoustically controlled tetherless underwater vehicle for installation and maintenance of neutrino detectors in the deep ocean

    International Nuclear Information System (INIS)

    Ballou, Philip J.

    1997-01-01

    The task of installing and servicing high energy neutrino detectors in the deep ocean from a surface support vessel is problematic using conventional tethered systems. An array of multiple detector strings rising 500 m from the ocean floor, and forming a grid with 50 m spacing between the strings, presents a substantial entanglement hazard for equipment cables deployed from the surface. Such tasks may be accomplished with fewer risks using a tetherless underwater remotely operated vehicle that has a local acoustic telemetry link to send control commands and sensor data between the vehicle and a stationary hydrophone suspended above or just outside the perimeter of the work site. The Phase I effort involves the development of an underwater acoustic telemetry link for vehicle control and sensor feedback, the evaluation of video compression methods for real-time acoustic transmission of video through the water, and the defining of local control routines on board the vehicle to allow it to perform certain basic maneuvering tasks autonomously, or to initiate a self-rescue if the acoustic control link should be lost. In Phase II, a prototype tetherless vehicle system will be designed and constructed to demonstrate the ability to install cable interconnections within a detector array at 4 km depth. The same control technology could be used with a larger more powerful vehicle to maneuver the detector strings into desired positions as they are being lowered to the ocean floor

  15. DUMAND-II (deep underwater muon and neutrino detector) progress report

    Science.gov (United States)

    Young, Kenneth K.

    1995-07-01

    The DUMAND II detector will search for astronomical sources of high energy neutrinos. Successful deployment of the basic infrastructure, including the shore cable, the underwater junction box, and an environmental module was accomplished in December, 1993. One optical module string was also deployed and operated, logging data for about 10 hours. The underwater cable was connected to the shore station where we were able to successfully exercise system controls and log further environmental data. After this time, water leaking into the electronics control module for the deployed string disabled the string electrical system. The acquired data are consistent with the expected rate of downgoing muons, and our ability to reconstruct muons was demonstrated. The measured acoustical backgrounds are consistent with expectation, which should allow acoustical detection of nearby PeV particle cascades. The disabled string has been recovered and is undergoing repairs ashore. We have identified the source of the water leak and implemented additional testing and QC procedures to ensure no repetition in our next deployment. We will be ready to deploy three strings and begin continuous data taking in late 1994 or early 1995.

  16. The underwater utilization of gammagraphy and magnetic particles of 96 meters deep

    International Nuclear Information System (INIS)

    Tupinamba, P.M.; Camerini, C.S.

    1983-01-01

    A brief description of one conductor coupling oil well (BD-7) in-service inspection of a 100 meters deep is done. The analysis of the non destructive testing with Gammagraphy and Magnetic Particles to evaluate this damage, as well as the suitability of its utilization for this case is presented. (E.G.) [pt

  17. Buoyancy under control: underwater locomotor performance in a deep diving seabird suggests respiratory strategies for reducing foraging effort.

    Directory of Open Access Journals (Sweden)

    Timothée R Cook

    Full Text Available BACKGROUND: Because they have air stored in many body compartments, diving seabirds are expected to exhibit efficient behavioural strategies for reducing costs related to buoyancy control. We study the underwater locomotor activity of a deep-diving species from the Cormorant family (Kerguelen shag and report locomotor adjustments to the change of buoyancy with depth. METHODOLOGY/PRINCIPAL FINDINGS: Using accelerometers, we show that during both the descent and ascent phases of dives, shags modelled their acceleration and stroking activity on the natural variation of buoyancy with depth. For example, during the descent phase, birds increased swim speed with depth. But in parallel, and with a decay constant similar to the one in the equation explaining the decrease of buoyancy with depth, they decreased foot-stroke frequency exponentially, a behaviour that enables birds to reduce oxygen consumption. During ascent, birds also reduced locomotor cost by ascending passively. We considered the depth at which they started gliding as a proxy to their depth of neutral buoyancy. This depth increased with maximum dive depth. As an explanation for this, we propose that shags adjust their buoyancy to depth by varying the amount of respiratory air they dive with. CONCLUSIONS/SIGNIFICANCE: Calculations based on known values of stored body oxygen volumes and on deep-diving metabolic rates in avian divers suggest that the variations of volume of respiratory oxygen associated with a respiration mediated buoyancy control only influence aerobic dive duration moderately. Therefore, we propose that an advantage in cormorants--as in other families of diving seabirds--of respiratory air volume adjustment upon diving could be related less to increasing time of submergence, through an increased volume of body oxygen stores, than to reducing the locomotor costs of buoyancy control.

  18. High-Resolution Seafloor Mapping at A Deep-Sea Methane Seep Field with an Autonomous Underwater Vehicle

    Science.gov (United States)

    Skarke, A. D.

    2017-12-01

    A growing body of research indicates that points of seafloor gas emission, known as cold-seeps, are a common feature along many continental margins. Results from recent exploration efforts show that benthic environments at cold-seeps are characterized by extensive authigenic carbonate crusts and complex chemosynthetic communities. The seafloor morphology and geophysical properties of these locations are heterogeneous and relatively complex due to the three-dimensional structure created by carbonate buildups and dense bivalve beds. Seeps are often found clustered and the spatial extent of associated seafloor crusts and beds can reach multiple square kilometers. Here, the results of a 1.25 km2 autonomous underwater vehicle (AUV) survey of a deep-sea methane seep field with 13 vents, at a nominal depth of 1400 m, located near Veatch Canyon on the US Atlantic margin are presented. Multibeam sonar, sidescan sonar, and a sub bottom profiler on the AUV were used to make high-resolution observations of seafloor bathymetry (resolution 1m2) as well as water column, seafloor, and subsurface acoustic backscatter intensity. Additionally, a downward oriented camera was used to collect seafloor imagery coincident with acoustic observations at select locations. Acoustic results indicated the location of discrete gas plumes as well as a continuous area of elevated seafloor roughness and backscatter intensity consistent with the presence of large scale authigenic rock outcrops and extensive mussel beds, which were visually confirmed with camera imagery. Additionally, a linear area of particularly elevated seafloor roughness and acoustic backscatter intensity that lies sub-parallel to an adjacent ridge was interpreted to be controlled by underlying geologic processes such as soft sediment faulting. Automated analysis of camera imagery and coincident acoustic backscatter and bathymetry data as well as derivative metrics (e.g. slope and rugosity) was used to segment and classify bed

  19. Flow Around Steep Topography

    Science.gov (United States)

    2015-09-30

    Flow around steep topography T. M. Shaun Johnston Scripps Institution of Oceanography University of California, San Diego 9500 Gilman Drive, M...tall, steep, submarine topography and islands. During the Flow Encountering Abrupt Topography (FLEAT) DRI, investigators will determine: • Whether...estimates from making accurate statistical/deterministic predictions at ᝺ km resolution around submarine topography and islands? How can we

  20. Underwater 3D filming

    Directory of Open Access Journals (Sweden)

    Roberto Rinaldi

    2014-12-01

    Full Text Available After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space (“Gravity” and the underwater realm look perfect to be reproduced in 3D. “Filming in space” was possible in “Gravity” using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.

  1. Remote sensing of deep hermatypic coral reefs in Puerto Rico and the U.S. Virgin Islands using the Seabed autonomous underwater vehicle

    Science.gov (United States)

    Armstrong, Roy A.; Singh, Hanumant

    2006-09-01

    Optical imaging of coral reefs and other benthic communities present below one attenuation depth, the limit of effective airborne and satellite remote sensing, requires the use of in situ platforms such as autonomous underwater vehicles (AUVs). The Seabed AUV, which was designed for high-resolution underwater optical and acoustic imaging, was used to characterize several deep insular shelf reefs of Puerto Rico and the US Virgin Islands using digital imagery. The digital photo transects obtained by the Seabed AUV provided quantitative data on living coral, sponge, gorgonian, and macroalgal cover as well as coral species richness and diversity. Rugosity, an index of structural complexity, was derived from the pencil-beam acoustic data. The AUV benthic assessments could provide the required information for selecting unique areas of high coral cover, biodiversity and structural complexity for habitat protection and ecosystem-based management. Data from Seabed sensors and related imaging technologies are being used to conduct multi-beam sonar surveys, 3-D image reconstruction from a single camera, photo mosaicking, image based navigation, and multi-sensor fusion of acoustic and optical data.

  2. Fast and local non-linear evolution of steep wave-groups on deep water: A comparison of approximate models to fully non-linear simulations

    International Nuclear Information System (INIS)

    Adcock, T. A. A.; Taylor, P. H.

    2016-01-01

    The non-linear Schrödinger equation and its higher order extensions are routinely used for analysis of extreme ocean waves. This paper compares the evolution of individual wave-packets modelled using non-linear Schrödinger type equations with packets modelled using fully non-linear potential flow models. The modified non-linear Schrödinger Equation accurately models the relatively large scale non-linear changes to the shape of wave-groups, with a dramatic contraction of the group along the mean propagation direction and a corresponding extension of the width of the wave-crests. In addition, as extreme wave form, there is a local non-linear contraction of the wave-group around the crest which leads to a localised broadening of the wave spectrum which the bandwidth limited non-linear Schrödinger Equations struggle to capture. This limitation occurs for waves of moderate steepness and a narrow underlying spectrum

  3. Steep microbial boundstone-dominated plaform margins

    NARCIS (Netherlands)

    Kenter, J.A.M.; Harris, P.M.; Della Porta, G.P.

    2005-01-01

    Seaward progradation of several kilometers has been documented mostly for leeward margin low-angle carbonate slope systems with a dominant platform top sediment source. However, steep and high-relief margins fronting deep basins can also prograde and as such are somewhat perplexing. Characteristics

  4. Underwater robots

    CERN Document Server

    Antonelli, Gianluca

    2014-01-01

    This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.       

  5. Underwater Ranging

    OpenAIRE

    S. P. Gaba

    1984-01-01

    The paper deals with underwater laser ranging system, its principle of operation and maximum depth capability. The sources of external noise and methods to improve signal-to-noise ratio are also discussed.

  6. NEMO-SMO acoustic array: A deep-sea test of a novel acoustic positioning system for a km3-scale underwater neutrino telescope

    Science.gov (United States)

    Viola, S.; Ardid, M.; Bertin, V.; Enzenhöfer, A.; Keller, P.; Lahmann, R.; Larosa, G.; Llorens, C. D.; NEMO Collaboration; SMO Collaboration

    2013-10-01

    Within the activities of the NEMO project, the installation of a 8-floors tower (NEMO-Phase II) at a depth of 3500 m is foreseen in 2012. The tower will be installed about 80 km off-shore Capo Passero, in Sicily. On board the NEMO tower, an array of 18 acoustic sensors will be installed, permitting acoustic detection of biological sources, studies for acoustic neutrino detection and primarily acoustic positioning of the underwater structures. For the latter purpose, the sensors register acoustic signals emitted by five acoustic beacons anchored on the sea-floor. The data acquisition system of the acoustic sensors is fully integrated with the detector data transport system and is based on an “all data to shore” philosophy. Signals coming from hydrophones are continuously sampled underwater at 192 kHz/24 bit and transmitted to shore through an electro-optical cable for real-time analysis. A novel technology for underwater GPS time-stamping of data has been implemented and tested. The operation of the acoustic array will permit long-term test of sensors and electronics technologies that are proposed for the acoustic positioning system of KM3NeT.

  7. Neutrino physics-the link between the microcosmos and the macrocosmos, a study in two parts: (1) Theoretical-a look at the tau neutrino mass and other quantum electrodynamical effects in third family lepton interactions and (2) Experimental-underwater astronomy in Hawai'i, the short prototype string of the Deep Underwater Muon and Neutrino Detector project

    International Nuclear Information System (INIS)

    Babson, J.F.

    1989-01-01

    The nineteen eighties has been a time in which Cosmology and Particle Physics have come together. This dissertation reflects that trend. It does so in two ways. First, in Chapters 1 through 3, there is a theoretical investigation into some aspects of generational universality. The consequences of a third lepton, namely the tauon, and an associated tau neutrino, are explored in terms of phenomenology (mass and V-A consistency) that may shed insight into questions of neutrino mass and increased symmetry at higher energies. Second, in Chapters 4 through 11, there is an experimental investigation in the form of constructing and operating the first stage of the DUMAND (Deep Underwater Muon and Neutrino Detection) project which was a ship suspended muon and neutrino telescope called the SPS (Short Prototype String). This detector is of the water Cherenkov type and is the first time such an instrument has been successfully built and tested for use in the ocean. Chapters 6 through 10 are devoted to the detailed documentation of the parts of the SPS and its technology integration that I designed, prototyped, and debugged. In particular, a complete description is given to the command and control communications system of the string, the digital control electronics and associated software for the Optical, Calibration, and Power modules as well as the fast digitizing electronics or String Bottom Controller (SBC). This includes the development of a microcontroller language UHPS (Underwater Hawai'i Programming System). Finally, Chapter 11 is an analysis of SPS data in terms of ascertaining a purely statistically based downward traveling muon rate at a depth of 4.0 Km yielding (2.06 ± 0.68) x 10 -2 Hz

  8. Detection and characterisation of deep-sea benthopelagic animals from an autonomous underwater vehicle with a multibeam echosounder: A proof of concept and description of data-processing methods

    Science.gov (United States)

    Dunlop, Katherine M.; Jarvis, Toby; Benoit-Bird, Kelly J.; Waluk, Chad M.; Caress, David W.; Thomas, Hans; Smith, Kenneth L.

    2018-04-01

    Benthopelagic animals are an important component of the deep-sea ecosystem, yet are notoriously difficult to study. Multibeam echosounders (MBES) deployed on autonomous underwater vehicles (AUVs) represent a promising technology for monitoring this elusive fauna at relatively high spatial and temporal resolution. However, application of this remote-sensing technology to the study of small (relative to the sampling resolution), dispersed and mobile animals at depth does not come without significant challenges with respect to data collection, data processing and vessel avoidance. As a proof of concept, we used data from a downward-looking RESON SeaBat 7125 MBES mounted on a Dorado-class AUV to detect and characterise the location and movement of backscattering targets (which were likely to have been individual fish or squid) within 50 m of the seafloor at 800 m depth in Monterey Bay, California. The targets were detected and tracked, enabling their numerical density and movement to be characterised. The results revealed a consistent movement of targets downwards away from the AUV that we interpreted as an avoidance response. The large volume and complexity of the data presented a computational challenge, while reverberation and noise, spatial confounding and a marginal sampling resolution relative to the size of the targets caused difficulties for reliable and comprehensive target detection and tracking. Nevertheless, the results demonstrate that an AUV-mounted MBES has the potential to provide unique and detailed information on the in situ abundance, distribution, size and behaviour of both individual and aggregated deep-sea benthopelagic animals. We provide detailed data-processing information for those interested in working with MBES water-column data, and a critical appraisal of the data in the context of aquatic ecosystem research. We consider future directions for deep-sea water-column echosounding, and reinforce the importance of measures to mitigate vessel

  9. Blind equalization for underwater communications

    NARCIS (Netherlands)

    Blom, K.C.H.

    2014-01-01

    Underwater wireless (sensor) networks would vastly improve man's ability to explore and exploit remote aquatic environments. Despite underwater sensor and vehicle technology being relatively mature, underwater communications is still a major challenge. The most challenging characteristics of the

  10. Holocene and Late Glacial sedimentation near steep slopes in southern Lake Baikal

    Directory of Open Access Journals (Sweden)

    Michael Sturm

    2015-07-01

    Full Text Available We here present new data on sedimentation at and near the steep north-slopes of southern Lake Baikal. Short sediment cores were taken at 550 m and at 1366 m water depth, within 3600 m offshore Cape Ivanovskii at the station of the Baikal Deep Underwater NEUTRINO Telescope. The sediments within 3600 m off the northern coast of Southern Lake Baikal are dominated by pelagic deposition. Our data reveal surprisingly little influence from terrigenous material from adjacent coastal areas, tributaries and their catchment. At the shallow-water site (at 550 m water depth, 700 m off shore just 27 cm thick homogenous sediments have accumulated during the Holocene on top of Pleistocene deposits resulting in Holocene sedimentation rates of 0.003 cm a-1. The very low rates are caused by long-term persistent winnowing of fine particles caused by week contour currents along the slope. The uppermost sediments are oxidized down to 22 cm. Very low concentrations of Corg, Sibio and Ntot in Pleistocene sediments increase dramatically within the Holocene. The heavy mineral fraction of the shallow-water sediments contains up to 33.6 % olivine and up to 2.4 % spinel. These rare minerals originate from white marbles of the nearby coastal outcrop Belaya Vyemka of the Early Precambrian Sharyzalgaiskaya Series. At the deep-water site (at 1366 m water depth, 3600 m off shore Holocene sedimentation rates are 10-times higher (0.036 cm a-1. Sediment oxidation occurs just within the uppermost 2 cm. Of the two rare type minerals of the Sharyzalgaiskaya Series spinel does not occur at all and olivine is represented by very diminished concentrations. This indicates insignificant influx of terrestrial material from the nearby shore to the deep-water site . Distal turbidites of far-off sources are intercalated to pelagic sediments at the deep-water site. Breakdown events of deltas at the SE- and S-coast of the basin are suggested to be responsible for the formation of the turbidites

  11. Diving Deep: A Comparative Study of Educator Undergraduate and Graduate Backgrounds and Their Effect on Student Understanding of Engineering and Engineering Careers, Utilizing an Underwater Robotics Program

    Science.gov (United States)

    Scribner, J. Adam

    Numerous studies have demonstrated that educators having degrees in their subjects significantly enhances student achievement, particularly in secondary mathematics and science (Chaney, 1995; Goe, 2007; Rowan, Chiang, & Miller, 1997; Wenglinsky, 2000). Yet, science teachers in states that adopt the Next Generation Science Standards will be facilitating classroom engineering activities despite the fact that few have backgrounds in engineering. This quantitative study analyzed ex-post facto WaterBotics (an innovative underwater robotics curriculum for middle and high school students) data to determine if educators having backgrounds in engineering (i.e., undergraduate and graduate degrees in engineering) positively affected student learning on two engineering outcomes: 1) the engineering design process, and 2) understanding of careers in engineering (who engineers are and what engineers do). The results indicated that educators having backgrounds in engineering did not significantly affect student understanding of the engineering design process or careers in engineering when compared to educators having backgrounds in science, mathematics, technology education, or other disciplines. There were, however, statistically significant differences between the groups of educators. Students of educators with backgrounds in technology education had the highest mean score on assessments pertaining to the engineering design process while students of educators with disciplines outside of STEM had the highest mean scores on instruments that assess for student understanding of careers in engineering. This might be due to the fact that educators who lack degrees in engineering but who teach engineering do a better job of "sticking to the script" of engineering curricula.

  12. Underwater welding of steel

    International Nuclear Information System (INIS)

    Ibarra, S.; Olson, D.L.

    1992-01-01

    A fundamental basis to understand the behavior of wet underwater welding of steel is introduced. Both the pyrometallurgical and physical metallurgy concepts are discussed. Modifications of welding consumables and practice are suggested. This chapter promotes further contributions of meatllurgical research to improve and promote wet underwater welding. (orig.)

  13. Underwater Scene Composition

    Science.gov (United States)

    Kim, Nanyoung

    2009-01-01

    In this article, the author describes an underwater scene composition for elementary-education majors. This project deals with watercolor with crayon or oil-pastel resist (medium); the beauty of nature represented by fish in the underwater scene (theme); texture and pattern (design elements); drawing simple forms (drawing skill); and composition…

  14. Underwater Acoustic Networking Techniques

    CERN Document Server

    Otnes, Roald; Casari, Paolo; Goetz, Michael; Husøy, Thor; Nissen, Ivor; Rimstad, Knut; van Walree, Paul; Zorzi, Michele

    2012-01-01

    This literature study presents an overview of underwater acoustic networking. It provides a background and describes the state of the art of all networking facets that are relevant for underwater applications. This report serves both as an introduction to the subject and as a summary of existing protocols, providing support and inspiration for the development of network architectures.

  15. Underwater Acoustic Tracer System

    Science.gov (United States)

    2009-03-13

    for controlling and utilizing supercavitating projectile dynamics to produce a distinctive radiated noise signal. (2) Description of the Prior Art...metallic objects which travel relatively closely to a magnetic pickup. For larger, high speed, underwater projectiles, supercavitating underwater vehicles...have been proposed for use. The conditions for supercavitation are known in the art. Supercavitation allows for higher speeds to be sustainable

  16. Underwater fiber-wireless communication with a passive front end

    Science.gov (United States)

    Xu, Jing; Sun, Bin; Lyu, Weichao; Kong, Meiwei; Sarwar, Rohail; Han, Jun; Zhang, Wei; Deng, Ning

    2017-11-01

    We propose and experimentally demonstrate a novel concept on underwater fiber-wireless (Fi-Wi) communication system with a fully passive wireless front end. A low-cost step-index (SI) plastic optical fiber (POF) together with a passive collimating lens at the front end composes the underwater Fi-Wi architecture. We have achieved a 1.71-Gb/s transmission at a mean BER of 4.97 × 10-3 (1.30 × 10-3 when using power loading) over a 50-m SI-POF and 2-m underwater wireless channel using orthogonal frequency division multiplexing (OFDM). Although the wireless part is very short, it actually plays a crucial role in practical underwater implementation, especially in deep sea. Compared with the wired solution (e.g. using a 52-m POF cable without the UWOC part), the proposed underwater Fi-Wi scheme can save optical wet-mate connectors that are sophisticated, very expensive and difficult to install in deep ocean. By combining high-capacity robust POF with the mobility and ubiquity of underwater wireless optical communication (UWOC), the proposed underwater Fi-Wi technology will find wide application in ocean exploration.

  17. Design of underwater work systems

    International Nuclear Information System (INIS)

    Lovelace, R.B.

    1980-01-01

    In the near future, underwater vehicles will replace divers as the principal means for inspection and maintenance work. These vehicles will provide a maneuverable work platform for an underwater viewing system and manipulator/tool package. Some of the problems faced by the underwater designer, and some areas to consider in the design of an integrated underwater work system, are considered

  18. How steep are the Alps?

    Science.gov (United States)

    Robl, Jörg; Prasicek, Günther; Stüwe, Kurt; Hergarten, Stefan

    2014-05-01

    The topography of the European Alps reflects continental collision, crustal thickening and buoyancy driven surface uplift, overprinted by erosional processes. Topographic gradients generally steepen from the valley floors up to about 1500 m - 2000 m followed by an unexpected decrease in slope up to about 2900 m and a further increase to the highest summits of the range. Several studies have interpreted this pattern and the accompanied maximum in the hypsometric curve in terms of either the critical slope stability angle, the prematurity of the Alps caused by recent tectonic uplift, or the effect of the glacial "buzz saw" related to the Pleistocene glaciation cycles. There is consensus that the lithological inventory represents a first order parameter for the steepness of fluvial channels and the angle of hillslopes in steady state and that the response time of a transient landscape is controlled by lithology. In this study we systematically explore the slope-elevation distributions for several hundred continuous domains of the major structural units of the Alps. For this, we apply a novel numerical code to determine the predominant cause for the observed peculiar topography. We compare adjacent alpine domains with contrasting lithology to explore lithological effects on the limiting slope stability angle. We analyze domains with different lithology in the non-glaciated parts of the orogen to highlight the state of maturity related to a recent uplift event. We evaluate the glacial effects on the landscape by the comparison of areas belonging to the same structural units but affected by a variable amount of glacial imprint. The results show that lithology has a major impact on the morphometric characteristics of the European Alps. Adjacent but different structural units show a significant variability in their slope-elevation distributions although they have experienced the same uplift history and the same amount of glacial imprint. This suggests that the response

  19. Underwater wireless communication system

    International Nuclear Information System (INIS)

    Goh, J H; Shaw, A; Al-Shamma'a, A I

    2009-01-01

    Underwater communication has a range of applications including remotely operated vehicle (ROV) and autonomous underwater vehicle (AUV) communication and docking in the offshore industry. Current underwater transmission techniques is primarily utilise sound waves for large distance at lower frequencies and the velocity of sound in water is approximately 1500m/s the resultant communications have problems with multi-path propagation and low bandwidth problems. The use of electromagnetic (EM) techniques underwater has largely been overlooked because of the attenuation due to the conductivity of seawater. However, for short range applications, the higher frequencies and much higher velocity can prove advantageous. This paper will outline a project which will utilise recent investigations that demonstrate EM wave propagation up to the MHz frequency range is possible in seawater.

  20. Smelling and Tasting Underwater.

    Science.gov (United States)

    Atema, Jelle

    1980-01-01

    Discusses differences between smell and taste, comparing these senses in organisms in aquatic and terrestrial environments. Describes the chemical environment underwater and in air, differences in chemoreceptors to receive stimuli, and the organs, brain, and behavior involved in chemoreception. (CS)

  1. Percent Agricultural Land Cover on Steep Slopes

    Data.gov (United States)

    U.S. Environmental Protection Agency — Clearing land for agriculture tends to increase soil erosion. The amount of erosion is related to the steepness of the slope, farming methods used and soil type....

  2. Autonomous Underwater Gliders

    OpenAIRE

    Wood,; Stephen,

    2009-01-01

    Autonomous Underwater Vehicles are only now being marketed as robust commercial vehicles for many industries, and of these vehicles underwater gliders are becoming the new tool for oceanographers. Satellites have provided scientists and marine specialists with measurements of the sea surface such as temperature since the late 1970s, and data via subsurface oceanographic moorings since the 1950's. As stated by David Smeed of the National Oceanography Centre, Southampton, England, that "gliders...

  3. Underwater Gliders: A Review

    OpenAIRE

    Javaid Muhammad Yasar; Ovinis Mark; Nagarajan T; Hashim Fakhruldin B M

    2014-01-01

    Underwater gliders are a type of underwater vehicle that transverse the oceans by shifting its buoyancy, during which its wings develop a component of the downward motion in the horizontal plane, thus producing a forward force. They are primarily used in oceanography sensing and data collection and play an important role in ocean research and development. Although there have been considerable developments in these gliders since the development of the first glider concept in 1989, to date, no ...

  4. Filming Underwater in 3d Respecting Stereographic Rules

    Science.gov (United States)

    Rinaldi, R.; Hordosch, H.

    2015-04-01

    After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie's box offices due to the overall quality of its products. Special environments such as space ("Gravity") and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.

  5. FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES

    Directory of Open Access Journals (Sweden)

    R. Rinaldi

    2015-04-01

    Full Text Available After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space ("Gravity" and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.

  6. Resources for Underwater Robotics Education

    Science.gov (United States)

    Wallace, Michael L.; Freitas, William M.

    2016-01-01

    4-H clubs can build and program underwater robots from raw materials. An annotated resource list for engaging youth in building underwater remotely operated vehicles (ROVs) is provided. This article is a companion piece to the Research in Brief article "Building Teen Futures with Underwater Robotics" in this issue of the "Journal of…

  7. Underwater 3D filming

    OpenAIRE

    Rinaldi, Roberto

    2014-01-01

    After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space (“Gravity” ) and the underwater realm look perfect to be reproduced in 3D. “Filming in space” was possible in “Gravity” using special effects and computer graphic. The underwater realm is still difficult to be handled. Unde...

  8. Interrill soil erosion processes on steep slopes

    Science.gov (United States)

    To date interrill erosion processes and regimes are not fully understood. The objectives are to 1) identify the erosion regimes and limiting processes between detachment and transport on steep slopes, 2) characterize the interactive effects between rainfall intensity and flow depth on sediment trans...

  9. Water waves generated by underwater explosion

    CERN Document Server

    Mehaute, Bernard Le

    1996-01-01

    This is the first book on explosion-generated water waves. It presents the theoretical foundations and experimental results of the generation and propagation of impulsively generated waves resulting from underwater explosions. Many of the theories and concepts presented herein are applicable to other types of water waves, in particular, tsunamis and waves generated by the fall of a meteorite. Linear and nonlinear theories, as well as experimental calibrations, are presented for cases of deep and shallow water explosions. Propagation of transient waves on dissipative, nonuniform bathymetries to

  10. Working underwater: deepwater drilling support by ROV

    Energy Technology Data Exchange (ETDEWEB)

    1958-01-01

    Experience with the drill ships Discoverer Seven Seas and Penrod 78 explains some of the problems associated with the use of remotely operated vehicles (ROVs) for underwater operations. Support services are a bigger problem than depth. The author describes developments, such as the new guidewire methods, side launch A-frame davit, and top hat stabilizing frame. All parts of the ROV system must be of heavy duty design, and operative skill is of paramount importance. The major requirements for deep water ROVs are reliability, fail-safe redundancy, cage deployment, compact size, adequate power, and capacity for heavy intervention work. 8 figures.

  11. Colour reconstruction of underwater images

    OpenAIRE

    Hoth, Julian; Kowalczyk, Wojciech

    2017-01-01

    Objects look very different in the underwater environment compared to their appearance in sunlight. Images with correct colouring simplify the detection of underwater objects and may allow the use of visual SLAM algorithms developed for land-based robots underwater. Hence, image processing is required. Current algorithms focus on the colour reconstruction of scenery at diving depth where different colours can still be distinguished. At greater depth this is not the case. In this study it is i...

  12. Underwater Welding Techniques

    OpenAIRE

    Esam F. Alajmi; Ahmad A. Alqenaei

    2017-01-01

    Welding demand in offshore and marine applications is increased with the increasing in oil and gas activities as well as increasing in the marine transportation and industrial applications. Applications of underwater welding well be increased in Kuwait in the coming years due to the strategic directive of the country toward starting the offshore oil and gas exploration and production, and the increase in marine transportation projects. Therefore, there is a need to understand the concept of u...

  13. Underwater Gliders: A Review

    Directory of Open Access Journals (Sweden)

    Javaid Muhammad Yasar

    2014-07-01

    Full Text Available Underwater gliders are a type of underwater vehicle that transverse the oceans by shifting its buoyancy, during which its wings develop a component of the downward motion in the horizontal plane, thus producing a forward force. They are primarily used in oceanography sensing and data collection and play an important role in ocean research and development. Although there have been considerable developments in these gliders since the development of the first glider concept in 1989, to date, no review of these gliders have been done. This paper reviews existing underwater gliders, with emphasis on their respective working principles, range and payload capacity. All information on gliders available in the public domain or published in literature from the year 2000-2013 was reviewed. The majority of these gliders have an operational depth of 1000 m and a payload of less than 25 kg. The exception is a blend-body shape glider, which has a payload of approximately 800 kg and an operational depth around about 300 m. However, the commercialization of these gliders has been limited with only three know examples that have been successfully commercialized.

  14. Rock burst prevention at steep seam mining

    Energy Technology Data Exchange (ETDEWEB)

    Efremov, G D

    1988-09-01

    At steep shield longwalls one method of preventing rock bursts is to avoid sharp angles during working. Stress in coal and rock body that appears when steep seams are worked where rock bursts occur at corners of set-up entries is discussed. The dynamic interaction between gas and rock pressure is assessed. Maintains that in order to avoid rock bursts at these places it is necessary to turn the protruding coal wall by 20-30 degrees towards the coal body to divert the action of shift forces. At the same time the face should also be inclined (by 10-15 degrees) to move the zones of increased stress away from the corner into the coal and rock body. Stress at workings with round cross-sections is 3-4 times lower than at square cross-sections. Recommendations are given that concern shearer loader operation (semi-spherical shape of the face), borehole drilling and water injection. Initial distance of 10-15 m between boreholes is suggested. 3 refs.

  15. Hydrodynamic Forces from Steep Waves in Rivers

    Energy Technology Data Exchange (ETDEWEB)

    Loevoll, A.

    1996-12-31

    The reservoir behind a hydroelectric power production dam has an enormous potential for destruction in case of a dam break. The present doctoral thesis evaluates the hydrodynamic forces from steep waves in rivers. In the laboratory, forces on a structure shaped as a vertical cylinder of rectangular cross section were measured, and the threshold condition for the bed sediment was investigated. A wave parameter {alpha} is introduced to describe the gradient of a wave front. The flow condition in the flume was reproduced by a 3-D numerical model. For various values of the wave parameter the forces were measured and compared to the drag force calculated from measured depth and velocity. From these comparisons the hydrodynamic force can be calculated as drag only, even in the case of a breaking wave front. The contribution from inertia relative to drag depends on the size of the structure. For larger structures the contributions may be important in steep waves. To study the initiation of motion (of sediments) under unsteady flow, waves of various parameter values were passed over a gravel covered bed. The initiation of motion starts before the peak of the wave, and is given by Shield`s relation if the friction slope is applied. No dependence upon the wave gradient was found. A relation was established which gives the critical shear stress if the friction slope is estimated by the bottom slope. 65 refs., 41 figs., 10 tabs.

  16. Hydrodynamic Forces from Steep Waves in Rivers

    International Nuclear Information System (INIS)

    Loevoll, A.

    1996-01-01

    The reservoir behind a hydroelectric power production dam has an enormous potential for destruction in case of a dam break. The present doctoral thesis evaluates the hydrodynamic forces from steep waves in rivers. In the laboratory, forces on a structure shaped as a vertical cylinder of rectangular cross section were measured, and the threshold condition for the bed sediment was investigated. A wave parameter α is introduced to describe the gradient of a wave front. The flow condition in the flume was reproduced by a 3-D numerical model. For various values of the wave parameter the forces were measured and compared to the drag force calculated from measured depth and velocity. From these comparisons the hydrodynamic force can be calculated as drag only, even in the case of a breaking wave front. The contribution from inertia relative to drag depends on the size of the structure. For larger structures the contributions may be important in steep waves. To study the initiation of motion (of sediments) under unsteady flow, waves of various parameter values were passed over a gravel covered bed. The initiation of motion starts before the peak of the wave, and is given by Shield's relation if the friction slope is applied. No dependence upon the wave gradient was found. A relation was established which gives the critical shear stress if the friction slope is estimated by the bottom slope. 65 refs., 41 figs., 10 tabs

  17. A Survey of Routing Issues and Associated Protocols in Underwater Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Muhammad Khalid

    2017-01-01

    Full Text Available Underwater wireless sensor networks are a newly emerging wireless technology in which small size sensors with limited energy and limited memory and bandwidth are deployed in deep sea water and various monitoring operations like tactical surveillance, environmental monitoring, and data collection are performed through these tiny sensors. Underwater wireless sensor networks are used for the exploration of underwater resources, oceanographic data collection, flood or disaster prevention, tactical surveillance systems, and unmanned underwater vehicles. Sensor nodes consist of a small memory, a central processing unit, and an antenna. Underwater networks are much different from terrestrial sensor networks as radio waves cannot be used in underwater wireless sensor networks. Acoustic channels are used for communication in deep sea water. Acoustic signals have many limitations, such as limited bandwidth, higher end-to-end delay, network path loss, higher propagation delay, and dynamic topology. Usually, these limitations result in higher energy consumption with a smaller number of packets delivered. The main aim nowadays is to operate sensor nodes having a smaller battery for a longer time in the network. This survey has discussed the state-of-the-art localization based and localization-free routing protocols. Routing associated issues in the area of underwater wireless sensor networks have also been discussed.

  18. Underwater running device

    International Nuclear Information System (INIS)

    Kogure, Sumio; Matsuo, Takashiro; Yoshida, Yoji

    1996-01-01

    An underwater running device for an underwater inspection device for detecting inner surfaces of a reactor or a water vessel has an outer frame and an inner frame, and both of them are connected slidably by an air cylinder and connected rotatably by a shaft. The outer frame has four outer frame legs, and each of the outer frame legs is equipped with a sucker at the top end. The inner frame has four inner frame legs each equipped with a sucker at the top end. The outer frame legs and the inner frame legs are each connected with the outer frame and the inner frame by the air cylinder. The outer and the inner frame legs can be elevated or lowered (or extended or contracted) by the air cylinder. The sucker is connected with a jet pump-type negative pressure generator. The device can run and move by repeating attraction and releasing of the outer frame legs and the inner frame legs alternately while maintaining the posture of the inspection device stably. (I.N.)

  19. OFDM for underwater acoustic communications

    CERN Document Server

    Zhou, Shengli

    2014-01-01

    A blend of introductory material and advanced signal processing and communication techniques, of critical importance to underwater system and network development This book, which is the first to describe the processing techniques central to underwater OFDM, is arranged into four distinct sections: First, it describes the characteristics of underwater acoustic channels, and stresses the difference from wireless radio channels. Then it goes over the basics of OFDM and channel coding. The second part starts with an overview of the OFDM receiver, and develops various modules for the receiver des

  20. Underwater plasma arc cutting

    International Nuclear Information System (INIS)

    Leautier, R.; Pilot, G.

    1991-01-01

    This report describes the work done to develop underwater plasma arc cutting techniques, to characterise aerosols from cutting operations on radioactive and non-radioactive work-pieces, and to develop suitable ventilation and filtration techniques. The work has been carried out in the framework of a contract between CEA-CEN Cadarache and the Commission of European Communities. Furthermore, this work has been carried out in close cooperation with CEA-CEN Saclay mainly for secondary emissions and radioactive analysis. The contract started in May 1986 and was completed in December 1988 by a supplementary agreement. This report has been compiled from several progress reports submitted during the work period, contains the main findings of the work and encloses the results of comparative tests on plasma arc cutting

  1. Robotic Detection of Marine Litter Using Deep Visual Detection Models

    OpenAIRE

    Fulton, Michael; Hong, Jungseok; Islam, Md Jahidul; Sattar, Junaed

    2018-01-01

    Trash deposits in aquatic environments have a destructive effect on marine ecosystems and pose a long-term economic and environmental threat. Autonomous underwater vehicles (AUVs) could very well contribute to the solution of this problem by finding and eventually removing trash. A step towards this goal is the successful detection of trash in underwater environments. This paper evaluates a number of deep-learning algorithms to the task of visually detecting trash in realistic underwater envi...

  2. Safety aspects for underwater vehicles

    Digital Repository Service at National Institute of Oceanography (India)

    Madhan, R.; Navelkar, G.S.; Desa, E.S.; Afzulpurkar, S.; Prabhudesai, S.P.; Dabholkar, N.; Mascarenhas, A.A.M.Q.; Maurya, P.

    instrumentation is intelligent small Autonomous Underwater Vehicles (AUV’s), autonomous profilers, gliders [1], etc. The ultimate aim in all autonomous platforms research and development is to reach the stage of unescorted missions with minimum failures...

  3. Geometric and Optic Characterization of a Hemispherical Dome Port for Underwater Photogrammetry

    Directory of Open Access Journals (Sweden)

    Fabio Menna

    2016-01-01

    Full Text Available The popularity of automatic photogrammetric techniques has promoted many experiments in underwater scenarios leading to quite impressive visual results, even by non-experts. Despite these achievements, a deep understanding of camera and lens behaviors as well as optical phenomena involved in underwater operations is fundamental to better plan field campaigns and anticipate the achievable results. The paper presents a geometric investigation of a consumer grade underwater camera housing, manufactured by NiMAR and equipped with a 7′′ dome port. After a review of flat and dome ports, the work analyzes, using simulations and real experiments, the main optical phenomena involved when operating a camera underwater. Specific aspects which deal with photogrammetric acquisitions are considered with some tests in laboratory and in a swimming pool. Results and considerations are shown and commented.

  4. Determination of improved steeping conditions for sorghum malting

    CSIR Research Space (South Africa)

    Dewar, J

    1997-07-01

    Full Text Available The effect of various steeping conditions (time, temperature and aeration) on the quality of sorghum malt for brewing (in terms of diastatic power, free amino nitrogen and hot water extract) was examined. Steeping time and temperature had a highly...

  5. Phytase activity in brown rice during steeping and sprouting

    NARCIS (Netherlands)

    Ou, K.; Cheng, Y.; Xing, Y.; Lin, L.; Nout, M.J.R.; Liang, J.

    2011-01-01

    Phytase in brown rice will be activated and accumulated during seed germination. Changes of phytase activity in brown rice during two stages of germination (steeping and sprouting) affected by process conditions were studied. It was shown that steeping led to significant decrease of phytase activity

  6. Underwater radiation measuring device

    International Nuclear Information System (INIS)

    Seki, Noriyuki; Suzuki, Yasuo

    1998-01-01

    The present invention provides a device for measuring, under water, radiation from spent fuels (long members to be detected) of nuclear power plants and reprocessing facilities. Namely, a detecting insertion tube (insertion tube) is disposed so as to be in parallel with axial direction of the long member to be detected stored underwater. A γ-ray detector is inserted to the inside of the insertion tube. A driving mechanism is disposed for moving the γ-ray detector in axial direction inside of the insertion tube. The driving mechanism preferably has a system that it moves the γ-ray detector by winding a detection signal cable around a driving drum. The driving mechanism is formed by inserting and securing a driving tube having screws formed on the side surface and inserting it into the insertion tube. It may have a system of moving the γ-ray detector together with the driving tube while engaging the teeth of a driving transfer mechanism with the screws of the driving tube. (I.S.)

  7. An underwater shear compactor

    International Nuclear Information System (INIS)

    Biver, E.; Sims, J.

    1997-01-01

    This paper, originally presented at the WM'96 Conference in Tucson Arizona, describes a concept of a specialised decommissioning tool designed to operate underwater and to reduce the volume of radioactive components by shearing and compacting. The shear compactor was originally conceived to manage the size reduction of a variety of decommissioned stainless steel tubes stored within a reactor fuel cooling pond and which were consuming a substantial volume of the pond. The main objective of this tool was to cut the long tubes into shorter lengths and to compact them into a flat rectangular form which could be stacked on the pond floor, thus saving valuable space. The development programme, undertaken on this project, investigated a wide range of factors which could contribute to an extended cutting blade performance, ie: materials of construction, cutting blade shape and cutting loads required, shock effects, etc. The second phase was to review other aspects of the design, such as radiological protection, cutting blade replacement, maintenance, pond installation and resultant wall loads, water hydraulics, collection of products of shearing/compacting operations, corrosion of the equipment, control system, operational safety and the ability of the equipment to operate in dry environments. The paper summarises the extended work programme involved with this shear compactor tool. (author)

  8. Underwater cutting techniques developments

    International Nuclear Information System (INIS)

    Bach, F.-W.

    1990-01-01

    The primary circuit structures of different nuclear powerplants are constructed out of stainless steels, ferritic steels, plated ferritic steels and alloys of aluminium. According to the level of the specific radiation of these structures, it is necessary for dismantling to work with remote controlled cutting techniques. The most successful way to protect the working crew against exposure of radiation is to operate underwater in different depths. The following thermal cutting processes are more or less developed to work under water: For ferritic steels only - flame cutting; For ferritic steels, stainless steels, cladded steels and aluminium alloys - oxy-arc-cutting, arc-waterjet-cutting with a consumable electrode, arc-saw-cutting, plasma-arc-cutting and plasma-arc-saw. The flame cutting is a burning process, all the other processes are melt-cutting processes. This paper explains the different techniques, giving a short introduction of the theory, a discussion of the possibilities with the advantages and disadvantages of these processes giving a view into the further research work in this interesting field. (author)

  9. Development of underwater laser cutting technology

    International Nuclear Information System (INIS)

    Sato, Seiichi; Inaba, Takanori; Inose, Koutarou; Matsumoto, Naoyuki; Sakakibara, Yuji

    2015-01-01

    In is desirable to use remote underwater device for the decommissioning work of highly radioactive components such as the nuclear internals from a view point of reducing the ranitidine exposure to the worker. Underwater laser cutting technology has advantages. First advantage in underwater laser cutting technology is that low reaction force during cutting, namely, remote operability is superior. Second point is that underwater laser cutting generates a little amount of secondary waste, because cutting kerf size is very small. Third point is that underwater laser cutting has low risk of the process delay, because device trouble is hard to happen. While underwater laser cutting has many advantages, the careful consideration in the safe treatment of the offgas which underwater laser cutting generates is necessary. This paper describes outline of underwater laser cutting technology developed by IHI Corporation (IHI) and that this technology is effective in various dismantling works in water. (author)

  10. Underwater Gliders by Dr. Kevin Smith [video

    OpenAIRE

    Naval Postgraduate School Physics

    2015-01-01

    NPS Physics NPS Physics Research Projects Underwater glider research is currently underway in the physics department at the naval postgraduate in Monterey Ca. Dr. Kevin Smith is a specialist in underwater acoustics and sonar systems. He and his team are currently focused on autonomous underwater gliders and developing systems capable of detecting parameters in the ocean and listening for various sources of sound.

  11. Underwater Web Work

    Science.gov (United States)

    Wighting, Mervyn J.; Lucking, Robert A.; Christmann, Edwin P.

    2004-01-01

    Teachers search for ways to enhance oceanography units in the classroom. There are many online resources available to help one explore the mysteries of the deep. This article describes a collection of Web sites on this topic appropriate for middle level classrooms.

  12. Design of Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Tadahiro Hyakudome

    2011-03-01

    Full Text Available There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. While a lot of underwater vehicles are utilized, AUVs (Autonomous Underwater Vehicle were considered and chosen, as the most suitable tool for conduction survey concerning these global environmental problems. AUVs can comprehensive survey because the vehicle does not have to be connected to the support vessel by tether cable. When such underwater vehicles are made, it is necessary to consider about the following things. 1 Seawater and Water Pressure Environment, 2 Sink, 3 There are no Gas or Battery Charge Stations, 4 Global Positioning System cannot use, 5 Radio waves cannot use. In the paper, outline of above and how deal about it are explained.

  13. UNDERWATER COATINGS FOR CONTAMINATION CONTROL

    International Nuclear Information System (INIS)

    Julia L. Tripp; Kip Archibald; Ann Marie Phillips; Joseph Campbell

    2004-01-01

    The Idaho National Laboratory (INL) deactivated several aging nuclear fuel storage basins. Planners for this effort were greatly concerned that radioactive contamination present on the basin walls could become airborne as the sides of the basins became exposed during deactivation and allowed to dry after water removal. One way to control this airborne contamination was to fix the contamination in place while the pool walls were still submerged. There are many underwater coatings available on the market for marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives were easily applied and adhered well to the substrates (pool wall materials) found in INL fuel pools. Lab-scale experiments were conducted by applying fourteen different commercial underwater coatings to four substrate materials representative of the storage basin construction materials, and evaluating their performance. The coupons included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The evaluation criteria included ease of application, adherence to the four surfaces of interest, no change on water clarity or chemistry, non-hazardous in final applied form and be proven in underwater applications. A proprietary two-part, underwater epoxy owned by S. G. Pinney and Associates was selected from the underwater coatings tested for application to all four pools. Divers scrubbed loose contamination off the basin walls and floors using a ship hull scrubber and vacuumed up the sludge. The divers then applied the coating using a special powered roller with two separate heated hoses that allowed the epoxy to mix at the roller surface was used to eliminate pot time concerns. The walls were successfully coated and water was removed from the pools with no detectable airborne contamination releases

  14. The Age of Human-Robot Collaboration: Deep Sea Exploration

    KAUST Repository

    Khatib, Oussama

    2018-01-01

    The promise of oceanic discovery has intrigued scientists and explorers for centuries, whether to study underwater ecology and climate change, or to uncover natural resources and historic secrets buried deep at archaeological sites. Reaching

  15. The MEUST deep sea infrastructure in the Toulon site

    Directory of Open Access Journals (Sweden)

    Lamare Patrick

    2016-01-01

    Full Text Available The MEUST infrastructure (Mediterranean Eurocentre for Underwater Sciences and Technologies is a permanent deep sea cabled infrastructure currently being deployed off shore of Toulon, France. The design and the status of the infrastructure are presented.

  16. Operational experience in underwater photogrammetry

    Science.gov (United States)

    Leatherdale, John D.; John Turner, D.

    Underwater photogrammetry has become established as a cost-effective technique for inspection and maintenance of platforms and pipelines for the offshore oil industry. A commercial service based in Scotland operates in the North Sea, USA, Brazil, West Africa and Australia. 70 mm cameras and flash units are built for the purpose and analytical plotters and computer graphics systems are used for photogrammetric measurement and analysis of damage, corrosion, weld failures and redesign of underwater structures. Users are seeking simple, low-cost systems for photogrammetric analysis which their engineers can use themselves.

  17. Underwater laser imaging system (UWLIS)

    Energy Technology Data Exchange (ETDEWEB)

    DeLong, M. [Lawrence Livermore National Lab., CA (United States)

    1994-11-15

    Practical limitations with underwater imaging systems area reached when the noise in the back scattered radiation generated in the water between the imaging system and the target obscures the spatial contrast and resolution necessary for target discovery and identification. The advent of high power lasers operating in the blue-green portion of the visible spectrum (oceanic transmission window) has led to improved experimental illumination systems for underwater imaging. Range-gated and synchronously scanned devices take advantage of the unique temporal and spatial coherence properties of laser radiation, respectively, to overcome the deleterious effects of common volume back scatter.

  18. Steep cut slope composting : field trials and evaluation.

    Science.gov (United States)

    2011-04-01

    Three different depths of compost and five compost retention techniques were tested to determine : their efficacy and cost effectiveness for increasing the establishment of native grass seedings and decreasing : erosion on steep roadside cut slopes i...

  19. Percent Agricultural Land Cover on Steep Slopes (Future)

    Data.gov (United States)

    U.S. Environmental Protection Agency — Clearing land for agriculture tends to increase soil erosion. The amount of erosion is related to the steepness of the slope, farming methods used and soil type....

  20. Underwater noise due to precipitation

    DEFF Research Database (Denmark)

    Crum, Lawrence A.; Pumphrey, Hugh C.; Prosperetti, Andrea

    1989-01-01

    In 1959, G. Franz published a thorough investigation of the underwater sound produced by liquid drop impacts [G. Franz, J. Acoust. Soc. Am. 31, 1080 (1959)]. He discovered that, under certain conditions, a gas bubble was entrained by the impacting droplet, and the subsequent oscillation of this b...

  1. Underwater nuclear power plant structure

    International Nuclear Information System (INIS)

    Severs, S.; Toll, H.V.

    1982-01-01

    A structure for an underwater nuclear power generating plant comprising a triangular platform formed of tubular leg and truss members upon which are attached one or more large spherical pressure vessels and one or more small cylindrical auxiliary pressure vessels. (author)

  2. Underwater Robots Surface in Utah

    Science.gov (United States)

    Hurd, Randy C.; Hacking, Kip S.; Damarjian, Jennifer L.; Wright, Geoffrey A.; Truscott, Tadd

    2015-01-01

    Underwater robots (or ROVs: Remotely Operated Vehicles as they are typically called in industry) have recently become a very popular instructional STEM activity. Nationally, ROVs have been used in science and technology classrooms for several years in cities such as Seattle, San Diego, Virginia Beach, and other coastal areas. In the past two…

  3. Cooperative OFDM underwater acoustic communications

    CERN Document Server

    Cheng, Xilin; Cheng, Xiang

    2016-01-01

    Following underwater acoustic channel modeling, this book investigates the relationship between coherence time and transmission distances. It considers the power allocation issues of two typical transmission scenarios, namely short-range transmission and medium-long range transmission. For the former scenario, an adaptive system is developed based on instantaneous channel state information. The primary focus is on cooperative dual-hop orthogonal frequency division multiplexing (OFDM). This book includes the decomposed fountain codes designed to enable reliable communications with higher energy efficiency. It covers the Doppler Effect, which improves packet transmission reliability for effective low-complexity mirror-mapping-based intercarrier interference cancellation schemes capable of suppressing the intercarrier interference power level. Designed for professionals and researchers in the field of underwater acoustic communications, this book is also suitable for advanced-level students in electrical enginee...

  4. International Conference on Underwater Environment

    CERN Document Server

    Jaulin, Luc; Creuze, Vincent; Debese, Nathalie; Quidu, Isabelle; Clement, Benoît; Billon-Coat, Annick

    2016-01-01

    This volume constitutes the results of the International Conference on Underwater Environment, MOQESM’14, held at “Le Quartz” Conference Center in Brest, France, on October 14-15, 2014, within the framework of the 9th Sea Tech Week, International Marine Science and Technology Event. The objective of MOQESM'14 was to bring together researchers from both academia and industry, interested in marine robotics and hydrography with application to the coastal environment mapping and underwater infrastructures surveys. The common thread of the conference is the combination of technical control, perception, and localization, typically used in robotics, with the methods of mapping and bathymetry. The papers presented in this book focus on two main topics. Firstly, coastal and infrastructure mapping is addressed, focusing not only on hydrographic systems, but also on positioning systems, bathymetry, and remote sensing. The proposed methods rely on acoustic sensors such as side scan sonars, multibeam echo sounders, ...

  5. Cutting method and device underwater

    International Nuclear Information System (INIS)

    Takano, Genta; Kamei, Hiromasa; Beppu, Seiji

    1998-01-01

    A place of material to be cut is surrounded by an openable/closable box. The material to be cut is cut underwater, and materials generated in this case are removed from the cut portion by a pressurized water jet. The removed materials are sucked and recovered together with water in the box. Among the materials caused by the cutting underwater, solid materials not floating on water are caused to stay in the midway of a sucking and recovering channel. A large sucking force might be required for the entire region of the sucking and recovering channel when sucking and recovering large sized solid materials not floating on water, but even large sized materials can be recovered easily according to the present invention since they are recovered after being sucked and stayed in the midway of the sucking and recovering channel. (N.H.)

  6. Taiwan's underwater cultural heritage documentation management

    Science.gov (United States)

    Tung, Y.-Y.

    2015-09-01

    Taiwan is an important trading and maritime channels for many countries since ancient time. Numerous relics lie underwater due to weather, wars, and other factors. In the year of 2006, Bureau of Cultural Heritage (BOCH) entrusted the Underwater Archaeological Team of Academia Sinica to execute the underwater archaeological investigation projects. Currently, we verified 78 underwater targets, with 78 site of those had been recognized as shipwrecks sites. Up to date, there is a collection of 638 underwater objects from different underwater archaeological sites. Those artefacts are distributed to different institutions and museums. As very diverse management methods/systems are applied for every individual institution, underwater cultural heritage data such as survey, excavation report, research, etc. are poorly organized and disseminated for use. For better communication regarding to Taiwan's underwater cultural heritage in every level, a universal format of documentation should be established. By comparing the existing checklist used in Taiwan with guidelines that are followed in other countries, a more intact and appropriate underwater cultural heritage condition documentation system can be established and adapted in Taiwan.

  7. UNDERWATER: The tide turns..

    International Nuclear Information System (INIS)

    Anon.

    1993-01-01

    In the late 1970s, attempts to synthesize quark and electroweak forces into one 'grand unified theory' predicted that the proton might occasionally decay. To search for this instability, new experiments were built, notably the Irvine/Michigan/ Brookhaven (1MB) study in the US and the Kamiokande project in Japan. To search for proton decay, both these experiments used large tanks of water, where passing high energy particles produce characteristic Cherenkov radiation, picked up by arrays of photosensitive detectors. While no sign of proton decay was seen, it became clear that these huge detectors could also pick up other particles, their big moment of glory coming in 1987 when they recorded hits by neutrinos from outside the solar system - particles released by the 1987 supernova. However before grand unification had been seriously considered, the potential of water for catching extraterrestrial neutrinos had been realized. The clearest known natural waters are in the deep oceans, and the idea was to suspend strings of photosensitive detectors in the sea

  8. Underwater Coatings for Contamination Control

    International Nuclear Information System (INIS)

    Julia L. Tripp; Kip Archibald; Ann-Marie Phillips; Joseph Campbell

    2004-01-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) is deactivating several fuel storage basins. Airborne contamination is a concern when the sides of the basins are exposed and allowed to dry during water removal. One way of controlling this airborne contamination is to fix the contamination in place while the pool walls are still submerged. There are many underwater coatings available on the market that are used in marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives are easily applied and adhere well to the substrates (pool wall materials) found in INEEL fuel pools. The four pools considered included (1) Test Area North (TAN-607) with epoxy painted concrete walls; (2) Idaho Nuclear Technology and Engineering Center (INTEC) (CPP-603) with bare concrete walls; (3) Materials Test Reactor (MTR) Canal with stainless steel lined concrete walls; and (4) Power Burst Facility (PBF-620) with stainless steel lined concrete walls on the bottom and epoxy painted carbon steel lined walls on the upper portions. Therefore, the four materials chosen for testing included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The typical water temperature of the pools varies from 55 F to 80 F dependent on the pool and the season. These tests were done at room temperature. The following criteria were used during this evaluation. The underwater coating must: (1) Be easy to apply; (2) Adhere well to the four surfaces of interest; (3) Not change or have a negative impact on water chemistry or clarity; (4) Not be hazardous in final applied form; and (5) Be proven in other underwater applications. In addition, it is desirable for the coating to have a high pigment or high cross-link density to prevent radiation from penetrating. This paper will detail the testing completed and the test results. A proprietary two-part, underwater epoxy owned by S. G. Pinney and Associates

  9. Solution of adsorption problems involving steep moving profiles

    DEFF Research Database (Denmark)

    Kiil, Søren; Bhatia, Suresh K.

    1998-01-01

    The moving finite element collocation method proposed by Kiil et al. (1995) for solution of problems with steep gradients is further developed to solve transient problems arising in the field of adsorption. The technique is applied to a model of adsorption in solids with bidisperse pore structures....... Numerical solutions were found to match the analytical solution when it exists (i.e. when the adsorption isotherm is linear). Results of this application study show that the method is simple yet sufficiently accurate for use in adsorption problems with steep moving gradients, where global collocation...

  10. Collisional transport in a plasma with steep gradients

    International Nuclear Information System (INIS)

    Wang, W.; Okamoto, M.; Nakajima, N.; Murakami, S.

    1999-06-01

    The validity is given to the newly proposed two δf method for neoclassical transport calculation, which can be solve the drift kinetic equation considering effects of steep plasma gradients, large radial electric field, finite banana width, and an orbit topology near the axis. The new method is applied to the study of ion transport with steep plasma gradients. It is found that the ion thermal diffusivity decreases as the scale length of density gradient decreases, while the ion particle flux due to ion-ion self collisions increases with increasing gradient. (author)

  11. Investigation of the Propagation Characteristics of Underwater Shock Waves in Underwater Drilling Blasting

    Directory of Open Access Journals (Sweden)

    Xin Liu

    2018-01-01

    Full Text Available During the first-stage project of the main channel of Ningbo-Zhoushan Port’s Shipu Harbor, underwater shock waves were monitored. By analyzing a typical measured pressure time history curve, the characteristics of underwater shock waves in an engineering context were obtained. We obtained a traditional exponential attenuation formula for underwater shock waves based on the measured data, simplified the model of underwater drilling blasting based on engineering practice, deduced a revised formula for underwater shock wave peak overpressure on the basis of dimensional analysis, established a linear fitting model, and obtained the undetermined coefficients of the revised formula using a linear regression analysis. In addition, the accuracies of the two formulas used to predict underwater shock wave peak overpressure and the significance order of influence and influence mechanism of factors included in the revised formula on the underwater shock wave peak overpressure were discussed.

  12. Morphology, structure, composition and build-up processes of the active channel-mouth lobe complex of the Congo deep-sea fan with inputs from remotely operated underwater vehicle (ROV) multibeam and video surveys

    Science.gov (United States)

    Dennielou, Bernard; Droz, Laurence; Babonneau, Nathalie; Jacq, Céline; Bonnel, Cédric; Picot, Marie; Le Saout, Morgane; Saout, Yohan; Bez, Martine; Savoye, Bruno; Olu, Karine; Rabouille, Christophe

    2017-08-01

    The detailed structure and composition of turbiditic channel-mouth lobes is still largely unknown because they commonly lie at abyssal water depths, are very thin and are therefore beyond the resolution of hull-mound acoustic tools. The morphology, structure and composition of the Congo turbiditic channel-mouth lobe complex (90×40 km; 2525 km2) were investigated with hull-mounted swath bathymetry, air gun seismics, 3.5 kHz sub-bottom profiler, sediment piston cores and also with high-resolution multibeam bathymetry and video acquired with a Remote Operating Vehicle (ROV). The lobe complex lies 760 km off the Congo River mouth in the Angola abyssal plain between 4740 and 5030 m deep. It is active and is fed by turbidity currents that deposit several centimetres of sediment per century. The lobe complex is subdivided into five lobes that have prograded. The lobes are dominantly muddy. Sand represents ca. 13% of the deposits and is restricted to the feeding channel and distributaries. The overall lobe body is composed of thin muddy to silty turbidites. The whole lobe complex is characterized by in situ mass wasting (slumps, debrites). The 1-m-resolution bathymetry shows pervasive slidings and block avalanches on the edges of the feeding channel and the channel mouth indicating that sliding occurs early and continuously in the lobe build-up. Mass wasting is interpreted as a consequence of very-high accumulation rates, over-steepening and erosion along the channels and is therefore an intrinsic process of lobe building. The bifurcation of feeding channels is probably triggered when the gradient in the distributaries at the top of a lobe becomes flat and when turbidity currents find their way on the higher gradient on the lobe side. It may also be triggered by mass wasting on the lobe side. When a new lobe develops, the abandoned lobes continue to collect significant turbiditic deposits from the feeding channel spillover, so that the whole lobe complex remains active. A

  13. Estimation of Black Hole Masses from Steep Spectrum Radio ...

    Indian Academy of Sciences (India)

    3Guangzhou City Construction College, Guangzhou, People's Republic of China ... can also be sorted into steep spectrum radio quasars (SSRQs, α>0.5) and ... tent with those estimated from MgII or Hβ broad emission lines, which do not meet.

  14. Challenges of Microgrids in Remote Communities: A STEEP Model Application

    Directory of Open Access Journals (Sweden)

    Daniel Akinyele

    2018-02-01

    Full Text Available There is a growing interest in the application of microgrids around the world because of their potential for achieving a flexible, reliable, efficient and smart electrical grid system and supplying energy to off-grid communities, including their economic benefits. Several research studies have examined the application issues of microgrids. However, a lack of in-depth considerations for the enabling planning conditions has been identified as a major reason why microgrids fail in several off-grid communities. This development requires research efforts that consider better strategies and framework for sustainable microgrids in remote communities. This paper first presents a comprehensive review of microgrid technologies and their applications. It then proposes the STEEP model to examine critically the failure factors based on the social, technical, economic, environmental and policy (STEEP perspectives. The model details the key dimensions and actions necessary for addressing the challenge of microgrid failure in remote communities. The study uses remote communities within Nigeria, West Africa, as case studies and demonstrates the need for the STEEP approach for better understanding of microgrid planning and development. Better insights into microgrid systems are expected to address the drawbacks and improve the situation that can lead to widespread and sustainable applications in off-grid communities around the world in the future. The paper introduces the sustainable planning framework (SPF based on the STEEP model, which can form a general basis for planning microgrids in any remote location.

  15. Sustainable Land-use Evaluation on Steep Landscapes and Flood

    African Journals Online (AJOL)

    processes of mountain ecosystems (Buttle et al, 2000). They minimise ... Conscious of the critical roles played by vegetation ecosystems on steep landscapes· and ... gco-informalion technology in the analysis of sustainable land and cm·ironmenlal .... surface and uncertainty of the predicted values to be calculated. This is.

  16. 30 CFR 785.15 - Steep slope mining.

    Science.gov (United States)

    2010-07-01

    ... 30 Mineral Resources 3 2010-07-01 2010-07-01 false Steep slope mining. 785.15 Section 785.15 Mineral Resources OFFICE OF SURFACE MINING RECLAMATION AND ENFORCEMENT, DEPARTMENT OF THE INTERIOR SURFACE COAL MINING AND RECLAMATION OPERATIONS PERMITS AND COAL EXPLORATION SYSTEMS UNDER REGULATORY PROGRAMS...

  17. ROV Based Underwater Blurred Image Restoration

    Institute of Scientific and Technical Information of China (English)

    LIU Zhishen; DING Tianfu; WANG Gang

    2003-01-01

    In this paper, we present a method of ROV based image processing to restore underwater blurry images from the theory of light and image transmission in the sea. Computer is used to simulate the maximum detection range of the ROV under different water body conditions. The receiving irradiance of the video camera at different detection ranges is also calculated. The ROV's detection performance under different water body conditions is given by simulation. We restore the underwater blurry images using the Wiener filter based on the simulation. The Wiener filter is shown to be a simple useful method for underwater image restoration in the ROV underwater experiments. We also present examples of restored images of an underwater standard target taken by the video camera in these experiments.

  18. Quantum imaging for underwater arctic navigation

    Science.gov (United States)

    Lanzagorta, Marco

    2017-05-01

    The precise navigation of underwater vehicles is a difficult task due to the challenges imposed by the variable oceanic environment. It is particularly difficult if the underwater vehicle is trying to navigate under the Arctic ice shelf. Indeed, in this scenario traditional navigation devices such as GPS, compasses and gyrocompasses are unavailable or unreliable. In addition, the shape and thickness of the ice shelf is variable throughout the year. Current Arctic underwater navigation systems include sonar arrays to detect the proximity to the ice. However, these systems are undesirable in a wartime environment, as the sound gives away the position of the underwater vehicle. In this paper we briefly describe the theoretical design of a quantum imaging system that could allow the safe and stealthy navigation of underwater Arctic vehicles.

  19. LAKE BAIKAL: Underwater neutrino detector

    International Nuclear Information System (INIS)

    Anon.

    1991-01-01

    A new underwater detector soon to be deployed in Lake Baikal in Siberia, the world's deepest lake with depths down to 1.7 kilometres, could help probe the deepest mysteries of physics. One of the big unsolved problems of astrophysics is the origin of very energetic cosmic rays. However there are many ideas on how particles could be accelerated by exotic concentrations of matter and provide the majority of the Galaxy's high energy particles. Clarification would come from new detectors picking up the energetic photons and neutrinos from these sources

  20. H i Absorption in the Steep-Spectrum Superluminal Quasar 3C 216.

    Science.gov (United States)

    Pihlström; Vermeulen; Taylor; Conway

    1999-11-01

    The search for H i absorption in strong compact steep-spectrum sources is a natural way to probe the neutral gas contents in young radio sources. In turn, this may provide information about the evolution of powerful radio sources. The recently improved capabilities of the Westerbork Synthesis Radio Telescope have made it possible to detect a 0.31% (19 mJy) deep neutral atomic hydrogen absorption line associated with the steep-spectrum superluminal quasar 3C 216. The redshift (z=0.67) of the source shifts the frequency of the 21 cm line down to the ultra-high-frequency (UHF) band (850 MHz). The exact location of the H i-absorbing gas remains to be determined by spectral line VLBI observations at 850 MHz. We cannot exclude that the gas might be extended on galactic scales, but we think it is more likely to be located in the central kiloparsec. Constraints from the lack of X-ray absorption probably rule out obscuration of the core region, and we argue that the most plausible site for the H i absorption is in the jet-cloud interaction observed in this source.

  1. Real-Time Visualization System for Deep-Sea Surveying

    Directory of Open Access Journals (Sweden)

    Yujie Li

    2014-01-01

    Full Text Available Remote robotic exploration holds vast potential for gaining knowledge about extreme environments, which is difficult to be accessed by humans. In the last two decades, various underwater devices were developed for detecting the mines and mine-like objects in the deep-sea environment. However, there are some problems in recent equipment, like poor accuracy of mineral objects detection, without real-time processing, and low resolution of underwater video frames. Consequently, the underwater objects recognition is a difficult task, because the physical properties of the medium, the captured video frames, are distorted seriously. In this paper, we are considering use of the modern image processing methods to determine the mineral location and to recognize the mineral actually within a little computation complex. We firstly analyze the recent underwater imaging models and propose a novel underwater optical imaging model, which is much closer to the light propagation model in the underwater environment. In our imaging system, we remove the electrical noise by dual-tree complex wavelet transform. And then we solve the nonuniform illumination of artificial lights by fast guided trilateral bilateral filter and recover the image color through automatic color equalization. Finally, a shape-based mineral recognition algorithm is proposed for underwater objects detection. These methods are designed for real-time execution on limited-memory platforms. This pipeline is suitable for detecting underwater objects in practice by our experiences. The initial results are presented and experiments demonstrate the effectiveness of the proposed real-time visualization system.

  2. A new technique for robot vision in autonomous underwater vehicles using the color shift in underwater imaging

    Science.gov (United States)

    2017-06-01

    FOR ROBOT VISION IN AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING by Jake A. Jones June 2017 Thesis Advisor...techniques to determine the distances from each pixel to the camera. 14. SUBJECT TERMS unmanned undersea vehicles (UUVs), autonomous ... AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING Jake A. Jones Lieutenant Commander, United States Navy B.S

  3. Dynamics and Control of Underwater Gliders I: Steady Motions

    OpenAIRE

    Mahmoudian, N.; Geisbert, J.; Woolsey, C.

    2007-01-01

    This paper describes analysis of steady motions for underwater gliders, a type of highly efficient underwater vehicle which uses gravity for propulsion. Underwater gliders are winged underwater vehicles which locomote by modulating their buoyancy and their attitude. Several such vehicles have been developed and have proven their worth as efficient long-distance, long-duration ocean sampling platforms. To date, the primary emphasis in underwater glider development has been on locomotive effici...

  4. Modeling the flow of glaciers in steep terrains

    DEFF Research Database (Denmark)

    Egholm, D.L.; Knudsen, Mads Faurschou; Clark, Chris D.

    2011-01-01

    sliding, and to the interaction with topography through glacial erosion. Standard models capable of simulating mountain range–scale glaciations build on the so-called shallow ice approximation, which, among other parameters, neglects the longitudinal and transverse stress gradients, and therefore fails...... to capture the full effects of the rugged topography and related feedbacks between erosion by glacial sliding and the extent and style of glaciation. Here we present and test a new depth-integrated model framework which, on the one hand, takes into account the “higher-order” effects related to steep......The rugged topography of mountain ranges represents a special challenge to computational ice sheet models simulating past or present glaciations. In mountainous regions, the topography steers glaciers through relatively narrow and steep valleys, and as a consequence hereof, the flow rate of alpine...

  5. The Control Packet Collision Avoidance Algorithm for the Underwater Multichannel MAC Protocols via Time-Frequency Masking

    Directory of Open Access Journals (Sweden)

    Yang Yu

    2016-01-01

    Full Text Available Establishing high-speed and reliable underwater acoustic networks among multiunmanned underwater vehicles (UUVs is basic to realize cooperative and intelligent control among different UUVs. Nevertheless, different from terrestrial network, the propagation speed of the underwater acoustic network is 1500 m/s, which makes the design of the underwater acoustic network MAC protocols a big challenge. In accordance with multichannel MAC protocols, data packets and control packets are transferred through different channels, which lowers the adverse effect of acoustic network and gradually becomes the popular issues of underwater acoustic networks MAC protocol research. In this paper, we proposed a control packet collision avoidance algorithm utilizing time-frequency masking to deal with the control packets collision in the control channel. This algorithm is based on the scarcity of the noncoherent underwater acoustic communication signals, which regards collision avoiding as separation of the mixtures of communication signals from different nodes. We first measure the W-Disjoint Orthogonality of the MFSK signals and the simulation result demonstrates that there exists time-frequency mask which can separate the source signals from the mixture of the communication signals. Then we present a pairwise hydrophones separation system based on deep networks and the location information of the nodes. Consequently, the time-frequency mask can be estimated.

  6. The representation of spacetime through steep time functions

    Science.gov (United States)

    Minguzzi, Ettore

    2018-02-01

    In a recent work I showed that the family of smooth steep time functions can be used to recover the order, the topology and the (Lorentz-Finsler) distance of spacetime. In this work I present the main ideas entering the proof of the (smooth) distance formula, particularly the product trick which converts metric statements into causal ones. The paper ends with a second proof of the distance formula valid for globally hyperbolic Lorentzian spacetimes.

  7. 4th Pacific Rim Underwater Acoustics Conference

    CERN Document Server

    Xu, Wen; Cheng, Qianliu; Zhao, Hangfang

    2016-01-01

    These proceedings are a collection of 16 selected scientific papers and reviews by distinguished international experts that were presented at the 4th Pacific Rim Underwater Acoustics Conference (PRUAC), held in Hangzhou, China in October 2013. The topics discussed at the conference include internal wave observation and prediction; environmental uncertainty and coupling to sound propagation; environmental noise and ocean dynamics; dynamic modeling in acoustic fields; acoustic tomography and ocean parameter estimation; time reversal and matched field processing; underwater acoustic localization and communication as well as measurement instrumentations and platforms. These proceedings provide insights into the latest developments in underwater acoustics, promoting the exchange of ideas for the benefit of future research.

  8. Modelling of the underwater disposal of uranium mine tailings in Elliot Lake

    International Nuclear Information System (INIS)

    Halbert, B.E.; Scharer, J.M.; Chakravatti, J.L.; Barnes, E.

    1982-01-01

    Underwater disposal of uranium mine tailings from the Elliot Lake area operations offers potential advantages in controlling radon gas release, emission of airborne particulate matter, and acid production from pyrites in the tailings. In addition, the proximity of the three active properties, one owned by Denison Mines Limited and two by Rio Algom Limited, to a large deep lake has spurred interest in the concept. It has been estimated that the placement of approximately 150 million tonnes of tailings from future planned production would occupy less than 20% of the lake volume. To assess the applicability of the underwater tailings disposal concept, a multi-stage study was developed in conjunction with the regulatory agencies. The most important facet identified for investigation during the first-stage investigations was an assessment of the effects of underwater disposal on water quality in the Serpent River Basin watershed. To simulate the effects of underwater disposal, a computer simulation routine was developed and integrated with a water quality model previously developed for the Basin which predicts levels of total dissolved solids, ammonia, dissolved radium-226 and pH. The underwater disposal model component reflects the effects of direct input of tailings into the hypolimnion, the chemical/biological transformation of dissolved constituents in the water column, the reactions of pyritic tailings deposited on the bottom, and the flux of dissolved constituents from the tailings into the water column. To establish site-specific values for the underwater disposal model, field and laboratory experiments were utilized to evaluate rates of pyrite and ammonia oxidation, and pH-alkalinity relationships. The results of these studies and their use in the water quality model are discussed. In addition, the results of two model run simulations are presented. (author)

  9. Underwater Object Segmentation Based on Optical Features

    Directory of Open Access Journals (Sweden)

    Zhe Chen

    2018-01-01

    Full Text Available Underwater optical environments are seriously affected by various optical inputs, such as artificial light, sky light, and ambient scattered light. The latter two can block underwater object segmentation tasks, since they inhibit the emergence of objects of interest and distort image information, while artificial light can contribute to segmentation. Artificial light often focuses on the object of interest, and, therefore, we can initially identify the region of target objects if the collimation of artificial light is recognized. Based on this concept, we propose an optical feature extraction, calculation, and decision method to identify the collimated region of artificial light as a candidate object region. Then, the second phase employs a level set method to segment the objects of interest within the candidate region. This two-phase structure largely removes background noise and highlights the outline of underwater objects. We test the performance of the method with diverse underwater datasets, demonstrating that it outperforms previous methods.

  10. Underwater photogrammetry successful in Spain and France

    International Nuclear Information System (INIS)

    Anon.

    1988-01-01

    Underwater photogrammetry has been used to measure distortions in fuel assembly alignment pins in the upper internals of the Almarez and Dampierre PWRs. Photogrammetry is a three-dimensional precision measurement method using photographic techniques for the on-site measurement phase. On the strength of the operations at the two PWRs, underwater photogrammetry is now considered as a practical and effective technique for dimensional inspection at nuclear plants. (U.K.)

  11. 3D Laser Scanner for Underwater Manipulation

    Directory of Open Access Journals (Sweden)

    Albert Palomer

    2018-04-01

    Full Text Available Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS is used to autonomously grasp an object from the bottom of a water tank.

  12. 3D Laser Scanner for Underwater Manipulation.

    Science.gov (United States)

    Palomer, Albert; Ridao, Pere; Youakim, Dina; Ribas, David; Forest, Josep; Petillot, Yvan

    2018-04-04

    Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF) fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS) is used to autonomously grasp an object from the bottom of a water tank.

  13. Transient river response, captured by channel steepness and its concavity

    Science.gov (United States)

    Vanacker, Veerle; von Blanckenburg, Friedhelm; Govers, Gerard; Molina, Armando; Campforts, Benjamin; Kubik, Peter W.

    2015-01-01

    Mountain rivers draining tropical regions are known to be great conveyor belts carrying efficiently more than half of the global sediment flux to the oceans. Many tropical mountain areas are located in tectonically active belts where the hillslope and stream channel morphology are rapidly evolving in response to changes in base level. Here, we report basin-wide denudation rates for an east-west transect through the tropical Andes. Hillslope and channel morphology vary systematically from east to west, reflecting the transition from high relief, strongly dissected topography in the escarpment zones into relatively low relief topography in the inter-Andean valley. The spatial pattern of differential denudation rates reflects the transient adjustment of the landscape to rapid river incision following tectonic uplift and river diversion. In the inter-Andean valley, upstream of the wave of incision, slopes and river channels display a relatively smooth, concave-up morphology and denudation rates (time scale of 104-105 a) are consistently low (3 to 200 mm/ka). In contrast, slopes and river channels of rejuvenated basins draining the eastern cordillera are steep to very steep; and the studied drainage basins show a wide range of denudation rate values (60 to 400 mm/ka) that increase systematically with increasing basin mean slope gradient, channel steepness, and channel convexity. Drainage basins that are characterised by strong convexities in their river longitudinal profiles systematically have higher denudation rates. As such, this is one of the first studies that provides field-based evidence of a correlation between channel concavity and basin mean denudation rates, consistent with process-based fluvial incision models.

  14. Seismic Monitoring of Bedload Transport in a Steep Mountain Catchment

    Science.gov (United States)

    Roth, D. L.; Finnegan, N. J.; Brodsky, E. E.; Turowski, J. M.; Wyss, C. R.; Badoux, A.

    2014-12-01

    Predicting river channel evolution relies on an understanding of when and at what rate coarse sediment moves in a channel. Unfortunately, our predictive abilities are limited by the logistical challenges and potential dangers inherent in current techniques for monitoring sediment transport during flood events, especially in steep, highly active landscapes. However, the use of seismic signals near rivers shows promise as a safe, low-cost method for studying sediment transport in these settings. Seismic signals near rivers are partially generated by both water turbulence and bedload sediment particles impacting the river bed during transport. Here, we attempt to isolate the seismic signatures of discharge and bedload transport in a steep mountain channel by examining high-frequency broadband seismic data from the well-studied Erlenbach stream (local slope of ~10%) in the Swiss Prealps. The extensive monitoring infrastructure and long history of sediment transport data at this field site allow us to independently constrain discharge, precipitation, and bedload transport during flood events over a two month field campaign. We perform a general linear least squares inversion of the seismic data, exploiting times with isolated rain or discharge events, to identify the spectral signals of water turbulence, rain, and bedload sediment transport. We find that the signal generated by rain exhibits a roughly broadband spectrum, while discharge and sediment transport exhibit power primarily in lower frequency bands. Our preliminary results indicate that with only precipitation and discharge data, it is possible to isolate the seismic signal of bedload transport in steep fluvial environments. Seismic studies may therefore have the potential to revolutionize our ability to monitor and understand these environments.

  15. Underwater welding and repair technologies applied in PWR environment

    International Nuclear Information System (INIS)

    Scandella, Fabrice; Carpreau, Jean-Michel

    2012-01-01

    The authors describe several welding processes and technologies which have been used for underwater applications and which can be applied when repairing components of a PWR type reactor. They address, describe and discuss wet arc welding processes, the peculiarities of underwater welding, and the use of various processes such as 111, 114 and 135 processes, underwater welding with the hybrid plasma MIG-MAG process, underwater welding with the laser wire process, underwater welding with the FSW, FSP or UWFSW processes, underwater welding with variants of the friction welding process (friction surfacing, taper stitch welding, hydro-pillar processing

  16. The intercorrelation of the amino acid quality between raw, steeped ...

    African Journals Online (AJOL)

    The total amino acid contents were: steeped [57.71 g/100 g crude protein (c.p.)], germinated (53.37 g/100 g c.p.) and raw (37.91 g/100 g c.p.) with respective essential amino acids of 30.70 g/100 g c.p., 28.33 g/100 g c.p. and 21.48 g/100 g c.p. Percentage cystine/total sulfur amino acid (% Cys/TSAA) trend was 72.0 ...

  17. Development of an underwater high sensitivity Cherenkov detector: Sea Urchin

    International Nuclear Information System (INIS)

    Camerini, U.; McGibney, D.; Roberts, A.

    1982-01-01

    The need for a high gain, high sensitivity Cherenkov light sensor to be used in a deep underwater muon and neutrino detector (DUMAND) array has led to the design of the Sea Urchin detector. In this design a spherical photocathode PMTis optically coupled through a glass hemisphere to a large number of glass spines, each of which is filled with a wavelength-shifting (WLS) solution of a high quantum efficiency phosphor. The Cherenkov radiation is absorbed in the spine, isotropically re-radiated at a longer wavelength, and a fraction of the fluorescent light is internally reflected in the spine, and guided to the photomultiplier concentrically located in the glass hemisphere. Experiments measuring the optical characteristics of the spines and computer programs simulating light transformation and detection cross sections are described. Overall optical gains in the range 5-10 are achieved. The WLS solution is inexpensive, and may have other applications. (orig.)

  18. GEMS: Underwater spectrometer for long-term radioactivity measurements

    Energy Technology Data Exchange (ETDEWEB)

    Sartini, Ludovica, E-mail: ludovica.sartini@ingv.i [Istituto Nazionale di Geofisica e Vulcanologia (INGV), Sect.Roma 2, Roma (Italy); Genoa University, Genoa (Italy); Simeone, Francesco; Pani, Priscilla [' Sapienza' University and Istituto Nazionale di Fisica Nucleare (INFN), Sect.Roma, Roma (Italy); Lo Bue, Nadia; Marinaro, Giuditta [Istituto Nazionale di Geofisica e Vulcanologia (INGV), Sect.Roma 2, Roma (Italy); Grubich, Andry; Lobko, Alexander [Institute for Nuclear Problems (INP), Belarus State University, Minsk (Belarus); Etiope, Giuseppe [Istituto Nazionale di Geofisica e Vulcanologia (INGV), Sect.Roma 2, Roma (Italy); Capone, Antonio [' Sapienza' University and Istituto Nazionale di Fisica Nucleare (INFN), Sect.Roma, Roma (Italy); Favali, Paolo [Istituto Nazionale di Geofisica e Vulcanologia (INGV), Sect.Roma 2, Roma (Italy); Gasparoni, Francesco; Bruni, Federico [Tecnomare S.p.A., Venice (Italy)

    2011-01-21

    GEMS (Gamma Energy Marine Spectrometer) is a prototype of an autonomous radioactivity sensor for underwater measurements, developed in the framework for a development of a submarine telescope for neutrino detection (KM3NeT Design Study Project). The spectrometer is highly sensitive to gamma rays produced by {sup 40}K decays but it can detect other natural (e.g., {sup 238}U,{sup 232}Th) and anthropogenic radio-nuclides (e.g., {sup 137}Cs). GEMS was firstly tested and calibrated in the laboratory using known sources and it was successfully deployed for a long-term (6 months) monitoring at a depth of 3200 m in the Ionian Sea (Capo Passero, offshore Eastern Sicily). The instrument recorded data for the whole deployment period within the expected specifications. This monitoring provided, for the first time, a continuous time-series of radioactivity in deep-sea.

  19. Human Injury Criteria for Underwater Blasts.

    Directory of Open Access Journals (Sweden)

    Rachel M Lance

    Full Text Available Underwater blasts propagate further and injure more readily than equivalent air blasts. Development of effective personal protection and countermeasures, however, requires knowledge of the currently unknown human tolerance to underwater blast. Current guidelines for prevention of underwater blast injury are not based on any organized injury risk assessment, human data or experimental data. The goal of this study was to derive injury risk assessments for underwater blast using well-characterized human underwater blast exposures in the open literature. The human injury dataset was compiled using 34 case reports on underwater blast exposure to 475 personnel, dating as early as 1916. Using severity ratings, computational reconstructions of the blasts, and survival information from a final set of 262 human exposures, injury risk models were developed for both injury severity and risk of fatality as functions of blast impulse and blast peak overpressure. Based on these human data, we found that the 50% risk of fatality from underwater blast occurred at 302±16 kPa-ms impulse. Conservatively, there is a 20% risk of pulmonary injury at a kilometer from a 20 kg charge. From a clinical point of view, this new injury risk model emphasizes the large distances possible for potential pulmonary and gut injuries in water compared with air. This risk value is the first impulse-based fatality risk calculated from human data. The large-scale inconsistency between the blast exposures in the case reports and the guidelines available in the literature prior to this study further underscored the need for this new guideline derived from the unique dataset of actual injuries in this study.

  20. Steep extinction towards GRB 140506A reconciled from host galaxy observations: Evidence that steep reddening laws are local

    Science.gov (United States)

    Heintz, K. E.; Fynbo, J. P. U.; Jakobsson, P.; Krühler, T.; Christensen, L.; Watson, D.; Ledoux, C.; Noterdaeme, P.; Perley, D. A.; Rhodin, H.; Selsing, J.; Schulze, S.; Tanvir, N. R.; Møller, P.; Goldoni, P.; Xu, D.; Milvang-Jensen, B.

    2017-05-01

    We present the spectroscopic and photometric late-time follow-up of the host galaxy of the long-duration Swift γ-ray burst GRB 140506A at z = 0.889. The optical and near-infrared afterglow of this GRB had a peculiar spectral energy distribution (SED) with a strong flux-drop at 8000 Å (4000 Å rest-frame) suggesting an unusually steep extinction curve. By analysing the contribution and physical properties of the host galaxy, we here aim at providing additional information on the properties and origin of this steep, non-standard extinction. We find that the strong flux-drop in the GRB afterglow spectrum at contamination by the host galaxy light at short wavelengths so that the scenario with an extreme 2175 Å extinction bump can be excluded. We localise the GRB to be at a projected distance of approximately 4 kpc from the centre of the host galaxy. Based on emission-line diagnostics of the four detected nebular lines, Hα, Hβ, [O II] and [O III], we find the host to be a modestly star forming (SFR = 1.34 ± 0.04 M⊙ yr-1) and relatively metal poor (Z=0.35+0.15-0.11 Z⊙) galaxy with a large dust content, characterised by a measured visual attenuation of AV = 1.74 ± 0.41 mag. We compare the host to other GRB hosts at similar redshifts and find that it is unexceptional in all its physical properties. We model the extinction curve of the host-corrected afterglow and show that the standard dust properties causing the reddening seen in the Local Group are inadequate in describing the steep drop. We thus conclude that the steep extinction curve seen in the afterglow towards the GRB is of exotic origin and issightline-dependent only, further confirming that this type of reddening is present only at very local scales and that it is solely a consequence of the circumburst environment. Based on observations carried out under programme IDs 095.D-0043(A, C) and 095.A-0045(A) with the X-shooter spectrograph and the FOcal Reducer and low dispersion Spectrograph 2 (FORS2

  1. Optimal Node Placement in Underwater Wireless Sensor Networks

    KAUST Repository

    Felamban, M.; Shihada, Basem; Jamshaid, K.

    2013-01-01

    Wireless Sensor Networks (WSN) are expected to play a vital role in the exploration and monitoring of underwater areas which are not easily reachable by humans. However, underwater communication via acoustic waves is subject to several performance

  2. Underwater Sensor Networks: A New Energy Efficient and Robust Architecture

    NARCIS (Netherlands)

    Climent, Salvador; Capella, Juan Vincente; Meratnia, Nirvana; Serrano, Juan José

    2012-01-01

    The specific characteristics of underwater environments introduce new challenges for networking protocols. In this paper, a specialized architecture for underwater sensor networks (UWSNs) is proposed and evaluated. Experiments are conducted in order to analyze the suitability of this protocol for

  3. North Jamaican Deep Fore-Reef Sponges

    NARCIS (Netherlands)

    Lehnert, Helmut; Soest, van R.W.M.

    1996-01-01

    An unexpectedly high amount of new species, revealed within only one hour of summarized bottom time, leads to the conclusion that the sponge fauna of the steep slopes of the deep fore-reef is still largely unknown. Four mixed gas dives at depths between 70 and 90 m, performed in May and June, 1993,

  4. Underwater Calibration of Dome Port Pressure Housings

    Science.gov (United States)

    Nocerino, E.; Menna, F.; Fassi, F.; Remondino, F.

    2016-03-01

    Underwater photogrammetry using consumer grade photographic equipment can be feasible for different applications, e.g. archaeology, biology, industrial inspections, etc. The use of a camera underwater can be very different from its terrestrial use due to the optical phenomena involved. The presence of the water and camera pressure housing in front of the camera act as additional optical elements. Spherical dome ports are difficult to manufacture and consequently expensive but at the same time they are the most useful for underwater photogrammetry as they keep the main geometric characteristics of the lens unchanged. Nevertheless, the manufacturing and alignment of dome port pressure housing components can be the source of unexpected changes of radial and decentring distortion, source of systematic errors that can influence the final 3D measurements. The paper provides a brief introduction of underwater optical phenomena involved in underwater photography, then presents the main differences between flat and dome ports to finally discuss the effect of manufacturing on 3D measurements in two case studies.

  5. Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

    DEFF Research Database (Denmark)

    Furno, Lidia; Nielsen, Mikkel Cornelius; Blanke, Mogens

    2015-01-01

    The present paper introduces an approach to fault-tolerant reconfiguration for collaborating underwater robots. Fault-tolerant reconfiguration is obtained using the virtual actuator approach, Steen (2005). The paper investigates properties of a centralised versus a decentralised implementation an...... an underwater drill needs to be transported and positioned by three collaborating robots as part of an underwater autonomous operation....

  6. Survivability design for a hybrid underwater vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Biao; Wu, Chao; Li, Xiang; Zhao, Qingkai; Ge, Tong [State Key Lab of Ocean Engineering, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240 (China)

    2015-03-10

    A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports the survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system.

  7. Survivability design for a hybrid underwater vehicle

    International Nuclear Information System (INIS)

    Wang, Biao; Wu, Chao; Li, Xiang; Zhao, Qingkai; Ge, Tong

    2015-01-01

    A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports the survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system

  8. Application of underwater radon measurements in geology

    Energy Technology Data Exchange (ETDEWEB)

    Varhegyi, A.; Baranyi, I.; Gerzson, I. (Mecsek Ore Mining Enterprise, Pecs (Hungary)); Somogyi, G.; Hakl, J.; Hunyadi, I. (Magyar Tudomanyos Akademia, Debrecen (Hungary). Atommag Kutato Intezete)

    1988-01-01

    Based on the observed phenomenon of geogas migration in microbubble form from deeper regions, the authors have developed a new model for the vertical transport of radon released from deeper sources. The physical properties of the rock relating to the upflow of microbubbles below the groundwater level are considered and the radon transport parameter of rocks is introduced. The vertical distribution of radon concentration in the case of a multi-layered geological model is given and the penetration depth of underwater radon measurements is examined. Aspects of underwater radon detection by the nuclear track detector technique are analyzed. The radon transport model gives a new theoretical basis for several applications of radon measurements in geology. The advantages of underwater radon detection have already been proved in uranium exploration. Further geological applications are proposed in earthquake prediction, in volcanology, in the survey of active faults and thermal waters. (author).

  9. Cooperative Three-Robot System for Traversing Steep Slopes

    Science.gov (United States)

    Stroupe, Ashley; Huntsberger, Terrance; Aghazarian, Hrand; Younse, Paulo; Garrett, Michael

    2009-01-01

    Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data

  10. Underwater laser cutting of metallic structures

    International Nuclear Information System (INIS)

    Alfille, J.P.; Schildknecht, J.; Ramaswami, V.S.

    1993-01-01

    In the frame of an european contract, the feasibility of the underwater cutting with a CO 2 laser power is studied. The aim of this work is the dismantling metallic structures of reactors pools. The paper analyzes the general concept of the experimental device, the underwater cutting head, the experimenting vessel, examples of cuttings in dismantling situation with a 500 W CO 2 laser, and examples of cuttings with a 5 kW CO 2 laser. (author). 2 refs., 9 figs., 2 tabs

  11. Underwater Leidenfrost nanochemistry for creation of size-tailored zinc peroxide cancer nanotherapeutics

    Science.gov (United States)

    Elbahri, Mady; Abdelaziz, Ramzy; Disci-Zayed, Duygu; Homaeigohar, Shahin; Sosna, Justyna; Adam, Dieter; Kienle, Lorenz; Dankwort, Torben; Abdelaziz, Moheb

    2017-05-01

    The dynamic underwater chemistry seen in nature is inspiring for the next generation of eco-friendly nanochemistry. In this context, green synthesis of size-tailored nanoparticles in a facile and scalable manner via a dynamic process is an interesting challenge. Simulating the volcano-induced dynamic chemistry of the deep ocean, here we demonstrate the Leidenfrost dynamic chemistry occurring in an underwater overheated confined zone as a new tool for customized creation of nanoclusters of zinc peroxide. The hydrodynamic nature of the phenomenon ensures eruption of the nanoclusters towards a much colder region, giving rise to growth of monodisperse, size-tailored nanoclusters. Such nanoparticles are investigated in terms of their cytotoxicity on suspension and adherent cells to prove their applicability as cancer nanotherapeutics. Our research can pave the way for employment of the dynamic green nanochemistry in facile, scalable fabrication of size-tailored nanoparticles for biomedical applications.

  12. Tracking the position of the underwater robot for nuclear reactor inspection

    International Nuclear Information System (INIS)

    Jeo, J. W.; Kim, C. H.; Seo, Y. C.; Choi, Y. S.; Kim, S. H.

    2003-01-01

    The tracking procedure of the underwater mobile robot moving and submerging ahead to nuclear reactor vessel for visual inspection, which is required to find the foreign objects such as loose parts, is described. The yellowish underwater robot body tends to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by the Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color information, yellow and indigo. From the horizontal and vertical profiles analysis of the color image, the blue, green, and the gray component have the inferior signal-to-noise characteristics compared to the red component. The center coordinates extraction procedures areas follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences; binarization, labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth. When the position of the robot vehicle fluctuates between the previous and the current image frame due to the flickering noise and light source, installed temporally in the bottom of the reactor vessel, we adaptively adjusted the ROI window. Adding the ROI windows of the previous frame to the current frame, and then setting up the ROI window of the next image frame, we can robustly track the positions of the underwater robot and control the target position's divergence. From these facts, we can conclude that using the red component from color camera is more efficient tracking method

  13. Human Factors Issues When Operating Underwater Remotely Operated Vehicles and Autonomous Underwater Vehicles

    Science.gov (United States)

    2011-03-01

    etiquette (Parasuraman & Miller, 2004). Through natural and intuitive communication, Johnson et al., (2007) hope that this interface will instill greater...and etiquette in high criticality automated systems. Communications of the ACM, 47(4), 51-55. Parasuraman, R., & Riley, V. (1997). Humans and... protocols for underwater wireless communications. IEEE Communications Magazine, pp. 97-102. Quazi, A. H., & Konrad, W. L. (1982, March 1982). Underwater

  14. IVO develops a new repair technique for underwater sites. Viscous doughlike substance underwater cracks

    Energy Technology Data Exchange (ETDEWEB)

    Klingstedt, G.; Leisio, C. [ed.

    1998-07-01

    A viscous sealant is revolutionizing repair of the stone and concrete masonry of underwater dams, bridges and canals. There is now no need for expensive and time-consuming cofferdams, since a diver can extrude quick-setting mortar into underwater structures needing repair. This technique has worked well in recent years in various parts of Finland even in strongly flowing water. IVO experts are now starting to look more beyond the borders of Finland

  15. Relative roughness controls on incipient sediment motion in steep channels

    Science.gov (United States)

    Prancevic, J.; Lamb, M. P.; Fuller, B. M.

    2012-12-01

    For over eight decades, researchers have noted an appreciable increase in the nondimensional shear stress (Shields number) at initiation of fluvial bedload transport with increasing bed slope. The precise cause of the trend, however, is obscured by the covariance of several factors with increased slope: a greater downstream component of the gravity acting on the grains and fluid, changes in bed morphology, increased grainsize relative to the channel width that may lead to grain bridging, and increased grainsize relative to flow depth (relative roughness) that may change flow hydraulics and particle buoyancy. Here, we report on ongoing laboratory experiments spanning a wide range of bed slopes (2% to 67%) designed to isolate these variables and determine the true cause of heightened critical Shields numbers on steep slopes. First, we eliminated bed morphology as a factor by using only planar beds. To investigate the effect of grain bridging, we used two different channel widths, representing width-to-grainsize ratios of 23:1 and 9:1. Finally, to separate the effects of slope from relative roughness, we compared incipient motion conditions for acrylic particles (submerged specific gravity of 0.15) to natural siliciclastic gravel (submerged specific gravity of 1.65). Different particle densities allowed us to explore incipient motion as a function of relative roughness, independent of channel slope, because lighter particles move at shallower flow depths than heavier ones of the same size. Results show that both materials exhibit a positive trend between bed slope and critical Shields number despite the existence of planar beds for all slopes. Furthermore, changing the grainsize-to-width ratio had a negligible effect on this trend. For all slopes, the critical Shields number for bedload transport was higher for the acrylic particles than for gravel, indicating that relative roughness has a strong control on incipient sediment motion independent of channel slope. These

  16. Underwater noise generated by offshore pile driving

    NARCIS (Netherlands)

    Tsouvalas, A.

    2015-01-01

    Anthropogenic noise emission in the marine environment has always been an environmental issue of serious concern. In particular, the noise generated during the installation of foundation piles is considered to be one of the most significant sources of underwater noise pollution. This is mainly

  17. Underwater image mosaicking and visual odometry

    Science.gov (United States)

    Sadjadi, Firooz; Tangirala, Sekhar; Sorber, Scott

    2017-05-01

    This paper summarizes the results of studies in underwater odometery using a video camera for estimating the velocity of an unmanned underwater vehicle (UUV). Underwater vehicles are usually equipped with sonar and Inertial Measurement Unit (IMU) - an integrated sensor package that combines multiple accelerometers and gyros to produce a three dimensional measurement of both specific force and angular rate with respect to an inertial reference frame for navigation. In this study, we investigate the use of odometry information obtainable from a video camera mounted on a UUV to extract vehicle velocity relative to the ocean floor. A key challenge with this process is the seemingly bland (i.e. featureless) nature of video data obtained underwater which could make conventional approaches to image-based motion estimation difficult. To address this problem, we perform image enhancement, followed by frame to frame image transformation, registration and mosaicking/stitching. With this approach the velocity components associated with the moving sensor (vehicle) are readily obtained from (i) the components of the transform matrix at each frame; (ii) information about the height of the vehicle above the seabed; and (iii) the sensor resolution. Preliminary results are presented.

  18. Efficient Modelling Methodology for Reconfigurable Underwater Robots

    DEFF Research Database (Denmark)

    Nielsen, Mikkel Cornelius; Blanke, Mogens; Schjølberg, Ingrid

    2016-01-01

    This paper considers the challenge of applying reconfigurable robots in an underwater environment. The main result presented is the development of a model for a system comprised of N, possibly heterogeneous, robots dynamically connected to each other and moving with 6 Degrees of Freedom (DOF). Th...

  19. Underwater Adhesives Retrofit Pipelines with Advanced Sensors

    Science.gov (United States)

    2015-01-01

    Houston-based Astro Technology Inc. used a partnership with Johnson Space Center to pioneer an advanced fiber-optic monitoring system for offshore oil pipelines. The company's underwater adhesives allow it to retrofit older deepwater systems in order to measure pressure, temperature, strain, and flow properties, giving energy companies crucial data in real time and significantly decreasing the risk of a catastrophe.

  20. MOSES, development of an Underwater Warfare Testbed

    NARCIS (Netherlands)

    Lentze, S.G.

    2001-01-01

    The TNO underwater warfare (UWW) research programme results in a large number of models used in operational research projects. To enhance the accessibility and re-use of these models for new projects, TNO-FEL has developed the modelling environment ‘MOSES - Maritime Operations Simulation and

  1. Human Injury Criteria for Underwater Blasts

    Science.gov (United States)

    2014-09-08

    further underscored the need for this new guideline based on injury data. Conference Name: Personal Armour Systems Symposium Conference Date...29.  Cole, R., Underwater Explosion. (Dover Publications, Inc ., New York, N.Y., 1948) 30.  Nakahara, M., Nagayama, K, Mori, Y, Japanese Journal...Abstract of the Undersea and Hyperbaric Medical Society, Inc . Annual Scientific Meeting, (1976).

  2. Impacts of underwater noise on marine vertebrates

    NARCIS (Netherlands)

    Liebschner, Alexander; Seibel, Henrike; Teilmann, Jonas; Wittekind, Dietrich; Parmentier, Eric; Dähne, Michael; Dietz, Rune; Driver, Jörg; Elk, van Cornelis; Everaarts, Eligius; Findeisen, Henning; Kristensen, Jacob; Lehnert, Kristina; Lucke, Klaus; Merck, Thomas; Müller, Sabine; Pawliczka, Iwona; Ronnenberg, Katrin; Rosenberger, Tanja; Ruser, Andreas; Tougaard, Jakob; Schuster, Max; Sundermeyer, Janne; Sveegaard, Signe; Siebert, Ursula

    2016-01-01

    The project conducts application-oriented research on impacts of underwater noise on marine vertebrates in the North and Baltic Seas. In distinct subprojects, the hearing sensitivity of harbor porpoises and gray seals as well as the acoustic tolerance limit of harbor porpoises to impulsive noise

  3. Communication and cooperation in underwater acoustic networks

    Science.gov (United States)

    Yerramalli, Srinivas

    In this thesis, we present a study of several problems related to underwater point to point communications and network formation. We explore techniques to improve the achievable data rate on a point to point link using better physical layer techniques and then study sensor cooperation which improves the throughput and reliability in an underwater network. Robust point-to-point communications in underwater networks has become increasingly critical in several military and civilian applications related to underwater communications. We present several physical layer signaling and detection techniques tailored to the underwater channel model to improve the reliability of data detection. First, a simplified underwater channel model in which the time scale distortion on each path is assumed to be the same (single scale channel model in contrast to a more general multi scale model). A novel technique, which exploits the nature of OFDM signaling and the time scale distortion, called Partial FFT Demodulation is derived. It is observed that this new technique has some unique interference suppression properties and performs better than traditional equalizers in several scenarios of interest. Next, we consider the multi scale model for the underwater channel and assume that single scale processing is performed at the receiver. We then derive optimized front end pre-processing techniques to reduce the interference caused during single scale processing of signals transmitted on a multi-scale channel. We then propose an improvised channel estimation technique using dictionary optimization methods for compressive sensing and show that significant performance gains can be obtained using this technique. In the next part of this thesis, we consider the problem of sensor node cooperation among rational nodes whose objective is to improve their individual data rates. We first consider the problem of transmitter cooperation in a multiple access channel and investigate the stability of

  4. Performance Evaluation of Underwater Wireless Optical Communications Links in the Presence of Different Air Bubble Populations

    KAUST Repository

    Oubei, Hassan M.; Elafandy, Rami T.; Park, Kihong; Ng, Tien Khee; Alouini, Mohamed-Slim; Ooi, Boon S.

    2017-01-01

    We experimentally evaluate the performance of underwater wireless optical communication (UWOC) links in the presence of different air bubbles. Air bubbles of different sizes and densities are generated by using an air pipe in conjunction with a submersible water pump of variable flow rate that help break up large bubbles into smaller bubbles. Received signal intensity measurements show that bubbles significantly degrade the performance of UWOC links. Large bubbles completely obstruct the optical beam and cause a deep fade. However, as the bubble size decreases, the level of deep fade also decreases because the optical beam is less susceptible to complete obstruction and more light reaches the detector. We also show that beam expansion could help mitigate the performance degradation due to the deep fade caused by air bubbles scatters in the channel.

  5. Performance Evaluation of Underwater Wireless Optical Communications Links in the Presence of Different Air Bubble Populations

    KAUST Repository

    Oubei, Hassan M.

    2017-03-16

    We experimentally evaluate the performance of underwater wireless optical communication (UWOC) links in the presence of different air bubbles. Air bubbles of different sizes and densities are generated by using an air pipe in conjunction with a submersible water pump of variable flow rate that help break up large bubbles into smaller bubbles. Received signal intensity measurements show that bubbles significantly degrade the performance of UWOC links. Large bubbles completely obstruct the optical beam and cause a deep fade. However, as the bubble size decreases, the level of deep fade also decreases because the optical beam is less susceptible to complete obstruction and more light reaches the detector. We also show that beam expansion could help mitigate the performance degradation due to the deep fade caused by air bubbles scatters in the channel.

  6. Stability analysis of hybrid-driven underwater glider

    Science.gov (United States)

    Niu, Wen-dong; Wang, Shu-xin; Wang, Yan-hui; Song, Yang; Zhu, Ya-qiang

    2017-10-01

    Hybrid-driven underwater glider is a new type of unmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have good maneuverability and can travel with a high speed, while the traditional underwater gliders are highlighted by low power consumption, long voyage, long endurance and good stealth characteristics. The hybrid-driven underwater gliders can realize variable motion profiles by their own buoyancy-driven and propeller propulsion systems. Stability of the mechanical system determines the performance of the system. In this paper, the Petrel-II hybrid-driven underwater glider developed by Tianjin University is selected as the research object and the stability of hybrid-driven underwater glider unitedly controlled by buoyancy and propeller has been targeted and evidenced. The dimensionless equations of the hybrid-driven underwater glider are obtained when the propeller is working. Then, the steady speed and steady glide path angle under steady-state motion have also been achieved. The steady-state operating conditions can be calculated when the hybrid-driven underwater glider reaches the desired steady-state motion. And the steadystate operating conditions are relatively conservative at the lower bound of the velocity range compared with the range of the velocity derived from the method of the composite Lyapunov function. By calculating the hydrodynamic coefficients of the Petrel-II hybrid-driven underwater glider, the simulation analysis has been conducted. In addition, the results of the field trials conducted in the South China Sea and the Danjiangkou Reservoir of China have been presented to illustrate the validity of the analysis and simulation, and to show the feasibility of the method of the composite Lyapunov function which verifies the stability of the Petrel-II hybrid-driven underwater glider.

  7. Erbium-doped fiber lasers as deep-sea hydrophones

    International Nuclear Information System (INIS)

    Bagnoli, P.E.; Beverini, N.; Bouhadef, B.; Castorina, E.; Falchini, E.; Falciai, R.; Flaminio, V.; Maccioni, E.; Morganti, M.; Sorrentino, F.; Stefani, F.; Trono, C.

    2006-01-01

    The present work describes the development of a hydrophone prototype for deep-sea acoustic detection. The base-sensitive element is a single-mode erbium-doped fiber laser. The high sensitivity of these sensors makes them particularly suitable for a wide range of deep-sea acoustic applications, including geological and marine mammals surveys and above all as acoustic detectors in under-water telescopes for high-energy neutrinos

  8. Sediment transport dynamics in steep, tropical volcanic catchments

    Science.gov (United States)

    Birkel, Christian; Solano Rivera, Vanessa; Granados Bolaños, Sebastian; Brenes Cambronero, Liz; Sánchez Murillo, Ricardo; Geris, Josie

    2017-04-01

    How volcanic landforms in tropical mountainous regions are eroded, and how eroded materials move through these mostly steep landscapes from the headwaters to affect sediment fluxes are critical to water resources management in their downstream rivers. Volcanic landscapes are of particular importance because of the short timescales (transform. Owing to volcanism and seismic activity, landslides and other mass movements frequently occur. These processes are amplified by high intensity precipitation inputs resulting in significant, but natural runoff, erosion and sediment fluxes. Sediment transport is also directly linked to carbon and solute export. However, knowledge on the sediment sources and transport dynamics in the humid tropics remains limited and their fluxes largely unquantified. In order to increase our understanding of the dominant erosion and sediment transport dynamics in humid tropical volcanic landscapes, we conducted an extensive monitoring effort in a pristine and protected (biological reserve Alberto Manuel Brenes, ReBAMB) tropical forest catchment (3.2 km2), located in the Central Volcanic Cordillera of Costa Rica (Figure 1A). Typical for tropical volcanic and montane regions, deeply incised V-form headwaters (Figure 1B) deliver the majority of water (>70%) and sediments to downstream rivers. At the catchment outlet (Figure 1C) of the San Lorencito stream, we established high temporal resolution (5min) water quantity and sediment monitoring (turbidity). We also surveyed the river network on various occasions to characterize fluvial geomorphology including material properties. We could show that the rainfall-runoff-sediment relationships and their characteristic hysteresis patterns are directly linked to variations in the climatic input (storm intensity and duration) and the size, form and mineralogy of the transported material. Such a relationship allowed us to gain the following insights: (i) periodic landslides contribute significant volumes of

  9. Underwater piercing of a tunnel

    Energy Technology Data Exchange (ETDEWEB)

    Solvik, O.

    1984-11-01

    Norwegian consultants and contractors have been confronted with the task of blasting a final penetrating passage that will open the way for the water in a reservoir to flow through the hydropower turbines. Norway has almost certainly led in this area because of its special topographical and geological conditions. The glacial activities have created a number of natural and very deep lakes forming cheap reservoirs. Piercings at depths up to about 100 m have been performed. Problems tend to increase with depth, but unsuccessful penetration can occur at any depth. Secondary effects to consider include the danger of slides when the water level is lowered, wave erosion along the lowered new shoreline, erosion at all streams and rivers flowing into the lake and groundwater erosion in the newly exposed dry shoreline. Methods of penetration can be roughly divided into two categories: penetration against the open tunnel shaft (open system); and penetration against the closed tunnel shaft (closed system). 6 figures.

  10. Dynamic Excitation of Monopiles by Steep and Breaking Waves: Experimental and Numerical Study

    DEFF Research Database (Denmark)

    Bredmose, Henrik; Slabiak, Peter; Sahlberg-Nielsen, Lasse

    2013-01-01

    . Emphasis is given to the observed impulsive excitation of the natural modes by steep and breaking waves. Additionally, springing and ringing-type continuous forcing of the first natural mode is seen for the moderately steep waves. The experiments were carried out at three depths and with two wave climates...

  11. Hydrodynamic Coefficients Identification and Experimental Investigation for an Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Shaorong XIE

    2014-02-01

    Full Text Available Hydrodynamic coefficients are the foundation of unmanned underwater vehicles modeling and controller design. In order to reduce identification complexity and acquire necessary hydrodynamic coefficients for controllers design, the motion of the unmanned underwater vehicle was separated into vertical motion and horizontal motion models. Hydrodynamic coefficients were regarded as mapping parameters from input forces and moments to output velocities and acceleration of the unmanned underwater vehicle. The motion models of the unmanned underwater vehicle were nonlinear and Genetic Algorithm was adopted to identify those hydrodynamic coefficients. To verify the identification quality, velocities and acceleration of the unmanned underwater vehicle was measured using inertial sensor under the same conditions as Genetic Algorithm identification. Curves similarity between measured velocities and acceleration and those identified by Genetic Algorithm were used as optimizing standard. It is found that the curves similarity were high and identified hydrodynamic coefficients of the unmanned underwater vehicle satisfied the measured motion states well.

  12. Delay Tolerance in Underwater Wireless Communications: A Routing Perspective

    Directory of Open Access Journals (Sweden)

    Safdar Hussain Bouk

    2016-01-01

    Full Text Available Similar to terrestrial networks, underwater wireless networks (UWNs also aid several critical tasks including coastal surveillance, underwater pollution detection, and other maritime applications. Currently, once underwater sensor nodes are deployed at different levels of the sea, it is nearly impossible or very expensive to reconfigure the hardware, for example, battery. Taking this issue into account, considerable amount of research has been carried out to ensure minimum energy costs and reliable communication between underwater nodes and base stations. As a result, several different network protocols were proposed for UWN, including MAC, PHY, transport, and routing. Recently, a new paradigm was introduced claiming that the intermittent nature of acoustic channel and signal resulted in designing delay tolerant routing schemes for the UWN, known as an underwater delay tolerant network. In this paper, we provide a comprehensive survey of underwater routing protocols with emphasis on the limitations, challenges, and future open issues in the context of delay tolerant network routing.

  13. Efficient Weibull channel model for salinity induced turbulent underwater wireless optical communications

    KAUST Repository

    Oubei, Hassan M.; Zedini, Emna; Elafandy, Rami T.; Kammoun, Abla; Ng, Tien Khee; Alouini, Mohamed-Slim; Ooi, Boon S.

    2017-01-01

    Recent advances in underwater wireless optical communications necessitate a better understanding of the underwater channel. We propose the Weibull model to characterize the fading of salinity induced turbulent underwater wireless optical channels

  14. Underwater videography and photography in Gulf of Kachchh. Sponsored by Gujarat Ecological Society, Vadodara, Gujarat

    Digital Repository Service at National Institute of Oceanography (India)

    Marine Archaeology Centre (MAC) has been carrying out underwater explorations and excavations of ancient ports and sunken shipwrecks to preserve underwater cultural heritage. MAC has the infrastructure facility to carry out underwater investigations...

  15. Underwater laser beam welding of Alloy 690

    International Nuclear Information System (INIS)

    Hino, Takehisa; Tamura, Masataka; Kono, Wataru; Kawano, Shohei; Yoda, Masaki

    2009-01-01

    Stress Corrosion Clacking (SCC) has been reported at Alloy 600 welds between nozzles and safe-end in Pressurized Water Reactor (PWR) plant. Alloy 690, which has higher chromium content than Alloy 600, has been applied for cladding on Alloy 600 welds for repairing damaged SCC area. Toshiba has developed Underwater Laser Beam Welding technique. This method can be conducted without draining, so that the repairing period and the radiation exposure during the repair can be dramatically decreased. In some old PWRs, high-sulfur stainless steel is used as the materials for this section. It has a high susceptibility of weld cracks. Therefore, the optimum welding condition of Alloy 690 on the high-sulfur stainless steel was investigated with our Underwater Laser Beam Welding unit. Good cladding layer, without any crack, porosity or lack of fusion, could be obtained. (author)

  16. Cymbal and BB underwater transducers and arrays

    Energy Technology Data Exchange (ETDEWEB)

    Newnham, R.E.; Zhang, J.; Alkoy, S.; Meyer, R.; Hughes, W.J.; Hladky-Hennion, A.C.; Cochran, J.; Markley, D. [Materials Research Laboratory, Penn State University, University Park, PA 16802 (United States)

    2002-09-01

    The cymbal is a miniaturized class V flextensional transducer that was developed for use as a shallow water sound projector and receiver. Single elements are characterized by high Q, low efficiency, and medium power output capability. Its low cost and thin profile allow the transducer to be assembled into large flexible arrays. Efforts were made to model both single elements and arrays using the ATILA code and the integral equation formulation (EQI).Millimeter size microprobe hydrophones (BBs) have been designed and fabricated from miniature piezoelectric hollow ceramic spheres for underwater applications such as mapping acoustic fields of projectors, and flow noise sensors for complex underwater structures. Green spheres are prepared from soft lead zirconate titanate powders using a coaxial nozzle slurry process. A compact hydrophone with a radially-poled sphere is investigated using inside and outside electrodes. Characterization of these hydrophones is done through measurement of hydrostatic piezoelectric charge coefficients, free field voltage sensitivities and directivity beam patterns. (orig.)

  17. Underwater noise modelling for environmental impact assessment

    Energy Technology Data Exchange (ETDEWEB)

    Farcas, Adrian [Centre for Environment, Fisheries and Aquaculture Science (Cefas), Pakefield Road, Lowestoft, NR33 0HT (United Kingdom); Thompson, Paul M. [Lighthouse Field Station, Institute of Biological and Environmental Sciences, University of Aberdeen, Cromarty IV11 8YL (United Kingdom); Merchant, Nathan D., E-mail: nathan.merchant@cefas.co.uk [Centre for Environment, Fisheries and Aquaculture Science (Cefas), Pakefield Road, Lowestoft, NR33 0HT (United Kingdom)

    2016-02-15

    Assessment of underwater noise is increasingly required by regulators of development projects in marine and freshwater habitats, and noise pollution can be a constraining factor in the consenting process. Noise levels arising from the proposed activity are modelled and the potential impact on species of interest within the affected area is then evaluated. Although there is considerable uncertainty in the relationship between noise levels and impacts on aquatic species, the science underlying noise modelling is well understood. Nevertheless, many environmental impact assessments (EIAs) do not reflect best practice, and stakeholders and decision makers in the EIA process are often unfamiliar with the concepts and terminology that are integral to interpreting noise exposure predictions. In this paper, we review the process of underwater noise modelling and explore the factors affecting predictions of noise exposure. Finally, we illustrate the consequences of errors and uncertainties in noise modelling, and discuss future research needs to reduce uncertainty in noise assessments.

  18. Underwater noise modelling for environmental impact assessment

    International Nuclear Information System (INIS)

    Farcas, Adrian; Thompson, Paul M.; Merchant, Nathan D.

    2016-01-01

    Assessment of underwater noise is increasingly required by regulators of development projects in marine and freshwater habitats, and noise pollution can be a constraining factor in the consenting process. Noise levels arising from the proposed activity are modelled and the potential impact on species of interest within the affected area is then evaluated. Although there is considerable uncertainty in the relationship between noise levels and impacts on aquatic species, the science underlying noise modelling is well understood. Nevertheless, many environmental impact assessments (EIAs) do not reflect best practice, and stakeholders and decision makers in the EIA process are often unfamiliar with the concepts and terminology that are integral to interpreting noise exposure predictions. In this paper, we review the process of underwater noise modelling and explore the factors affecting predictions of noise exposure. Finally, we illustrate the consequences of errors and uncertainties in noise modelling, and discuss future research needs to reduce uncertainty in noise assessments.

  19. Ocean Research Enabled by Underwater Gliders.

    Science.gov (United States)

    Rudnick, Daniel L

    2016-01-01

    Underwater gliders are autonomous underwater vehicles that profile vertically by changing their buoyancy and use wings to move horizontally. Gliders are useful for sustained observation at relatively fine horizontal scales, especially to connect the coastal and open ocean. In this review, research topics are grouped by time and length scales. Large-scale topics addressed include the eastern and western boundary currents and the regional effects of climate variability. The accessibility of horizontal length scales of order 1 km allows investigation of mesoscale and submesoscale features such as fronts and eddies. Because the submesoscales dominate vertical fluxes in the ocean, gliders have found application in studies of biogeochemical processes. At the finest scales, gliders have been used to measure internal waves and turbulent dissipation. The review summarizes gliders' achievements to date and assesses their future in ocean observation.

  20. Equipment and appliances for underwater operations. Pt. 2

    International Nuclear Information System (INIS)

    Krueger, P.

    1976-01-01

    The 6/75 edition of 'mt' reported on the 'ARGE underwater appliances' and the study on 'design development of appliances and equipment for underwater use' in a brief summary. One of these designs, the 'unmanned DSWS underwater appliance' was described in detail. The present article describes three further design developments mentioned in the above study and which are based on unmanned appliances connected to the mother-ship. These designs were developed by Preussag-Meerestechnik. (orig.) [de

  1. MEDITERRANEAN: Underwater neutrinos get off the ground

    International Nuclear Information System (INIS)

    Anon.

    1992-01-01

    Now funded is the initial stage of NESTOR, an imaginative new programme for a dedicated underwater neutrino astroparticle physics laboratory. Located in the international waters off the southernmost corner of continental Europe near the town of Pylos in S.W. Greece, NESTOR (NEutrinos from Supernovae and TeV sources Ocean Range) recalls the wise king of Pylos who counselled the Greeks during the Trojan war, an excellent tradition for new scientific goals of detecting neutrinos

  2. Inspecting the inside of underwater hull

    Science.gov (United States)

    Valkovic, Vladivoj; Sudac, Davorin

    2009-05-01

    In order to demonstrate the possibility of identifying the material within ship's underwater hull, sunken ships and other objects on the sea floor tests with the 14 MeV sealed tube neutron generator incorporated inside a small submarine submerged in the test basin filled with sea water have been performed. Results obtained for inspection of diesel fuel and explosive presence behind single and double hull constructions are presented.

  3. Underwater bipedal locomotion by octopuses in disguise.

    Science.gov (United States)

    Huffard, Christine L; Boneka, Farnis; Full, Robert J

    2005-03-25

    Here we report bipedal movement with a hydrostatic skeleton. Two species of octopus walk on two alternating arms using a rolling gait and appear to use the remaining six arms for camouflage. Octopus marginatus resembles a coconut, and Octopus (Abdopus) aculeatus, a clump of floating algae. Using underwater video, we analyzed the kinematics of their strides. Each arm was on the sand for more than half of the stride, qualifying this behavior as a form of walking.

  4. Role of Confined Water in Underwater Adhesion

    Science.gov (United States)

    Dhinojwala, Ali

    Surface bound water is a strong deterrent for forming strong bonds between two surfaces underwater and expelling that bound water is important for strong adhesion. I will discuss examples of different strategies used by geckos, spiders, and mussels to handle this last layer of bound water. Recent results using infrared-visible sum frequency generation spectroscopy to probe the structure of this bound water will be discussed. National Science Foundation.

  5. Study on underwater plasma arc cutting technology

    International Nuclear Information System (INIS)

    Yada, Toshio; Nakamura, Uhachiro; Tomidokoro, Sakae; Fukuzawa, Mitsuo

    1980-01-01

    The zirconium alloy tube of the impile creep test facility had been subjected to inner pressure in the Japan Material Testing Reactor (JMTR) environment. In the near future, it will be necessary to dismantle the facility and to take out the tube for such examinations as irradiation effects on material properties. In order to establish the dismantling technology for the radioactive facility, a study on underwater plasma arc cutting has been carried out since 1977. Primarily, optimum underwater cutting sequence and conditions were studied in details for developing the remote control handling and the cutting system. Further, the amounts of particles suspended in water as well as those contained in bubbled gas were quantitatively analyzed for developing a safe removal system for contaminants which were produced by cutting the radioactive material. As a result of this study, it has been concluded that the underwater plasma arc cutting method is generally suitable and effective for dismantling such radioactive material as the impile creep test facility of the JMTR. (author)

  6. Underwater Acoustic Target Tracking: A Review

    Science.gov (United States)

    Han, Ying; Fan, Liying

    2018-01-01

    Advances in acoustic technology and instrumentation now make it possible to explore marine resources. As a significant component of ocean exploration, underwater acoustic target tracking has aroused wide attention both in military and civil fields. Due to the complexity of the marine environment, numerous techniques have been proposed to obtain better tracking performance. In this paper, we survey over 100 papers ranging from innovative papers to the state-of-the-art in this field to present underwater tracking technologies. Not only the related knowledge of acoustic tracking instrument and tracking progress is clarified in detail, but also a novel taxonomy method is proposed. In this paper, algorithms for underwater acoustic target tracking are classified based on the methods used as: (1) instrument-assisted methods; (2) mode-based methods; (3) tracking optimization methods. These algorithms are compared and analyzed in the aspect of dimensions, numbers, and maneuvering of the tracking target, which is different from other survey papers. Meanwhile, challenges, countermeasures, and lessons learned are illustrated in this paper. PMID:29301318

  7. Underwater detection by using ultrasonic sensor

    Science.gov (United States)

    Bakar, S. A. A.; Ong, N. R.; Aziz, M. H. A.; Alcain, J. B.; Haimi, W. M. W. N.; Sauli, Z.

    2017-09-01

    This paper described the low cost implementation of hardware and software in developing the system of ultrasonic which can visualize the feedback of sound in the form of measured distance through mobile phone and monitoring the frequency of detection by using real time graph of Java application. A single waterproof transducer of JSN-SR04T had been used to determine the distance of an object based on operation of the classic pulse echo detection method underwater. In this experiment, the system was tested by placing the housing which consisted of Arduino UNO, Bluetooth module of HC-06, ultrasonic sensor and LEDs at the top of the box and the transducer was immersed in the water. The system which had been tested for detection in vertical form was found to be capable of reporting through the use of colored LEDs as indicator to the relative proximity of object distance underwater form the sensor. As a conclusion, the system can detect the presence of an object underwater within the range of ultrasonic sensor and display the measured distance onto the mobile phone and the real time graph had been successfully generated.

  8. Afocal viewport optics for underwater imaging

    Science.gov (United States)

    Slater, Dan

    2014-09-01

    A conventional camera can be adapted for underwater use by enclosing it in a sealed waterproof pressure housing with a viewport. The viewport, as an optical interface between water and air needs to consider both the camera and water optical characteristics while also providing a high pressure water seal. Limited hydrospace visibility drives a need for wide angle viewports. Practical optical interfaces between seawater and air vary from simple flat plate windows to complex water contact lenses. This paper first provides a brief overview of the physical and optical properties of the ocean environment along with suitable optical materials. This is followed by a discussion of the characteristics of various afocal underwater viewport types including flat windows, domes and the Ivanoff corrector lens, a derivative of a Galilean wide angle camera adapter. Several new and interesting optical designs derived from the Ivanoff corrector lens are presented including a pair of very compact afocal viewport lenses that are compatible with both in water and in air environments and an afocal underwater hyper-hemispherical fisheye lens.

  9. Modeling and Control of Underwater Robotic Systems

    Energy Technology Data Exchange (ETDEWEB)

    Schjoelberg, I:

    1996-12-31

    This doctoral thesis describes modeling and control of underwater vehicle-manipulator systems. The thesis also presents a model and a control scheme for a system consisting of a surface vessel connected to an underwater robotic system by means of a slender marine structure. The equations of motion of the underwater vehicle and manipulator are described and the system kinematics and properties presented. Feedback linearization technique is applied to the system and evaluated through a simulation study. Passivity-based controllers for vehicle and manipulator control are presented. Stability of the closed loop system is proved and simulation results are given. The equation of motion for lateral motion of a cable/riser system connected to a surface vessel at the top end and to a thruster at the bottom end is described and stability analysis and simulations are presented. The equations of motion in 3 degrees of freedom of the cable/riser, surface vessel and robotic system are given. Stability analysis of the total system with PD-controllers is presented. 47 refs., 32 figs., 7 tabs.

  10. Environmental effects on underwater optical transmission

    Science.gov (United States)

    Chu, Peter C.; Breshears, Brian F.; Cullen, Alexander J.; Hammerer, Ross F.; Martinez, Ramon P.; Phung, Thai Q.; Margolina, Tetyana; Fan, Chenwu

    2017-05-01

    Optical communication/detection systems have potential to get around some limitations of current acoustic communications and detection systems especially increased fleet and port security in noisy littoral waters. Identification of environmental effects on underwater optical transmission is the key to the success of using optics for underwater communication and detection. This paper is to answer the question "What are the transfer and correlation functions that relate measurements of hydrographic to optical parameters?" Hydrographic and optical data have been collected from the Naval Oceanographic Office survey ships with the High Intake Defined Excitation (HIDEX) photometer and sea gliders with optical back scattering sensor in various Navy interested areas such as the Arabian Gulf, Gulf of Oman, east Asian marginal seas, and Adriatic Sea. The data include temperature, salinity, bioluminescence, chlorophyll-a fluorescence, transmissivity at two different wavelengths (TRed at 670 nm, TBlue at 490 nm), and back scattering coefficient (bRed at 700 nm, bBlue at 470 nm). Transfer and correlation functions between the hydrographic and optical parameters are obtained. Bioluminescence and fluorescence maxima, transmissivity minimum with their corresponding depths, red and blue laser beam peak attenuation coefficients are identified from the optical profiles. Evident correlations are found between the ocean mixed layer depth and the blue and red laser beam peak attenuation coefficients, bioluminescence and fluorescence maxima in the Adriatic Sea, Arabian Gulf, Gulf of Oman, and Philippine Sea. Based on the observational data, an effective algorithm is recommended for solving the radiative transfer equation (RTE) for predicting underwater laser radiance.

  11. Automatic stabilization of underwater robots in the time manipulation operations

    International Nuclear Information System (INIS)

    Filaretov, V.F.; Koval, E.V.

    1994-01-01

    When carrying out underwater technical works by means of an underwater vehicles having a manipulator it is desirable to perform manipulation operations in the regime of the underwater vehicle hovering above the object without durable and complicated operations up its rigid fixation. Underwater vehicle stabilization is achieved by compensation all the effects on the vehicle caused by the operating manipulator in water medium. This automatic stabilization is formed due to input of the required control signals into corresponding vehicle propellers proportional to calculated components of the generalized forces and moments. The propellers should form stops reacting against effects

  12. Underwater hearing in the great cormorant (Phalacrocorax carbo sinensis)

    DEFF Research Database (Denmark)

    Hansen, Kirstin Anderson; Larsen, Ole Næsbye; Wahlberg, Magnus

    2016-01-01

    The underwater hearing threshold of a great cormorant (Phalacrocroax carbo sinensis) was measured at 2 kHz using psychophysical methods. Previous in-air and underwater testing suggests that cormorants have rather poor in-air hearing compared to other birds of similar size (Johansen, 2016). Prelim......The underwater hearing threshold of a great cormorant (Phalacrocroax carbo sinensis) was measured at 2 kHz using psychophysical methods. Previous in-air and underwater testing suggests that cormorants have rather poor in-air hearing compared to other birds of similar size (Johansen, 2016...

  13. Contour Tracking Control for the REMUS Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Van Reet, Alan R

    2005-01-01

    In the interest of enhancing the capabilities of autonomous underwater vehicles used in US Naval Operations, controlling vehicle position to follow depth contours presents exciting potential for navigation...

  14. Autopilot Using Differential Thrust for ARIES Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Sarton, Christopher

    2003-01-01

    .... Unfortunately, communication antennas must point to specific satellites in this system and thus underwater vehicles must steer a specific course on the surface during the communication process...

  15. Research on Operational Aspects of Large Autonomous Underwater Glider Fleets

    National Research Council Canada - National Science Library

    Fratantoni, David M

    2007-01-01

    This program supported research on the operational and management issues stemming from application of large fleets of autonomous underwater gliders to oceanographic research and rapid environmental...

  16. WODA technical guidance on underwater sound from dredging

    NARCIS (Netherlands)

    Thomsen, F.; Borsani, F.; Clarke, D.; Jong, C. de; Wit, P. de; Goethals, F.; Holtkamp, M.; Martin, E.S.; Spadaro, P.; Raalte, G. van; Victor, G.Y.V.; Jensen, A.

    2016-01-01

    The World Organization of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) prepared a guidance paper in 2013 on dredging sound, including a summary of potential impacts on aquatic

  17. Evaluating the SCC resistance of underwater welds in sodium tetrathionate

    International Nuclear Information System (INIS)

    White, R.A.; Angeliu, T.M.

    1997-01-01

    The susceptibility of welds to stress corrosion cracking (SCC) is enhanced by the surface residual tensile stresses generated by the typical welding process. However, underwater plasma transferred arc (PTA) welding has been shown to produce compressive surface residual stresses, an encouraging result if repairs of cracked boiling water reactor (BWR) components are to be made without further endangering them to SCC. This program was designed to verify that underwater PTA welds are resistant to SCC and to determine if underwater PTA welding could mitigate SCC in potentially susceptible welds. This was achieved by exposing various welds on solution annealed (SA) and SA + thermally sensitized 304 stainless steel at 25 C in a solution of 1.5 gm/liter of sodium sulfide added to 0.05M sodium tetrathionate, titrated to a pH of 1.25 with H 2 SO 4 . The autogeneous welds were produced using gas tungsten arc (GTA) and plasma transferred arc (PTA) welding under atmospheric conditions, and PTA welding underwater. After 1 hour of sodium tetrathionate exposure, GTA and air PTA welds exhibited SCC while the underwater PTA weld heat affected zones were more resistant. Underwater PTA welds bisecting a GTA weld eliminated the cracking in the GTA weld heat affected zone under certain conditions. The lack of IG cracking in the region influenced by the underwater PTA weld is consistent with the measurement of compressive surface residual stresses inherent to the underwater welding process

  18. Remarks on the observability of single beacon underwater navigation

    DEFF Research Database (Denmark)

    Jouffroy, Jerome; Ross, Andrew

    This paper contributes a simple and intuitive result in the analysis of underwater navigation using a single ranging beacon. This analysis should help with the design of small and lightweight underwater vehicles by reducing the amount of instrumentation required for accurate navigation. The concept...

  19. Underwater laser cladding and seal welding for INCONEL 52

    International Nuclear Information System (INIS)

    Tamura, Masataka; Kouno, Wataru; Makino, Yoshinobu; Kawano, Shohei; Yoda, Masaki

    2007-01-01

    Recently, stress corrosion cracking (SCC) has been observed at aged components of nuclear power plants under water environment and high exposure of radiation. Toshiba has been developing both an underwater laser welding directly onto surface of the aged components as maintenance and repair techniques. This paper reports underwater laser cladding and seal welding for INCONEL 52. (author)

  20. Underwater methods for study of salmonids in the Intermountain West

    Science.gov (United States)

    Russell F. Thurow

    1994-01-01

    This guide describes underwater methods using snorkeling gear to study fish populations in flowing waters of the Intermountain West. It outlines procedures for estimating salmonid abundance and habitat use and provides criteria for identifying and estimating the size of fish underwater.

  1. The WODA guidance paper on underwater sound from dredging (abstract)

    NARCIS (Netherlands)

    Thomsen, F.; Borsani, F.; Clarke, D.; Jong, C.A.F. de; Witt, P. de; Holtkamp, M.; Goethals, F.; San Martin, E.; Spadaro, P.; Raalte, G. van; Jensen, A.

    2013-01-01

    The World Organisation of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) was established to provide a guidance paper on dredging sound, impact on aquatic biota and advice on

  2. Lessons learned from the NEPTUNE power system, and other deep-sea adventures

    International Nuclear Information System (INIS)

    Kirkham, Harold

    2006-01-01

    The development of underwater science systems presents some challenging technical issues. It seems that the best efforts of the engineers and scientists involved are sometimes inadequate, and projects that once seemed straightforward end up being late or over-budget, or cancelled. This paper will review some of the lessons that may be learned from the examples of three science projects in the deep ocean: the Deep Underwater Muon and Neutrino Detector neutrino detector, the H 2 O observatory, and the power system part of the NEPTUNE regional cabled observatory

  3. Steep cut slope composting : field trials and evaluation : project summary report.

    Science.gov (United States)

    2011-04-01

    This project is a continuation of earlier work performed by Montana State University (Jennings et al. 2007) evaluating compost application on, and incorporation into, soils on steep cut slopes for the Montana Department of Transportation (MDT). The e...

  4. Optimization of an Intelligent Controller for an Unmanned Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    M. Fauzi Nor Shah

    2011-08-01

    Full Text Available Underwater environment poses a difficult challenge for autonomous underwater navigation. A standard problem of underwater vehicles is to maintain it position at a certain depth in order to perform desired operations. An effective controller is required for this purpose and hence the design of a depth controller for an unmanned underwater vehicle is described in this paper. The control algorithm is simulated by using the marine guidance navigation and control simulator. The project shows a radial basis function metamodel can be used to tune the scaling factors of a fuzzy logic controller. By using offline optimization approach, a comparison between genetic algorithm and metamodeling has been done to minimize the integral square error between the set point and the measured depth of the underwater vehicle. The results showed that it is possible to obtain a reasonably good error using metamodeling approach in much a shorter time compared to the genetic algorithm approach.

  5. A man-made object detection for underwater TV

    Science.gov (United States)

    Cheng, Binbin; Wang, Wenwu; Chen, Yao

    2018-03-01

    It is a great challenging task to complete an automatic search of objects underwater. Usually the forward looking sonar is used to find the target, and then the initial identification of the target is completed by the side-scan sonar, and finally the confirmation of the target is accomplished by underwater TV. This paper presents an efficient method for automatic extraction of man-made sensitive targets in underwater TV. Firstly, the image of underwater TV is simplified with taking full advantage of the prior knowledge of the target and the background; then template matching technology is used for target detection; finally the target is confirmed by extracting parallel lines on the target contour. The algorithm is formulated for real-time execution on limited-memory commercial-of-the-shelf platforms and is capable of detection objects in underwater TV.

  6. Acquisition and tracking for underwater optical communications

    Science.gov (United States)

    Williams, Andrew J.; Laycock, Leslie L.; Griffith, Michael S.; McCarthy, Andrew G.; Rowe, Duncan P.

    2017-10-01

    There is a growing requirement to transfer large volumes of data between underwater platforms. As seawater is transmissive in the visible band, underwater optical communications is an active area of interest since it offers the potential for power efficient, covert and high bandwidth datalinks at short to medium ranges. Short range systems have been successfully demonstrated using sources with low directionality. To realise higher data rates and/or longer ranges, the use of more efficient directional beams is required; by necessity, these must be sufficiently aligned to achieve the required link margin. For mobile platforms, the acquisition and tracking of each node is therefore critical in order to establish and maintain an optical datalink. This paper describes work undertaken to demonstrate acquisition and tracking in a 3D underwater environment. A range of optical sources, beam steering technologies, and tracking sensors have been assessed for suitability. A novel scanning strategy exploiting variable beam divergence was developed to provide robust acquisition whilst minimising acquisition time. A prototype system was assembled and demonstrated in a large water tank. This utilised custom quadrant detectors based on Silicon PhotoMultiplier (SiPM) arrays for fine tracking, and a Wide Field of View (WFoV) sCMOS camera for link acquisition. Fluidic lenses provided dynamic control of beam divergence, and AC modulation/filtering enabled background rejection. The system successfully demonstrated robust optical acquisition and tracking between two nodes with only nanowatt received optical powers. The acquisition time was shown to be dependent on the initial conditions and the transmitted optical power.

  7. Leakage warning system for flexible underwater pipelines

    Energy Technology Data Exchange (ETDEWEB)

    Moeller, E; Bernstein, L

    1985-08-01

    Underwater pipelines for unloading oil tankers, e.g. in 30 km distance from the harbour site, are required to be flexible and require supervision. This is done by implementation of oil sensitive sensors between the inner rubber tube and the following impregnated textile layer. The generated sensor signals, influenced by leak oil, have to be wireless transmitted from 150 meters under water to the supervisory station at the coast. Sensor configurations are described, to derive the point of the leakage from the topologized warning signals.

  8. Underwater Sound Propagation from Marine Pile Driving.

    Science.gov (United States)

    Reyff, James A

    2016-01-01

    Pile driving occurs in a variety of nearshore environments that typically have very shallow-water depths. The propagation of pile-driving sound in water is complex, where sound is directly radiated from the pile as well as through the ground substrate. Piles driven in the ground near water bodies can produce considerable underwater sound energy. This paper presents examples of sound propagation through shallow-water environments. Some of these examples illustrate the substantial variation in sound amplitude over time that can be critical to understand when computing an acoustic-based safety zone for aquatic species.

  9. Underwater photography - A visual survey method

    Digital Repository Service at National Institute of Oceanography (India)

    Sharma, R.

    Content-Type text/plain; charset=UTF-8 173 Underwater photography - A visual survey method Rahul Sharma National Institute of Oceanography, Dona Paula, Goa-403004 rsharma@nio.org Introduction “Photography as a means of observing...-sea photographs were those made by Maurice Ewing and his co-workers during cruises on Atlantis in 1940-48. Their subject was the seafloor and their method of clicking was to trigger the camera mechanically when its mounting struck bottom. This is the only...

  10. Radon dynamics in underwater thermal radon therapy

    International Nuclear Information System (INIS)

    Lettner, H.; Hofmann, W.; Winkler, R.; Rolle, R.; Foisner, W.

    1998-01-01

    At a facility for underwater thermal radon therapy in Bad Hofgastein, experiments were carried out with the aim of establishing radon in the air exhaled by the treated patients and of radon decay products on the skin of the patients. The time course of radon concentration in the exhaled air shows a maximum a few minutes after entering the bath, then the Rn concentration remains constant over the remaining time spent in the bath. Taking into account several simplifying assumptions, the average dose to the epidermis from radon daughters is about 50 μGy. (A.K.)

  11. Underwater Activities in the Soviet Union

    Science.gov (United States)

    1975-03-01

    morska , no. 12, 1967, 558-559. Eighty hours under the ice. Poseidon, no. 10 (70), 1967, inside front cover, 433-438, and 465. Fisera, M. A tent, a...Schiffbautechnik, no. 10, 1968. 568-574. 222. Kullnski, J. Meduza-2 underwater base for divers. Technika i gospodarka morska , no. 1, 1969, 44-46. 223...Technika i gospodarka morska , no. 4, 1973, 225-226. Baras, J., S. A. Guljar, and J. N. Kiklewitsch. The Ikhtiandr experiments. Poseidon, no. 4(136

  12. Hydraulic lifter for an underwater drilling rig

    Energy Technology Data Exchange (ETDEWEB)

    Garan' ko, Yu L

    1981-01-15

    A hydraulic lifter is suggested for an underwater drilling rig. It includes a base, hydraulic cylinders for lifting the drilling pipes connected to the clamp holder and hydraulic distributor. In order to simplify the design of the device, the base is made with a hollow chamber connected to the rod cavities and through the hydraulic distributor to the cavities of the hydraulic cylinders for lifting the drilling pipes. The hydraulic distributor is connected to the hydrosphere through the supply valve with control in time or by remote control. The base is equipped with reverse valves whose outlets are on the support surface of the base.

  13. Forecast of Remote Underwater Sensing Technology.

    Science.gov (United States)

    1980-07-01

    Ndgrt o oth NIA ye ’ Suite 709NrtFaothMAO5i Arligton VA 2202Attn: Dave Ho0soci, Chief Enginee~r Attn : Jay W. -arford, Manlager, (617) 563-59)17 (703...0,1305 Attn: Dr. A. Zielinski , Asst. Professor Attn: C. R. B. Lister Faculty of Engineering and (20t) 325-5497 Applied Science (709) 753-1200 Lockheed...157. Zielinski , A.; Barbour, L.; "Swept Carrier Acoustic Underwater Communica- tions," IEEE/MTS Oceans 󈨒, Washington, DC, Sept. 6-8, 1978. 158

  14. Navigation System Fault Diagnosis for Underwater Vehicle

    DEFF Research Database (Denmark)

    Falkenberg, Thomas; Gregersen, Rene Tavs; Blanke, Mogens

    2014-01-01

    This paper demonstrates fault diagnosis on unmanned underwater vehicles (UUV) based on analysis of structure of the nonlinear dynamics. Residuals are generated using dierent approaches in structural analysis followed by statistical change detection. Hypothesis testing thresholds are made signal...... based to cope with non-ideal properties seen in real data. Detection of both sensor and thruster failures are demonstrated. Isolation is performed using the residual signature of detected faults and the change detection algorithm is used to assess severity of faults by estimating their magnitude...

  15. Prolonged lateral steep position impairs respiratory mechanics during continuous lateral rotation therapy in respiratory failure.

    Science.gov (United States)

    Schellongowski, Peter; Losert, Heidrun; Locker, Gottfried J; Laczika, Klaus; Frass, Michael; Holzinger, Ulrike; Bojic, Andja; Staudinger, Thomas

    2007-04-01

    To establish whether prolonged lateral steep position during continuous rotation therapy leads to improvement on pulmonary gas exchange, respiratory mechanics and hemodynamics. Prospective observational study. Intensive care unit of a university hospital. Twelve consecutive patients suffering from acute lung injury or adult respiratory distress syndrome undergoing continuous rotation therapy. Blood gas analysis, static lung compliance, blood pressure, cardiac index and pulmonary shunt fraction were measured in supine as well as in left and right lateral steep position at 62 degrees during continuous rotation therapy (phase I). Rotation was then stopped for 30 min with the patients in supine position, left and right lateral steep position, and the same measurements were performed every 10 min (phase II). Phase I and II revealed no significant changes in PaO(2)/FiO(2) ratio, mean arterial blood pressure, pulmonary shunt fraction, or cardiac index. Significantly lower static compliance was observed in lateral steep position than in supine position (pposition than in left and right lateral steep position (ppositioning impairs the compliance of the respiratory system. Prolonged lateral steep position does not lead to benefits with respect to oxygenation or hemodynamics. Individual response to the different positions is unpredictable. The pauses in "extreme" positions should be as short as possible.

  16. Hydraulic properties for interrill erosion on steep slopes using a portable rainfall simulator

    Science.gov (United States)

    Shin, Seung Sook; Hwang, Yoonhee; Deog Park, Sang; Yun, Minu; Park, Sangyeon

    2017-04-01

    The hydraulic parameters for sheet flow on steep slopes have been not frequently measured because the shallow flow depth and slow flow velocity are difficult to measure. In this study hydraulic values of sheet flow were analyzed to evaluate interrill erosion on steep slopes. A portable rainfall simulator was used to conduct interrill erosion test. The kinetic energy of rainfall simulator was obtained by disdrometer being capable of measuring the drop size distribution and velocity of falling raindrops. The sheet flow velocity was determined by the taken time for a dye transferring fixed points using video images. Surface runoff discharge and sediment yield increased with increase of rainfall intensity and kinetic energy and slope steepness. Especially sediment yield was strongly correlated with sheet flow velocity. The maximum velocity of sheet flow was 2.3cm/s under rainfall intensity of 126.8mm/h and slope steepness of 53.2%. The sheet flow was laminar and subcritical flow as the flow Reynolds number and Froude number are respectively the ranges of 10 22 and 0.05 0.25. The roughness coefficient (Manning's n) for sheet flow on steep slopes was relatively large compared to them on the gentle slope. Keywords: Sheet flow velocity; Rainfall simulator; Interrill erosion; Steep slope This work was supported by the National Research Foundation of Korea(NRF) grant funded by the Korea government(MSIP) (No. 2015R1C1A2A01055469).

  17. Determining spherical lens correction for astronaut training underwater.

    Science.gov (United States)

    Porter, Jason; Gibson, C Robert; Strauss, Samuel

    2011-09-01

    To develop a model that will accurately predict the distance spherical lens correction needed to be worn by National Aeronautics and Space Administration astronauts while training underwater. The replica space suit's helmet contains curved visors that induce refractive power when submersed in water. Anterior surface powers and thicknesses were measured for the helmet's protective and inside visors. The impact of each visor on the helmet's refractive power in water was analyzed using thick lens calculations and Zemax optical design software. Using geometrical optics approximations, a model was developed to determine the optimal distance spherical power needed to be worn underwater based on the helmet's total induced spherical power underwater and the astronaut's manifest spectacle plane correction in air. The validity of the model was tested using data from both eyes of 10 astronauts who trained underwater. The helmet's visors induced a total power of -2.737 D when placed underwater. The required underwater spherical correction (FW) was linearly related to the spectacle plane spherical correction in air (FAir): FW = FAir + 2.356 D. The mean magnitude of the difference between the actual correction worn underwater and the calculated underwater correction was 0.20 ± 0.11 D. The actual and calculated values were highly correlated (r = 0.971) with 70% of eyes having a difference in magnitude of astronauts. The model accurately predicts the actual values worn underwater and can be applied (more generally) to determine a suitable spectacle lens correction to be worn behind other types of masks when submerged underwater.

  18. Underwater welding using remote controlled robots. Development of remote underwater welding technology with a high power YAG laser

    International Nuclear Information System (INIS)

    Miwa, Yasuhiro; Sato, Syuuichi; Kojima, Toshio; Owaki, Katsura; Hirose, Naoya

    2002-01-01

    As components in nuclear power plant have been periodically carried out their inspection and repair to keep their integrity, on radioactive liquid wastes storage facility, because of difficulty on their inspection by human beings, some are remained without inspection, and even when capable of inspection, conversion from human works to remote operations is desired from a viewpoint of their operation efficiency upgrading. For response to these needs, some developments on a technology capable of carrying out inspection of their inside at underwater environment and repairing welding with YAG laser by means of remote operation, have been performed. Remote underwater inspection and repair technology is a combination technology of already applied underwater mobile technique (underwater inspection robot) with underwater YAG laser welding technique which is recently at actual using level. Therefore, this technology is composed of an inspection robot and a repair welding robot. And, testing results using the underwater inspection robot and welding test results using the underwater repair welding robot, were enough preferable to obtain forecasting applicable to actual apparatuses. This technology is especially effective for inspection and repair of inside of nuclear fuel cycle apparatuses and relatively high dose apparatuses, and can be thought to be applicable also to large capacity tanks, tanks dealing with harmful matters, underwater structures, and so on, in general industries. (G.K.)

  19. Underwater sediment-contact radiation survey method

    International Nuclear Information System (INIS)

    Lee, D.R.; St. Aubin, M.; Welch, S.J.

    1991-01-01

    The authors are striving to produce a practical system for mapping lateral distributions in gamma activity on submerged sediments. This is in response to the need for quality control and interpretation of data obtainable by sediment sampling and analyses near nuclear utilities. A prototype gamma probe has been constructed and tested. The prototype is essentially a background survey meter packaged in a 53-cm-long x 5.4-cm-diam waterproof vehicle. This usage-shaped vehicle is connected to a cable for towing in contact with bottom sediments of lakes, rivers, and coastal waters. This vehicle, or sediment probe as it is called, was initially developed for measuring sediment electrical conductances, a parameter that can be used to locate underwater areas of groundwater and contaminant upwelling. During towing, the probe does not roll or twist around its longitudinal axis by more than 10 deg, so that sensors, which have been fixed within the vehicle, can be oriented to look up, down, or sideways. In over 450 lin-km of underwater survey, only a single sediment probe has been irretrievably snagged on sunken rocks or other debris. Work in the Ottawa River near the Chalk River Laboratories has shown good agreement among point measurements of river sediment with continuous measurements using the moving probe

  20. Underwater inspection training in intense radiation field

    International Nuclear Information System (INIS)

    Taniguchi, Ryoichi

    2017-01-01

    Osaka Prefecture University has a large dose cobalt 60 gamma ray source of about 2 PBq, and is engaged in technological training and human resource development. It is assumed that the decommissioning underwater operation of Fukushima Daiichi Nuclear Power Station would be the focus. The university aims at acquisition of the basic of underwater inspection work under radiation environment that is useful for the above purpose, radiation measurement under water, basic training in image measurement, and aims as well to evaluate the damage of imaging equipment due to radiation, and master practical knowledge for the use of inspection equipment under a large dose. In particular, it is valuable to train in the observation of Cherenkov light emitted from a large dose cobalt radiation source in water using a high sensitivity camera. The measurement of radiation dose distribution in water had difficulty in remote measurement due to water shielding effect. Although it took much time before, the method using high sensitivity camera is easy to sequentially perform two-dimensional measurement, and its utility value is large. Its effect on the dose distribution measurement of irregularly shaped sources is great. The contents of training includes the following: radiation source imaging in water, use of a laser rangefinder in water, dose distribution measurement in water and Cherenkov light measurement, judgment of equipment damage due to irradiation, weak radiation measurement, and measurement and decontamination of surface contamination. (A.O.)

  1. Underwater noise from a wave energy converter

    DEFF Research Database (Denmark)

    Tougaard, Jakob

    A recent addition to the anthropogenic sources of underwater noise is offshore wave energy converters. Underwater noise was recorded from the Wavestar wave energy converter located at Hastholm, Denmark (57°7.73´N, 8°37.23´E). The Wavestar is a full-scale test and demonstration converter...... in full operation and start and stop of the converter. Median broad band (10 Hz – 20 kHz) sound pressure level (Leq) was 123 dB re. 1 Pa, irrespective of status of the wave energy converter (stopped, running or starting/stopping). The most pronounced peak in the third-octave spectrum was in the 160 Hz...... significant noise above ambient could be detected above the 250 Hz band. The absolute increase in noise above ambient was very small. L50 third-octave levels in the four bands with the converter running were thus only 1-2 dB above ambient L50 levels. The noise recorded 25 m from the wave energy converter...

  2. Hybrid Underwater Vehicle: ARV Design and Development

    Directory of Open Access Journals (Sweden)

    Zhigang DENG

    2014-02-01

    Full Text Available The development of SMU-I, a new autonomous & remotely-operated vehicle (ARV is described. Since it has both the characteristics of autonomous underwater vehicle (AUV and remote operated underwater vehicle (ROV, it is able to achieve precision fix station operation and manual timely intervention. In the paper the initial design of basic components, such as vehicle, propulsion, batteries etc. and the control design of motion are introduced and analyzed. ROV’s conventional cable is replaced by a fiber optic cable, which makes it available for high-bandwidth real-time video, data telemetry and high-quality teleoperation. Furthermore, with the aid of the manual real-time remote operation and ranging sonar, it also resolves the AUV’s conflicting issue, which can absolutely adapt the actual complex sea environment and satisfy the unknown mission need. The whole battery system is designed as two-battery banks, whose voltages and temperatures are monitored through CAN (controller area network bus to avoid battery fire and explosion. A fuzzy-PID controller is designed for its motion control, including depth control and direction control. The controller synthesizes the advantage of fuzzy control and PID control, utilizes the fuzzy rules to on-line tune the parameters of PID controller, and achieves a better control effect. Experiment results demonstrate to show the effectiveness of the test-bed.

  3. An explanatory model of underwater adaptation

    Directory of Open Access Journals (Sweden)

    Joaquín Colodro

    Full Text Available The underwater environment is an extreme environment that requires a process of human adaptation with specific psychophysiological demands to ensure survival and productive activity. From the standpoint of existing models of intelligence, personality and performance, in this explanatory study we have analyzed the contribution of individual differences in explaining the adaptation of military personnel in a stressful environment. Structural equation analysis was employed to verify a model representing the direct effects of psychological variables on individual adaptation to an adverse environment, and we have been able to confirm, during basic military diving courses, the structural relationships among these variables and their ability to predict a third of the variance of a criterion that has been studied very little to date. In this way, we have confirmed in a sample of professionals (N = 575 the direct relationship of emotional adjustment, conscientiousness and general mental ability with underwater adaptation, as well as the inverse relationship of emotional reactivity. These constructs are the psychological basis for working under water, contributing to an improved adaptation to this environment and promoting risk prevention and safety in diving activities.

  4. Modelling cavitating flow around underwater missiles

    Directory of Open Access Journals (Sweden)

    Fabien Petitpas

    2011-12-01

    Full Text Available The diffuse interface model of Saurel et al. (2008 is used for the computation of compressible cavitating flows around underwater missiles. Such systems use gas injection and natural cavitation to reduce drag effects. Consequently material interfaces appear separating liquid and gas. These interfaces may have a really complex dynamics such that only a few formulations are able to predict their evolution. Contrarily to front tracking or interface reconstruction method the interfaces are computed as diffused numerical zones, that are captured in a routinely manner, as is done usually with gas dynamics solvers for shocks and contact discontinuity. With the present approach, a single set of partial differential equations is solved everywhere, with a single numerical scheme. This leads to very efficient solvers. The algorithm derived in Saurel et al. (2009 is used to compute cavitation pockets around solid bodies. It is first validated against experiments done in cavitation tunnel at CNU. Then it is used to compute flows around high speed underwater systems (Shkval-like missile. Performance data are then computed showing method ability to predict forces acting on the system.

  5. Pathways to deep decarbonization - 2015 report

    International Nuclear Information System (INIS)

    Ribera, Teresa; Colombier, Michel; Waisman, Henri; Bataille, Chris; Pierfederici, Roberta; Sachs, Jeffrey; Schmidt-Traub, Guido; Williams, Jim; Segafredo, Laura; Hamburg Coplan, Jill; Pharabod, Ivan; Oury, Christian

    2015-12-01

    In September 2015, the Deep Decarbonization Pathways Project published the Executive Summary of the Pathways to Deep Decarbonization: 2015 Synthesis Report. The full 2015 Synthesis Report was launched in Paris on December 3, 2015, at a technical workshop with the Mitigation Action Plans and Scenarios (MAPS) program. The Deep Decarbonization Pathways Project (DDPP) is a collaborative initiative to understand and show how individual countries can transition to a low-carbon economy and how the world can meet the internationally agreed target of limiting the increase in global mean surface temperature to less than 2 degrees Celsius (deg. C). Achieving the 2 deg. C limit will require that global net emissions of greenhouse gases (GHG) approach zero by the second half of the century. In turn, this will require a profound transformation of energy systems by mid-century through steep declines in carbon intensity in all sectors of the economy, a transition we call 'deep decarbonization'

  6. Underwater cladding with laser beam and plasma arc welding

    International Nuclear Information System (INIS)

    White, R.A.; Fusaro, R.; Jones, M.G.; Solomon, H.D.; Milian-Rodriguez, R.R.

    1997-01-01

    Two welding processes, plasma arc (transferred arc) (PTA) and laser beam, were investigated to apply cladding to austenitic stainless steels and Inconel 600. These processes have long been used to apply cladding layers , but the novel feature being reported here is that these cladding layers were applied underwater, with a water pressure equivalent to 24 m (80 ft). Being able to apply the cladding underwater is very important for many applications, including the construction of off-shore oil platforms and the repair of nuclear reactors. In the latter case, being able to weld underwater eliminates the need for draining the reactor and removing the fuel. Welding underwater in reactors presents numerous challenges, but the ability to weld without having to drain the reactor and remove the fuel provides a huge cost savings. Welding underwater in reactors must be done remotely, but because of the radioactive corrosion products and neutron activation of the steels, remote welding would also be required even if the reactor is drained and the fuel removed. In fact, without the shielding of the water, the remote welding required if the reactor is drained might be even more difficult than that required with underwater welds. Furthermore, as shall be shown, the underwater welds that the authors have made were of high quality and exhibit compressive rather than tensile residual stresses

  7. Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Francisco García-Córdova

    2013-04-01

    Full Text Available In this paper, an intelligent navigation system for an unmanned underwater vehicle powered by renewable energy and designed for shadow water inspection in missions of a long duration is proposed. The system is composed of an underwater vehicle, which tows a surface vehicle. The surface vehicle is a small boat with photovoltaic panels, a methanol fuel cell and communication equipment, which provides energy and communication to the underwater vehicle. The underwater vehicle has sensors to monitor the underwater environment such as sidescan sonar and a video camera in a flexible configuration and sensors to measure the physical and chemical parameters of water quality on predefined paths for long distances. The underwater vehicle implements a biologically inspired neural architecture for autonomous intelligent navigation. Navigation is carried out by integrating a kinematic adaptive neuro-controller for trajectory tracking and an obstacle avoidance adaptive neuro- controller. The autonomous underwater vehicle is capable of operating during long periods of observation and monitoring. This autonomous vehicle is a good tool for observing large areas of sea, since it operates for long periods of time due to the contribution of renewable energy. It correlates all sensor data for time and geodetic position. This vehicle has been used for monitoring the Mar Menor lagoon.

  8. The influence of underwater turbulence on optical phase measurements

    Science.gov (United States)

    Redding, Brandon; Davis, Allen; Kirkendall, Clay; Dandridge, Anthony

    2016-05-01

    Emerging underwater optical imaging and sensing applications rely on phase-sensitive detection to provide added functionality and improved sensitivity. However, underwater turbulence introduces spatio-temporal variations in the refractive index of water which can degrade the performance of these systems. Although the influence of turbulence on traditional, non-interferometric imaging has been investigated, its influence on the optical phase remains poorly understood. Nonetheless, a thorough understanding of the spatio-temporal dynamics of the optical phase of light passing through underwater turbulence are crucial to the design of phase-sensitive imaging and sensing systems. To address this concern, we combined underwater imaging with high speed holography to provide a calibrated characterization of the effects of turbulence on the optical phase. By measuring the modulation transfer function of an underwater imaging system, we were able to calibrate varying levels of optical turbulence intensity using the Simple Underwater Imaging Model (SUIM). We then used high speed holography to measure the temporal dynamics of the optical phase of light passing through varying levels of turbulence. Using this method, we measured the variance in the amplitude and phase of the beam, the temporal correlation of the optical phase, and recorded the turbulence induced phase noise as a function of frequency. By bench marking the effects of varying levels of turbulence on the optical phase, this work provides a basis to evaluate the real-world potential of emerging underwater interferometric sensing modalities.

  9. Underwater television camera for monitoring inner side of pressure vessel

    International Nuclear Information System (INIS)

    Takayama, Kazuhiko.

    1997-01-01

    An underwater television support device equipped with a rotatable and vertically movable underwater television camera and an underwater television camera controlling device for monitoring images of the inside of the reactor core photographed by the underwater television camera to control the position of the underwater television camera and the underwater light are disposed on an upper lattice plate of a reactor pressure vessel. Both of them are electrically connected with each other by way of a cable to rapidly observe the inside of the reactor core by the underwater television camera. The reproducibility is extremely satisfactory by efficiently concentrating the position of the camera and image information upon inspection and observation. As a result, the steps for periodical inspection can be reduced to shorten the days for the periodical inspection. Since there is no requirement to withdraw fuel assemblies over a wide reactor core region, and the device can be used with the fuel assemblies being left as they are in the reactor, it is suitable for inspection of detectors for nuclear instrumentation. (N.H.)

  10. Autonomous docking control of visual-servo type underwater vehicle system aiming at underwater automatic charging

    International Nuclear Information System (INIS)

    Yanou, Akira; Ohnishi, Shota; Ishiyama, Shintaro; Minami, Mamoru

    2015-01-01

    A visual-servo type remotely operated vehicle (ROV) system with binocular wide-angle lens was developed to survey submarine resources, decontaminate radiation from mud in dam lake and so on. This paper explores the experiments on regulator performance and underwater docking of the robot system utilizing Genetic Algorithm (GA) for real-time recognition of the robot's relative position and posture through 3D marker. The visual servoing performances have been verified as follows; (1) The stability performances of the proposed regulator system have been evaluated by exerting abrupt distrubane force while the ROV is controlled by visual servoing. (2) The proposed system can track time-variant desired target position in x-axis (front-back direction of the robot). (3) The underwater docking can be completed by switching visual servoing and docking modes based on the error threshold, and by giving time-varying desired target position and orientation to the controller as a desired pose. (author)

  11. Summary of the guideline on underwater laser beam repair welding

    International Nuclear Information System (INIS)

    Ichikawa, Hiroya; Yoda, Masaki; Motora, Yuichi

    2013-01-01

    It is known that stress corrosion cracking (SCC) might occur at the weld of a reactor pressure vessel or core internals. Underwater laser beam clad welding for mitigation of SCC has been already established and the guideline 'Underwater laser beam clad welding' was published. Moreover, the guideline 'Seal welding' was also published as a repair method for SCC. In addition to these guidelines, the guideline 'Underwater laser beam repair welding' was newly published in November, 2012 for the repair welding after completely removing a SCC crack occurred in weld or base metal. This paper introduces the summary of this guideline. (author)

  12. A Secure Communication Suite for Underwater Acoustic Sensor Networks

    Directory of Open Access Journals (Sweden)

    Angelica Lo Duca

    2012-11-01

    Full Text Available In this paper we describe a security suite for Underwater Acoustic Sensor Networks comprising both fixed and mobile nodes. The security suite is composed of a secure routing protocol and a set of cryptographic primitives aimed at protecting the confidentiality and the integrity of underwater communication while taking into account the unique characteristics and constraints of the acoustic channel. By means of experiments and simulations based on real data, we show that the suite is suitable for an underwater networking environment as it introduces limited, and sometimes negligible, communication and power consumption overhead.

  13. Application of YAG laser processing in underwater welding and cutting

    Energy Technology Data Exchange (ETDEWEB)

    Ohwaki, Katsura; Morita, Ichiro; Kojima, Toshio; Sato, Shuichi [Ishikawajima-Harima Heavy Industries Co. Ltd., Tokyo (Japan)

    2002-09-01

    The high-power YAG laser is a new fabrication tool. The laser torch is easy to combine with complex with complex mechanics because of beam delivery through optical fiber. A direct underwater laser welding technology has been developed and applied to the preservation, maintenance and removal of nuclear power plants. For subdividing or removing operations for retirement of plants, the laser cutting properties were confirmed to allow a maximum cutting thickness of 80 mm. For repairing inner surface of stainless steel tanks, an underwater laser welding system using a remote-controlled robot was developed and the high quality of underwater laser welding was confirmed. (author)

  14. WODA Technical Guidance on Underwater Sound from Dredging.

    Science.gov (United States)

    Thomsen, Frank; Borsani, Fabrizio; Clarke, Douglas; de Jong, Christ; de Wit, Pim; Goethals, Fredrik; Holtkamp, Martine; Martin, Elena San; Spadaro, Philip; van Raalte, Gerard; Victor, George Yesu Vedha; Jensen, Anders

    2016-01-01

    The World Organization of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) prepared a guidance paper in 2013 on dredging sound, including a summary of potential impacts on aquatic biota and advice on underwater sound monitoring procedures. The paper follows a risk-based approach and provides guidance for standardization of acoustic terminology and methods for data collection and analysis. Furthermore, the literature on dredging-related sounds and the effects of dredging sounds on marine life is surveyed and guidance on the management of dredging-related sound risks is provided.

  15. Development of underwater laser cladding and underwater laser seal welding techniques for reactor components

    International Nuclear Information System (INIS)

    Hino, Takehisa; Tamura, Masataka; Tanaka, Yoshimi; Kouno, Wataru; Makino, Yoshinobu; Kawano, Shohei; Matsunaga, Keiji

    2009-01-01

    Stress corrosion cracking (SCC) has been reported at the aged components in many nuclear power plants. Toshiba has been developing the underwater laser welding. This welding technique can be conducted without draining the water in the reactor vessel. It is beneficial for workers not to exposure the radiation. The welding speed can be attaining twice as fast as that of Gas Tungsten Arc Welding (GTAW). The susceptibility of SCC can also be lower than the Alloy 600 base metal. (author)

  16. Does perceived steepness deter stair climbing when an alternative is available?

    Science.gov (United States)

    Eves, Frank F; Thorpe, Susannah K S; Lewis, Amanda; Taylor-Covill, Guy A H

    2014-06-01

    Perception of hill slant is exaggerated in explicit awareness. Proffitt (Perspectives on Psychological Science 1:110-122, 2006) argued that explicit perception of the slant of a climb allows individuals to plan locomotion in keeping with their available locomotor resources, yet no behavioral evidence supports this contention. Pedestrians in a built environment can often avoid climbing stairs, the man-made equivalent of steep hills, by choosing an adjacent escalator. Stair climbing is avoided more by women, the old, and the overweight than by their comparators. Two studies tested perceived steepness of the stairs as a cue that promotes this avoidance. In the first study, participants estimated the steepness of a staircase in a train station (n = 269). Sex, age, height, and weight were recorded. Women, older individuals, and those who were heavier and shorter reported the staircase as steeper than did their comparison groups. In a follow-up study in a shopping mall, pedestrians were recruited from those who chose the stairs and those who avoided them, with the samples stratified for sex, age, and weight status. Participants (n = 229) estimated the steepness of a life-sized image of the stairs they had just encountered, presented on the wall of a vacant shop in the mall. Pedestrians who avoided stair climbing by choosing the escalator reported the stairs as steeper even when demographic differences were controlled. Perceived steepness may to be a contextual cue that pedestrians use to avoid stair climbing when an alternative is available.

  17. Characteristics of the Roof Behaviors and Mine Pressure Manifestations During the Mining of Steep Coal Seam

    Science.gov (United States)

    Hong-Sheng, Tu; Shi-Hao, Tu; Cun, Zhang; Lei, Zhang; Xiao-Gang, Zhang

    2017-12-01

    A steep seam similar simulation system was developed based on the geological conditions of a steep coal seam in the Xintie Coal Mine. Basing on similar simulation, together with theoretical analysis and field measurement, an in-depth study was conducted to characterize the fracture and stability of the roof of steep working face and calculate the width of the region backfilled with gangue in the goaf. The results showed that, as mining progressed, the immediate roof of the steep face fell upon the goaf and backfilled its lower part due to gravity. As a result, the roof in the lower part had higher stability than the roof in the upper part of the working face. The deformation and fracture of main roof mainly occurred in the upper part of the working face; the fractured main roof then formed a "voussoir beam" structure in the strata's dip direction, which was subjected to the slip- and deformation-induced instability. The stability analysis indicated that, when the dip angle increased, the rock masses had greater capacity to withstand slip-induced instability but smaller capacity to withstand deformation-induced instability. Finally, the field measurement of the forces exerted on the hydraulic supports proved the characteristics of the roof's behaviors during the mining of a steep seam.

  18. Comparison of treatments of steep and shoot generated by different inverse planning systems; Comparacion de tratamiento de steep and shoot generados por diferentes sistemas de planificacion inversa

    Energy Technology Data Exchange (ETDEWEB)

    Perez Moreno, J. M.; Zucca Aparicio, D.; Fernandez Leton, P.; Garcia Ruiz-Zorrilla, J.; Minambres Moro, A.

    2011-07-01

    The problem of IMRT treatments with the technique Steep and Shoot or static is the number of segments and monitor units used in the treatment. These parameters depend largely on the inverse planning system which determines treatment. Are evaluated three commercial planning systems, with each one performing clinical dosimetry for the same series of patients. Dosimetric results are compared, UM calculated and number of segments.

  19. Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network

    Directory of Open Access Journals (Sweden)

    Yueyue Deng

    2013-01-01

    Full Text Available Dynamic and unstructured multiple cooperative autonomous underwater vehicle (AUV missions are highly complex operations, and task allocation and path planning are made significantly more challenging under realistic underwater acoustic communication constraints. This paper presents a solution for the task allocation and path planning for multiple AUVs under marginal acoustic communication conditions: a location-aided task allocation framework (LAAF algorithm for multitarget task assignment and the grid-based multiobjective optimal programming (GMOOP mathematical model for finding an optimal vehicle command decision given a set of objectives and constraints. Both the LAAF and GMOOP algorithms are well suited in poor acoustic network condition and dynamic environment. Our research is based on an existing mobile ad hoc network underwater acoustic simulator and blind flooding routing protocol. Simulation results demonstrate that the location-aided auction strategy performs significantly better than the well-accepted auction algorithm developed by Bertsekas in terms of task-allocation time and network bandwidth consumption. We also demonstrate that the GMOOP path-planning technique provides an efficient method for executing multiobjective tasks by cooperative agents with limited communication capabilities. This is in contrast to existing multiobjective action selection methods that are limited to networks where constant, reliable communication is assumed to be available.

  20. The NESTOR underwater neutrino telescope project

    Energy Technology Data Exchange (ETDEWEB)

    Rapidis, Petros A. [Institute of Nuclear Physics, National Center for Scientific Research ' Demokritos' , Athens 15310 (Greece)], E-mail: rapidis@inp.demokritos.gr

    2009-04-11

    The NESTOR collaboration is continuing its efforts towards deploying an underwater neutrino telescope. Further site studies (e.g. water light transmission measurements, sedimentation rates, etc.) are being carried out within the context of characterizing a site that may host the proposed KM3NeT infrastructure. In addition, following the successful deployment of a single floor of a NESTOR tower in 2003, five floors are now in the final stages of preparation. The use of these five floors in a form of a truncated tower together with four autonomous strings to be located some 300 m away from the tower is being contemplated. This arrangement, named NuBE (for Neutrino Burst Experiment), that may allow the detection neutrinos in coincidence with Gamma Ray Bursts, will be described.

  1. Transducers and arrays for underwater sound

    CERN Document Server

    Butler, John L

    2016-01-01

    This improved and updated second edition covers the theory, development, and design of electro-acoustic transducers for underwater applications. This highly regarded text discusses the basics of piezoelectric and magnetostrictive transducers that are currently being used as well as promising new designs. It presents the basic acoustics as well as the specific acoustics data needed in transducer design and evaluation. A broad range of designs of projectors and hydrophones are described in detail along with methods of modeling, evaluation, and measurement. Analysis of projector and hydrophone transducer arrays, including the effects of mutual radiation impedance and numerical models for elements and arrays, are also covered. The book includes new advances in transducer design and transducer materials and has been completely reorganized to be suitable for use as a textbook, as well as a reference or handbook. The new edition contains updates to the first edition, end-of-chapter exercises, and solutions to select...

  2. Collision Detection for Underwater ROV Manipulator Systems

    Directory of Open Access Journals (Sweden)

    Satja Sivčev

    2018-04-01

    Full Text Available Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations.

  3. The NESTOR underwater neutrino telescope project

    International Nuclear Information System (INIS)

    Rapidis, Petros A.

    2009-01-01

    The NESTOR collaboration is continuing its efforts towards deploying an underwater neutrino telescope. Further site studies (e.g. water light transmission measurements, sedimentation rates, etc.) are being carried out within the context of characterizing a site that may host the proposed KM3NeT infrastructure. In addition, following the successful deployment of a single floor of a NESTOR tower in 2003, five floors are now in the final stages of preparation. The use of these five floors in a form of a truncated tower together with four autonomous strings to be located some 300 m away from the tower is being contemplated. This arrangement, named NuBE (for Neutrino Burst Experiment), that may allow the detection neutrinos in coincidence with Gamma Ray Bursts, will be described.

  4. Silent Localization of Underwater Sensors Using Magnetometers

    Directory of Open Access Journals (Sweden)

    Jonas Callmer

    2010-01-01

    Full Text Available Sensor localization is a central problem for sensor networks. If the sensor positions are uncertain, the target tracking ability of the sensor network is reduced. Sensor localization in underwater environments is traditionally addressed using acoustic range measurements involving known anchor or surface nodes. We explore the usage of triaxial magnetometers and a friendly vessel with known magnetic dipole to silently localize the sensors. The ferromagnetic field created by the dipole is measured by the magnetometers and is used to localize the sensors. The trajectory of the vessel and the sensor positions are estimated simultaneously using an Extended Kalman Filter (EKF. Simulations show that the sensors can be accurately positioned using magnetometers.

  5. Underwater colorectal EMR: remodeling endoscopic mucosal resection.

    Science.gov (United States)

    Curcio, Gabriele; Granata, Antonino; Ligresti, Dario; Tarantino, Ilaria; Barresi, Luca; Liotta, Rosa; Traina, Mario

    2015-05-01

    Underwater EMR (UEMR) has been reported as a new technique for the removal of large sessile colorectal polyps without need for submucosal injection. To evaluate (1) outcomes of UEMR, (2) whether UEMR can be easily performed by an endoscopist skilled in traditional EMR without specific dedicated training in UEMR, and (3) whether EUS is required before UEMR. Prospective, observational study. Single, tertiary-care referral center. Underwater EMR. Complete resection and adverse events. A total of 72 consecutive patients underwent UEMR of 81 sessile colorectal polyps. EUS was performed before UEMR in 9 cases (11.1%) with a suspicious mucosal/vascular pattern. The mean polyp size was 18.7 mm (range 10-50 mm); the mean UEMR time was 11.8 minutes. Fifty-five polyps (68%) were removed en bloc, and 26 (32%) were removed with a piecemeal technique. Histopathology consisted of tubular adenomas (25.9%), tubulovillous adenomas (5%), adenomas with high-grade dysplasia (42%), serrated polyps (4.9%), carcinoma in situ (13.6%), and hyperplastic polyps (8.6%). Surveillance colonoscopy was scheduled at 3 months. Complete resection was successful in all patients. No adverse events or recurrence was recorded in any of the patients. Limited follow-up; single-center, uncontrolled study. Interventional endoscopists skilled in conventional EMR performed UEMR without specific dedicated training. EUS may not be required for lesions with no invasive features on high-definition narrow-band imaging. UEMR appears to be an effective and safe alternative to traditional EMR and could eventually improve the way in which we can effectively and safely treat colorectal lesions. Copyright © 2015 American Society for Gastrointestinal Endoscopy. Published by Elsevier Inc. All rights reserved.

  6. Morphing hull implementation for unmanned underwater vehicles

    Science.gov (United States)

    Miller, Timothy F.; Gandhi, Farhan; Rufino, Russell J.

    2013-11-01

    There has been much interest and work in the area of morphing aircraft since the 1980s. Morphing could also potentially benefit unmanned underwater vehicles (UUVs). The current paper envisions a UUV with an interior pressure hull and a variable diameter outer flexible hull with fuel stored in the annulus between, and presents a mechanism to realize diameter change of the outer hull. The outer hull diameter of UUVs designed for very long endurance/range could be progressively reduced as fuel was consumed, thereby reducing drag and further increasing endurance and range capability. Diameter morphing could also be advantageous for compact storage of UUVs. A prototype is fabricated to represent an axial section of such a morphing diameter UUV. Diameter change is achieved using eight morphing trusses arranged equidistant around the circumference of the representative interior rigid hull. Each morphing truss has a lower rail (attached to the rigid hull) and an upper rail with V-linkages between, at either ends of the rail. Horizontal motion of the feet of the V-linkages (sliding in the lower rail) results in vertical motion of the upper rail which in turn produces diameter change of the outer hull. For the prototype built and tested, a 63% increase in outer diameter from 12.75″ to 20.75″ was achieved. The introduction of a stretched latex representative flexible skin around the outer rails increased actuation force requirement and led to a propensity for the wheel-in-track sliders in the morphing truss to bind. It is anticipated that this could be overcome with higher precision manufacturing. In addition to symmetric actuation of the morphing trusses resulting in diameter change, the paper also shows that with asymmetric actuation the hull cross-section shape can be changed (for example, from a circular section for underwater operation to a V-section for surface operations).

  7. Morphing hull implementation for unmanned underwater vehicles

    International Nuclear Information System (INIS)

    Miller, Timothy F; Gandhi, Farhan; Rufino, Russell J

    2013-01-01

    There has been much interest and work in the area of morphing aircraft since the 1980s. Morphing could also potentially benefit unmanned underwater vehicles (UUVs). The current paper envisions a UUV with an interior pressure hull and a variable diameter outer flexible hull with fuel stored in the annulus between, and presents a mechanism to realize diameter change of the outer hull. The outer hull diameter of UUVs designed for very long endurance/range could be progressively reduced as fuel was consumed, thereby reducing drag and further increasing endurance and range capability. Diameter morphing could also be advantageous for compact storage of UUVs. A prototype is fabricated to represent an axial section of such a morphing diameter UUV. Diameter change is achieved using eight morphing trusses arranged equidistant around the circumference of the representative interior rigid hull. Each morphing truss has a lower rail (attached to the rigid hull) and an upper rail with V-linkages between, at either ends of the rail. Horizontal motion of the feet of the V-linkages (sliding in the lower rail) results in vertical motion of the upper rail which in turn produces diameter change of the outer hull. For the prototype built and tested, a 63% increase in outer diameter from 12.75″ to 20.75″ was achieved. The introduction of a stretched latex representative flexible skin around the outer rails increased actuation force requirement and led to a propensity for the wheel-in-track sliders in the morphing truss to bind. It is anticipated that this could be overcome with higher precision manufacturing. In addition to symmetric actuation of the morphing trusses resulting in diameter change, the paper also shows that with asymmetric actuation the hull cross-section shape can be changed (for example, from a circular section for underwater operation to a V-section for surface operations). (paper)

  8. Event localization in underwater wireless sensor networks using Monitoring Courses

    KAUST Repository

    Debont, Matthew John Robert; Jamshaid, Kamran; Shihada, Basem; Ho, Pin-Han

    2012-01-01

    We propose m-courses (Monitoring Courses), a novel solution to localize events in an underwater wireless sensor network. These networks consists of surface gateways and relay nodes. GPS can localize the position of surface gateways which can

  9. UTOFIA: an underwater time-of-flight image acquisition system

    Science.gov (United States)

    Driewer, Adrian; Abrosimov, Igor; Alexander, Jonathan; Benger, Marc; O'Farrell, Marion; Haugholt, Karl Henrik; Softley, Chris; Thielemann, Jens T.; Thorstensen, Jostein; Yates, Chris

    2017-10-01

    In this article the development of a newly designed Time-of-Flight (ToF) image sensor for underwater applications is described. The sensor is developed as part of the project UTOFIA (underwater time-of-flight image acquisition) funded by the EU within the Horizon 2020 framework. This project aims to develop a camera based on range gating that extends the visible range compared to conventional cameras by a factor of 2 to 3 and delivers real-time range information by means of a 3D video stream. The principle of underwater range gating as well as the concept of the image sensor are presented. Based on measurements on a test image sensor a pixel structure that suits best to the requirements has been selected. Within an extensive characterization underwater the capability of distance measurements in turbid environments is demonstrated.

  10. Digital sonar design in underwater acoustics principles and applications

    CERN Document Server

    Li, Qihu

    2012-01-01

    "Digital Sonar Design in Underwater Acoustics Principles and Applications" provides comprehensive and up-to-date coverage of research on sonar design, including the basic theory and techniques of digital signal processing, basic concept of information theory, ocean acoustics, underwater acoustic signal propagation theory, and underwater signal processing theory. This book discusses the general design procedure and approaches to implementation, the design method, system simulation theory and techniques, sonar tests in the laboratory, lake and sea, and practical validation criteria and methods for digital sonar design. It is intended for researchers in the fields of underwater signal processing and sonar design, and also for navy officers and ocean explorers. Qihu Li is a professor at the Institute of Acoustics, Chinese Academy of Sciences, and an academician of the Chinese Academy of Sciences.

  11. Trade-off Analysis of Underwater Acoustic Sensor Networks

    Science.gov (United States)

    Tuna, G.; Das, R.

    2017-09-01

    In the last couple of decades, Underwater Acoustic Sensor Networks (UASNs) were started to be used for various commercial and non-commercial purposes. However, in underwater environments, there are some specific inherent constraints, such as high bit error rate, variable and large propagation delay, limited bandwidth capacity, and short-range communications, which severely degrade the performance of UASNs and limit the lifetime of underwater sensor nodes as well. Therefore, proving reliability of UASN applications poses a challenge. In this study, we try to balance energy consumption of underwater acoustic sensor networks and minimize end-to-end delay using an efficient node placement strategy. Our simulation results reveal that if the number of hops is reduced, energy consumption can be reduced. However, this increases end-to-end delay. Hence, application-specific requirements must be taken into consideration when determining a strategy for node deployment.

  12. Localization of Energy Harvesting Empowered Underwater Optical Wireless Sensor Networks

    KAUST Repository

    Saeed, Nasir; Celik, Abdulkadir; Al-Naffouri, Tareq Y.; Alouini, Mohamed-Slim

    2017-01-01

    with insufficient battery, harvest the energy and starts communicating once it has sufficient energy storage. Network localization is carried out by measuring the RSSs of active nodes, which are modeled based on the underwater optical communication channel

  13. Study of archaeological underwater finds: deterioration and conservation

    Science.gov (United States)

    Crisci, G. M.; La Russa, M. F.; Macchione, M.; Malagodi, M.; Palermo, A. M.; Ruffolo, S. A.

    2010-09-01

    This study is aimed at an assessment of the methodologies, instruments and new applications for underwater archaeology. Research focused on study of the various kinds of degradation affecting underwater finds and stone materials aged in underwater environment, efficiency evaluation of various surface cleaning methods and study and mixing of protective products with consolidating resins and antimicrobial biocides to be applied to restored underwater finds. Transmitted light optical microscopy and scanning electron microscopy (SEM) were used to study surface biofilms and the interactions with samples of different stone materials such as brick, marble and granite immersed in the submarine archaeological area of Crotone (South of Italy). Surface cleaning tests were performed with application of ion exchange resins, EDTA, hydrogen peroxide and ultrasound techniques. Capillary water absorption, simulated solar ageing and colourimetric measurements were carried out to evaluate hydrophobic and consolidant properties; to assess biocidal efficacy, heterotrophic micro-organisms ( Aspergillus niger) were inoculated on agar plates and growth inhibition was measured.

  14. Wireless Underwater Monitoring Systems Based on Energy Harvestings

    Directory of Open Access Journals (Sweden)

    Sea-Hee HWANGBO

    2013-01-01

    Full Text Available One of the important research fields for aquatic exploitation and conservation is underwater wireless sensor network. Since limited energy source for underwater nodes and devices is a main open problem, in this paper, we propose wireless underwater monitoring systems powered by energy harvester which resolves the energy constraint. The target system generates renewable energy from energy harvester and shares the energy with underwater sensor nodes. For the realization of the system, key components to be investigated are discriminated as follows: acoustic modem, actuator, smart battery charge controller, energy harvester and wireless power transfer module. By developing acoustic modem, actuator and smart battery charge controller and utilizing off-the-shelf energy harvester and wireless power transfer module, we design and implement a prototype of the system. Also, we verify the feasibility of concept of target system by conducting indoor and outdoor experiments.

  15. Underwater target positioning with a single acoustic sensor

    Digital Repository Service at National Institute of Oceanography (India)

    David, M-S; Pascoal, A.M.; Joaquin, A.

    The availability of reliable underwater positioning systems to localize one or more vehicles simultaneously based on information received on-board a support ship or an autonomous surface vessel is key to the operation of some classes of AUVs...

  16. Multi-layer protective armour for underwater shock wave mitigation

    Directory of Open Access Journals (Sweden)

    Ahmed Hawass

    2015-12-01

    The strain gauge data and displacement sensors results showed that the multi-layer plates have higher level of underwater shock wave mitigation than the triple aluminum plates with strain and deflection of nearly 50%.

  17. Low-contrast underwater living fish recognition using PCANet

    Science.gov (United States)

    Sun, Xin; Yang, Jianping; Wang, Changgang; Dong, Junyu; Wang, Xinhua

    2018-04-01

    Quantitative and statistical analysis of ocean creatures is critical to ecological and environmental studies. And living fish recognition is one of the most essential requirements for fishery industry. However, light attenuation and scattering phenomenon are present in the underwater environment, which makes underwater images low-contrast and blurry. This paper tries to design a robust framework for accurate fish recognition. The framework introduces a two stage PCA Network to extract abstract features from fish images. On a real-world fish recognition dataset, we use a linear SVM classifier and set penalty coefficients to conquer data unbalanced issue. Feature visualization results show that our method can avoid the feature distortion in boundary regions of underwater image. Experiments results show that the PCA Network can extract discriminate features and achieve promising recognition accuracy. The framework improves the recognition accuracy of underwater living fishes and can be easily applied to marine fishery industry.

  18. Euclidean reconstruction of natural underwater scenes using optic imagery sequence

    Science.gov (United States)

    Hu, Han

    The development of maritime applications require monitoring, studying and preserving of detailed and close observation on the underwater seafloor and objects. Stereo vision offers advanced technologies to build 3D models from 2D still overlapping optic images in a relatively inexpensive way. However, while image stereo matching is a necessary step in 3D reconstruction procedure, even the most robust dense matching techniques are not guaranteed to work for underwater images due to the challenging aquatic environment. In this thesis, in addition to a detailed introduction and research on the key components of building 3D models from optic images, a robust modified quasi-dense matching algorithm based on correspondence propagation and adaptive least square matching for underwater images is proposed and applied to some typical underwater image datasets. The experiments demonstrate the robustness and good performance of the proposed matching approach.

  19. Object detection from images obtained through underwater turbulence medium

    Science.gov (United States)

    Furhad, Md. Hasan; Tahtali, Murat; Lambert, Andrew

    2017-09-01

    Imaging through underwater experiences severe distortions due to random fluctuations of temperature and salinity in water, which produces underwater turbulence through diffraction limited blur. Lights reflecting from objects perturb and attenuate contrast, making the recognition of objects of interest difficult. Thus, the information available for detecting underwater objects of interest becomes a challenging task as they have inherent confusion among the background, foreground and other image properties. In this paper, a saliency-based approach is proposed to detect the objects acquired through an underwater turbulent medium. This approach has drawn attention among a wide range of computer vision applications, such as image retrieval, artificial intelligence, neuro-imaging and object detection. The image is first processed through a deblurring filter. Next, a saliency technique is used on the image for object detection. In this step, a saliency map that highlights the target regions is generated and then a graph-based model is proposed to extract these target regions for object detection.

  20. Network lifetime-aware data collection in Underwater Sensor ...

    Indian Academy of Sciences (India)

    Jalaja Janardanan Kartha

    2017-09-07

    Sep 7, 2017 ... existing models to assess their effectiveness and to investigate the trade-offs. Results show ... coverage drops below a predefined threshold and (vi) connectivity is .... Cost Clustering Protocol (MCCP), Distributed Underwater.

  1. Water transparency measurements in the deep Ionian Sea

    CERN Document Server

    Anassontzis, E G; Belias, A; Fotiou, A; Grammatikakis, G; Kontogiannis, H; Koske, P; Koutsoukos, S; Lykoussis, V; Markopoulos, E; Psallidas, A; Resvanis, L K; Siotis, I; Stavrakakis, S; Stavropoulos, G; Zhukov, V A

    2010-01-01

    A long optical base line spectrophotometer designed to measure light transmission in deep sea waters is described. The variable optical path length allows measurements without the need for absolute or external calibration. The spectrophotometer uses eight groups of uncollimated light sources emitting in the range 370–530 nm and was deployed at various depths at two locations in the Ionian Sea that are candidate sites for a future underwater neutrino telescope. Light transmission spectra at the two locations are presented and compared.

  2. Deep Coupled Integration of CSAC and GNSS for Robust PNT

    OpenAIRE

    Ma, Lin; You, Zheng; Li, Bin; Zhou, Bin; Han, Runqi

    2015-01-01

    Global navigation satellite systems (GNSS) are the most widely used positioning, navigation, and timing (PNT) technology. However, a GNSS cannot provide effective PNT services in physical blocks, such as in a natural canyon, canyon city, underground, underwater, and indoors. With the development of micro-electromechanical system (MEMS) technology, the chip scale atomic clock (CSAC) gradually matures, and performance is constantly improved. A deep coupled integration of CSAC and GNSS is explo...

  3. Deep frying

    NARCIS (Netherlands)

    Koerten, van K.N.

    2016-01-01

    Deep frying is one of the most used methods in the food processing industry. Though practically any food can be fried, French fries are probably the most well-known deep fried products. The popularity of French fries stems from their unique taste and texture, a crispy outside with a mealy soft

  4. MERLIN observations of steep-spectrum radio sources at 6 cm

    International Nuclear Information System (INIS)

    Akujor, C.E.; Zhang, F.J.; Fanti, C.

    1991-01-01

    We present high-resolution observations of steep-spectrum radio sources made with MERLIN at 5 GHz. Thirty-one objects, comprising 11 quasars and 20 galaxies, most of them being 'Compact Steep-Spectrum' sources (CSSs), have been mapped with resolutions from 80 to 150 mas. This completes the current series of observations of CSS sources made with MERLIN at 5 GHz. We find that the majority of the quasars have complex structures, while galaxies tend to have double or triple structures, consistent with other recent studies of CSSs. (author)

  5. Multi-layer protective armour for underwater shock wave mitigation

    OpenAIRE

    Ahmed Hawass; Hosam Mostafa; Ahmed Elbeih

    2015-01-01

    The effect of underwater shock wave on different target plates has been studied. An underwater shock wave generator (shock tube) was used to study the interactions between water and different constructed targets which act as shock wave mitigation. Target plates, composed of sandwich of two aluminum sheets with rubber and foam in between, were prepared and studied. For comparison, the target plates composed of triple aluminum sheets were tested. The study includes the testing of the selected p...

  6. FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES

    OpenAIRE

    R. Rinaldi; H. Hordosch

    2015-01-01

    After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space ("Gravity") and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Under...

  7. Remote Underwater Characterization System - Innovative Technology Summary Report

    International Nuclear Information System (INIS)

    Willis, Walter David

    1999-01-01

    Characterization and inspection of water-cooled and moderated nuclear reactors and fuel storage pools requires equipment capable of operating underwater. Similarly, the deactivation and decommissioning of older nuclear facilities often requires the facility owner to accurately characterize underwater structures and equipment which may have been sitting idle for years. The underwater characterization equipment is often required to operate at depths exceeding 20 ft (6.1 m) and in relatively confined or congested spaces. The typical baseline approach has been the use of radiation detectors and underwater cameras mounted on long poles, or stationary cameras with pan and tilt features mounted on the sides of the underwater facility. There is a perceived need for an inexpensive, more mobile method of performing close-up inspection and radiation measurements in confined spaces underwater. The Remote Underwater Characterization System (RUCS) is a small, remotely operated submersible vehicle intended to serve multiple purposes in underwater nuclear operations. It is based on the commercially-available ''Scallop'' vehicle, but has been modified by Department of Energy's Robotics Technology Development Program to add auto-depth control, and vehicle orientation and depth monitoring at the operator control panel. The RUCS is designed to provide visual and gamma radiation characterization, even in confined or limited access areas. It was demonstrated in August 1998 at Idaho National Engineering and environmental Laboratory (INEEL) as part of the INEEL Large Scale Demonstration and Deployment Project. During the demonstration it was compared in a ''head-to-head'' fashion with the baseline characterization technology. This paper summarizes the results of the demonstration and lessons learned; comparing and contrasting both technologies in the areas of cost, visual characterization, radiological characterization, and overall operations

  8. Strong tracking adaptive Kalman filters for underwater vehicle dead reckoning

    Institute of Scientific and Technical Information of China (English)

    XIAO Kun; FANG Shao-ji; PANG Yong-jie

    2007-01-01

    To improve underwater vehicle dead reckoning, a developed strong tracking adaptive kalman filter is proposed. The filter is improved with an additional adaptive factor and an estimator of measurement noise covariance. Since the magnitude of fading factor is changed adaptively, the tracking ability of the filter is still enhanced in low velocity condition of underwater vehicles. The results of simulation tests prove the presented filter effective.

  9. On the Performance of the Underwater Acoustic Sensor Networks

    Science.gov (United States)

    2015-05-01

    performance of UWSN. 5.1 Hardware and Software Details 5.1.1 Equipment Our experimental model consisted of an indoor swimming pool , two pairs...UWSN has many constraints mainly due to limited capacity, propagation loss, as well as power limitation since in underwater environment solar energy ...since in underwater environment solar energy cannot be used to recharge batteries. In our approach, we estimate the number of operating receivers

  10. The Theseus Autonomous Underwater Vehicle: A Canadian Success Story

    Science.gov (United States)

    1997-04-01

    P502414.PDF [Page: 1 of 9] P502414.PDF [Page: 2 of 9] P502414.PDF [Page: 3 of 9] The Theseus Autonomous Underwater Vehicle A Canadian Success Story...autonomous underwater vehicle, named Theseus , for laying optical fiber cables in ice- covered waters. In trials and missions conducted in 1996, this...stations. An acoustic telemetry system enables communication with Theseus from surface stations, and an optical telemetry system is used for system

  11. Monterey Bay ambient noise profiles using underwater gliders

    OpenAIRE

    Chandrayadula, Tarun K.; Miller, Chris W.; Joseph, John

    2013-01-01

    The article of record as published may be found at http://dx.doi.org/10.1121/1.4799131 In 2012, during two separate week-long deployments, underwater gliders outfitted with external hydrophones profiled the upper 100-200 m of the Monterey Bay. The environment contained various noises made by marine mammals, ships, winds, and earthquakes. Unlike hydrophone receivers moored to a fixed location, moving gliders measure noise variability across a wide terrain. However, underwater mobile s...

  12. Deep learning

    CERN Document Server

    Goodfellow, Ian; Courville, Aaron

    2016-01-01

    Deep learning is a form of machine learning that enables computers to learn from experience and understand the world in terms of a hierarchy of concepts. Because the computer gathers knowledge from experience, there is no need for a human computer operator to formally specify all the knowledge that the computer needs. The hierarchy of concepts allows the computer to learn complicated concepts by building them out of simpler ones; a graph of these hierarchies would be many layers deep. This book introduces a broad range of topics in deep learning. The text offers mathematical and conceptual background, covering relevant concepts in linear algebra, probability theory and information theory, numerical computation, and machine learning. It describes deep learning techniques used by practitioners in industry, including deep feedforward networks, regularization, optimization algorithms, convolutional networks, sequence modeling, and practical methodology; and it surveys such applications as natural language proces...

  13. Lagrangian coherent structure assisted path planning for transoceanic autonomous underwater vehicle missions.

    Science.gov (United States)

    Ramos, A G; García-Garrido, V J; Mancho, A M; Wiggins, S; Coca, J; Glenn, S; Schofield, O; Kohut, J; Aragon, D; Kerfoot, J; Haskins, T; Miles, T; Haldeman, C; Strandskov, N; Allsup, B; Jones, C; Shapiro, J

    2018-03-15

    Transoceanic Gliders are Autonomous Underwater Vehicles (AUVs) for which there is a developing and expanding range of applications in open-seas research, technology and underwater clean transport. Mature glider autonomy, operating depth (0-1000 meters) and low energy consumption without a CO 2 footprint enable evolutionary access across ocean basins. Pursuant to the first successful transatlantic glider crossing in December 2009, the Challenger Mission has opened the door to long-term, long-distance routine transoceanic AUV missions. These vehicles, which glide through the water column between 0 and 1000 meters depth, are highly sensitive to the ocean current field. Consequently, it is essential to exploit the complex space-time structure of the ocean current field in order to plan a path that optimizes scientific payoff and navigation efficiency. This letter demonstrates the capability of dynamical system theory for achieving this goal by realizing the real-time navigation strategy for the transoceanic AUV named Silbo, which is a Slocum deep-glider (0-1000 m), that crossed the North Atlantic from April 2016 to March 2017. Path planning in real time based on this approach has facilitated an impressive speed up of the AUV to unprecedented velocities resulting in major battery savings on the mission, offering the potential for routine transoceanic long duration missions.

  14. Modelling, Design and Robust Control of a Remotely Operated Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Luis Govinda García-Valdovinos

    2014-01-01

    Full Text Available Underwater remotely operated vehicles (ROVs play an important role in a number of shallow and deep-water missions for marine science, oil and gas extraction, exploration and salvage. In these applications, the motions of the ROV are guided either by a human pilot on a surface support vessel through an umbilical cord providing power and telemetry, or by an automatic pilot. In the case of automatic control, ROV state feedback is provided by acoustic and inertial sensors and this state information, along with a controller strategy, is used to perform several tasks such as station-keeping and auto-immersion/heading, among others. In this paper, the modelling, design and control of the Kaxan ROV is presented: i The complete six degrees of freedom, non linear hydrodynamic model with its parameters, ii the Kaxan hardware/software architecture, iii numerical simulations in Matlab/Simulink platform of a model-free second order sliding mode control along with ocean currents as disturbances and thruster dynamics, iv a virtual environment to visualize the motion of the Kaxan ROV and v experimental results of a one degree of freedom underwater system.

  15. Optimal Node Placement in Underwater Acoustic Sensor Network

    KAUST Repository

    Felemban, Muhamad

    2011-10-01

    Almost 70% of planet Earth is covered by water. A large percentage of underwater environment is unexplored. In the past two decades, there has been an increase in the interest of exploring and monitoring underwater life among scientists and in industry. Underwater operations are extremely difficult due to the lack of cheap and efficient means. Recently, Wireless Sensor Networks have been introduced in underwater environment applications. However, underwater communication via acoustic waves is subject to several performance limitations, which makes the relevant research issues very different from those on land. In this thesis, we investigate node placement for building an initial Underwater Wireless Sensor Network infrastructure. Firstly, we formulated the problem into a nonlinear mathematic program with objectives of minimizing the total transmission loss under a given number of sensor nodes and targeted volume. We conducted experiments to verify the proposed formulation, which is solved using Matlab optimization tool. We represented each node with a truncated octahedron to fill out the 3D space. The truncated octahedrons are tiled in the 3D space with each node in the center where locations of the nodes are given using 3D coordinates. Results are supported using ns-3 simulator. Results from simulation are consistent with the obtained results from mathematical model with less than 10% error.

  16. Cardiovascular response during submaximal underwater treadmill exercise in stroke patients.

    Science.gov (United States)

    Yoo, Jeehyun; Lim, Kil-Byung; Lee, Hong-Jae; Kwon, Yong-Geol

    2014-10-01

    To evaluate the cardiovascular response during head-out water immersion, underwater treadmill gait, and land treadmill gait in stroke patients. Ten stroke patients were recruited for underwater and land treadmill gait sessions. Each session was 40 minutes long; 5 minutes for standing rest on land, 5 minutes for standing rest in water or on treadmill, 20 minutes for treadmill walking in water or on land, 5 minutes for standing rest in water or on treadmill, and 5 minutes for standing rest on land. Blood pressure (BP) and heart rate (HR) were measured during each session. In order to estimate the cardiovascular workload and myocardial oxygen demand, the rate pressure product (RPP) value was calculated by multiplying systolic BP (SBP) by HR. SBP, DBP, mean BP (mBP), and RPP decreased significantly after water immersion, but HR was unchanged. During underwater and land treadmill gait, SBP, mBP, DBP, RPP, and HR increased. However, the mean maximum increases in BP, HR and RPP of underwater treadmill walking were significantly lower than that of land treadmill walking. Stroke patients showed different cardiovascular responses during water immersion and underwater gait as opposed to standing and treadmill-walking on land. Water immersion and aquatic treadmill gait may reduce the workload of the cardiovascular system. This study suggested that underwater treadmill may be a safe and useful option for cardiovascular fitness and early ambulation in stroke rehabilitation.

  17. DeepInfer: open-source deep learning deployment toolkit for image-guided therapy

    Science.gov (United States)

    Mehrtash, Alireza; Pesteie, Mehran; Hetherington, Jorden; Behringer, Peter A.; Kapur, Tina; Wells, William M.; Rohling, Robert; Fedorov, Andriy; Abolmaesumi, Purang

    2017-03-01

    Deep learning models have outperformed some of the previous state-of-the-art approaches in medical image analysis. Instead of using hand-engineered features, deep models attempt to automatically extract hierarchical representations at multiple levels of abstraction from the data. Therefore, deep models are usually considered to be more flexible and robust solutions for image analysis problems compared to conventional computer vision models. They have demonstrated significant improvements in computer-aided diagnosis and automatic medical image analysis applied to such tasks as image segmentation, classification and registration. However, deploying deep learning models often has a steep learning curve and requires detailed knowledge of various software packages. Thus, many deep models have not been integrated into the clinical research work ows causing a gap between the state-of-the-art machine learning in medical applications and evaluation in clinical research procedures. In this paper, we propose "DeepInfer" - an open-source toolkit for developing and deploying deep learning models within the 3D Slicer medical image analysis platform. Utilizing a repository of task-specific models, DeepInfer allows clinical researchers and biomedical engineers to deploy a trained model selected from the public registry, and apply it to new data without the need for software development or configuration. As two practical use cases, we demonstrate the application of DeepInfer in prostate segmentation for targeted MRI-guided biopsy and identification of the target plane in 3D ultrasound for spinal injections.

  18. Fast Back-Propagation Learning Using Steep Activation Functions and Automatic Weight

    Science.gov (United States)

    Tai-Hoon Cho; Richard W. Conners; Philip A. Araman

    1992-01-01

    In this paper, several back-propagation (BP) learning speed-up algorithms that employ the ãgainä parameter, i.e., steepness of the activation function, are examined. Simulations will show that increasing the gain seemingly increases the speed of convergence and that these algorithms can converge faster than the standard BP learning algorithm on some problems. However,...

  19. Solution of transient problems with steep gradients: novel front-tracking strategy

    DEFF Research Database (Denmark)

    Kiil, Søren; Bhatia, Suresh K.; Dam-Johansen, Kim

    1995-01-01

    and tested for the case of a gas-solid noncatalytic reaction in a porous solid at high Thiele modulus. Accurate and convergent steep profiles are obtained here for Thiele modulus larger than 50 for the case of slab as well as spherical geometry and found to match the analytical solution when it exists (such...

  20. Responses of respiration and photosynthesis of Scenedesmus protuberans Fritsch to gradual and steep salinity increases

    NARCIS (Netherlands)

    Flameling, I.A.; Kromkamp, J.C.

    1994-01-01

    The effect of an increase in salinity on the physiology of the halotolerant chlorophyte Scenedesmus protuberans was studied in light-limited continuous cultures. It was observed that a gradual, as well as a steep increase in salinity resulted in lower biomass. However, the mechanisms by which this

  1. Replacement of soybean meal with maize steep liquor in the diets of ...

    African Journals Online (AJOL)

    Ferreira

    2015-12-14

    Dec 14, 2015 ... meal with maize steep liquor at 0%, 33%, 66% and 100% on a dry matter ... daily gain, hot carcass weight, cold carcass weight, hot carcass yield and ... remove impurities and separate the germ, gluten, starch and peel (USDA, 2010). ... are transferred to macerator tanks, which receive water with SO2 for ...

  2. Cerebral haemodynamic physiology during steep Trendelenburg position and CO2 pneumoperitoneum

    NARCIS (Netherlands)

    Kalmar, A. F.; Dewaele, F.; Foubert, L.; Hendrickx, J. F.; Heeremans, E. H.; Struys, M. M. R. F.; Absalom, A.

    The steep (40) Trendelenburg position optimizes surgical exposure during robotic prostatectomy. The goal of the current study was to elucidate the influence of this patient positioning on cerebral blood flow and zero flow pressure (ZFP), and to assess the validity of different methods of evaluating

  3. Studies on the antimicrobial effect of corn steep liquor on some ...

    African Journals Online (AJOL)

    ROFIAT

    2014-01-08

    Jan 8, 2014 ... The antimicrobial effect of Corn Steep Liquor (CSL) was investigated over a five day period. The pH and titrable acidity of the liquor were determined, while the antimicrobial effect on some diarrhoea causing organisms such as Escherichia coli, Salmonella enteriditis, Staphylococcus aureus and Vibrio.

  4. Underwater Animal Monitoring Magnetic Sensor System

    KAUST Repository

    Kaidarova, Altynay

    2017-10-01

    Obtaining new insights into the behavior of free-living marine organisms is fundamental for conservation efforts and anticipating the impact of climate change on marine ecosystems. Despite the recent advances in biotelemetry, collecting physiological and behavioral parameters of underwater free-living animals remains technically challenging. In this thesis, we develop the first magnetic underwater animal monitoring system that utilizes Tunnel magnetoresistance (TMR) sensors, the most sensitive solid-state sensors today, coupled with flexible magnetic composites. The TMR sensors are composed of CoFeB free layers and MgO tunnel barriers, patterned using standard optical lithography and ion milling procedures. The short and long-term stability of the TMR sensors has been studied using statistical and Allan deviation analysis. Instrumentation noise has been reduced using optimized electrical interconnection schemes. We also develop flexible NdFeB-PDMS composite magnets optimized for applications in corrosive marine environments, and which can be attached to marine animals. The magnetic and mechanical properties are studied for different NdFeB powder concentrations and the performance of the magnetic composites for different exposure times to sea water is systematically investigated. Without protective layer, the composite magnets loose more than 50% of their magnetization after 51 days in seawater. The durability of the composite magnets can be considerably improved by using polymer coatings which are protecting the composite magnet, whereby Parylene C is found to be the most effective solution, providing simultaneously corrosion resistance, flexibility, and enhanced biocompatibility. A Parylene C film of 2μm thickness provides the sufficient protection of the magnetic composite in corrosive aqueous environments for more than 70 days. For the high level performance of the system, the theoretically optimal position of the composite magnets with respect to the sensing

  5. Egalitarian despots: hierarchy steepness, reciprocity and the grooming-trade model in wild chimpanzees, Pan troglodytes

    Science.gov (United States)

    Kaburu, Stefano S. K.; Newton-Fisher, Nicholas E.

    2014-01-01

    Biological market theory models the action of natural selection as a marketplace in which animals are viewed as traders with commodities to offer and exchange. Studies of female Old World monkeys have suggested that grooming might be employed as a commodity to be reciprocated or traded for alternative services, yet previous tests of this grooming-trade model in wild adult male chimpanzees have yielded mixed results. Here we provide the strongest test of the model to date for male chimpanzees: we use data drawn from two social groups (communities) of chimpanzees from different populations and give explicit consideration to variation in dominance hierarchy steepness, as such variation results in differing conditions for biological markets. First, analysis of data from published accounts of other chimpanzee communities, together with our own data, showed that hierarchy steepness varied considerably within and across communities and that the number of adult males in a community aged 20–30 years predicted hierarchy steepness. The two communities in which we tested predictions of the grooming-trade model lay at opposite extremes of this distribution. Second, in accord with the grooming-trade model, we found evidence that male chimpanzees trade grooming for agonistic support where hierarchies are steep (despotic) and consequent effective support is a rank-related commodity, but not where hierarchies are shallow (egalitarian). However, we also found that grooming was reciprocated regardless of hierarchy steepness. Our findings also hint at the possibility of agonistic competition, or at least exclusion, in relation to grooming opportunities compromising the free market envisioned by biological market theory. Our results build on previous findings across chimpanzee communities to emphasize the importance of reciprocal grooming exchanges among adult male chimpanzees, which can be understood in a biological markets framework if grooming by or with particular individuals is

  6. Egalitarian despots: hierarchy steepness, reciprocity and the grooming-trade model in wild chimpanzees, Pan troglodytes.

    Science.gov (United States)

    Kaburu, Stefano S K; Newton-Fisher, Nicholas E

    2015-01-01

    Biological market theory models the action of natural selection as a marketplace in which animals are viewed as traders with commodities to offer and exchange. Studies of female Old World monkeys have suggested that grooming might be employed as a commodity to be reciprocated or traded for alternative services, yet previous tests of this grooming-trade model in wild adult male chimpanzees have yielded mixed results. Here we provide the strongest test of the model to date for male chimpanzees: we use data drawn from two social groups (communities) of chimpanzees from different populations and give explicit consideration to variation in dominance hierarchy steepness, as such variation results in differing conditions for biological markets. First, analysis of data from published accounts of other chimpanzee communities, together with our own data, showed that hierarchy steepness varied considerably within and across communities and that the number of adult males in a community aged 20-30 years predicted hierarchy steepness. The two communities in which we tested predictions of the grooming-trade model lay at opposite extremes of this distribution. Second, in accord with the grooming-trade model, we found evidence that male chimpanzees trade grooming for agonistic support where hierarchies are steep (despotic) and consequent effective support is a rank-related commodity, but not where hierarchies are shallow (egalitarian). However, we also found that grooming was reciprocated regardless of hierarchy steepness. Our findings also hint at the possibility of agonistic competition, or at least exclusion, in relation to grooming opportunities compromising the free market envisioned by biological market theory. Our results build on previous findings across chimpanzee communities to emphasize the importance of reciprocal grooming exchanges among adult male chimpanzees, which can be understood in a biological markets framework if grooming by or with particular individuals is a

  7. The Modular Optical Underwater Survey System

    Directory of Open Access Journals (Sweden)

    Ruhul Amin

    2017-10-01

    Full Text Available The Pacific Islands Fisheries Science Center deploys the Modular Optical Underwater Survey System (MOUSS to estimate the species-specific, size-structured abundance of commercially-important fish species in Hawaii and the Pacific Islands. The MOUSS is an autonomous stereo-video camera system designed for the in situ visual sampling of fish assemblages. This system is rated to 500 m and its low-light, stereo-video cameras enable identification, counting, and sizing of individuals at a range of 0.5–10 m. The modular nature of MOUSS allows for the efficient and cost-effective use of various imaging sensors, power systems, and deployment platforms. The MOUSS is in use for surveys in Hawaii, the Gulf of Mexico, and Southern California. In Hawaiian waters, the system can effectively identify individuals to a depth of 250 m using only ambient light. In this paper, we describe the MOUSS’s application in fisheries research, including the design, calibration, analysis techniques, and deployment mechanism.

  8. Underwater hydraulic shock shovel control system

    Science.gov (United States)

    Liu, He-Ping; Luo, A.-Ni; Xiao, Hai-Yan

    2008-06-01

    The control system determines the effectiveness of an underwater hydraulic shock shovel. This paper begins by analyzing the working principles of these shovels and explains the importance of their control systems. A new type of control system’s mathematical model was built and analyzed according to those principles. Since the initial control system’s response time could not fulfill the design requirements, a PID controller was added to the control system. System response time was still slower than required, so a neural network was added to nonlinearly regulate the proportional element, integral element and derivative element coefficients of the PID controller. After these improvements to the control system, system parameters fulfilled the design requirements. The working performance of electrically-controlled parts such as the rapidly moving high speed switch valve is largely determined by the control system. Normal control methods generally can’t satisfy a shovel’s requirements, so advanced and normal control methods were combined to improve the control system, bringing good results.

  9. Data extraction system for underwater particle holography

    Science.gov (United States)

    Nebrensky, J. J.; Craig, Gary; Hobson, Peter R.; Lampitt, R. S.; Nareid, Helge; Pescetto, A.; Trucco, Andrea; Watson, John

    2000-08-01

    Pulsed laser holography in an extremely powerful technique for the study of particle fields as it allows instantaneous, non-invasive high- resolution recording of substantial volumes. By relaying the real image one can obtain the size, shape, position and - if multiple exposures are made - velocity of every object in the recorded field. Manual analysis of large volumes containing thousands of particles is, however, an enormous and time-consuming task, with operator fatigue an unpredictable source of errors. Clearly the value of holographic measurements also depends crucially on the quality of the reconstructed image: not only will poor resolution degrade the size and shape measurements, but aberrations such as coma and astigmatism can change the perceived centroid of a particle, affecting position and velocity measurements. For large-scale applications of particle field holography, specifically the in situ recording of marine plankton with Holocam, we have developed an automated data extraction system that can be readily switched between the in-line and off-axis geometries and provides optimised reconstruction from holograms recorded underwater. As a videocamera is automatically stepped through the 200 by 200 by 1000mm sample volume, image processing and object tracking routines locate and extract particle images for further classification by a separate software module.

  10. Hillslope-channel coupling in a steep Hawaiian catchment accelerates erosion rates over 100-fold

    Science.gov (United States)

    Stock, J. D.; Hanshaw, M. N.; Rosener, M.; Schmidt, K. M.; Brooks, B. A.; Tribble, G.; Jacobi, J.

    2009-12-01

    In tropical watersheds, hillslope changes are producing increasing amounts of fine sediment that can be quickly carried to reefs by channels. Suspended sediment concentrations off the reefs of Molokai, Hawaii, chronically exceed a toxic level of 10 mg/L, threatening reef ecosystems. We hypothesize that historic conversion of watersheds from soil creep to overland flow erosion increased both magnitude and frequency of sediment flooding adjacent reefs. We combined surficial and ecological mapping, hillslope and stream gages, and novel sensors to locate, quantify and model the generation of fine sediments polluting the Molokai reef. Ecological and geomorphic mapping from LiDAR and multi-spectral imagery located a subset of overland flow areas with vegetation cover below a threshold value preventing erosion. Here, feral goat grazing exposed cohesive volcanic soils whose low matrix hydraulic conductivities (1-20 mm/hour) promote Horton overland flow erosion. We instrumented steep, barren hillslopes with soil moisture sensors, overland flow meters, Parshall flumes, ISCO sediment samplers, and a rain gage and conducted repeat Tripod LiDAR and infiltration tests. To characterize soil resistance here and elsewhere to overland flow erosion, we deployed a Cohesive Strength Meter (CSM) to simulate the stresses of flowing water. At the 13.5 km 2 watershed mouth we used a USGS stream gage and ISCO sediment sampler to estimate total load. Over 2 years, storms triggered overland flow during rainfall intensities above 10-15 mm/hr. Overland flow meters indicate such flows can be up to 3 cm deep, with a tendency to deepen downslope. CSM tests indicate that these depths are insufficient to erode soils where vegetation is dense, but far above threshold values of 2-3 mm depth for bare soil erosion. Sediment ratings curves for both hillslope and downstream catchment gages show strong clock-wise hysteresis during the first intense storms in the Fall, becoming linear later in the rainy

  11. Skin-Tissue-sparing Excision with Electrosurgical Peeling (STEEP): a surgical treatment option for severe hidradenitis suppurativa Hurley stage II/III.

    Science.gov (United States)

    Blok, J L; Spoo, J R; Leeman, F W J; Jonkman, M F; Horváth, B

    2015-02-01

    Surgery is the only curative treatment for removal of the persistent sinus tracts in the skin that are characteristic of severe hidradenitis suppurativa (HS). Complete resection of the affected tissue by wide excision is currently regarded as the preferred surgical technique in these cases. However, relatively large amounts of healthy tissue are removed with this method and suitable skin-tissue-saving techniques aiming at creating less-extensive surgical defects are therefore needed in severe HS. We describe a skin-tissue-saving surgical technique for HS Hurley stage II-III disease: the Skin-Tissue-sparing Excision with Electrosurgical Peeling (STEEP) procedure. In contrast to wide excisions that generally reach into the deep subcutaneous fat, the fat is maximally spared with the STEEP procedure by performing successive tangential excisions of lesional tissue until the epithelialized bottom of the sinus tracts has been reached. From here, secondary intention healing can occur. In addition, fibrotic tissue is completely removed in the same manner as this also serves as a source of recurrence. This tissue-sparing technique results in low recurrence rates, high patient satisfaction with relatively short healing times and favourable cosmetic outcomes without contractures. © 2014 European Academy of Dermatology and Venereology.

  12. Predictive Model for the Analysis of the Effects of Underwater Impulsive Sources on Marine Life

    National Research Council Canada - National Science Library

    Lazauski, Colin J

    2007-01-01

    A method is provided to predict the biological consequences to marine animals from exposure to multiple underwater impulsive sources by simulating underwater explosions over a defined period of time...

  13. A Framework for Evaluating Advanced Search Concepts for Multiple Autonomous Underwater Vehicle (AUV) Mine Countermeasures (MCM)

    National Research Council Canada - National Science Library

    Gooding, Trent

    2001-01-01

    .... In recent years, autonomous underwater vehicles (AUV) have emerged as a viable technology for conducting underwater search, survey, and clearance operations in support of the mine countermeasures (MCM) mission...

  14. A Game-theoretical Approach for Distributed Cooperative Control of Autonomous Underwater Vehicles

    KAUST Repository

    Lu, Yimeng

    2018-01-01

    design and learning process of the algorithm are modified to fit specific constraints of underwater exploration/monitoring tasks. The revised approach can take the real scenario of underwater monitoring applications such as the effect of sea current

  15. Design and Evaluation Methods for Underwater Control Systems

    Energy Technology Data Exchange (ETDEWEB)

    Chi, Lin

    1996-12-31

    This thesis on underwater control systems is written with the designer in mind, assuming that the reader has some knowledge of control theory. It can be used as a text for undergraduate students and engineers. To help readers better understand the system they will be working with, the thesis is organised in a stepwise way. The reader will gain basic knowledge about underwater operations, equipment and control systems. Then the reader will be able to follow the steps to develop a required control system for an underwater equipment by first understanding the characteristics of the design problem, customer requirement, functional requirement, and possible solution, and then to present a mathematical model of the control problem. Having developed the concept, the thesis guides the reader to develop evaluation criteria and different ways to make the decision. The thesis gives an overview of how to achieve a successful design rather than giving the techniques for detailed control system design. Chapter 1 describes underwater operations and systems. Chapter 2 discusses issues of underwater control systems and control methods. Chapter 3 deals with design method and control systems theory, focusing on human-centered control. Chapter 4 discusses methods used to evaluate and rank products, and chapter 5 applies the methods to an example. 113 refs., 115 figs., 80 tabs.

  16. Feasibility of in situ beta ray measurements in underwater environment.

    Science.gov (United States)

    Park, Hye Min; Park, Ki Hyun; Kang, Sung Won; Joo, Koan Sik

    2017-09-01

    We describe an attempt at the development of an in situ detector for beta ray measurements in underwater environment. The prototype of the in situ detector is based on a CaF2: Eu scintillator using crystal light guide and Si photomultiplier. Tests were conducted using various reference sources for evaluating the linearity and stability of the detector in underwater environment. The system is simple and stable for long-term monitoring, and consumes low power. We show here an effective detection distance of 7 mm and a 2.273 MeV end-point energy spectrum of 90 Sr/ 90 Y when using the system underwater. The results demonstrate the feasibility of in situ beta ray measurements in underwater environment and can be applied for designing an in situ detector for radioactivity measurement in underwater environment. The in situ detector can also have other applications such as installation on the marine monitoring platform and quantitative analysis of radionuclides. Copyright © 2017 Elsevier Ltd. All rights reserved.

  17. Design and Evaluation Methods for Underwater Control Systems

    Energy Technology Data Exchange (ETDEWEB)

    Chi, Lin

    1997-12-31

    This thesis on underwater control systems is written with the designer in mind, assuming that the reader has some knowledge of control theory. It can be used as a text for undergraduate students and engineers. To help readers better understand the system they will be working with, the thesis is organised in a stepwise way. The reader will gain basic knowledge about underwater operations, equipment and control systems. Then the reader will be able to follow the steps to develop a required control system for an underwater equipment by first understanding the characteristics of the design problem, customer requirement, functional requirement, and possible solution, and then to present a mathematical model of the control problem. Having developed the concept, the thesis guides the reader to develop evaluation criteria and different ways to make the decision. The thesis gives an overview of how to achieve a successful design rather than giving the techniques for detailed control system design. Chapter 1 describes underwater operations and systems. Chapter 2 discusses issues of underwater control systems and control methods. Chapter 3 deals with design method and control systems theory, focusing on human-centered control. Chapter 4 discusses methods used to evaluate and rank products, and chapter 5 applies the methods to an example. 113 refs., 115 figs., 80 tabs.

  18. A Review of the Emerging Field of Underwater Mass Spectrometry

    Directory of Open Access Journals (Sweden)

    Emily Chua

    2016-11-01

    Full Text Available Mass spectrometers are versatile sensor systems, owing to their high sensitivity and ability to simultaneously measure multiple chemical species. Over the last two decades, traditional laboratory-based membrane inlet mass spectrometers have been adapted for underwater use. Underwater mass spectrometry has drastically improved our capability to monitor a broad suite of gaseous compounds (e.g., dissolved atmospheric gases, light hydrocarbons, and volatile organic compounds in the aquatic environment. Here we provide an overview of the progress made in the field of underwater mass spectrometry since its inception in the 1990s to the present. In particular, we discuss the approaches undertaken by various research groups in developing in situ mass spectrometers. We also provide examples to illustrate how underwater mass spectrometers have been used in the field. Finally, we present future trends in the field of in situ mass spectrometry. Most of these efforts are aimed at improving the quality and spatial and temporal scales of chemical measurements in the ocean. By providing up-to-date information on underwater mass spectrometry, this review offers guidance for researchers interested in adapting this technology as well as goals for future progress in the field.

  19. A bio-inspired electrocommunication system for small underwater robots.

    Science.gov (United States)

    Wang, Wei; Liu, Jindong; Xie, Guangming; Wen, Li; Zhang, Jianwei

    2017-03-29

    Weakly electric fishes (Gymnotid and Mormyrid) use an electric field to communicate efficiently (termed electrocommunication) in the turbid waters of confined spaces where other communication modalities fail. Inspired by this biological phenomenon, we design an artificial electrocommunication system for small underwater robots and explore the capabilities of such an underwater robotic communication system. An analytical model for electrocommunication is derived to predict the effect of the key parameters such as electrode distance and emitter current of the system on the communication performance. According to this model, a low-dissipation, and small-sized electrocommunication system is proposed and integrated into a small robotic fish. We characterize the communication performance of the robot in still water, flowing water, water with obstacles and natural water conditions. The results show that underwater robots are able to communicate electrically at a speed of around 1 k baud within about 3 m with a low power consumption (less than 1 W). In addition, we demonstrate that two leader-follower robots successfully achieve motion synchronization through electrocommunication in the three-dimensional underwater space, indicating that this bio-inspired electrocommunication system is a promising setup for the interaction of small underwater robots.

  20. Underwater Shock Wave Research Applied to Therapeutic Device Developments

    Science.gov (United States)

    Takayama, K.; Yamamoto, H.; Shimokawa, H.

    2013-07-01

    The chronological development of underwater shock wave research performed at the Shock Wave Research Center of the Institute of Fluid Science at the Tohoku University is presented. Firstly, the generation of planar underwater shock waves in shock tubes and their visualization by using the conventional shadowgraph and schlieren methods are described. Secondly, the generation of spherical underwater shock waves by exploding lead azide pellets weighing from several tens of micrograms to 100 mg, that were ignited by irradiating with a Q-switched laser beam, and their visualization by using double exposure holographic interferometry are presented. The initiation, propagation, reflection, focusing of underwater shock waves, and their interaction with various interfaces, in particular, with air bubbles, are visualized quantitatively. Based on such a fundamental underwater shock wave research, collaboration with the School of Medicine at the Tohoku University was started for developing a shock wave assisted therapeutic device, which was named an extracorporeal shock wave lithotripter (ESWL). Miniature shock waves created by irradiation with Q-switched HO:YAG laser beams are studied, as applied to damaged dysfunctional nerve cells in the myocardium in a precisely controlled manner, and are effectively used to design a catheter for treating arrhythmia.

  1. Experimental Study on the Measurement of Water Bottom Vibration Induced by Underwater Drilling Blasting

    OpenAIRE

    Wenbin, Gu; Jianghai, Chen; Zhenxiong, Wang; Zhihua, Wang; Jianqing, Liu; Ming, Lu

    2015-01-01

    Due to the lack of proper instrumentations and the difficulties in underwater measurements, the studies about water bottom vibration induced by underwater drilling blasting are seldom reported. In order to investigate the propagation and attenuation laws of blasting induced water bottom vibration, a water bottom vibration monitor was developed with consideration of the difficulties in underwater measurements. By means of this equipment, the actual water bottom vibration induced by underwater ...

  2. Underwater wireless optical communications: From system-level demonstrations to channel modelling

    KAUST Repository

    Oubei, Hassan M.

    2018-01-09

    In this paper, we discuss about recent experimental advances in underwater wireless optical communications (UWOC) over various underwater channel water types using different modulation schemes as well as modelling and describing the statistical properties of turbulence-induced fading in underwater wireless optical channels using laser beam intensity fluctuations measurements.

  3. Efficient Weibull channel model for salinity induced turbulent underwater wireless optical communications

    KAUST Repository

    Oubei, Hassan M.

    2017-12-13

    Recent advances in underwater wireless optical communications necessitate a better understanding of the underwater channel. We propose the Weibull model to characterize the fading of salinity induced turbulent underwater wireless optical channels. The model shows an excellent agreement with the measured data under all channel conditions.

  4. Experimental study on underwater electrical explosion of a copper wire

    International Nuclear Information System (INIS)

    Zhou Qing; Zhang Jun; Tan Xiangyu; Ren Baozhong; Zhang Qiaogen

    2010-01-01

    Through analyzing the physical process of underwater electrical wire explosion, electrical wire explosions with copper wires were investigated underwater using pulsed voltage in the time scale of a few microseconds. A self-integrating Rogowsky coil and a voltage divider were used for current and voltage at the wire load, respectively. The shock wave pressure is measured with a piezoelectric pressure probe at the same distance. The current rise rate was adjusted by changing the applied voltage, circuit inductance, length and diameter of copper wire. The change of the current rise rate had a great effect on the process of underwater electrical wire explosion with copper wires. At last, the effect of discharge voltage, circuit inductance, length and diameter of copper wire were obtained on the explosion voltage and current as well as shock wave pressure. (authors)

  5. The Research of Optical Turbulence Model in Underwater Imaging System

    Directory of Open Access Journals (Sweden)

    Liying Sun

    2014-01-01

    Full Text Available In order to research the effect of turbulence on underwater imaging system and image restoration, the underwater turbulence model is simulated by computer fluid dynamics. This model is obtained in different underwater turbulence intensity, which contains the pressure data that influences refractive index distribution. When the pressure value is conversed to refractive index, the refractive index distribution can be received with the refraction formula. In the condition of same turbulent intensity, the distribution of refractive index presents gradient in the whole region, with disorder and mutations in the local region. With the turbulence intensity increase, the holistic variation of the refractive index in the image is larger, and the refractive index change more tempestuously in the local region. All the above are illustrated by the simulation results with he ray tracing method and turbulent refractive index model. According to different turbulence intensity analysis, it is proved that turbulence causes image distortion and increases noise.

  6. Optimal Node Placement in Underwater Wireless Sensor Networks

    KAUST Repository

    Felamban, M.

    2013-03-25

    Wireless Sensor Networks (WSN) are expected to play a vital role in the exploration and monitoring of underwater areas which are not easily reachable by humans. However, underwater communication via acoustic waves is subject to several performance limitations that are very different from those used for terresstrial networks. In this paper, we investigate node placement for building an initial underwater WSN infrastructure. We formulate this problem as a nonlinear mathematical program with the objective of minimizing the total transmission loss under a given number of sensor nodes and targeted coverage volume. The obtained solution is the location of each node represented via a truncated octahedron to fill out the 3D space. Experiments are conducted to verify the proposed formulation, which is solved using Matlab optimization tool. Simulation is also conducted using an ns-3 simulator, and the simulation results are consistent with the obtained results from mathematical model with less than 10% error.

  7. Underwater video enhancement using multi-camera super-resolution

    Science.gov (United States)

    Quevedo, E.; Delory, E.; Callicó, G. M.; Tobajas, F.; Sarmiento, R.

    2017-12-01

    Image spatial resolution is critical in several fields such as medicine, communications or satellite, and underwater applications. While a large variety of techniques for image restoration and enhancement has been proposed in the literature, this paper focuses on a novel Super-Resolution fusion algorithm based on a Multi-Camera environment that permits to enhance the quality of underwater video sequences without significantly increasing computation. In order to compare the quality enhancement, two objective quality metrics have been used: PSNR (Peak Signal-to-Noise Ratio) and the SSIM (Structural SIMilarity) index. Results have shown that the proposed method enhances the objective quality of several underwater sequences, avoiding the appearance of undesirable artifacts, with respect to basic fusion Super-Resolution algorithms.

  8. Underwater electric field detection system based on weakly electric fish

    Science.gov (United States)

    Xue, Wei; Wang, Tianyu; Wang, Qi

    2018-04-01

    Weakly electric fish sense their surroundings in complete darkness by their active electric field detection system. However, due to the insufficient detection capacity of the electric field, the detection distance is not enough, and the detection accuracy is not high. In this paper, a method of underwater detection based on rotating current field theory is proposed to improve the performance of underwater electric field detection system. First of all, we built underwater detection system based on the theory of the spin current field mathematical model with the help of the results of previous researchers. Then we completed the principle prototype and finished the metal objects in the water environment detection experiments, laid the foundation for the further experiments.

  9. H∞ control for path tracking of autonomous underwater vehicle motion

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

    Full Text Available In order to simplify the design of path tracking controller and solve the problem relating to nonlinear dynamic model of autonomous underwater vehicle motion planning, feedback linearization method is first adopted to transform the nonlinear dynamic model into an equivalent pseudo-linear dynamic model in horizontal coordinates. Then considering wave disturbance effect, mixed-sensitivity method of H∞ robust control is applied to design state-feedback controller for this equivalent dynamic model. Finally, control law of pseudo-linear dynamic model is transformed into state (surge velocity and yaw angular rate tracking control law of nonlinear dynamic model through inverse coordinate transformation. Simulation indicates that autonomous underwater vehicle path tracking is successfully implemented with this proposed method, and the influence of parameter variation in autonomous underwater vehicle dynamic model on its tracking performance is reduced by H∞ controller. All the results show that the method proposed in this article is effective and feasible.

  10. Automated gravity gradient tensor inversion for underwater object detection

    International Nuclear Information System (INIS)

    Wu, Lin; Tian, Jinwen

    2010-01-01

    Underwater abnormal object detection is a current need for the navigation security of autonomous underwater vehicles (AUVs). In this paper, an automated gravity gradient tensor inversion algorithm is proposed for the purpose of passive underwater object detection. Full-tensor gravity gradient anomalies induced by an object in the partial area can be measured with the technique of gravity gradiometry on an AUV. Then the automated algorithm utilizes the anomalies, using the inverse method to estimate the mass and barycentre location of the arbitrary-shaped object. A few tests on simple synthetic models will be illustrated, in order to evaluate the feasibility and accuracy of the new algorithm. Moreover, the method is applied to a complicated model of an abnormal object with gradiometer and AUV noise, and interference from a neighbouring illusive smaller object. In all cases tested, the estimated mass and barycentre location parameters are found to be in good agreement with the actual values

  11. Cluster protocols in Underwater Sensor Networks: a Research Review

    Directory of Open Access Journals (Sweden)

    K. Ovaliadis

    2014-07-01

    Full Text Available Underwater Wireless Sensor Networks (UWSN have different characteristics in relation to terrestrial wireless sensor networks; such as limited bandwidth capacity, high propagation delays and limited battery power. Although there has been much work completed in developing protocols and models for terrestrial networks, these are rarely applicable for underwater sensor networks. Up to today major efforts have been made for designing efficient protocols while considering the underwater communication characteristics. An important issue on this research area is the construction of an efficient clustering algorithm. Clustering in the context of UWSN is important as it contributes a great deal towards the efficient use of energy resources. This paper reviews the most significant cluster based protocols proposed for UWSN. Major performance issues of these protocols with respect to the network conditions such as packet delivery ratio, average packet delay, node mobility effect and energy consumption are examined. The advantages and disadvantages of each protocol are also pointed out.

  12. Underwater Time Service and Synchronization Based on Time Reversal Technique

    Science.gov (United States)

    Lu, Hao; Wang, Hai-bin; Aissa-El-Bey, Abdeldjalil; Pyndiah, Ramesh

    2010-09-01

    Real time service and synchronization are very important to many underwater systems. But the time service and synchronization in existence cannot work well due to the multi-path propagation and random phase fluctuation of signals in the ocean channel. The time reversal mirror technique can realize energy concentration through self-matching of the ocean channel and has very good spatial and temporal focusing properties. Based on the TRM technique, we present the Time Reversal Mirror Real Time service and synchronization (TRMRT) method which can bypass the processing of multi-path on the server side and reduce multi-path contamination on the client side. So TRMRT can improve the accuracy of time service. Furthermore, as an efficient and precise method of time service, TRMRT could be widely used in underwater exploration activities and underwater navigation and positioning systems.

  13. Analytical calculation on the determination of steep side wall angles from far field measurements

    Science.gov (United States)

    Cisotto, Luca; Pereira, Silvania F.; Urbach, H. Paul

    2018-06-01

    In the semiconductor industry, the performance and capabilities of the lithographic process are evaluated by measuring specific structures. These structures are often gratings of which the shape is described by a few parameters such as period, middle critical dimension, height, and side wall angle (SWA). Upon direct measurement or retrieval of these parameters, the determination of the SWA suffers from considerable inaccuracies. Although the scattering effects that steep SWAs have on the illumination can be obtained with rigorous numerical simulations, analytical models constitute a very useful tool to get insights into the problem we are treating. In this paper, we develop an approach based on analytical calculations to describe the scattering of a cliff and a ridge with steep SWAs. We also propose a detection system to determine the SWAs of the structures.

  14. Research on fast ecological restoration technology of high and steep rocky slope of highway

    Science.gov (United States)

    Qin, Xin

    2017-08-01

    Along with the development of the western region, the traffic construction in mountainous areas is booming. In the infrastructure, it produced a large number of secondary bare land. Soil erosion is serious. Based on the literature search and analysis of the domestic and international slope ecological restoration technology, this paper proposes a fast and efficient adaptive highway high steep rock slope ecological restoration technology (it has been authorized by the national patent). And it states the systemic structure, working principle and key construction technology. The ecological restoration technique combines the growth characteristics of the vegetation and the characteristics of the rock mass, which not only improves the survival rate of plants, but also stable slope. The results of this study make up for the shortcomings of the existing ecological restoration technology of slope. Compared with the prior art, which have obvious advantages and suitable for the ecological restoration of high steep rock slope.

  15. Steep and Adjustable Transfer Functions of Monolithic SOA-EA 2R-Regenerators

    DEFF Research Database (Denmark)

    Öhman, Filip; Kjær, Rasmus; Christiansen, Lotte Jin

    2006-01-01

    of a semiconductor waveguide with alternating amplifier and absorber sections using quantum-well active material. The steep nonlinearity of the transfer function is achieved by concatenating several sections. We identify the saturation properties of the absorbing media, as dictated by the band-filling and field......Measurements and numerical modeling of a reamplification and reshaping (2R) regenerator demonstrate a steep power transfer function with adjustable threshold. The threshold can be adjusted more than 6 dB by simple control of the reverse bias voltage of the absorber section. The device consists...... screening, as important for the observed transfer functions. The relation of the saturation powers of the gain and absorption sectionsis important for design optimization....

  16. Comparison of treatments of steep and shoot generated by different inverse planning systems

    International Nuclear Information System (INIS)

    Perez Moreno, J. M.; Zucca Aparicio, D.; Fernandez Leton, P.; Garcia Ruiz-Zorrilla, J.; Minambres Moro, A.

    2011-01-01

    The problem of IMRT treatments with the technique Steep and Shoot or static is the number of segments and monitor units used in the treatment. These parameters depend largely on the inverse planning system which determines treatment. Are evaluated three commercial planning systems, with each one performing clinical dosimetry for the same series of patients. Dosimetric results are compared, UM calculated and number of segments.

  17. The role of prospection in steep temporal reward discounting in gambling addiction

    Directory of Open Access Journals (Sweden)

    Antonius eWiehler

    2015-08-01

    Full Text Available Addiction and pathological gambling (PG have been consistently associated with high impulsivity and a steep devaluation of delayed rewards, a process that is known as temporal discounting (TD. Recent studies indicated that enhanced episodic future thinking (EFT results in less impulsive TD in healthy controls (HC. In a separate line of research, it has been suggested that non-linearities in time perception might contribute to reward devaluation during inter-temporal choice. Therefore, in addition to deficits in valuation processes and executive control, impairments in EFT and non-linearities in time perception have been hypothesized to contribute to steep TD in addiction. In this study, we explore such a potential association of impairments in EFT and time perception with steep TD in PG.We investigated 20 PGs and 20 matched HCs. TD was assessed via a standard computerized binary choice task. We measured EFT using a variation of the Autobiographical Memory Interview by Levine et al. (1. Time perception was assessed with a novel task, utilizing a non-linear rating procedure via circle-size adjustments.Groups did not differ in baseline EFT. In both groups, a power law accounted time perception best, and the degree of non-linearity in time perception correlated with discounting across groups. A multiple regression analysis across all predictors and covariates revealed that only group status (PG/HC and depression were significantly associated with discounting behavior such that PG increased TD and depression attenuated TD.Our findings speak against the idea that steep TD in PG is due to a skewed perception of time or impairments in EFT, at least under the present task conditions. The lack of overall group differences in EFT does not rule out the possibility of more complex interactions of EFT and decision-making. These interactions might be diminished in pathological gambling or addiction more generally, when other task configurations are used.

  18. Satellites and Steep Slopes - the challenge of topography in the Himalaya - Karakorum for cryosphere models

    Science.gov (United States)

    Steiner, J. F.; Buri, P.; Miles, E. S.; Immerzeel, W.

    2016-12-01

    The topography in glaciated catchments in the Himalaya - Karakoram range are extreme in a number of aspects that proof to be a challenge for distributed modelling. High altitude regions, where accumulation areas of glaciers are generally located, can at times be very steep, covered in hanging ice and seasonal snow. On the other hand, lower areas, where ablation zones on glacier tongues are located, tend to be very shallow. This has consequences for obtaining glacier areas from satellite derived glacier inventories (e.g. RGI, ICIMOD). As they are taken perpendicular to the center of the earth, these inventories will underestimate the area of steep regions, sometimes quite considerably (Figure 1). This can have consequences for a number of statistics in glaciological modeling, especially when it comes to the relative comparison of accumulation and ablation and hence overall melt from a glacier. Additionally, these steep head walls cause topographic shading. Depending on the exposition of the valley this can result in very divergent amounts of direct solar radiation reaching the glacier surface from valley to valley. Comparisons of melt between different regions and even glaciers have to be taken with considerable caution. Finally, these shallow glacier tongues are increasingly covered in debris. Such glacier surfaces with a debris cover ranging in grain size from sand to boulders several meters in diameter are very hummocky rather than flat bare ice glacier surfaces. This in turn increases local shading but also increases the overall glacier surface. Using high resolution satellite imagery and DEMs ( 5m) from our field site we investigate the effects of areal misrepresentations on the local scale. Decreasing resolution we then take this analysis to the mountain range scale and can identify to what degree these factors are significant and considering literature values determine the quantitative impact for energy and mass balance studies. Figure 1: A schematic

  19. Green infrastructure in high-rise residential development on steep slopes in city of Vladivostok

    Science.gov (United States)

    Kopeva, Alla; Ivanova, Olga; Khrapko, Olga

    2018-03-01

    The purpose of this study is to identify the facilities of green infrastructure that are able to improve living conditions in an urban environment in high-rise residential apartments buildings on steep slopes in the city of Vladivostok. Based on the analysis of theoretical sources and practices that can be observed in the world, green infrastructure facilities have been identified. These facilities meet the criteria of the sustainable development concept, and can be used in the city of Vladivostok. They include green roofs, green walls, and greening of disturbed slopes. All the existing high-rise apartments buildings situated on steep slopes in the city of Vladivostok, have been studied. It is concluded that green infrastructure is necessary to be used in new projects connected with designing and constructing of residential apartments buildings on steep slopes, as well as when upgrading the projects that have already been implemented. That will help to regulate the ecological characteristics of the sites. The results of the research can become a basis for increasing the sustainability of the habitat, and will facilitate the adoption of decisions in the field of urban design and planning.

  20. Relativistic jet feedback - II. Relationship to gigahertz peak spectrum and compact steep spectrum radio galaxies

    Science.gov (United States)

    Bicknell, Geoffrey V.; Mukherjee, Dipanjan; Wagner, Alexander Y.; Sutherland, Ralph S.; Nesvadba, Nicole P. H.

    2018-04-01

    We propose that Gigahertz Peak Spectrum (GPS) and Compact Steep Spectrum (CSS) radio sources are the signposts of relativistic jet feedback in evolving galaxies. Our simulations of relativistic jets interacting with a warm, inhomogeneous medium, utilizing cloud densities and velocity dispersions in the range derived from optical observations, show that free-free absorption can account for the ˜ GHz peak frequencies and low-frequency power laws inferred from the radio observations. These new computational models replace a power-law model for the free-free optical depth a more fundamental model involving disrupted log-normal distributions of warm gas. One feature of our new models is that at early stages, the low-frequency spectrum is steep but progressively flattens as a result of a broader distribution of optical depths, suggesting that the steep low-frequency spectra discovered by Callingham et al. may possibly be attributed to young sources. We also investigate the inverse correlation between peak frequency and size and find that the initial location on this correlation is determined by the average density of the warm ISM. The simulated sources track this correlation initially but eventually fall below it, indicating the need for a more extended ISM than presently modelled. GPS and CSS sources can potentially provide new insights into the phenomenon of AGN feedback since their peak frequencies and spectra are indicative of the density, turbulent structure, and distribution of gas in the host galaxy.

  1. Experimental investigation of steep-front short duration (SFSD) surge effects on power systems components

    Energy Technology Data Exchange (ETDEWEB)

    Miller, D.B. (Mississippi State Univ., MS (United States). Dept. of Electrical and Computer Engineering)

    1992-05-01

    Results are reported from experiments in which steep-front, short- duration (SFSD) voltage impulses were imposed on various electrical distribution components. These pulses were generated by switching a section of charged, high voltage coaxial cable across the component under study. Components included underground distribution cable, terminators, insulators and arresters. SFSD voltage needed to flashover 15 kV polyethylene cable with a single pulse is approximately 625 kV peak. Strength of polyethylene cable decreases with increasing number of SFSD pulses, indicating cumulative degradation of the polymer. For 15 kV and 25 kV cable terminators, the SFSD CFO was over twice the rated standard lightning BIL for the same units. Similarly, porcelain suspension insulators required more than a doubling of voltage to decrease time to flashover from 1 microsecond to .1 microsecond. Arresters were found to respond rapidly to steep-front current pulses, but the arrester material itself was found to result in a higher discharge voltage for SFSD pulses. Arresters also showed a delay in turn-on of current following the arrival of a steep-front voltage surge.

  2. Assessing rockfall susceptibility in steep and overhanging slopes using three-dimensional analysis of failure mechanisms

    Science.gov (United States)

    Matasci, Battista; Stock, Greg M.; Jaboyedoff, Michael; Carrea, Dario; Collins, Brian D.; Guérin, Antoine; Matasci, G.; Ravanel, L.

    2018-01-01

    Rockfalls strongly influence the evolution of steep rocky landscapes and represent a significant hazard in mountainous areas. Defining the most probable future rockfall source areas is of primary importance for both geomorphological investigations and hazard assessment. Thus, a need exists to understand which areas of a steep cliff are more likely to be affected by a rockfall. An important analytical gap exists between regional rockfall susceptibility studies and block-specific geomechanical calculations. Here we present methods for quantifying rockfall susceptibility at the cliff scale, which is suitable for sub-regional hazard assessment (hundreds to thousands of square meters). Our methods use three-dimensional point clouds acquired by terrestrial laser scanning to quantify the fracture patterns and compute failure mechanisms for planar, wedge, and toppling failures on vertical and overhanging rock walls. As a part of this work, we developed a rockfall susceptibility index for each type of failure mechanism according to the interaction between the discontinuities and the local cliff orientation. The susceptibility for slope parallel exfoliation-type failures, which are generally hard to identify, is partly captured by planar and toppling susceptibility indexes. We tested the methods for detecting the most susceptible rockfall source areas on two famously steep landscapes, Yosemite Valley (California, USA) and the Drus in the Mont-Blanc massif (France). Our rockfall susceptibility models show good correspondence with active rockfall sources. The methods offer new tools for investigating rockfall hazard and improving our understanding of rockfall processes.

  3. Green infrastructure in high-rise residential development on steep slopes in city of Vladivostok

    Directory of Open Access Journals (Sweden)

    Kopeva Alla

    2018-01-01

    Full Text Available The purpose of this study is to identify the facilities of green infrastructure that are able to improve living conditions in an urban environment in high-rise residential apartments buildings on steep slopes in the city of Vladivostok. Based on the analysis of theoretical sources and practices that can be observed in the world, green infrastructure facilities have been identified. These facilities meet the criteria of the sustainable development concept, and can be used in the city of Vladivostok. They include green roofs, green walls, and greening of disturbed slopes. All the existing high-rise apartments buildings situated on steep slopes in the city of Vladivostok, have been studied. It is concluded that green infrastructure is necessary to be used in new projects connected with designing and constructing of residential apartments buildings on steep slopes, as well as when upgrading the projects that have already been implemented. That will help to regulate the ecological characteristics of the sites. The results of the research can become a basis for increasing the sustainability of the habitat, and will facilitate the adoption of decisions in the field of urban design and planning.

  4. ANOMALOUSLY STEEP REDDENING LAW IN QUASARS: AN EXCEPTIONAL EXAMPLE OBSERVED IN IRAS 14026+4341

    International Nuclear Information System (INIS)

    Jiang Peng; Zhou Hongyan; Ji Tuo; Shu Xinwen; Liu Wenjuan; Dong Xiaobo; Wang Huiyuan; Wang Tinggui; Wang Jianguo; Bai Jinming

    2013-01-01

    A fraction of the heavily reddened quasars require a reddening curve that is even steeper than that of the Small Magellanic Cloud. In this paper, we thoroughly characterize the anomalously steep reddening law in quasars via an exceptional example observed in IRAS 14026+4341. By comparing the observed spectrum to the quasar composite spectrum, we derive a reddening curve in the rest-frame wavelength range of 1200-10000 Å. It has a steep rise at wavelengths shorter than 3000 Å, but no significant reddening at longer wavelengths. The absence of dust reddening in the optical continuum is confirmed by the normal broad-line Balmer decrement (the Hα/Hβ ratio) in IRAS 14026+4341. The anomalous reddening curve can be satisfactorily reproduced with a dust model containing silicate grains in a power-law size distribution, dn(a)/da∝a –1.4 , truncated at a maximum size of a max = 70 nm. The unusual size distribution may be caused by the destruction of large 'stardust' grains by quasar activities or a different dust formation mechanism (i.e., the in situ formation of dust grains in quasar outflows). It is also possible that the analogies of the dust grains observed near the Galactic center are responsible for the steep reddening curve. In addition, we find that IRAS 14026+4341 is a weak emission-line quasar (i.e., PHL 1811 analogies) with heavy dust reddening and blueshifted broad absorption lines.

  5. Snow in a very steep rock face: accumulation and redistribution during and after a snowfall event

    Directory of Open Access Journals (Sweden)

    Christian Gabriel Sommer

    2015-12-01

    Full Text Available Terrestrial laser scanning was used to measure snow thickness changes (perpendicular to the surface in a rock face. The aim was to investigate the accumulation and redistribution of snow in extremely steep terrain (>60°. The north-east face of the Chlein Schiahorn in the region of Davos in eastern Switzerland was scanned before and several times after a snowfall event. A summer scan without snow was acquired to calculate the total snow thickness. An improved postprocessing procedure is introduced. The data quality could be increased by using snow thickness instead of snow depth (measured vertically and by consistently applying Multi Station Adjustment to improve the registration.More snow was deposited in the flatter, smoother areas of the rock face. The spatial variability of the snow thickness change was high. The spatial patterns of the total snow thickness were similar to those of the snow thickness change. The correlation coefficient between them was 0.86. The fresh snow was partly redistributed from extremely steep to flatter terrain, presumably mostly through avalanching. The redistribution started during the snowfall and ended several days later. Snow was able to accumulate permanently at every slope angle. The amount of snow in extremely steep terrain was limited but not negligible. Areas steeper than 60° received 15% of the snowfall and contained 10% of the total amount of snow.

  6. Time-of-flight range imaging for underwater applications

    Science.gov (United States)

    Merbold, Hannes; Catregn, Gion-Pol; Leutenegger, Tobias

    2018-02-01

    Precise and low-cost range imaging in underwater settings with object distances on the meter level is demonstrated. This is addressed through silicon-based time-of-flight (TOF) cameras operated with light emitting diodes (LEDs) at visible, rather than near-IR wavelengths. We find that the attainable performance depends on a variety of parameters, such as the wavelength dependent absorption of water, the emitted optical power and response times of the LEDs, or the spectral sensitivity of the TOF chip. An in-depth analysis of the interplay between the different parameters is given and the performance of underwater TOF imaging using different visible illumination wavelengths is analyzed.

  7. Airborne lidar detection of an underwater thermal vent

    Science.gov (United States)

    Roddewig, Michael R.; Churnside, James H.; Shaw, Joseph A.

    2017-07-01

    We report the lidar detection of an underwater feature that appears to be a thermal vent in Yellowstone Lake, Yellowstone National Park, USA, with the Montana State University Fish Lidar. The location of the detected vent was 30 m from the closest vent identified in a United States Geological Survey of Yellowstone Lake in 2008. A second possible vent is also presented, and the appearance of both vents in the lidar data is compared to descriptions of underwater thermal vents in Yellowstone Lake from the geological literature.

  8. Reduced Attitude Control of a Robotic Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Bláha Lukáš

    2017-01-01

    Full Text Available This paper deals with stabilization and reduced attitude control of a robotic underwater vehicle. The vehicle is assumed to be able to perform a full stable rotations around all axes in underwater space, that is why the standard bottom-heavy structure is not used. The system preferably uses a vectored-thrust arrangement and is built as an overactuated system, which enables to gain a better robustness and guarantees a stable controlled motion even if some thruster suddenly stop working. Because the heading angle cannot be measured, the reduced attitude control strategy is designed and the stability of reduced state of the system is proved using perturbation method.

  9. 3D MODELING FOR UNDERWATER ARCHAEOLOGICAL DOCUMENTATION: METRIC VERIFICATIONS

    Directory of Open Access Journals (Sweden)

    S. D’Amelio

    2015-04-01

    Full Text Available The survey in underwater environment has always presented considerable difficulties both operative and technical and this has sometimes made it difficult to use the techniques of survey commonly used for the documentation of Cultural Heritage in dry environment. The work of study concerns the evaluation in terms of capability and accuracy of the Autodesk123DCatch software for the reconstruction of a three-dimensional model of an object in underwater context. The subjects of the study are models generated from sets of photographs and sets of frames extracted from video sequence. The study is based on comparative method, using a reference model, obtained with laser scanner technique.

  10. Study of underwater laser propulsion using different target materials.

    Science.gov (United States)

    Qiang, Hao; Chen, Jun; Han, Bing; Shen, Zhong-Hua; Lu, Jian; Ni, Xiao-Wu

    2014-07-14

    In order to investigate the influence of target materials, including aluminum (Al), titanium (Ti) and copper (Cu), on underwater laser propulsion, the analytical formula of the target momentum IT is deduced from the enhanced coupling theory of laser propulsion in atmosphere with transparent overlay metal target. The high-speed photography method and numerical simulation are employed to verify the IT model. It is shown that the enhanced coupling theory, which was developed originally for laser propulsion in atmosphere, is also applicable to underwater laser propulsion with metal targets.

  11. Pressure vessel made by free forming using underwater explosion

    Directory of Open Access Journals (Sweden)

    H Iyama

    2016-03-01

    Full Text Available Explosive forming is one particular forming technique, in which, mostcommonly, water is used as the pressure transmission medium. In recentyears, we have done the development of the method which obtains anecessary form of the metal by the control of underwater shock wave actson the metal plate, without a metal die. On the other hand, the pressurevessel is required in various fields, but we think that the free forming usingthe underwater shock wave is advantageous in the production of pressurevessel of a simple spherical, ellipse, parabola shape. In this paper, we willintroduce an experiment and several numerical simulations that we carriedout for this technical development.

  12. Underwater Shock Response Analysis of a Floating Vessel

    Directory of Open Access Journals (Sweden)

    J.E. van Aanhold

    1998-01-01

    Full Text Available The response of a surface vessel to underwater shock has been calculated using an explicit finite element analysis. The analysis model is two-dimensional and contains the floating steel structure, a large surrounding water volume and the free surface. The underwater shock is applied in the form of a plane shock wave and cavitation is considered in the analysis. Advanced computer graphics, in particular video animations, provide a powerful and indispensable means for the presentation and evaluation of the analysis results.

  13. Bedform migration in steep channels: from local avalanches to large scale changes

    Science.gov (United States)

    Mettra, F.; Heyman, J.; Ancey, C.

    2013-12-01

    Many studies have emphasized the strength of bedload transport fluctuations in steep streams, especially at low and intermediate transport conditions (relative to the threshold of incipient motion). The origins of these fluctuations, which appear on a wide range of time scales, are still not well understood. In this study, we present the data obtained from a 2D idealized laboratory experiment with the objective of simultaneously recording the channel bed evolution and bedload transport rate at a high temporal resolution. A 3-m long by 8-cm wide transparent flume filled with well-sorted natural gravel (d50=6.5 mm) was used. An efficient technique using accelerometers has been developed to record the arrival time of every particle at the outlet of the flume for long experimental durations (up to a few days). In addition, bed elevation was monitored using cameras filming from the side of the channel, allowing the observation of global aggradation/degradation as well as bedform migration. The experimental parameters were the water discharge, the flume inclination (from 2° to 5°) and the constant feeding rate of sediments. Large-scale bed evolution showed successive aggradation and rapid degradation periods. Indeed, the measured global channel slope, i.e. mean slope over the flume length, fluctuated continuously within a range sometimes wider than 1° (experimental parameters were constant over the entire run). The analysis of these fluctuations provides evidence that steep channels behave like metastable systems, similarly to grain piles. The metastable effects increased for steeper channels and lower transport conditions. In this measurement campaign, we mainly observed upstream-migrating antidunes. For each run, various antidune heights and celerities were measured. On average, the mean antidune migration rate increased with decreasing channel slope and increasing sediment feeding rate. Relatively rare tall and fast-moving antidunes appeared more frequently at high

  14. High-resolution observations of low-luminosity gigahertz-peaked spectrum and compact steep-spectrum sources

    Science.gov (United States)

    Collier, J. D.; Tingay, S. J.; Callingham, J. R.; Norris, R. P.; Filipović, M. D.; Galvin, T. J.; Huynh, M. T.; Intema, H. T.; Marvil, J.; O'Brien, A. N.; Roper, Q.; Sirothia, S.; Tothill, N. F. H.; Bell, M. E.; For, B.-Q.; Gaensler, B. M.; Hancock, P. J.; Hindson, L.; Hurley-Walker, N.; Johnston-Hollitt, M.; Kapińska, A. D.; Lenc, E.; Morgan, J.; Procopio, P.; Staveley-Smith, L.; Wayth, R. B.; Wu, C.; Zheng, Q.; Heywood, I.; Popping, A.

    2018-06-01

    We present very long baseline interferometry observations of a faint and low-luminosity (L1.4 GHz GPS) and compact steep-spectrum (CSS) sample. We select eight sources from deep radio observations that have radio spectra characteristic of a GPS or CSS source and an angular size of θ ≲ 2 arcsec, and detect six of them with the Australian Long Baseline Array. We determine their linear sizes, and model their radio spectra using synchrotron self-absorption (SSA) and free-free absorption (FFA) models. We derive statistical model ages, based on a fitted scaling relation, and spectral ages, based on the radio spectrum, which are generally consistent with the hypothesis that GPS and CSS sources are young and evolving. We resolve the morphology of one CSS source with a radio luminosity of 10^{25} W Hz^{-1}, and find what appear to be two hotspots spanning 1.7 kpc. We find that our sources follow the turnover-linear size relation, and that both homogeneous SSA and an inhomogeneous FFA model can account for the spectra with observable turnovers. All but one of the FFA models do not require a spectral break to account for the radio spectrum, while all but one of the alternative SSA and power-law models do require a spectral break to account for the radio spectrum. We conclude that our low-luminosity sample is similar to brighter samples in terms of their spectral shape, turnover frequencies, linear sizes, and ages, but cannot test for a difference in morphology.

  15. An Underwater Image Enhancement Algorithm for Environment Recognition and Robot Navigation

    Directory of Open Access Journals (Sweden)

    Kun Xie

    2018-03-01

    Full Text Available There are many tasks that require clear and easily recognizable images in the field of underwater robotics and marine science, such as underwater target detection and identification of robot navigation and obstacle avoidance. However, water turbidity makes the underwater image quality too low to recognize. This paper proposes the use of the dark channel prior model for underwater environment recognition, in which underwater reflection models are used to obtain enhanced images. The proposed approach achieves very good performance and multi-scene robustness by combining the dark channel prior model with the underwater diffuse model. The experimental results are given to show the effectiveness of the dark channel prior model in underwater scenarios.

  16. Single underwater image enhancement based on color cast removal and visibility restoration

    Science.gov (United States)

    Li, Chongyi; Guo, Jichang; Wang, Bo; Cong, Runmin; Zhang, Yan; Wang, Jian

    2016-05-01

    Images taken under underwater condition usually have color cast and serious loss of contrast and visibility. Degraded underwater images are inconvenient for observation and analysis. In order to address these problems, an underwater image-enhancement method is proposed. A simple yet effective underwater image color cast removal algorithm is first presented based on the optimization theory. Then, based on the minimum information loss principle and inherent relationship of medium transmission maps of three color channels in an underwater image, an effective visibility restoration algorithm is proposed to recover visibility, contrast, and natural appearance of degraded underwater images. To evaluate the performance of the proposed method, qualitative comparison, quantitative comparison, and color accuracy test are conducted. Experimental results demonstrate that the proposed method can effectively remove color cast, improve contrast and visibility, and recover natural appearance of degraded underwater images. Additionally, the proposed method is comparable to and even better than several state-of-the-art methods.

  17. ULTRA STEEP SPECTRUM RADIO SOURCES IN THE LOCKMAN HOLE: SERVS IDENTIFICATIONS AND REDSHIFT DISTRIBUTION AT THE FAINTEST RADIO FLUXES

    Energy Technology Data Exchange (ETDEWEB)

    Afonso, J.; Bizzocchi, L.; Grossi, M.; Messias, H.; Fernandes, C. A. C. [Observatorio Astronomico de Lisboa, Faculdade de Ciencias, Universidade de Lisboa, Tapada da Ajuda, 1349-018 Lisbon (Portugal); Ibar, E.; Ivison, R. J. [UK Astronomy Technology Centre, Royal Observatory, Edinburgh EH9 3HJ (United Kingdom); Simpson, C. [Astrophysics Research Institute, Liverpool John Moores University, Twelve Quays House, Egerton Wharf, Birkenhead CH41 1LD (United Kingdom); Chapman, S.; Gonzalez-Solares, E. [Institute of Astronomy, University of Cambridge, Madingley Road, Cambridge CB3 0HA (United Kingdom); Jarvis, M. J. [Centre for Astrophysics, Science and Technology Research Institute, University of Hertfordshire, Hatfield, Herts AL10 9AB (United Kingdom); Rottgering, H. [Leiden Observatory, Leiden University, Oort Gebouw, P.O. Box 9513, 2300 RA Leiden (Netherlands); Norris, R. P. [CSIRO Astronomy and Space Science, P.O. Box 76, Epping, NSW 1710 (Australia); Dunlop, J.; Best, P. [SUPA, Institute for Astronomy, University of Edinburgh, Blackford Hill, Edinburgh EH9 3HJ (United Kingdom); Pforr, J. [Institute of Cosmology and Gravitation, University of Portsmouth, Dennis Sciama Building, Burnaby Road, Portsmouth PO1 3FX (United Kingdom); Vaccari, M. [Department of Astronomy, University of Padova, vicolo Osservatorio 3, 35122 Padova (Italy); Seymour, N. [Mullard Space Science Laboratory, UCL, Holmbury St Mary, Dorking, Surrey RH5 6NT (United Kingdom); Farrah, D. [Astronomy Centre, Department of Physics and Astronomy, University of Sussex, Brighton BN1 9QH (United Kingdom); Huang, J.-S., E-mail: jafonso@oal.ul.pt [Department of Astrophysics, Oxford University, Keble Road, Oxford OX1 3RH (United Kingdom); and others

    2011-12-20

    Ultra steep spectrum (USS) radio sources have been successfully used to select powerful radio sources at high redshifts (z {approx}> 2). Typically restricted to large-sky surveys and relatively bright radio flux densities, it has gradually become possible to extend the USS search to sub-mJy levels, thanks to the recent appearance of sensitive low-frequency radio facilities. Here a first detailed analysis of the nature of the faintest USS sources is presented. By using Giant Metrewave Radio Telescope and Very Large Array radio observations of the Lockman Hole at 610 MHz and 1.4 GHz, a sample of 58 USS sources, with 610 MHz integrated fluxes above 100 {mu}Jy, is assembled. Deep infrared data at 3.6 and 4.5 {mu}m from the Spitzer Extragalactic Representative Volume Survey (SERVS) are used to reliably identify counterparts for 48 (83%) of these sources, showing an average total magnitude of [3.6]{sub AB} = 19.8 mag. Spectroscopic redshifts for 14 USS sources, together with photometric redshift estimates, improved by the use of the deep SERVS data, for a further 19 objects, show redshifts ranging from z = 0.1 to z = 2.8, peaking at z {approx} 0.6 and tailing off at high redshifts. The remaining 25 USS sources, with no redshift estimate, include the faintest [3.6] magnitudes, with 10 sources undetected at 3.6 and 4.5 {mu}m (typically [3.6] {approx}> 22-23 mag from local measurements), which suggests the likely existence of higher redshifts among the sub-mJy USS population. The comparison with the Square Kilometre Array Design Studies Simulated Skies models indicates that Fanaroff-Riley type I radio sources and radio-quiet active galactic nuclei may constitute the bulk of the faintest USS population, and raises the possibility that the high efficiency of the USS technique for the selection of high-redshift sources remains even at the sub-mJy level.

  18. Deep Learning

    DEFF Research Database (Denmark)

    Jensen, Morten Bornø; Bahnsen, Chris Holmberg; Nasrollahi, Kamal

    2018-01-01

    I løbet af de sidste 10 år er kunstige neurale netværk gået fra at være en støvet, udstødt tekno-logi til at spille en hovedrolle i udviklingen af kunstig intelligens. Dette fænomen kaldes deep learning og er inspireret af hjernens opbygning.......I løbet af de sidste 10 år er kunstige neurale netværk gået fra at være en støvet, udstødt tekno-logi til at spille en hovedrolle i udviklingen af kunstig intelligens. Dette fænomen kaldes deep learning og er inspireret af hjernens opbygning....

  19. Review of potential impacts to sea turtles from underwater explosive removal of offshore structures

    International Nuclear Information System (INIS)

    Viada, Stephen T.; Hammer, Richard M.; Racca, Roberto; Hannay, David; Thompson, M. John; Balcom, Brian J.; Phillips, Neal W.

    2008-01-01

    The purpose of this study was to collect and synthesize existing information relevant to the explosive removal of offshore structures (EROS) in aquatic environments. Data sources were organized and summarized by topic - explosive removal methods, physics of underwater explosions, sea turtle resources, documented impacts to sea turtles, and mitigation of effects. Information was gathered via electronic database searches and literature source review. Bulk explosive charges are the most commonly used technique in EROS. While the physical principles of underwater detonations and the propagation of pressure and acoustic waves are well understood, there are significant gaps in the application of this knowledge. Impacts to sea turtles from explosive removal operations may range from non-injurious effects (e.g. acoustic annoyance; mild tactile detection or physical discomfort) to varying levels of injury (i.e. non-lethal and lethal injuries). Very little information exists regarding the impacts of underwater explosions on sea turtles. Effects of explosions on turtles often must be inferred from documented effects to other vertebrates with lungs or other gas-containing organs, such as mammals and most fishes. However, a cautious approach should be used when determining impacts to sea turtles based on extrapolations from other vertebrates. The discovery of beached sea turtles and bottlenose dolphins following an explosive platform removal event in 1986 prompted the initiation of formal consultation between the U.S. Department of the Interior, Minerals Management Service (MMS) and the National Marine Fisheries Service (NMFS), authorized through the Endangered Species Act Section 7, to determine a mechanism to minimize potential impacts to listed species. The initial consultation resulted in a requirement for oil and gas companies to obtain a permit (through separate consultations on a case-by-case basis) prior to using explosives in Federal waters. Because many offshore

  20. Autonomous underwater vehicle for research and rescue operations

    CSIR Research Space (South Africa)

    Holtzhausen S

    2008-11-01

    Full Text Available Autonomous under water vehicles are ideal platforms for search and rescue operations. They can also be used for inspection of underwater terrains. These vehicles need to be autonomous and robust to cope with unpredictable current and high pressures...

  1. Spreading of sediment due to underwater blasting and dredging

    DEFF Research Database (Denmark)

    Nielsen, Morten Holtegaard; Bach, Lis; Bollwerk, Sandra

    2015-01-01

    out in connection with the construction of a new quay at the existing harbour of Sisimiut, Greenland. Subsequent to the largest of a series of underwater blasts, the distribution of suspended sediment in the water column at and around the construction site was observed using a CTD (Conductivity...

  2. Submerged Pagodas of Mahabalipuram - Study based on underwater investigations

    Digital Repository Service at National Institute of Oceanography (India)

    Sundaresh; Gaur, A.S.; Tripati, S.; Vora, K.H.; Rao, K.M.

    damaged and scattered due to underwater strong currents and swells. Though thick biological growth cover the details, if any, on the stone blocks, based on the structural alignment and form, they are considered to be man made structures. The available data...

  3. Underwater sound produced by individual drop impacts and rainfall

    DEFF Research Database (Denmark)

    Pumphrey, Hugh C.; Crum, L. A.; Jensen, Leif Bjørnø

    1989-01-01

    An experimental study of the underwater sound produced by water drop impacts on the surface is described. It is found that sound may be produced in two ways: first when the drop strikes the surface and, second, when a bubble is created in the water. The first process occurs for every drop...

  4. Sources of underwater sound and their characterisation (abstract)

    NARCIS (Netherlands)

    Ainslie, M.A.; Jong, C.A.F. de

    2013-01-01

    After centuries of speculation, punctuated by occasional theoretical or experimental advances, the first intensive research into underwater sound took place 100 years ago, applied initially to provide advance warning of icebergs after the loss of RMS Titanic in 1912, and later to counter the U-boat

  5. ULTRA: Underwater Localization for Transit and Reconnaissance Autonomy

    Science.gov (United States)

    Huntsberger, Terrance L.

    2013-01-01

    This software addresses the issue of underwater localization of unmanned vehicles and the inherent drift in their onboard sensors. The software gives a 2 to 3 factor of improvement over the state-of-the-art underwater localization algorithms. The software determines the localization (position, heading) of an AUV (autonomous underwater vehicle) in environments where there is no GPS signal. It accomplishes this using only the commanded position, onboard gyros/accelerometers, and the bathymetry of the bottom provided by an onboard sonar system. The software does not rely on an onboard bathymetry dataset, but instead incrementally determines the position of the AUV while mapping the bottom. In order to enable long-distance underwater navigation by AUVs, a localization method called ULTRA uses registration of the bathymetry data products produced by the onboard forward-looking sonar system for hazard avoidance during a transit to derive the motion and pose of the AUV in order to correct the DR (dead reckoning) estimates. The registration algorithm uses iterative point matching (IPM) combined with surface interpolation of the Iterative Closest Point (ICP) algorithm. This method was used previously at JPL for onboard unmanned ground vehicle localization, and has been optimized for efficient computational and memory use.

  6. Underwater Munitions Expert System to Predict Mobility and Burial

    Science.gov (United States)

    2017-11-14

    for predicting the location and possible burial of underwater munitions is required to advise site managers as they plan...that region above the given UXO relative density, which is defined as the UXO density divided by the sand grain density, ( nominally 2650 g...0.0 + 2.5*dsed ; % nominal bed roughness if no burial % (Potentially in future version, ripple height

  7. Underwater sound and vibrations due to oil & gas activities

    NARCIS (Netherlands)

    Beek, P.J.G. van; Binnerts, B.; Nennie, E.D.; Benda-Beckmann, A.M. von

    2014-01-01

    In the oil & gas industry there is a trend towards more subsea activities. To improve gas recovery from existing and new fields at greater depths, the produced gas will be compressed, processed and transported via subsea templates and underwater networks (pipelines, flexible risers, etc.). Besides

  8. Underwater sound due to a subsea high speed turbo compressor

    NARCIS (Netherlands)

    Binnerts, B.; Benda-Beckmann, A.M. von; Beek, P.J.G. van

    2014-01-01

    In the oil & gas industry there is a trend towards more subsea activities. To improve gas recovery from existing and new fields at greater depths, the produced gas will be compressed, processed and transported via subsea templates and underwater networks (pipelines, flexible risers, etc.). Besides

  9. Evaluation of Underwater Image Enhancement Algorithms under Different Environmental Conditions

    Directory of Open Access Journals (Sweden)

    Marino Mangeruga

    2018-01-01

    Full Text Available Underwater images usually suffer from poor visibility, lack of contrast and colour casting, mainly due to light absorption and scattering. In literature, there are many algorithms aimed to enhance the quality of underwater images through different approaches. Our purpose was to identify an algorithm that performs well in different environmental conditions. We have selected some algorithms from the state of the art and we have employed them to enhance a dataset of images produced in various underwater sites, representing different environmental and illumination conditions. These enhanced images have been evaluated through some quantitative metrics. By analysing the results of these metrics, we tried to understand which of the selected algorithms performed better than the others. Another purpose of our research was to establish if a quantitative metric was enough to judge the behaviour of an underwater image enhancement algorithm. We aim to demonstrate that, even if the metrics can provide an indicative estimation of image quality, they could lead to inconsistent or erroneous evaluations.

  10. The effect of floating deck structures on underwater radiated noise

    NARCIS (Netherlands)

    Bosschaart, C.; Jansen, H.W.; Jong, C.A.F. de; Basten, T.

    2017-01-01

    A concept for underwater machinery noise mitigation of future civil and military ships is the application of a common deck structure, supporting multiple machines, which is installed on resilient mounts on the ship's foundation structure. TNO is addressing the availability and testing of tools to be

  11. Self-flowing underwater concrete mixtures for high rise structures

    International Nuclear Information System (INIS)

    Yousri, K.M.

    2005-01-01

    Placement of conventional concrete mixtures in underwater construction results in a high percentage of material loss due to washout of cement paste. This paper presents the influence of anti washout admixture (AWA) on various properties of concrete. Eleven self-flowing concrete (SFC) mixtures using type II cement were proportioned. A combination of low water cement (w/c), high cement contents, anti washout admixtures, fly ash, and silica fume were used to enhance the resistance of fresh concrete to washout. The concrete mixtures proportioned to be highly flow able, self-leveling and cohesive. The water-cementitious materials ratios ranged between 0.356 and 0.392 which correspond a typical underwater concrete mixture. The concrete mixtures were tested for slump, slump flow, washout resistance and compressive strength. The compressive strength of each concrete mixture cast underwater was determined at 3, 7, 28 days and compared with the compressive strength of the same concrete mixture cast in normal condition (in air). Test results indicated that the use of an AWA facilitates the production of flow able concrete mixtures with the added benefit of lower washout loss. Concrete mixture proportioned using Type II cement and fly ash at level of replacement of 15% was found to develop self flowing concrete with better fresh and hardened properties and more resistant to washout. The self-flowing underwater concretes developed a 28-day compressive strengths ranging from 20 to 28 MPa

  12. Underwater Optical Wireless Communications, Networking, and Localization: A Survey

    KAUST Repository

    Saeed, Nasir; Celik, Abdulkadir; Al-Naffouri, Tareq Y.; Alouini, Mohamed-Slim

    2018-01-01

    Underwater wireless communications can be carried out through acoustic, radio frequency (RF), and optical waves. Compared to its bandwidth limited acoustic and RF counterparts, underwater optical wireless communications (UOWCs) can support higher data rates at low latency levels. However, severe aquatic channel conditions (e.g., absorption, scattering, turbulence, etc.) pose great challenges for UOWCs and significantly reduce the attainable communication ranges, which necessitates efficient networking and localization solutions. Therefore, we provide a comprehensive survey on the challenges, advances, and prospects of underwater optical wireless networks (UOWNs) from a layer by layer perspective which includes: 1) Potential network architectures; 2) Physical layer issues including propagation characteristics, channel modeling, and modulation techniques 3) Data link layer problems covering link configurations, link budgets, performance metrics, and multiple access schemes; 4) Network layer topics containing relaying techniques and potential routing algorithms; 5) Transport layer subjects such as connectivity, reliability, flow and congestion control; 6) Application layer goals and state-of-the-art UOWN applications, and 7) Localization and its impacts on UOWN layers. Finally, we outline the open research challenges and point out the future directions for underwater optical wireless communications, networking, and localization research.

  13. Short Communication Evaluation of an underwater biopsy probe for ...

    African Journals Online (AJOL)

    This study evaluated the use of a novel underwater biopsy probe designed to collect muscle and dermal tissue samples from large (170–220 cm total length), free-swimming bull sharks Carcharhinus leucas. The biopsy probe tissue retention rate was 87% after 23 trials, and the mean size of retained tissue was 310 mg (SD ...

  14. Underwater navigation using diffusion-based trajectory observers

    DEFF Research Database (Denmark)

    Jouffroy, Jerome; Opderbecke, Jan

    2007-01-01

    This paper addresses the issue of estimating underwater vehicle trajectories using gyro-Doppler (body-fixed velocities) and acoustic positioning signals (earth-fixed positions). The approach consists of diffusion-based observers processing a whole trajectory segment at a time, allowing the consid...

  15. QFD-based conceptual design of an autonomous underwater robot

    Directory of Open Access Journals (Sweden)

    Thip Pasawang

    2015-12-01

    Full Text Available Autonomous underwater robots in the past few years have been designed according to the individual concepts and experiences of the researchers. To design a robot, which meets all the requirements of potential users, is an advanced work. Hence, a systematic design method that could include users’ preferences and requirements is needed. This paper presents the quality function deployment (QFD technique to design an autonomous underwater robot focusing on the Thai Navy military mission. Important user requirements extracted from the QFD method are the ability to record videos, operating at depth up to 10 meters, the ability to operate remotely with cable and safety concerns related to water leakages. Less important user requirements include beauty, using renewable energy, operating remotely with radio and ability to work during night time. The important design parameters derived from the user requirements are a low cost-controller, an autonomous control algorithm, a compass sensor and vertical gyroscope, and a depth sensor. Of low-importance ranked design parameters include the module design, use clean energy, a low noise electric motor, remote surveillance design, a pressure hull, and a beautiful hull form design. The study results show the feasibility of using QFD techniques to systematically design the autonomous underwater robot to meet user requirements. Mapping between the design and expected parameters and a conceptual drafting design of an autonomous underwater robot are also presented.

  16. Synthesis and Development of Gold Polypyrrole Actuator for Underwater Application

    Science.gov (United States)

    Panda, S. K.; Bandopadhya, D.

    2018-02-01

    Electro-active polymer (EAP) such as Polypyrrole has gained much attention in the category of functional materials for fabrication of both active actuator and sensor. Particularly, PPy actuator has shown potential in fluid medium application because of high strain, large bending displacement and work density. This paper focuses on developing a low cost active actuator promising in delivering high performance in underwater environment. The proposed Au-pyrrole actuator is synthesized by adopting the layer-by-layer electrochemical polymerization technique and is fabricated as strip actuator from aqueous solution of Pyrrole and NaDBS in room temperature. In the follow-up, topographical analysis has been carried out using SEM and FESEM instruments showing surface morphology and surface integrity of chemical components of the structure. Several experiments have been conducted under DC input voltage evaluating performance effectiveness such as underwater bending displacement and tip force etc. This is observed that the actuator exhibits quite similar stress profile as of natural muscle, endowed with high modulus makes them effective in working nearly 10,000 cycles underwater environment. In addition, the bending displacement up to 5.4 mm with a low input voltage 1.3 V makes the actuator suitable for underwater micro-robotics applications.

  17. Optimal BRUVs (baited remote underwater video system) survey ...

    African Journals Online (AJOL)

    Marine protected areas (MPAs) play an important role in coastal conservation, but there is presently no uniformly applied methodology for monitoring the efficacy of coastal fish protection. Whereas underwater visual census and controlled angling surveys have been used, their skilled-labour requirements and environmental ...

  18. A highly versatile autonomous underwater vehicle with biomechanical propulsion

    NARCIS (Netherlands)

    Simons, D.G.; Bergers, M.M.C.; Henrion, S.; Hulzenga, J.I.J.; Jutte, R.W.; Pas, W.M.G.; Van Schravendijk, M.; Vercruyssen, T.G.A.; Wilken, A.P.

    2009-01-01

    An autonomous underwater vehicle with a biomechanical propulsion system is a possible answer to the demand for small, silent sensor platforms in many fields. The design of Galatea, a bio-mimetic AUV, involves four aspects: hydrodynamic shape, the propulsion, the motion control systems and payload.

  19. Remote Underwater Characterization System - Innovative Technology Summary Report

    International Nuclear Information System (INIS)

    Willis, W.D.

    1999-01-01

    Characterization and inspection of water-cooled and moderated nuclear reactors and fuel storage pools requires equipment capable of operating underwater. Similarly, the deactivation and decommissioning of older nuclear facilities often requires the facility owner to accurately characterize underwater structures and equipment which may have been sitting idle for years. The Remote Underwater Characterization System (RUCS) is a small, remotely operated submersible vehicle intended to serve multiple purposes in underwater nuclear operations. It is based on the commercially-available Scallop vehicle 1 , but has been modified by the Department of Energys Robotics Technology Development Program to add auto-depth control, and vehicle orientation and depth monitoring at the operator control panel. The RUCS is designed to provide visual and gamma radiation characterization, even in confined or limited access areas. It was demonstrated in August 1998 at the Idaho National Engineering and Environmental Laboratory (INEEL) as part of the INEEL Large Scale Demonstration and Deployment Project. During the demonstration it was compared in a ''head-to-head fashion with the baseline characterization technology. This paper summarizes the results of the demonstration and lessons learned; comparing and contrasting both technologies in the areas of cost, visual characterization, radiological characterization, and overall operations

  20. Baited remote underwater video system (BRUVs) survey of ...

    African Journals Online (AJOL)

    This is the first baited remote underwater video system (BRUVs) survey of the relative abundance, diversity and seasonal distribution of chondrichthyans in False Bay. Nineteen species from 11 families were recorded across 185 sites at between 4 and 49 m depth. Diversity was greatest in summer, on reefs and in shallow ...

  1. Underwater Optical Wireless Communications, Networking, and Localization: A Survey

    KAUST Repository

    Saeed, Nasir

    2018-02-28

    Underwater wireless communications can be carried out through acoustic, radio frequency (RF), and optical waves. Compared to its bandwidth limited acoustic and RF counterparts, underwater optical wireless communications (UOWCs) can support higher data rates at low latency levels. However, severe aquatic channel conditions (e.g., absorption, scattering, turbulence, etc.) pose great challenges for UOWCs and significantly reduce the attainable communication ranges, which necessitates efficient networking and localization solutions. Therefore, we provide a comprehensive survey on the challenges, advances, and prospects of underwater optical wireless networks (UOWNs) from a layer by layer perspective which includes: 1) Potential network architectures; 2) Physical layer issues including propagation characteristics, channel modeling, and modulation techniques 3) Data link layer problems covering link configurations, link budgets, performance metrics, and multiple access schemes; 4) Network layer topics containing relaying techniques and potential routing algorithms; 5) Transport layer subjects such as connectivity, reliability, flow and congestion control; 6) Application layer goals and state-of-the-art UOWN applications, and 7) Localization and its impacts on UOWN layers. Finally, we outline the open research challenges and point out the future directions for underwater optical wireless communications, networking, and localization research.

  2. A 532 nm Chaotic Fiber Laser Transmitter for Underwater Lidar

    Science.gov (United States)

    2013-04-23

    guidance the people fall, But in abundance of counselors there is victory.” — Proverbs 11:14 My first and most important thanks go to Jesus, for his...Vincent Jezequel, Frederic Audo, Fabrice Pellen, and Bernard Le Jeune. Experimentally based simulations on modulated lidar for shallow underwater target

  3. MA-23-6000: underwater bilateral servo master slave manipulator

    International Nuclear Information System (INIS)

    Vertut, Jean

    The different types of manipulators, recent data on their dexterity and the underwater work possible with servo master slave manipulators are reviewed. The general specifications of the manipulator MA 23-6000 designed for the machine ERIC II are given [fr

  4. AEKF-SLAM: A New Algorithm for Robotic Underwater Navigation

    Directory of Open Access Journals (Sweden)

    Xin Yuan

    2017-05-01

    Full Text Available In this work, we focus on key topics related to underwater Simultaneous Localization and Mapping (SLAM applications. Moreover, a detailed review of major studies in the literature and our proposed solutions for addressing the problem are presented. The main goal of this paper is the enhancement of the accuracy and robustness of the SLAM-based navigation problem for underwater robotics with low computational costs. Therefore, we present a new method called AEKF-SLAM that employs an Augmented Extended Kalman Filter (AEKF-based SLAM algorithm. The AEKF-based SLAM approach stores the robot poses and map landmarks in a single state vector, while estimating the state parameters via a recursive and iterative estimation-update process. Hereby, the prediction and update state (which exist as well in the conventional EKF are complemented by a newly proposed augmentation stage. Applied to underwater robot navigation, the AEKF-SLAM has been compared with the classic and popular FastSLAM 2.0 algorithm. Concerning the dense loop mapping and line mapping experiments, it shows much better performances in map management with respect to landmark addition and removal, which avoid the long-term accumulation of errors and clutters in the created map. Additionally, the underwater robot achieves more precise and efficient self-localization and a mapping of the surrounding landmarks with much lower processing times. Altogether, the presented AEKF-SLAM method achieves reliably map revisiting, and consistent map upgrading on loop closure.

  5. Deep geothermics

    International Nuclear Information System (INIS)

    Anon.

    1995-01-01

    The hot-dry-rocks located at 3-4 km of depth correspond to low permeable rocks carrying a large amount of heat. The extraction of this heat usually requires artificial hydraulic fracturing of the rock to increase its permeability before water injection. Hot-dry-rocks geothermics or deep geothermics is not today a commercial channel but only a scientific and technological research field. The Soultz-sous-Forets site (Northern Alsace, France) is characterized by a 6 degrees per meter geothermal gradient and is used as a natural laboratory for deep geothermal and geological studies in the framework of a European research program. Two boreholes have been drilled up to 3600 m of depth in the highly-fractured granite massif beneath the site. The aim is to create a deep heat exchanger using only the natural fracturing for water transfer. A consortium of german, french and italian industrial companies (Pfalzwerke, Badenwerk, EdF and Enel) has been created for a more active participation to the pilot phase. (J.S.). 1 fig., 2 photos

  6. Underwater inverse LIBS (iLIBS) for marine archaeology

    Science.gov (United States)

    Asmus, J.; Magde, M.; Elford, J.; Magde, D.; Parfenov, V.

    2013-05-01

    In recent years there have been enormous advances in nautical archaeology through developments in SONAR technologies as well as in manned and robotic submersible vehicles. The number of sunken vessel discoveries has escalated in many of the seas of the world in response to the widespread application of these and other new tools. Customarily, surviving artifacts within the debris field of a wreck are collected and then moved to laboratories, centers, or institutions for analyses and possible conservation. Frequently, the conservation phase involves chemical treatments to stabilize an artefact to standard temperature, pressure, and humidity instead of an undersea environment. Many of the artefacts encountered at an underwater site are now characterized and restored in-situ in accordance with modern trends in art conservation. Two examples of this trend are exemplified by the resting place of the wreck of the Titanic in the Atlantic and the Cancun Underwater Park in the Caribbean Sea. These two debris fields have been turned into museums for diving visitors. Several research groups have investigated the possibility of adapting the well-established analytical tool Laser Induced Breakdown Spectroscopy (LIBS) to in-situ elemental analyses of underwater cultural, historic, and archaeological artefacts where discovered, rather than as a phase of a salvage operation. As the underwater laser ablation associated with LIBS generates a "snowplough" shockwave within the aqueous matrix, the atomic emission spectrum is usually severely attenuated in escaping from the target. Consequently, probative experiments to date generally invoke a submerged air chamber or air jet to isolate water from the interaction zone as well as employ more complex double-pulse lasers. These measures impose severe logistical constraints on the examination of widely dispersed underwater artefacts. In order to overcome this constraint we report on water-immersion LIBS experiments performed with oblique

  7. Preliminary study of steep pulse irreversible electroporation technology in human large cell lung cancer cell lines L9981

    Directory of Open Access Journals (Sweden)

    Song Zuoqing

    2013-01-01

    Full Text Available Our aim was to validate the effectiveness of steep pulse irreversible electroporation technology in human large cell lung cancer cells and to screen the optimal treatment of parameters for human large cell lung cancer cells. Three different sets of steep pulse therapy parameters were applied on the lung cancer cell line L9981. The cell line L9981 inhibition rate and proliferation capacity were detected by Vi-Cell vitality analysis and MTT. Steep pulsed irreversible electroporation technology for large cell lung cancer L9981 presents killing effects with various therapy parameters. The optimal treatment parameters are at a voltage amplitude of 2000V/cm, pulse width of 100μs, pulse frequency of 1 Hz, pulse number 10. With this group of parameters, steep pulse could have the best tumor cell-killing effects.

  8. Enhanced stability of steep channel beds to mass failure and debris flow initiation

    Science.gov (United States)

    Prancevic, J.; Lamb, M. P.; Ayoub, F.; Venditti, J. G.

    2015-12-01

    Debris flows dominate bedrock erosion and sediment transport in very steep mountain channels, and are often initiated from failure of channel-bed alluvium during storms. While several theoretical models exist to predict mass failures, few have been tested because observations of in-channel bed failures are extremely limited. To fill this gap in our understanding, we performed laboratory flume experiments to identify the conditions necessary to initiate bed failures in non-cohesive sediment of different sizes (D = 0.7 mm to 15 mm) on steep channel-bed slopes (S = 0.45 to 0.93) and in the presence of water flow. In beds composed of sand, failures occurred under sub-saturated conditions on steep bed slopes (S > 0.5) and under super-saturated conditions at lower slopes. In beds of gravel, however, failures occurred only under super-saturated conditions at all tested slopes, even those approaching the dry angle of repose. Consistent with theoretical models, mass failures under super-saturated conditions initiated along a failure plane approximately one grain-diameter below the bed surface, whereas the failure plane was located near the base of the bed under sub-saturated conditions. However, all experimental beds were more stable than predicted by 1-D infinite-slope stability models. In partially saturated sand, enhanced stability appears to result from suction stress. Enhanced stability in gravel may result from turbulent energy losses in pores or increased granular friction for failures that are shallow with respect to grain size. These grain-size dependent effects are not currently included in stability models for non-cohesive sediment, and they may help to explain better the timing and location of debris flow occurrence.

  9. Deep smarts.

    Science.gov (United States)

    Leonard, Dorothy; Swap, Walter

    2004-09-01

    When a person sizes up a complex situation and rapidly comes to a decision that proves to be not just good but brilliant, you think, "That was smart." After you watch him do this a few times, you realize you're in the presence of something special. It's not raw brainpower, though that helps. It's not emotional intelligence, either, though that, too, is often involved. It's deep smarts. Deep smarts are not philosophical--they're not"wisdom" in that sense, but they're as close to wisdom as business gets. You see them in the manager who understands when and how to move into a new international market, in the executive who knows just what kind of talk to give when her organization is in crisis, in the technician who can track a product failure back to an interaction between independently produced elements. These are people whose knowledge would be hard to purchase on the open market. Their insight is based on know-how more than on know-what; it comprises a system view as well as expertise in individual areas. Because deep smarts are experienced based and often context specific, they can't be produced overnight or readily imported into an organization. It takes years for an individual to develop them--and no time at all for an organization to lose them when a valued veteran walks out the door. They can be taught, however, with the right techniques. Drawing on their forthcoming book Deep Smarts, Dorothy Leonard and Walter Swap say the best way to transfer such expertise to novices--and, on a larger scale, to make individual knowledge institutional--isn't through PowerPoint slides, a Web site of best practices, online training, project reports, or lectures. Rather, the sage needs to teach the neophyte individually how to draw wisdom from experience. Companies have to be willing to dedicate time and effort to such extensive training, but the investment more than pays for itself.

  10. Single photon light detector for deep ocean applications

    International Nuclear Information System (INIS)

    Matsuno, S.; Babson, J.; Learned, J.G.; O'Connor, D.; Grieder, P.K.F.; Wilson, C.

    1989-01-01

    We have developed a single photon sensitive light detector module which can be operated in the ocean to a depth of 5000 m. It was designed primarily to be used as a Cherenkov light detector in conjunction with the DUMAND (Deep Underwater Muon And Neutrino Detector) experiment. After calibration in the laboratory, seven detectors, assembled in a vertical string geometry, have been operated simultaneously in the deep ocean off the coast of the island of Hawaii. Cosmic ray muons have been recorded successfully at dephts ranging from 2000 to 4000 m. The results have demonstrated the capability of the detector; it fulfills the specifications required for the modules to be used in a deep ocean muon and neutrino detector. (orig.)

  11. Soft Robotic Grippers for Biological Sampling on Deep Reefs.

    Science.gov (United States)

    Galloway, Kevin C; Becker, Kaitlyn P; Phillips, Brennan; Kirby, Jordan; Licht, Stephen; Tchernov, Dan; Wood, Robert J; Gruber, David F

    2016-03-01

    This article presents the development of an underwater gripper that utilizes soft robotics technology to delicately manipulate and sample fragile species on the deep reef. Existing solutions for deep sea robotic manipulation have historically been driven by the oil industry, resulting in destructive interactions with undersea life. Soft material robotics relies on compliant materials that are inherently impedance matched to natural environments and to soft or fragile organisms. We demonstrate design principles for soft robot end effectors, bench-top characterization of their grasping performance, and conclude by describing in situ testing at mesophotic depths. The result is the first use of soft robotics in the deep sea for the nondestructive sampling of benthic fauna.

  12. Correction of Excessive Precipitation over Steep Mountains in a General Circulation Model (GCM)

    Science.gov (United States)

    Chao, Winston C.

    2012-01-01

    Excessive precipitation over steep and high mountains (EPSM) is a well-known problem in GCMs and regional climate models even at a resolution as high as 19km. The affected regions include the Andes, the Himalayas, Sierra Madre, New Guinea and others. This problem also shows up in some data assimilation products. Among the possible causes investigated in this study, we found that the most important one, by far, is a missing upward transport of heat out of the boundary layer due to the vertical circulations forced by the daytime subgrid-scale upslope winds, which in turn is forced by heated boundary layer on the slopes. These upslope winds are associated with large subgrid-scale topographic variance, which is found over steep mountains. Without such subgrid-scale heat ventilation, the resolvable-scale upslope flow in the boundary layer generated by surface sensible heat flux along the mountain slopes is excessive. Such an excessive resolvable-scale upslope flow in the boundary layer combined with the high moisture content in the boundary layer results in excessive moisture transport toward mountaintops, which in turn gives rise to excessive precipitation over the affected regions. We have parameterized the effects of subgrid-scale heated-slope-induced vertical circulation (SHVC) by removing heat from the boundary layer and depositing it in the layers higher up when topographic variance exceeds a critical value. Test results using NASA/Goddard's GEOS-5 GCM have shown that the EPSM problem is largely solved.

  13. Production of red pigments by Monascus ruber in culture media containing corn steep liquor

    Directory of Open Access Journals (Sweden)

    P. S. Hamano

    2006-12-01

    Full Text Available The production of red pigments by Monascus ruber was evaluated utilizing complex culture media composed of glucose or sucrose (10 g/L, corn steep liquor (5 or 10 g/L and monosodium glutamate (0, 5.0, 7.6, 11.4 or 15.2 g/L. Medium containing 10 g/L glucose, 5 g/L corn steep liquor and 7.6 g/L monosodium glutamate resulted the highest values of extracellular red pigment absorbance (20.7 U and productivity (0.35 U/h. This medium also produced better results than using semi-synthetic medium with analytical grade reagents (12.4 U and 0.21 U/h. The cell growth was similar in both media (X @ 6.5 g/L, indicating that the capacity of the cells to produce red pigments was higher in complex culture media. In addition, in the complex culture medium, less of the intracellular red pigments accumulated than in semi-synthetic medium (9.1% and 30%, respectively.

  14. Physiological and biomechanical responses to walking underwater on a non-motorised treadmill: effects of different exercise intensities and depths in middle-aged healthy women.

    Science.gov (United States)

    Benelli, Piero; Colasanti, Franca; Ditroilo, Massimiliano; Cuesta-Vargas, Antonio; Gatta, Giorgio; Giacomini, Francesco; Lucertini, Francesco

    2014-01-01

    Non-motorised underwater treadmills are commonly used in fitness activities. However, no studies have examined physiological and biomechanical responses of walking on non-motorised treadmills at different intensities and depths. Fifteen middle-aged healthy women underwent two underwater walking tests at two different depths, immersed either up to the xiphoid process (deep water) or the iliac crest (shallow water), at 100, 110, 120, 130 step-per-minute (spm). Oxygen consumption (VO2), heart rate (HR), blood lactate concentration, perceived exertion and step length were determined. Compared to deep water, walking in shallow water exhibited, at all intensities, significantly higher VO2 (+13.5%, on average) and HR (+8.1%, on average) responses. Water depth did not influence lactate concentration, whereas perceived exertion was higher in shallow compared to deep water, solely at 120 (+40%) and 130 (+39.4%) spm. Average step length was reduced as the intensity increased (from 100 to 130 spm), irrespective of water depth. Expressed as a percentage of maximum, average VO2 and HR were: 64-76% of peak VO2 and 71-90% of maximum HR, respectively at both water depths. Accordingly, this form of exercise can be included in the "vigorous" range of exercise intensity, at any of the step frequencies used in this study.

  15. Analysing deterioration of marble stones exposed to underwater conditions

    Science.gov (United States)

    Cámara, Beatriz; Álvarez de Buergo, Mónica; Bethencourt, Manuel; Freire-Lista, David; Fort, Rafael

    2016-04-01

    The peculiar conditions of the marine environment make the conservation of underwater archaeological sites an extremely complex procedure. This is due to the fact that the prevailing conditions in this environment promote the development of deterioration phenomena in submerged artefacts through the synergistic action of physical, chemical and biological factors. The objective of the present investigation was to determine how petrophysical properties of cultural heritage materials can be affected by being exposed to the specific underwater conditions of the sea bottom, and so, to evaluate how this can affect, in a long term, in their durability and evolution when they part of an archaeological site. For this purpose, two types of marble (the Italian Carrara and the Spanish Macael) were subjected to an experiment consisting of exposing stone materials for one and a half year to underwater conditions. The experimental test was located in an archaeological site in the Bay of Cadiz (southern Spain), Bajo del Chapitel (recognized as Cultural Interest), which includes remains of shipwrecks from different periods. In this site, samples were submerged to 12 m depth and placed in the sea bottom simulating the different positions in which underwater archaeological objects can be found (fully exposed, half buried and covered). Petrophysical characterisation involved determination of the apparent and bulk densities, water saturation (maximum water content a material may contain), open porosity (porosity accessible to water), chromatic parameters and ultrasonic velocity. Before measuring, samples were subjected to mechanical cleaning (in those samples with biological colonization) and to removal of salt deposits. Results showed significant differences in these petrophysical properties after underwater submersion, which were directly related to the type of underwater exposure condition. Comparative analysis of petrophysical properties, like the one conducted in this study

  16. Classification of underwater targets from autonomous underwater vehicle sampled bistatic acoustic scattered fields.

    Science.gov (United States)

    Fischell, Erin M; Schmidt, Henrik

    2015-12-01

    One of the long term goals of autonomous underwater vehicle (AUV) minehunting is to have multiple inexpensive AUVs in a harbor autonomously classify hazards. Existing acoustic methods for target classification using AUV-based sensing, such as sidescan and synthetic aperture sonar, require an expensive payload on each outfitted vehicle and post-processing and/or image interpretation. A vehicle payload and machine learning classification methodology using bistatic angle dependence of target scattering amplitudes between a fixed acoustic source and target has been developed for onboard, fully autonomous classification with lower cost-per-vehicle. To achieve the high-quality, densely sampled three-dimensional (3D) bistatic scattering data required by this research, vehicle sampling behaviors and an acoustic payload for precision timed data acquisition with a 16 element nose array were demonstrated. 3D bistatic scattered field data were collected by an AUV around spherical and cylindrical targets insonified by a 7-9 kHz fixed source. The collected data were compared to simulated scattering models. Classification and confidence estimation were shown for the sphere versus cylinder case on the resulting real and simulated bistatic amplitude data. The final models were used for classification of simulated targets in real time in the LAMSS MOOS-IvP simulation package [M. Benjamin, H. Schmidt, P. Newman, and J. Leonard, J. Field Rob. 27, 834-875 (2010)].

  17. Ultra Deep Wave Equation Imaging and Illumination

    Energy Technology Data Exchange (ETDEWEB)

    Alexander M. Popovici; Sergey Fomel; Paul Sava; Sean Crawley; Yining Li; Cristian Lupascu

    2006-09-30

    In this project we developed and tested a novel technology, designed to enhance seismic resolution and imaging of ultra-deep complex geologic structures by using state-of-the-art wave-equation depth migration and wave-equation velocity model building technology for deeper data penetration and recovery, steeper dip and ultra-deep structure imaging, accurate velocity estimation for imaging and pore pressure prediction and accurate illumination and amplitude processing for extending the AVO prediction window. Ultra-deep wave-equation imaging provides greater resolution and accuracy under complex geologic structures where energy multipathing occurs, than what can be accomplished today with standard imaging technology. The objective of the research effort was to examine the feasibility of imaging ultra-deep structures onshore and offshore, by using (1) wave-equation migration, (2) angle-gathers velocity model building, and (3) wave-equation illumination and amplitude compensation. The effort consisted of answering critical technical questions that determine the feasibility of the proposed methodology, testing the theory on synthetic data, and finally applying the technology for imaging ultra-deep real data. Some of the questions answered by this research addressed: (1) the handling of true amplitudes in the downward continuation and imaging algorithm and the preservation of the amplitude with offset or amplitude with angle information required for AVO studies, (2) the effect of several imaging conditions on amplitudes, (3) non-elastic attenuation and approaches for recovering the amplitude and frequency, (4) the effect of aperture and illumination on imaging steep dips and on discriminating the velocities in the ultra-deep structures. All these effects were incorporated in the final imaging step of a real data set acquired specifically to address ultra-deep imaging issues, with large offsets (12,500 m) and long recording time (20 s).

  18. Deep sea AUV navigation using multiple acoustic beacons

    Science.gov (United States)

    Ji, Da-xiong; Song, Wei; Zhao, Hong-yu; Liu, Jian

    2016-04-01

    Navigation is a critical requirement for the operation of Autonomous Underwater Vehicles (AUVs). To estimate the vehicle position, we present an algorithm using an extended Kalman filter (EKF) to integrate dead-reckoning position with acoustic ranges from multiple beacons pre-deployed in the operating environment. Owing to high latency, variable sound speed multipath transmissions and unreliability in acoustic measurements, outlier recognition techniques are proposed as well. The navigation algorithm has been tested by the recorded data of deep sea AUV during field operations in a variety of environments. Our results show the improved performance over prior techniques based on position computation.

  19. H∞ control of a remotely operated underwater vehicle

    International Nuclear Information System (INIS)

    Conte, G.; Serrani, A.

    1994-01-01

    The paper discusses the application of H∞ control techniques to the design of a control system for a remotely operated underwater vehicle. As the main problem in defining a control strategy for such vehicles is the nonlinear and uncertain nature of the modeled dynamics, the robustness properties of H∞ controllers can in principle be used to provide stability and nominal performances for the closed loop system. Therefore, a control strategy based on a scheduling of such controllers has been proposed, and the overall performance of the closed loop system have been evaluated by means of nonlinear simulation in a broad range of working conditions, with particular attention to the effects of the underwater current that acts on the vehicle

  20. Development of a tentacle propulsion technique for underwater application

    International Nuclear Information System (INIS)

    Alamgir, T; Rashid, M M; Khan, M R

    2013-01-01

    As robotic technology matures and more platforms are fielded in unstructured real-world situations, the more new areas of applications are being thought for robotic deployment. After successes in industrial robots, researchers are now trying to explore new robots with biological features of different biological creatures like, snake, bird, and spider for their stunning advantages. Underwater exploration using robots is a new avenue. Research on the tentacle robot for underwater application is a new field of research besides the other research in this arena. There are few researches on this topic are explored and mostly are on biological robot. Besides those researches this paper aims to propose and demonstrate another technique to build a tentacle for propulsion purposes. Therefore, in this paper will discuss more on mathematical development for the propulsion technique and its software verification technique in considering the environmental constrains

  1. SOUNET: Self-Organized Underwater Wireless Sensor Network

    Directory of Open Access Journals (Sweden)

    Hee-won Kim

    2017-02-01

    Full Text Available In this paper, we propose an underwater wireless sensor network (UWSN named SOUNET where sensor nodes form and maintain a tree-topological network for data gathering in a self-organized manner. After network topology discovery via packet flooding, the sensor nodes consistently update their parent node to ensure the best connectivity by referring to the timevarying neighbor tables. Such a persistent and self-adaptive method leads to high network connectivity without any centralized control, even when sensor nodes are added or unexpectedly lost. Furthermore, malfunctions that frequently happen in self-organized networks such as node isolation and closed loop are resolved in a simple way. Simulation results show that SOUNET outperforms other conventional schemes in terms of network connectivity, packet delivery ratio (PDR, and energy consumption throughout the network. In addition, we performed an experiment at the Gyeongcheon Lake in Korea using commercial underwater modems to verify that SOUNET works well in a real environment.

  2. SOUNET: Self-Organized Underwater Wireless Sensor Network.

    Science.gov (United States)

    Kim, Hee-Won; Cho, Ho-Shin

    2017-02-02

    In this paper, we propose an underwater wireless sensor network (UWSN) named SOUNET where sensor nodes form and maintain a tree-topological network for data gathering in a self-organized manner. After network topology discovery via packet flooding, the sensor nodes consistently update their parent node to ensure the best connectivity by referring to the timevarying neighbor tables. Such a persistent and self-adaptive method leads to high network connectivity without any centralized control, even when sensor nodes are added or unexpectedly lost. Furthermore, malfunctions that frequently happen in self-organized networks such as node isolation and closed loop are resolved in a simple way. Simulation results show that SOUNET outperforms other conventional schemes in terms of network connectivity, packet delivery ratio (PDR), and energy consumption throughout the network. In addition, we performed an experiment at the Gyeongcheon Lake in Korea using commercial underwater modems to verify that SOUNET works well in a real environment.

  3. Development of underwater robot for taking off marine life

    International Nuclear Information System (INIS)

    Hirai, Harumi; Wakamatsu, Kazuhiko; Ueda, Ryohei; Edahiro, Kyosuke; Hayashi, Shunichi.

    1983-01-01

    Fouling by marine life growths in the cooling water system at seaside power generating stations is a major problem in the maintenance of a safe and efficient operation. Ingress of released growths into the condensers and coolers often jeopardizes their tube life and performance by clogging and/or tube corrosion. Many stations are obliged to remove periodically the growths manually after drying-out the system or by divers at considerable expenditure in time and money. A new remote-controlled underwater robot is developed for brushing marine life off cooling water intake channels of thermal and nuclear power generation plants. This robot consists of an underwater working unit, a power supply system, hydraulic hose take-up unit and controlling equipment. The full hydraulically powered robot, which can be used for both open and closed conduits, permits cleaning under water intake servicing condition. It drastically reduces both time and cost. (author)

  4. Development of underwater camera using high-definition camera

    International Nuclear Information System (INIS)

    Tsuji, Kenji; Watanabe, Masato; Takashima, Masanobu; Kawamura, Shingo; Tanaka, Hiroyuki

    2012-01-01

    In order to reduce the time for core verification or visual inspection of BWR fuels, the underwater camera using a High-Definition camera has been developed. As a result of this development, the underwater camera has 2 lights and 370 x 400 x 328mm dimensions and 20.5kg weight. Using the camera, 6 or so spent-fuel IDs are identified at 1 or 1.5m distance at a time, and 0.3mmφ pin-hole is recognized at 1.5m distance and 20 times zoom-up. Noises caused by radiation less than 15 Gy/h are not affected the images. (author)

  5. Isolation and biochemical characterization of underwater adhesives from diatoms.

    Science.gov (United States)

    Poulsen, Nicole; Kröger, Nils; Harrington, Matthew J; Brunner, Eike; Paasch, Silvia; Buhmann, Matthias T

    2014-01-01

    Many aquatic organisms are able to colonize surfaces through the secretion of underwater adhesives. Diatoms are unicellular algae that have the capability to colonize any natural and man-made submerged surfaces. There is great technological interest in both mimicking and preventing diatom adhesion, yet the biomolecules responsible have so far remained unidentified. A new method for the isolation of diatom adhesive material is described and its amino acid and carbohydrate composition determined. The adhesive materials from two model diatoms show differences in their amino acid and carbohydrate compositions, but also share characteristic features including a high content of uronic acids, the predominance of hydrophilic amino acid residues, and the presence of 3,4-dihydroxyproline, an extremely rare amino acid. Proteins containing dihydroxyphenylalanine, which mediate underwater adhesion of mussels, are absent. The data on the composition of diatom adhesives are consistent with an adhesion mechanism based on complex coacervation of polyelectrolyte-like biomolecules.

  6. Electrostatic images for underwater anisotropic conductive half spaces

    International Nuclear Information System (INIS)

    Flykt, M.; Lindell, I.; Eloranta, E.

    1998-01-01

    A static image principle makes it possible to derive analytical solutions to some basic geometries for DC fields. The underwater environment is especially difficult both from the theoretical and practical point of view. However, there are increasing demands that also the underwater geological formations should be studied in detail. The traditional image of a point source lies at the mirror point of the original. When anisotropic media is involved, however, the image location can change and the image source may be a continues, sector-like distribution. In this paper some theoretical considerations are carried out in the case where the lower half space can have a very general anisotropy in terms of electrical conductivity, while the upper half space is assumed isotropic. The reflection potential field is calculated for different values of electrical conductivity. (orig.)

  7. Cosmic ray muons and their associated shower particles underwater

    International Nuclear Information System (INIS)

    Anderson, S.N.

    1978-01-01

    The nucleonic contamination of the underwater cosmic ray muon flux is studied as a function of depth. Stacks of Ilford G-5 photographic emulsions were assembled and processed in an underground laboratory (9 hg/cm 2 below sea level). In between the assembly and the development they were exposed, stored in small pressure chambers, at various depths underwater for periods of time up to six months. At each depth approximately 10 cm 3 of emulsion were scanned for stopping particles and nuclear disintegrations. Altogether approximately 2000 stopping muons, 50 stopping mesons, and 200 recoil protons were found and analyzed. Comparison with theories as to how the underground cosmic ray muon beam produces a secondary flux of nuclearly active particles are made. Additionally measurements on the residue flux at 440mwe underground are made. Projected rates from the shallow depth studies are used to analyze the results at large depth. Anomalous particle production is observed at the large depth

  8. Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments

    Directory of Open Access Journals (Sweden)

    Juan David Hernández

    2016-07-01

    Full Text Available We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV. To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario.

  9. Underwater lidar system: design challenges and application in pollution detection

    Science.gov (United States)

    Gupta, Pradip; Sankolli, Swati; Chakraborty, A.

    2016-05-01

    The present remote sensing techniques have imposed limitations in the applications of LIDAR Technology. The fundamental sampling inadequacy of the remote sensing data obtained from satellites is that they cannot resolve in the third spatial dimension, the vertical. This limits our possibilities of measuring any vertical variability in the water column. Also the interaction between the physical and biological process in the oceans and their effects at subsequent depths cannot be modeled with present techniques. The idea behind this paper is to introduce underwater LIDAR measurement system by using a LIDAR mounted on an Autonomous Underwater Vehicle (AUV). The paper introduces working principles and design parameters for the LIDAR mounted AUV (AUV-LIDAR). Among several applications the papers discusses the possible use and advantages of AUV-LIDAR in water pollution detection through profiling of Dissolved Organic Matter (DOM) in water bodies.

  10. First hvdc underwater transmission links mainland and Vancouver

    Energy Technology Data Exchange (ETDEWEB)

    1967-06-01

    Delicate and complex equipment for North America's first hvdc underwater transmission line is being installed. The power link will connect British Columbia Hydro and power authority's switchyards on the mainland near Ladner with the western terminus of the transmission scheme at Duncan on Vancouver Island, a distance of 42 miles. Nearly 19 miles of the transmission will be underwater, between Tsawwassen and Galiano Island, and between Parker and Saltspring Islands. The remaining distance will be spanned by a conventional aerial conductor. The submarine conductor cable will be approximately 3-1/2 inches in diameter and its copper core will be sheathed in lead and armored with a ring of steel wire. The cable, which is being manufactured in Calais, France, and coiled in a planned sequence aboard the cable laying vessel, Marcel Bayard, will be placed across the Gulf of Georgia in the spring of 1968.

  11. NBL Pistol Grip Tool for Underwater Training of Astronauts

    Science.gov (United States)

    Liszka, Michael; Ashmore, Matthew; Behnke, Mark; Smith, Walter; Waterman, Tod

    2011-01-01

    A document discusses a lightweight, functional mockup of the Pistol Grip Tool for use during underwater astronaut training. Previous training tools have caused shoulder injuries. This new version is more than 50 percent lighter [in water, weight is 2.4 lb (=1.1 kg)], and can operate for a six-hour training session after 30 minutes of prep for submersion. Innovations in the design include the use of lightweight materials (aluminum and Delrin(Registered TradeMark)), creating a thinner housing, and the optimization of internal space with the removal of as much excess material as possible. This reduces tool weight and maximizes buoyancy. Another innovation for this tool is the application of a vacuum that seats the Orings in place and has shown to be reliable in allowing underwater usage for up to six hours.

  12. In-air and underwater hearing of the cormorant

    DEFF Research Database (Denmark)

    Larsen, Ole Næsbye; Wahlberg, Magnus; Christensen-Dalsgaard, Jakob

    Numerous studies have mapped the hearing abilities of birds in air but currently there is little or no data on how diving birds hear or react to sound under water. Therefore, it is unknown whether the ears and auditory system of diving birds are adapted to underwater hearing. In the present study...... 10 cm under water in a large water filled-tank while being artificially ventilated. ABR-responses to calibrated tone bursts produced by a woofer and an underwater speaker, respectively, were measured at different intensities and frequencies to obtain hearing threshold values in air and under water......Hz) under water. Generally, the cormorant ear was not very sensitive to sound, neither in air nor under water. The hearing abilities in water, however, were better than what would have been expected for a purely in-air adapted ear. (Supported by the Carlsberg Foundation 2009_01_0292 and the Danish Council...

  13. Microcontroller-based underwater acoustic ECG telemetry system.

    Science.gov (United States)

    Istepanian, R S; Woodward, B

    1997-06-01

    This paper presents a microcontroller-based underwater acoustic telemetry system for digital transmission of the electrocardiogram (ECG). The system is designed for the real time, through-water transmission of data representing any parameter, and it was used initially for transmitting in multiplexed format the heart rate, breathing rate and depth of a diver using self-contained underwater breathing apparatus (SCUBA). Here, it is used to monitor cardiovascular reflexes during diving and swimming. The programmable capability of the system provides an effective solution to the problem of transmitting data in the presence of multipath interference. An important feature of the paper is a comparative performance analysis of two encoding methods, Pulse Code Modulation (PCM) and Pulse Position Modulation (PPM).

  14. The cormorant ear – an adaptation to underwater hearing?

    DEFF Research Database (Denmark)

    Larsen, Ole Næsbye; Wahlberg, Magnus; Christensen-Dalsgaard, Jakob

    Depending on species, diving birds may spend 2-20 minutes under water during a single foraging dive when they may reach depths ranging from one to several hundred meters. Surprisingly little is known about avian underwater hearing despite the fact that several hundred species dive for food. We do...... was similar to that reported for birds of the same size in air. The bandwidth and slopes of the audiograms were similar in air and water. However, in air the highest sensitivity was found at 1-2 kHz, whereas it was displaced towards lower frequencies under water. These results suggest that cormorants have...... rather poor in-air hearing compared to similar-sized birds. Their underwater hearing sensitivity, however, is higher than what would have been expected for purely air-adapted ears. A possible reason for the poor in-air sensitivity is the special ear anatomy with the central eardrum shaped as a rigid...

  15. Effect of Surface Coatings on Cylinders Exposed to Underwater Shock

    Directory of Open Access Journals (Sweden)

    Y.W. Kwon

    1994-01-01

    Full Text Available The response of a coated cylinder (metallic cylinder coated with a rubber material subjected to an underwater explosion is analyzed numerically. The dynamic response of the coated cylinder appears to be adversely affected when impacted by an underwater shock wave under certain conditions of geometry and material properties of the coating. When adversely affected, significant deviations in values of axial stress, hoop stress, and strain are observed. The coated cylinder exhibits a larger deformation and higher internal energy in the metallic material. Rubber coatings appeared to inhibit energy dissipation from the metallic material to the surrounding water medium. A parametric study of various coatings was performed on both aluminum and steel cylinders. The adverse effect of the coating decreased when the stiffness of the rubber layer increased, indicating the existence of a threshold value. The results of this study indicate that the stiffness of the coating is a critical factor to the shock hardening of the coated cylinder.

  16. Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

    OpenAIRE

    Kia, Chua; Arshad, Mohd Rizal

    2006-01-01

    This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system ...

  17. Emerging from Water: Underwater Image Color Correction Based on Weakly Supervised Color Transfer

    OpenAIRE

    Li, Chongyi; Guo, Jichang; Guo, Chunle

    2017-01-01

    Underwater vision suffers from severe effects due to selective attenuation and scattering when light propagates through water. Such degradation not only affects the quality of underwater images but limits the ability of vision tasks. Different from existing methods which either ignore the wavelength dependency of the attenuation or assume a specific spectral profile, we tackle color distortion problem of underwater image from a new view. In this letter, we propose a weakly supervised color tr...

  18. A PROPOSAL FOR A SUSTAINABLE MODEL BASED UPON UNDERWATER TOURISM RESEARCH IN AYVALIK

    Directory of Open Access Journals (Sweden)

    A. GÖKDENİZ

    2013-03-01

    Full Text Available Underwater sports are the activities being done with the aims of witnessing the beauties, hunting, taking photos, the ecology and the archaeology of underwater analysing or finding out the human being’s boundaries by improving the physical and psychological skills of men. The initial aim of this project is to increase the underwater flora and the fauna heritage of Ayvalık and to bring them in tourism. Ayvalık is on the west coast of Turkey. It is getting more and more famous with its underwater richness. Also, to form a new underwater sports centre in order to contribute to the improvement of the region. By providing visual attractiveness, the tourists related to underwater sports will pay attention to Ayvalık and underwater tourism will contribute much to the economy of the region. The aim of this project is to improve the underwater sports which is now a hobby than a sport. In Ayvalık Underwater World study, we dealt with 247 divers and 4 underwater sports club. In this study, we analysed the expectation, satisfaction, demographic and economic level of 247 divers about the services in the region. Interview technique has been used in the study on the 4 underwater sports clubs which are hosting divers. As a conclusion, a report has been prepared in which detailed information and proposals are presented by developing a sustainable marketing model concerned with the underwater sports for those who want to possess information, shareholders of the sector and make analyse about tourism.

  19. Apparatus for Changing the Attack Angle of a Cavitator on a Supercavatating Underwater Research Model

    Science.gov (United States)

    2005-07-18

    the Invention 14 The present invention generally relates to an apparatus 15 for changing the attack of a cavitator on a supercavitating 16 underwater...research model. 17 2. Description of the Prior Art 18 Supercavitating underwater vehicles and projectiles are 19 known in the art. One such... supercavitating underwater 20 projectile is described in Harkins et al., U.S. Patent No. 21 5,955,698. This projectile uses a supercavitating nose 22 section that

  20. Echoes from the deep - Communication scheduling, localization and time-synchronization in underwater acoustic sensor networks.

    NARCIS (Netherlands)

    van Kleunen, W.A.P.

    2014-01-01

    Wireless Sensor Networks (WSNs) caused a shift in the way things are monitored. While traditional monitoring was coarse-grained and offline, using WSNs allows fine-grained and real-time monitoring. While radio-based WSNs are growing out of the stage of research to commercialization and widespread

  1. Diver Operated Tools and Applications for Underwater Construction

    Science.gov (United States)

    1987-01-01

    Performing underwater tasks can distract the diver from observing mandatory safety precautions and therefore he must be hlert and knowledgeable about...Insulating layer when heat loss, their blood flow is reduced to protect the core. Entry into cold water is itself a shock that can distract Once in the...torahhesfc. fotadpossibly a minor case of hemorrhage into the If the maxillary sinus is involved, the blood supply to skin from pinching, the inf

  2. A new electronic control system for unmanned underwater vehicles

    OpenAIRE

    Molina Molina, J.C.; Guerrero González, A.; Gilabert, J.

    2015-01-01

    In this paper a new electronic control system for unmanned underwater vehicles is presented. This control system is characterized by a distribution in control over two network of type CANBus and Ethernet. This new electronic control system integrates functionalities of AUVs, as the automatic execution of preprogrammed trajectories. The control system also integrates an acoustic positioning system based on USBL. The information of relative positioning is sent through specific...

  3. Development of a handling technology for underwater inspection and dismantling

    International Nuclear Information System (INIS)

    Rose, N.

    1994-01-01

    For the purpose of underwater inspection and dismantling of nuclear facilities, a prototype of a freely submersible, remote-controlled handling system was developed and tested under laboratory conditions. Particular interest was taken in the specific boundary conditions of the area of application and the methodological concept. The system was developed in three phases; in each phase, a prototype was constructed and tested. (orig.) [de

  4. Improvements in or relating to the inspection of underwater structures

    International Nuclear Information System (INIS)

    Caldecourt, L.R.; Evans, G.V.; Parsons, T.V.

    1980-01-01

    A radiation detector is described, for use in the inspection of underwater structures, which is capable of withstanding high pressures and arduous marine conditions. The ingress of water into the body of the radiation detector tube is prevented by the use of a resilient waterproof compound. Marine structures incorporating such radiation detectors are described, whereby the presence or density of flowing cement grout in the legs of an offshore platform may be determined. (U.K.)

  5. An algebraic perspective to single-transponder underwater navigation

    DEFF Research Database (Denmark)

    Jouffroy, Jerome; Reger, Johann

    This paper studies the position estimation of an underwater vehicle using a single acoustic transponder. The chosen estimation approach is based on nonlinear differential algebraic methods which allow to express very simply conditions for observability. These are then used in combination with an ...... with an integrator-based time-derivative estimation technique to design an algebraic estimator, which, contrary to asymptotic observers, does not require sometimes tedious convergence verification. Simple simulation results are presented to illustrate the approach....

  6. Advanced flooding-based routing protocols for underwater sensor networks

    OpenAIRE

    Isufi, E.; Dol, H.; Leus, G.J.T.

    2016-01-01

    Flooding-based protocols are a reliable solution to deliver packets in underwater sensor networks. However, these protocols potentially involve all the nodes in the forwarding process. Thus, the performance and energy efficiency are not optimal. In this work, we propose some advances of a flooding-based protocol with the goal to improve the performance and the energy efficiency. The first idea considers the node position information in order to reduce the number of relays that may apply flood...

  7. Numerical Computational Technique for Scattering from Underwater Objects

    OpenAIRE

    T. Ratna Mani; Raj Kumar; Odamapally Vijay Kumar

    2013-01-01

    This paper presents a computational technique for mono-static and bi-static scattering from underwater objects of different shape such as submarines. The scatter has been computed using finite element time domain (FETD) method, based on the superposition of reflections, from the different elements reaching the receiver at a particular instant in time. The results calculated by this method has been verified with the published results based on ramp response technique. An in-depth parametric s...

  8. Localization Algorithms of Underwater Wireless Sensor Networks: A Survey

    Science.gov (United States)

    Han, Guangjie; Jiang, Jinfang; Shu, Lei; Xu, Yongjun; Wang, Feng

    2012-01-01

    In Underwater Wireless Sensor Networks (UWSNs), localization is one of most important technologies since it plays a critical role in many applications. Motivated by widespread adoption of localization, in this paper, we present a comprehensive survey of localization algorithms. First, we classify localization algorithms into three categories based on sensor nodes’ mobility: stationary localization algorithms, mobile localization algorithms and hybrid localization algorithms. Moreover, we compare the localization algorithms in detail and analyze future research directions of localization algorithms in UWSNs. PMID:22438752

  9. World's longest underwater line part of new dc transmission link

    Energy Technology Data Exchange (ETDEWEB)

    1967-04-01

    The world's seventh dc transmission system including the world's longest underwater power cable is now operative. The system, linking the Italian Mainland with Sardinia, was designed and engineered by the English Electric Co. Ltd. It will ensure a constant power supply for Sardinia and allow export of 200 MW of power to the Tuscany area in Italy. Proving test began on the link in Decmeber and continued until full demand is made on it from Italy.

  10. Oil/gas collector/separator for underwater oil leaks

    International Nuclear Information System (INIS)

    Henning, C.D.

    1993-01-01

    An oil/gas collector/separator for underwater oil leaks is described comprising: a cylindrical tank; a hollow float member for supporting said tank in a substantially upright position; a skirt assembly secured to said hollow float member and extending in a direction away from said float member opposite said tank; means for removing oil from said tank; and means for removing gas from said tank

  11. Comparison of Scheimpflug imaging parameters between steep and keratoconic corneas of Caucasian eyes

    Directory of Open Access Journals (Sweden)

    Huseynova T

    2016-04-01

    Full Text Available Tukezban Huseynova,1 Farah Abdulaliyeva,2 Michele Lanza3 1Briz-L Eye Clinic, 2National Ophthalmology Center, Baku, Azerbaijan; 3Second University of Naples, Caserta, Campania, Italy Purpose: To compare the keratometric and pachymetric parameters of healthy eyes with those affected by steep cornea and keratoconus (KC using Scheimpflug camera.Setting: Briz-L Eye Clinic, Baku, Azerbaijan.Design: A cross-sectional study.Methods: In this study, 49 KC (Amsler–Krumeich stage 1 eyes and 36 healthy eyes were enrolled. A complete ophthalmic evaluation and a Scheimpflug camera scan were performed in every eye included in the study. Tomographic parameters such as parameters from the front and back cornea, maximum keratometry reading (Kmax, corneal volume (CV, anterior chamber volume (ChV, anterior chamber depth (ACD, anterior chamber angle (AC angle, keratometric power deviation (KPD, maximum front elevation (Max FE, and maximum back elevation (Max BE, as well as pachymetric progression indices (PPI, Ambrosio relational thickness (ART, index of surface variance (ISV, index of vertical asymmetry (IVA, center keratoconus index (CKI, index of height asymmetry (IHA, index of height decentration (IHD, and radius minimum (RM were collected and statistically compared between the two groups.Results: PPI, ART, ISV, IVA, CKI, IHA, IHD, and RM parameter values were significantly different (P<0.05 between the KC and healthy eyes. There were no significant differences in K mean and Q values of the frontal corneal parameters, as well as in Kmax, AC angle, RM, back, and front astigmatism, between stage 1 keratoconic and normal Caucasian eyes with steep cornea. All other parameters such as K mean and Q values of the back corneal parameters, Max FE, Max BE, ACD, ChV, and CV showed significant differences between the groups (P<0.05 for all. Conclusion: Scheimpflug imaging is able to detect corneal morphological differences between stage 1 KC eyes and healthy eyes with

  12. On the Accuracy Potential in Underwater/Multimedia Photogrammetry.

    Science.gov (United States)

    Maas, Hans-Gerd

    2015-07-24

    Underwater applications of photogrammetric measurement techniques usually need to deal with multimedia photogrammetry aspects, which are characterized by the necessity of handling optical rays that are refracted at interfaces between optical media with different refractive indices according to Snell's Law. This so-called multimedia geometry has to be incorporated into geometric models in order to achieve correct measurement results. The paper shows a flexible yet strict geometric model for the handling of refraction effects on the optical path, which can be implemented as a module into photogrammetric standard tools such as spatial resection, spatial intersection, bundle adjustment or epipolar line computation. The module is especially well suited for applications, where an object in water is observed by cameras in air through one or more planar glass interfaces, as it allows for some simplifications here. In the second part of the paper, several aspects, which are relevant for an assessment of the accuracy potential in underwater/multimedia photogrammetry, are discussed. These aspects include network geometry and interface planarity issues as well as effects caused by refractive index variations and dispersion and diffusion under water. All these factors contribute to a rather significant degradation of the geometric accuracy potential in underwater/multimedia photogrammetry. In practical experiments, a degradation of the quality of results by a factor two could be determined under relatively favorable conditions.

  13. Measurement and Modeling of Narrowband Channels for Ultrasonic Underwater Communications

    Directory of Open Access Journals (Sweden)

    Francisco J. Cañete

    2016-02-01

    Full Text Available Underwater acoustic sensor networks are a promising technology that allow real-time data collection in seas and oceans for a wide variety of applications. Smaller size and weight sensors can be achieved with working frequencies shifted from audio to the ultrasonic band. At these frequencies, the fading phenomena has a significant presence in the channel behavior, and the design of a reliable communication link between the network sensors will require a precise characterization of it. Fading in underwater channels has been previously measured and modeled in the audio band. However, there have been few attempts to study it at ultrasonic frequencies. In this paper, a campaign of measurements of ultrasonic underwater acoustic channels in Mediterranean shallow waters conducted by the authors is presented. These measurements are used to determine the parameters of the so-called κ-μ shadowed distribution, a fading model with a direct connection to the underlying physical mechanisms. The model is then used to evaluate the capacity of the measured channels with a closed-form expression.

  14. Simulation of the behavior of pressurized underwater concrete

    Directory of Open Access Journals (Sweden)

    Ashraf Mohamed Heniegal

    2015-06-01

    Full Text Available Under-Water Concrete (UWC contains Anti-Washout Admixtures (AWA (0.0%, 0.2%, 0.3%, 0.4% and 0.5% by weight of cement with cement contents (400, 450, 500 and 550 kg/m3. All concrete mix contains silica fume and high-range water reducing (15% and 4% respectively by weight of cement. The fine to steel slag coarse aggregate was 1:1. The concrete mix was tested for slump, slump flow, compressive strength and washout resistance using two test methods based on different principles. The first method is the plunge test CRDC61 which is widely used in North America, and the second method is the pressurized air tube which has been manufactured for this research and developed to simulate the effect of water pressure on washout resistance of underwater mix. The results of compressive strength test were compared to concrete cast underwater with that cast in air. Test results indicated that the use of an AWA facilitates the production of UWC mix with the added benefit of lower washout resistance. New technique of simulating pressurized UWC is reliable for detecting UWC properties. Adding AWA (0.3–0.5% by weight of cement makes all mix acceptable according to Japanese Society of Civil Engineers.

  15. Computer Simulations Imply Forelimb-Dominated Underwater Flight in Plesiosaurs.

    Directory of Open Access Journals (Sweden)

    Shiqiu Liu

    2015-12-01

    Full Text Available Plesiosaurians are an extinct group of highly derived Mesozoic marine reptiles with a global distribution that spans 135 million years from the Early Jurassic to the Late Cretaceous. During their long evolutionary history they maintained a unique body plan with two pairs of large wing-like flippers, but their locomotion has been a topic of debate for almost 200 years. Key areas of controversy have concerned the most efficient biologically possible limb stroke, e.g. whether it consisted of rowing, underwater flight, or modified underwater flight, and how the four limbs moved in relation to each other: did they move in or out of phase? Previous studies have investigated plesiosaur swimming using a variety of methods, including skeletal analysis, human swimmers, and robotics. We adopt a novel approach using a digital, three-dimensional, articulated, free-swimming plesiosaur in a simulated fluid. We generated a large number of simulations under various joint degrees of freedom to investigate how the locomotory repertoire changes under different parameters. Within the biologically possible range of limb motion, the simulated plesiosaur swims primarily with its forelimbs using an unmodified underwater flight stroke, essentially the same as turtles and penguins. In contrast, the hindlimbs provide relatively weak thrust in all simulations. We conclude that plesiosaurs were forelimb-dominated swimmers that used their hind limbs mainly for maneuverability and stability.

  16. Status on underwater plasma arc cutting in KHI, 3

    International Nuclear Information System (INIS)

    Abe, Tadashi; Aota, Toshiichi; Nishizaki, Tadashi; Nakayama, Shigeru; Yamashita, Seiji

    1983-01-01

    In Kawasaki Heavy Industries, Ltd., the development of a remote dismantling system by underwater plasma arc cutting process has been advanced, expecting its application to the dismantling and removal of nuclear reactor facilities. In the previous two reports, the fundamental experimental results such as the comparison of the cutting capability in air and in water were shown, but this time, the remote automatic cutting of wedge-shaped specimens was carried out, using a newly installed manipulator for underwater works, therefore its outline is reported. Also the cutting experiment by overhead position and vertical position was performed by using the same equipment, and comparison was made with the cutting capability by downhand and horizontal positions. It is important to grasp the cutting characteristics in the case of upward advancing and downward advancing cuttings by overhead and vertical positions when the cutting of pressure vessels and horizontal pipes into rings is supposed. The experimental apparatus, the cutting conditions, the testing method and the test results of the cutting capability test, the test of changing direction during cutting, and the remote cutting of pipes into rings are described. The underwater plasma arc cutting can cut all metals, the cutting speed is relatively high, and the apparatus is simple and compact. (Kako, I.)

  17. Cognitive Routing in Software-Defined Underwater Acoustic Networks

    Directory of Open Access Journals (Sweden)

    Huma Ghafoor

    2017-12-01

    Full Text Available There are two different types of primary users (natural acoustic and artificial acoustic, and there is a long propagation delay for acoustic links in underwater cognitive acoustic networks (UCANs. Thus, the selection of a stable route is one of the key design factors for improving overall network stability, thereby reducing end-to-end delay. Software-defined networking (SDN is a novel approach that improves network intelligence. To this end, we propose a novel SDN-based routing protocol for UCANs in order to find a stable route between source and destination. A main controller is placed in a surface buoy that is responsible for the global view of the network, whereas local controllers are placed in different autonomous underwater vehicles (AUVs that are responsible for a localized view of the network. The AUVs have fixed trajectories, and sensor nodes within transmission range of the AUVs serve as gateways to relay the gathered information to the controllers. This is an SDN-based underwater communications scheme whereby two nodes can only communicate when they have a consensus about a common idle channel. To evaluate our proposed scheme, we perform extensive simulations and improve network performance in terms of end-to-end delay, delivery ratio, and overhead.

  18. Development of underwater and hyperbaric medicine in Malaysia.

    Science.gov (United States)

    Rozali, A; Rampal, K G; Zin, B Mohd; Sherina, M S; Khairuddin, H; Abd Halim, M; Sulaiman, A

    2006-12-01

    Underwater and Hyperbaric Medicine is a treatment modality gaining recognition in Malaysia. It uses the hyperbaric oxygen therapy (HBOT) approach where patients are placed in recompression chambers and subjected to oxygen therapy under pressure. In Malaysia it was introduced as early as the 1960's by the Royal Malaysian Navy to treat their divers for decompression illness (DCI), arterial gas embolism (AGE) and barotraumas. Other sectors in the armed forces, universities and private health centres began developing this approach too in the late 1990's, for similar purposes. In 1996, Underwater and Hyperbaric Medicine began gaining its popularity when the Institute of Underwater and Hyperbaric Medicine at the Armed Forces Hospital in Lumut started treating specific clinical diseases such as diabetic foot ulcers, osteomyelitis, and carbon monoxide poisoning and other diseases using HBOT. This paper discusses the development of this interesting treatment modality, giving a brief historical overview to its current development, as well as provides some thought for its future development in Malaysia.

  19. Localization of Energy Harvesting Empowered Underwater Optical Wireless Sensor Networks

    KAUST Repository

    Saeed, Nasir

    2017-12-20

    In this paper, a received signal strength (RSS) based localization technique is developed for energy harvesting underwater optical wireless sensor networks (EH-UOWSNs), where the optical noise sources and channel impairments of seawater pose significant challenges for range estimation. Energy limitation is another major problem due to the limited battery power and difficulty in replacing or recharging the battery of an underwater sensor node. In the proposed framework, sensor nodes with insufficient battery, harvest the energy and starts communicating once it has sufficient energy storage. Network localization is carried out by measuring the RSSs of active nodes, which are modeled based on the underwater optical communication channel characteristics. Thereafter, block kernel matrices are computed for the RSS based range measurements. Unlike the traditional shortest-path approach, the proposed technique reduces the shortest path estimation for each block kernel matrix. Once the complete block kernel matrices are available, a closed form localization technique is developed to find the location of every optical sensor node in the network. Furthermore, an analytical expression for Cramer Rao lower bound (CRLB) is derived as a benchmark to compare the localization performance of the proposed technique. Finally, extensive simulations show that the proposed technique outperforms the well-known network localization techniques.

  20. Multibeam 3D Underwater SLAM with Probabilistic Registration

    Directory of Open Access Journals (Sweden)

    Albert Palomer

    2016-04-01

    Full Text Available This paper describes a pose-based underwater 3D Simultaneous Localization and Mapping (SLAM using a multibeam echosounder to produce high consistency underwater maps. The proposed algorithm compounds swath profiles of the seafloor with dead reckoning localization to build surface patches (i.e., point clouds. An Iterative Closest Point (ICP with a probabilistic implementation is then used to register the point clouds, taking into account their uncertainties. The registration process is divided in two steps: (1 point-to-point association for coarse registration and (2 point-to-plane association for fine registration. The point clouds of the surfaces to be registered are sub-sampled in order to decrease both the computation time and also the potential of falling into local minima during the registration. In addition, a heuristic is used to decrease the complexity of the association step of the ICP from O ( n 2 to O ( n . The performance of the SLAM framework is tested using two real world datasets: First, a 2.5D bathymetric dataset obtained with the usual down-looking multibeam sonar configuration, and second, a full 3D underwater dataset acquired with a multibeam sonar mounted on a pan and tilt unit.

  1. Multiuser chirp modulation for underwater acoustic channel based on VTRM

    Directory of Open Access Journals (Sweden)

    Fei Yuan

    2017-05-01

    Full Text Available In this paper, an ascheme is proposed for multiuser underwater acoustic communication by using the multi-chirp rate signals. It differs from the well known TDMA (Time Division Multiple Access, FDMA (Frequency Division Multiple Access or CDMA (Code Division Multiple Access, by assigning each users with different chirp-rate carriers instead of the time, frequency or PN code. Multi-chirp rate signals can be separated from each other by FrFT (Fractional Fourier Transform, which can be regarded as the chirp-based decomposing, and superior to the match filter in the underwater acoustic channel. VTRM (Virtual Time Reverse Mirror is applied into the system to alleviate the ISI caused by the multipatch and make the equalization more simple. Results of computer simulations and pool experiments prove that the proposed multiuser underwater acoustic communication based on the multi-chirp rate exhibit well performance. Outfield experments carrie out in Xiamen Port show that using about 10 kHz bandwidth, four users could communicate at the same time with 425 bps with low BER and can match the UAC application.

  2. Underwater Electromagnetic Sensor Networks—Part I: Link Characterization

    Directory of Open Access Journals (Sweden)

    Gara Quintana-Díaz

    2017-01-01

    Full Text Available Underwater Wireless Sensor Networks (UWSNs using electromagnetic (EM technology in marine shallow waters are examined, not just for environmental monitoring but for further interesting applications. Particularly, the use of EM waves is reconsidered in shallow waters due to the benefits offered in this context, where acoustic and optical technologies have serious disadvantages. Sea water scenario is a harsh environment for radiocommunications, and there is no standard model for the underwater EM channel. The high conductivity of sea water, the effect of seabed and the surface make the behaviour of the channel hard to predict. This justifies the need of link characterization as the first step to approach the development of EM underwater sensor networks. To obtain a reliable link model, measurements and simulations are required. The measuring setup for this purpose is explained and described, as well as the procedures used. Several antennas have been designed and tested in low frequency bands. Agreement between attenuation measurements and simulations at different distances was analysed and made possible the validation of simulation setups and the design of different communications layers of the system. This leads to the second step of this work, where data and routing protocols for the sensor network are examined.

  3. Development of underwater YAG laser repair welding robots for tanks

    International Nuclear Information System (INIS)

    Miwa, Yasuhiro; Satoh, Syuichi; Ito, Kosuke; Kochi, Tsutomu; Kojima, Toshio; Ohwaki, Katsura; Morita, Ichiro

    1999-01-01

    A remote-controlled repair welding robot which uses YAG laser welding technology in underwater environment was developed. This is an underwater robot technology combined with a laser welding technology. This report will describe the structure and performance of this robot, and the welding test results. The repair welding robot consists of two parts. The one is driving equipment, and the other is welding unit. It can swim in the tank, move around the tank wall, and stay on the welding area. After that it starts YAG laser repair welding. The target of this technology is inner surface repair of some tanks made of austenitic stainless steel, for example RW (Radioactive Waste) tanks. A degradation by General Corrosion and so on might be occurred at inner surface of these tanks in BWR type nuclear power plants. If the damaged area is wide, repair welding works are done. Some workers go into the tank and set up scaffolding after full drainage. In many cases it spends too much time for draining water and repair welding preparation. If the repair welding works can be done in underwater environment, the outage period will be reduced. This is a great advantage. (author)

  4. Event localization in underwater wireless sensor networks using Monitoring Courses

    KAUST Repository

    Debont, Matthew John Robert

    2012-08-01

    We propose m-courses (Monitoring Courses), a novel solution to localize events in an underwater wireless sensor network. These networks consists of surface gateways and relay nodes. GPS can localize the position of surface gateways which can then distribute their locations through the network using acoustic modems. Relay nodes are deployed to remain static, but these untethered nodes may drift due to water currents, resulting in disruption of communication links. We develop a novel underwater alarm system using a cyclic graph model. In the event of link failure, a series of alarm packets are broadcast in the network. These alarms are then captured by the underwater m-courses, which can also be used to assure network connectivity and identify node failures. M-courses also allow the network to localize events and identify network issues locally before forwarding results upwards to a Surface Gateway node. This reduces communication overhead and allows for efficient management of nodes in a mobile network. Our results show that m-course routing reduces the number of sends required to report an event to a Surface Gateway by up to 80% when compared to a naïve routing implementation.

  5. Validation of Underwater Sensor Package Using Feature Based SLAM

    Directory of Open Access Journals (Sweden)

    Christopher Cain

    2016-03-01

    Full Text Available Robotic vehicles working in new, unexplored environments must be able to locate themselves in the environment while constructing a picture of the objects in the environment that could act as obstacles that would prevent the vehicles from completing their desired tasks. In enclosed environments, underwater range sensors based off of acoustics suffer performance issues due to reflections. Additionally, their relatively high cost make them less than ideal for usage on low cost vehicles designed to be used underwater. In this paper we propose a sensor package composed of a downward facing camera, which is used to perform feature tracking based visual odometry, and a custom vision-based two dimensional rangefinder that can be used on low cost underwater unmanned vehicles. In order to examine the performance of this sensor package in a SLAM framework, experimental tests are performed using an unmanned ground vehicle and two feature based SLAM algorithms, the extended Kalman filter based approach and the Rao-Blackwellized, particle filter based approach, to validate the sensor package.

  6. Validation of Underwater Sensor Package Using Feature Based SLAM

    Science.gov (United States)

    Cain, Christopher; Leonessa, Alexander

    2016-01-01

    Robotic vehicles working in new, unexplored environments must be able to locate themselves in the environment while constructing a picture of the objects in the environment that could act as obstacles that would prevent the vehicles from completing their desired tasks. In enclosed environments, underwater range sensors based off of acoustics suffer performance issues due to reflections. Additionally, their relatively high cost make them less than ideal for usage on low cost vehicles designed to be used underwater. In this paper we propose a sensor package composed of a downward facing camera, which is used to perform feature tracking based visual odometry, and a custom vision-based two dimensional rangefinder that can be used on low cost underwater unmanned vehicles. In order to examine the performance of this sensor package in a SLAM framework, experimental tests are performed using an unmanned ground vehicle and two feature based SLAM algorithms, the extended Kalman filter based approach and the Rao-Blackwellized, particle filter based approach, to validate the sensor package. PMID:26999142

  7. The aquatic tympanic ear: convergent adaptations for underwater hearing in three tetrapods

    DEFF Research Database (Denmark)

    Christensen-Dalsgaard, Jakob; Wahlberg, Magnus; Larsen, Ole Næsbye

    pressure, low particle motion medium, and the consequence is that an efficient underwater ear is sensitive to sound pressure. It is often stated that underwater hearing can work efficiently without a middle ear apparatus by bone conduction, since sound is transmitted from water to inner ear tissue...... is modified (cartilaginous or partly cartilaginous). In all three species, the lowest threshold to underwater sound is at this peak frequency and is around 80 dB re 1 µPa. The sensitivity to sound pressure is slightly lower in water than in air, making underwater hearing much more efficient in terms of sound...

  8. Synthesis of a Controller for Swarming Robots Performing Underwater Mine Countermeasures

    National Research Council Canada - National Science Library

    Tan, Yong

    2004-01-01

    This Trident Scholar project involved the synthesis of a swarm controller that is suitable for controlling movements of a group of autonomous robots performing underwater mine countermeasures (UMCM...

  9. Restoration and Enhancement of Underwater Images Based on Bright Channel Prior

    Directory of Open Access Journals (Sweden)

    Yakun Gao

    2016-01-01

    Full Text Available This paper proposed a new method of underwater images restoration and enhancement which was inspired by the dark channel prior in image dehazing field. Firstly, we proposed the bright channel prior of underwater environment. By estimating and rectifying the bright channel image, estimating the atmospheric light, and estimating and refining the transmittance image, eventually underwater images were restored. Secondly, in order to rectify the color distortion, the restoration images were equalized by using the deduced histogram equalization. The experiment results showed that the proposed method could enhance the quality of underwater images effectively.

  10. Development of a digital automatic control law for steep glideslope capture and flare

    Science.gov (United States)

    Halyo, N.

    1977-01-01

    A longitudinal digital guidance and control law for steep glideslopes using MLS (Microwave Landing System) data is developed for CTOL aircraft using modern estimation and control techniques. The control law covers the final approach phases of glideslope capture, glideslope tracking, and flare to touchdown for automatic landings under adverse weather conditions. The control law uses a constant gain Kalman filter to process MLS and body-mounted accelerometer data to form estimates of flight path errors and wind velocities including wind shear. The flight path error estimates and wind estimates are used for feedback in generating control surface commands. Results of a digital simulation of the aircraft dynamics and the guidance and control law are presented for various wind conditions.

  11. Corn steep liquor as a nutritional source for biocementation and its impact on concrete structural properties.

    Science.gov (United States)

    Joshi, Sumit; Goyal, Shweta; Reddy, M Sudhakara

    2018-05-28

    Microbial-induced carbonate precipitation (MICP) has a potential to improve the durability properties and remediate cracks in concrete. In the present study, the main emphasis is placed upon replacing the expensive laboratory nutrient broth (NB) with corn steep liquor (CSL), an industrial by-product, as an alternate nutrient medium during biocementation. The influence of organic nutrients (carbon and nitrogen content) of CSL and NB on the chemical and structural properties of concrete structures is studied. It has been observed that cement-setting properties were unaffected by CSL organic content, while NB medium influenced it. Carbon and nitrogen content in concrete structures was significantly lower in CSL-treated specimens than in NB-treated specimens. Decreased permeability and increased compressive strength were reported when NB is replaced with CSL in bacteria-treated specimens. The present study results suggest that CSL can be used as a replacement growth medium for MICP technology at commercial scale.

  12. Transient response of a liquid injector to a steep-fronted transverse pressure wave

    Science.gov (United States)

    Lim, D.; Heister, S.; Stechmann, D.; Kan, B.

    2017-12-01

    Motivated by the dynamic injection environment posed by unsteady pressure gain combustion processes, an experimental apparatus was developed to visualize the dynamic response of a transparent liquid injector subjected to a single steep-fronted transverse pressure wave. Experiments were conducted at atmospheric pressure with a variety of acrylic injector passage designs using water as the working fluid. High-speed visual observations were made of the injector exit near field, and the extent of backflow and the time to refill the orifice passage were characterized over a range of injection pressures. A companion transient one-dimensional model was developed for interpretation of the results and to elucidate the trends with regard to the strength of the transverse pressure wave. Results from the model were compared with the experimental observations.

  13. Quantum Transmission Conditions for Diffusive Transport in Graphene with Steep Potentials

    Science.gov (United States)

    Barletti, Luigi; Negulescu, Claudia

    2018-05-01

    We present a formal derivation of a drift-diffusion model for stationary electron transport in graphene, in presence of sharp potential profiles, such as barriers and steps. Assuming the electric potential to have steep variations within a strip of vanishing width on a macroscopic scale, such strip is viewed as a quantum interface that couples the classical regions at its left and right sides. In the two classical regions, where the potential is assumed to be smooth, electron and hole transport is described in terms of semiclassical kinetic equations. The diffusive limit of the kinetic model is derived by means of a Hilbert expansion and a boundary layer analysis, and consists of drift-diffusion equations in the classical regions, coupled by quantum diffusive transmission conditions through the interface. The boundary layer analysis leads to the discussion of a four-fold Milne (half-space, half-range) transport problem.

  14. Impact of steep-front short-duration impulse on electric power system insulation

    Energy Technology Data Exchange (ETDEWEB)

    Burrage, L M; Veverka, E F; Shaw, J H [Cooper Industries, Inc., Franksville, WI (USA). Cooper Power Systems; McConnell, B W [Oak Ridge National Lab., TN (USA)

    1991-04-01

    This research effort required the performance evaluation of three specific insulation systems in common usage by electric power transmission and distribution utilities under stresses imposed by: three characteristic impulse waveforms (two waves representative of steep-front short duration (SFSD) impulses and one representative of lightning), the cumulative effect of multiple shots'' of each pulse, 60 Hz voltage, and, where appropriate, and mechanical load. The insulation systems evaluated are the cellulose-paper/oil combination typical of power transformer and condenser bushing usage, the cellulose-paper/enamel/oil combination used in distribution transformer construction, and the porcelain/air combination representing transmission and distribution line structural insulation. 4 refs., 94 figs., 11 tabs.

  15. Forcing of a bottom-mounted circular cylinder by steep regular water waves at finite depth

    DEFF Research Database (Denmark)

    Paulsen, Bo Terp; Bredmose, Henrik; Bingham, Harry B.

    2014-01-01

    of secondary load cycles. Special attention was paid to this secondary load cycle and the flow features that cause it. By visual observation and a simplified analytical model it was shown that the secondary load cycle was caused by the strong nonlinear motion of the free surface which drives a return flow......Forcing by steep regular water waves on a vertical circular cylinder at finite depth was investigated numerically by solving the two-phase incompressible Navier–Stokes equations. Consistently with potential flow theory, boundary layer effects were neglected at the sea bed and at the cylinder...... at the back of the cylinder following the passage of the wave crest. The numerical computations were further analysed in the frequency domain. For a representative example, the secondary load cycle was found to be associated with frequencies above the fifth- and sixth-harmonic force component. For the third...

  16. Optimization of mining methods for steep vein uranium ore deposits of French COGEMA company

    International Nuclear Information System (INIS)

    Caleix, C.

    1985-01-01

    The Compagnie Generale des Matieres Nucleaires is currently exploiting several steep vein uranium deposits in France. The upper parts are exploited using the open-cast method, in the lower parts underground mining is used. The veins with a thickness of several meters fill faults caused by tectonic activity. With regard to the low strength of the rocks, wooden supports are used or fills. In the course of the past 25 years several mining methods have been tried of which overhand stoping was selected with an oblique ramp driven in the ore, this mainly for securing operating safety and the profitability of selective exploitation. In overburdens with a low bearing capacity the method of underhand benching in slices was used with a concrete fill and later underhand benching in slices with concrete reinforcing plates. Overhand stoping is being tried with fill and electric self-propelled machines left in the stope and mechanized driving of raises by full profile drilling. (B.S.)

  17. Classification and analysis of corn steep liquor by UPLC/Q-TOF MS and HPLC.

    Science.gov (United States)

    Xiao, Xue; Hou, Yuanyuan; Liu, Yang; Liu, Yanjie; Zhao, Hongzhi; Dong, Linyi; Du, Jun; Wang, Yiming; Bai, Gang; Luo, Guoan

    2013-03-30

    Corn steep liquor (CSL), an important raw material with high nutritional value, serves as a nitrogen source in the fermentation industry. The CSL quality directly affects the yield and quality of fermentation products. In this work, a fingerprinting technique was used to identify the potential markers of CSL. Forty-two CSL samples from different manufacturers were profiled by ultra-performance liquid chromatography with tandem quadrupole time-of-flight mass spectrometry. Sixteen compounds, almost all of which were amino acids and their derivatives, were considered as the potential markers. Then, o-phthalaldehyde-9-fluorenylmethyl chloroformate precolumn derivatization by high-performance liquid chromatography was performed to identify the free amino acids in CSL. Principal component analysis (PCA) was used to distinguish among the samples from different manufacturers. The results demonstrated that the fingerprinting technique combined with PCA analysis was a powerful tool for determining the CSL quality. Copyright © 2013 Elsevier B.V. All rights reserved.

  18. Analysis of support installation and strata control in ventilation tunnels and coal chutes in steep seams

    Energy Technology Data Exchange (ETDEWEB)

    Moroz, V D; Belyaev, A N; Kostyuk, I S

    1984-01-01

    The VNIMI and the Donugi branch in Gorlovka developed and tested a system for strata control in gate roads for ventilation and in coal chutes in inclined and steep medium and thick coal seams. The roof is supported by cribbings made of slabs of reinforced concrete with yielding elements. Timber is used as yielding material. Tests showed that thickness of yielding layers between concrete slabs should range from 15 to 20% of coal seam thickness. Yielding elements increase yield strength of the system to about 2 MN (load distribution is more regular). The tests show that the cribbings are an efficient system for strata control in workings driven in coal seams with dip angle from 35 to 60 degrees. Performance of concrete cribbings in ventilation gate roads and coal chutes in selected mines of the Ukrainian SSR is analyzed.

  19. Dual-Gate p-GaN Gate High Electron Mobility Transistors for Steep Subthreshold Slope.

    Science.gov (United States)

    Bae, Jong-Ho; Lee, Jong-Ho

    2016-05-01

    A steep subthreshold slope characteristic is achieved through p-GaN gate HEMT with dual-gate structure. Obtained subthreshold slope is less than 120 μV/dec. Based on the measured and simulated data obtained from single-gate device, breakdown of parasitic floating-base bipolar transistor and floating gate charged with holes are responsible to increase abruptly in drain current. In the dual-gate device, on-current degrades with high temperature but subthreshold slope is not changed. To observe the switching speed of dual-gate device and transient response of drain current are measured. According to the transient responses of drain current, switching speed of the dual-gate device is about 10(-5) sec.

  20. Mutual repression enhances the steepness and precision of gene expression boundaries.

    Directory of Open Access Journals (Sweden)

    Thomas R Sokolowski

    Full Text Available Embryonic development is driven by spatial patterns of gene expression that determine the fate of each cell in the embryo. While gene expression is often highly erratic, embryonic development is usually exceedingly precise. In particular, gene expression boundaries are robust not only against intra-embryonic fluctuations such as noise in gene expression and protein diffusion, but also against embryo-to-embryo variations in the morphogen gradients, which provide positional information to the differentiating cells. How development is robust against intra- and inter-embryonic variations is not understood. A common motif in the gene regulation networks that control embryonic development is mutual repression between pairs of genes. To assess the role of mutual repression in the robust formation of gene expression patterns, we have performed large-scale stochastic simulations of a minimal model of two mutually repressing gap genes in Drosophila, hunchback (hb and knirps (kni. Our model includes not only mutual repression between hb and kni, but also the stochastic and cooperative activation of hb by the anterior morphogen Bicoid (Bcd and of kni by the posterior morphogen Caudal (Cad, as well as the diffusion of Hb and Kni between neighboring nuclei. Our analysis reveals that mutual repression can markedly increase the steepness and precision of the gap gene expression boundaries. In contrast to other mechanisms such as spatial averaging and cooperative gene activation, mutual repression thus allows for gene-expression boundaries that are both steep and precise. Moreover, mutual repression dramatically enhances their robustness against embryo-to-embryo variations in the morphogen levels. Finally, our simulations reveal that diffusion of the gap proteins plays a critical role not only in reducing the width of the gap gene expression boundaries via the mechanism of spatial averaging, but also in repairing patterning errors that could arise because of the

  1. Correction of Excessive Precipitation Over Steep and High Mountains in a General Circulation Model

    Science.gov (United States)

    Chao, Winston C.

    2012-01-01

    Excessive precipitation over steep and high mountains (EPSM) is a well-known problem in GCMs and meso-scale models. This problem impairs simulation and data assimilation products. Among the possible causes investigated in this study, we found that the most important one, by far, is a missing upward transport of heat out of the boundary layer due to the vertical circulations forced by the daytime upslope winds, which are forced by the heated boundary layer on subgrid-scale slopes. These upslope winds are associated with large subgrid-scale topographic variation, which is found over steep and high mountains. Without such subgridscale heat ventilation, the resolvable-scale upslope flow in the boundary layer generated by surface sensible heat flux along the mountain slopes is excessive. Such an excessive resolvablescale upslope flow combined with the high moisture content in the boundary layer results in excessive moisture transport toward mountaintops, which in turn gives rise to EPSM. Other possible causes of EPSM that we have investigated include 1) a poorly-designed horizontal moisture flux in the terrain-following coordinates, 2) the condition for cumulus convection being too easily satisfied at mountaintops, 3) the presence of conditional instability of the computational kind, and 4) the absence of blocked flow drag. These are all minor or inconsequential. We have parameterized the ventilation effects of the subgrid-scale heated-slope-induced vertical circulation (SHVC) by removing heat from the boundary layer and depositing it in layers higher up when the topographic variance exceeds a critical value. Test results using NASA/Goddard's GEOS-S GCM have shown that this largely solved the EPSM problem.

  2. The Supercritical Pile Gamma-Ray Burst Model: The GRB Afterglow Steep Decline and Plateau Phase

    Science.gov (United States)

    Sultana, Joseph; Kazanas, D.; Mastichiadis, A.

    2013-01-01

    We present a process that accounts for the steep decline and plateau phase of the Swift X-Ray Telescope (XRT) light curves, vexing features of gamma-ray burst (GRB) phenomenology. This process is an integral part of the "supercritical pile" GRB model, proposed a few years ago to account for the conversion of the GRB kinetic energy into radiation with a spectral peak at E(sub pk) is approx. m(sub e)C(exp 2). We compute the evolution of the relativistic blast wave (RBW) Lorentz factor Gamma to show that the radiation-reaction force due to the GRB emission can produce an abrupt, small (approx. 25%) decrease in Gamma at a radius that is smaller (depending on conditions) than the deceleration radius R(sub D). Because of this reduction, the kinematic criticality criterion of the "supercritical pile" is no longer fulfilled. Transfer of the proton energy into electrons ceases and the GRB enters abruptly the afterglow phase at a luminosity smaller by approx. m(sub p)/m(sub e) than that of the prompt emission. If the radius at which this slow-down occurs is significantly smaller than R(sub D), the RBW internal energy continues to drive the RBW expansion at a constant (new) Gamma and its X-ray luminosity remains constant until R(sub D) is reached, at which point it resumes its more conventional decay, thereby completing the "unexpected" XRT light curve phase. If this transition occurs at R is approx. equal to R(sub D), the steep decline is followed by a flux decrease instead of a "plateau," consistent with the conventional afterglow declines. Besides providing an account of these peculiarities, the model suggests that the afterglow phase may in fact begin before the RBW reaches R is approx. equal to R(sub D), thus providing novel insights into GRB phenomenology.

  3. H I anisotropies associated with radio-polarimetric filaments . Steep power spectra associated with cold gas

    Science.gov (United States)

    Kalberla, P. M. W.; Kerp, J.; Haud, U.; Haverkorn, M.

    2017-10-01

    Context. LOFAR detected toward 3C 196 linear polarization structures which were found subsequently to be closely correlated with cold filamentary H I structures. The derived direction-dependent H I power spectra revealed marked anisotropies for narrow ranges in velocity, sharing the orientation of the magnetic field as expected for magneto-hydrodynamical (MHD) turbulence. Aims: Using the Galactic portion of the Effelsberg-Bonn H I Survey (EBHIS) we continue our study of such anisotropies in the H I distribution in direction of two WSRT fields, Horologium and Auriga; both are well known for their prominent radio-polarimetric depolarization canals. At 349 MHz the observed pattern in total intensity is insignificant but polarized intensity and polarization angle show prominent ubiquitous structures with so far unknown origin. Methods: Apodizing the H I survey data by applying a rotational symmetric 50% Tukey window, we derive average and position angle dependent power spectra. We fit power laws and characterize anisotropies in the power distribution. We used a Gaussian analysis to determine relative abundances for the cold and warm neutral medium. Results: For the analyzed radio-polarimetric targets significant anisotropies are detected in the H I power spectra; their position angles are aligned to the prominent depolarization canals, initially detected by WSRT. H I anisotropies are associated with steep power spectra. Steep power spectra, associated with cold gas, are detected also in other fields. Conclusions: Radio-polarimetric depolarization canals are associated with filamentary H I structures that belong to the cold neutral medium (CNM). Anisotropies in the CNM are in this case linked to a steepening of the power-spectrum spectral index, indicating that phase transitions in a turbulent medium occur on all scales. Filamentary H I structures, driven by thermal instabilities, and radio-polarimetric filaments are associated with each other. The magneto-ionic medium

  4. Model simulations of flood and debris flow timing in steep catchments after wildfire

    Science.gov (United States)

    Rengers, Francis K.; McGuire, Luke; Kean, Jason W.; Staley, Dennis M.; Hobley, D.E.J

    2016-01-01

    Debris flows are a typical hazard on steep slopes after wildfire, but unlike debris flows that mobilize from landslides, most post-wildfire debris flows are generated from water runoff. The majority of existing debris-flow modeling has focused on landslide-triggered debris flows. In this study we explore the potential for using process-based rainfall-runoff models to simulate the timing of water flow and runoff-generated debris flows in recently burned areas. Two different spatially distributed hydrologic models with differing levels of complexity were used: the full shallow water equations and the kinematic wave approximation. Model parameter values were calibrated in two different watersheds, spanning two orders of magnitude in drainage area. These watersheds were affected by the 2009 Station Fire in the San Gabriel Mountains, CA, USA. Input data for the numerical models were constrained by time series of soil moisture, flow stage, and rainfall collected at field sites, as well as high-resolution lidar-derived digital elevation models. The calibrated parameters were used to model a third watershed in the burn area, and the results show a good match with observed timing of flow peaks. The calibrated roughness parameter (Manning's $n$) was generally higher when using the kinematic wave approximation relative to the shallow water equations, and decreased with increasing spatial scale. The calibrated effective watershed hydraulic conductivity was low for both models, even for storms occurring several months after the fire, suggesting that wildfire-induced changes to soil-water infiltration were retained throughout that time. Overall the two model simulations were quite similar suggesting that a kinematic wave model, which is simpler and more computationally efficient, is a suitable approach for predicting flood and debris flow timing in steep, burned watersheds.

  5. Simulating run-up on steep slopes with operational Boussinesq models; capabilities, spurious effects and instabilities

    Directory of Open Access Journals (Sweden)

    F. Løvholt

    2013-06-01

    Full Text Available Tsunamis induced by rock slides plunging into fjords constitute a severe threat to local coastal communities. The rock slide impact may give rise to highly non-linear waves in the near field, and because the wave lengths are relatively short, frequency dispersion comes into play. Fjord systems are rugged with steep slopes, and modeling non-linear dispersive waves in this environment with simultaneous run-up is demanding. We have run an operational Boussinesq-type TVD (total variation diminishing model using different run-up formulations. Two different tests are considered, inundation on steep slopes and propagation in a trapezoidal channel. In addition, a set of Lagrangian models serves as reference models. Demanding test cases with solitary waves with amplitudes ranging from 0.1 to 0.5 were applied, and slopes were ranging from 10 to 50°. Different run-up formulations yielded clearly different accuracy and stability, and only some provided similar accuracy as the reference models. The test cases revealed that the model was prone to instabilities for large non-linearity and fine resolution. Some of the instabilities were linked with false breaking during the first positive inundation, which was not observed for the reference models. None of the models were able to handle the bore forming during drawdown, however. The instabilities are linked to short-crested undulations on the grid scale, and appear on fine resolution during inundation. As a consequence, convergence was not always obtained. It is reason to believe that the instability may be a general problem for Boussinesq models in fjords.

  6. Model simulations of flood and debris flow timing in steep catchments after wildfire

    Science.gov (United States)

    Rengers, F. K.; McGuire, L. A.; Kean, J. W.; Staley, D. M.; Hobley, D. E. J.

    2016-08-01

    Debris flows are a typical hazard on steep slopes after wildfire, but unlike debris flows that mobilize from landslides, most postwildfire debris flows are generated from water runoff. The majority of existing debris flow modeling has focused on landslide-triggered debris flows. In this study we explore the potential for using process-based rainfall-runoff models to simulate the timing of water flow and runoff-generated debris flows in recently burned areas. Two different spatially distributed hydrologic models with differing levels of complexity were used: the full shallow water equations and the kinematic wave approximation. Model parameter values were calibrated in two different watersheds, spanning two orders of magnitude in drainage area. These watersheds were affected by the 2009 Station Fire in the San Gabriel Mountains, CA, USA. Input data for the numerical models were constrained by time series of soil moisture, flow stage, and rainfall collected at field sites, as well as high-resolution lidar-derived digital elevation models. The calibrated parameters were used to model a third watershed in the burn area, and the results show a good match with observed timing of flow peaks. The calibrated roughness parameter (Manning's n) was generally higher when using the kinematic wave approximation relative to the shallow water equations, and decreased with increasing spatial scale. The calibrated effective watershed hydraulic conductivity was low for both models, even for storms occurring several months after the fire, suggesting that wildfire-induced changes to soil-water infiltration were retained throughout that time. Overall, the two model simulations were quite similar suggesting that a kinematic wave model, which is simpler and more computationally efficient, is a suitable approach for predicting flood and debris flow timing in steep, burned watersheds.

  7. The stratigraphy of the Steep Rock Group, N.W. Ontario, with evidence of a major unconformity

    Science.gov (United States)

    Wilks, M. E.; Nisbet, E. G.

    1986-01-01

    The Steep Rock Group is exposed 6 km north of Atikokan, 200 km west of Thunder Bay. It is situated on the southern margin of the Wabigoon Belt of the Archaean Superior Province, N. W. Ontario. Reinvestigation of the geology of the Group has shown that the Group lies unconformably on the Tonalite Complex to the east. This unconformity has been previously suspected, from regional and ine mapping but no conclusive outcrop evidence for its existence has as yet been published. The strike of the group, comprised of Basal Conglomerate, Carbonate Member, Ore Zone and Ashrock is generally north-northwest dipping steeply to the southwest. Of the 7 contacts between the Steep Rock Group and the Tonalite Complex, 3 expose the unconformity (The Headland, S. Roberts Pit, Trueman Point), and 4 are faulted. These three outcrops demonstrate unequivocally that the Steep Rock group was laid down unconformably on the underlying Tonalite Complex, which is circa 3 Ga old.

  8. An apparatus to estimate the hydrodynamic coefficients of autonomous underwater vehicles using water tunnel testing.

    Science.gov (United States)

    Nouri, N M; Mostafapour, K; Bahadori, R

    2016-06-01

    Hydrodynamic coefficients or hydrodynamic derivatives of autonomous underwater vehicles (AUVs) play an important role in their development and maneuverability. The most popular way of estimating their coefficients is to implement captive model tests such as straight line tests and planar motion mechanism (PMM) tests in the towing tanks. This paper aims to develop an apparatus based on planar experiments of water tunnel in order to estimate hydrodynamic derivatives due to AUVs' acceleration and velocity. The capability of implementing straight line tests and PMM ones using mechanical oscillators located in the downstream flow of the model is considered in the design procedure of the system. The hydrodynamic derivatives that resulted from the acceleration and velocity of the AUV model were estimated using the apparatus that we developed. Static and dynamics test results were compared for the similar derivatives. The findings showed that the system provided the basis for conducting static tests, i.e., straight-line and dynamic tests that included pure pitch and pure heave. By conducting such tests in a water tunnel, we were able to eliminate errors related to the time limitation of the tests and the effects of surface waves in the towing tank on AUVs with applications in the deep sea.

  9. An Improved Forwarding of Diverse Events with Mobile Sinks in Underwater Wireless Sensor Networks.

    Science.gov (United States)

    Raza, Waseem; Arshad, Farzana; Ahmed, Imran; Abdul, Wadood; Ghouzali, Sanaa; Niaz, Iftikhar Azim; Javaid, Nadeem

    2016-11-04

    In this paper, a novel routing strategy to cater the energy consumption and delay sensitivity issues in deep underwater wireless sensor networks is proposed. This strategy is named as ESDR: Event Segregation based Delay sensitive Routing. In this strategy sensed events are segregated on the basis of their criticality and, are forwarded to their respective destinations based on forwarding functions. These functions depend on different routing metrics like: Signal Quality Index, Localization free Signal to Noise Ratio, Energy Cost Function and Depth Dependent Function. The problem of incomparable values of previously defined forwarding functions causes uneven delays in forwarding process. Hence forwarding functions are redefined to ensure their comparable values in different depth regions. Packet forwarding strategy is based on the event segregation approach which forwards one third of the generated events (delay sensitive) to surface sinks and two third events (normal events) are forwarded to mobile sinks. Motion of mobile sinks is influenced by the relative distribution of normal nodes. We have also incorporated two different mobility patterns named as; adaptive mobility and uniform mobility for mobile sinks. The later one is implemented for collecting the packets generated by the normal nodes. These improvements ensure optimum holding time, uniform delay and in-time reporting of delay sensitive events. This scheme is compared with the existing ones and outperforms the existing schemes in terms of network lifetime, delay and throughput.

  10. A New Recursive Filtering Method of Terrestrial Laser Scanning Data to Preserve Ground Surface Information in Steep-Slope Areas

    Directory of Open Access Journals (Sweden)

    Mi-Kyeong Kim

    2017-11-01

    Full Text Available Landslides are one of the critical natural hazards that cause human, infrastructure, and economic losses. Risk of catastrophic losses due to landslides is significant given sprawled urban development near steep slopes and the increasing proximity of large populations to hilly areas. For reducing these losses, a high-resolution digital terrain model (DTM is an essential piece of data for a qualitative or a quantitative investigation of slopes that may lead to landslides. Data acquired by a terrestrial laser scanning (TLS, called a point cloud, has been widely used to generate a DTM, since a TLS is appropriate for detecting small- to large-scale ground features on steep slopes. For an accurate DTM, TLS data should be filtered to remove non-ground points, but most current algorithms for extracting ground points from a point cloud have been developed for airborne laser scanning (ALS data and not TLS data. Moreover, it is a challenging task to generate an accurate DTM from a steep-slope area by using existing algorithms. For these reasons, we developed an algorithm to automatically extract only ground points from the point clouds of steep terrains. Our methodology is focused on TLS datasets and utilizes the adaptive principal component analysis–triangular irregular network (PCA-TIN approach. Our method was applied to two test areas and the results showed that the algorithm can cope well with steep slopes, giving an accurate surface model compared to conventional algorithms. Total accuracy values of the generated DTMs in the form of root mean squared errors are 1.84 cm and 2.13 cm over the areas of 5252 m2 and 1378 m2, respectively. The slope-based adaptive PCA-TIN method demonstrates great potential for TLS-derived DTM construction in steep-slope landscapes.

  11. DeepPy: Pythonic deep learning

    DEFF Research Database (Denmark)

    Larsen, Anders Boesen Lindbo

    This technical report introduces DeepPy – a deep learning framework built on top of NumPy with GPU acceleration. DeepPy bridges the gap between highperformance neural networks and the ease of development from Python/NumPy. Users with a background in scientific computing in Python will quickly...... be able to understand and change the DeepPy codebase as it is mainly implemented using high-level NumPy primitives. Moreover, DeepPy supports complex network architectures by letting the user compose mathematical expressions as directed graphs. The latest version is available at http...

  12. Long-term measurements of acoustic background noise in very deep sea

    International Nuclear Information System (INIS)

    Riccobene, G.

    2009-01-01

    The NEMO (NEutrino Mediterranean Observatory) Collaboration installed, 25 km E offshore the port of Catania (Sicily) at 2000 m depth, an underwater laboratory to perform long-term tests of prototypes and new technologies for an underwater high energy neutrino km 3 -scale detector in the Mediterranean Sea. In this framework the Collaboration deployed and successfully operated for about two years, starting from January 2005, an experimental apparatus for on-line monitoring of deep-sea noise. The station was equipped with four hydrophones and it is operational in the range 30 Hz-43 kHz. This interval of frequencies matches the range suitable for the proposed acoustic detection technique of high energy neutrinos. Hydrophone signals were digitized underwater at 96 kHz sampling frequency and 24 bits resolution. The stored data library, consisting of more than 2000 h of recordings, is a unique tool to model underwater acoustic noise at large depth, to characterize its variations as a function of environmental parameters, biological sources and human activities (ship traffic, etc.), and to determine the presence of cetaceans in the area.

  13. 46 CFR 115.650 - Alternative Hull Examination (AHE) Program options: Divers or underwater ROV.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Alternative Hull Examination (AHE) Program options... MORE THAN 49 PASSENGERS INSPECTION AND CERTIFICATION Hull and Tailshaft Examinations § 115.650 Alternative Hull Examination (AHE) Program options: Divers or underwater ROV. To complete your underwater...

  14. 77 FR 38236 - Special Local Regulation, Underwater Music Festival, Carr Inlet, Cutts Island, WA

    Science.gov (United States)

    2012-06-27

    ...-AA08 Special Local Regulation, Underwater Music Festival, Carr Inlet, Cutts Island, WA AGENCY: Coast... ensure the safety of the maritime public during the Underwater Music Festival and would do so by... Music Festival is an event which includes musical performances from a barge. Spectators approach the...

  15. Collective Modular Underwater Robotic System for Long-Term Autonomous Operation

    DEFF Research Database (Denmark)

    Christensen, David Johan; Andersen, Jens Christian; Blanke, Mogens

    This paper provides a brief overview of an underwater robotic system for autonomous inspection in confined offshore underwater structures. The system, which is currently in development, consist of heterogeneous modular robots able to physically dock and communicate with other robots, transport...

  16. A Data Link Layer in Support of Swarming of Autonomous Underwater Vehicles

    Science.gov (United States)

    Jabba Molinares, Daladier

    2009-01-01

    Communication underwater is challenging because of the inherent characteristics of the media. First, common radio frequency (RF) signals utilized in wireless communications cannot be used under water. RF signals are attenuated in such as way that RF communication underwater is restricted to very few meters. As a result, acoustic-based…

  17. Short-Range Sensor for Underwater Robot Navigation using Line-lasers and Vision

    DEFF Research Database (Denmark)

    Hansen, Peter Nicholas; Nielsen, Mikkel Cornelius; Christensen, David Johan

    2015-01-01

    This paper investigates a minimalistic laser-based range sensor, used for underwater inspection by Autonomous Underwater Vehicles (AUV). This range detection system system comprise two lasers projecting vertical lines, parallel to a camera’s viewing axis, into the environment. Using both lasers...

  18. A field guide to valuable underwater aquatic plants of the Great Lakes

    Science.gov (United States)

    Schloesser, Donald W.

    1986-01-01

    Underwater plants are a valuable part of the Great Lakes ecosystem, providing food and shelter for aquatic animals. Aquatic plants also help stabilize sediments, thereby reducing shoreline erosion. Annual fall die-offs of underwater plants provide food and shelter for overwintering small aquatic animals such as insects, snails, and freshwater shrimp.

  19. Actuated Recoil Absorbing Mounting System for use with an Underwater Gun

    Science.gov (United States)

    1998-03-31

    fire supercavitating bullets, requires that 20 the new projectile launchers be tested. The firing of projectile 21 launchers involving a high...of projectile launcher 12 includes an underwater gun 15 that fires supercavitating bullets underwater and has a high 16 discharge energy. However

  20. Specialization for underwater hearing by the tympanic middle ear of the turtle, Trachemys scripta elegans

    DEFF Research Database (Denmark)

    Christensen-Dalsgaard, J.; Brandt, Christian; Willis, K. L.

    2012-01-01

    Turtles, like other amphibious animals, face a trade-off between terrestrial and aquatic hearing. We used laser vibrometry and auditory brainstem responses to measure their sensitivity to vibration stimuli and to airborne versus underwater sound. Turtles are most sensitive to sound underwater, an...

  1. Instream wood in a steep headwater channel: geomorphic significance of large and small wood

    Science.gov (United States)

    Galia, Tomáš; Šilhán, Karel; Ruiz-Villanueva, Virginia; Tichavský, Radek

    2016-04-01

    Besides the well-known significance of large wood (LW), also small woody pieces (SW; here defined as pieces with dimensions at least 0.5 m length and 0.05 m diameter), can play an important role in steep narrow headwaters. We inventoried instream wood in the 0.4 km long Mazák headwater channel, Moravskoslezské Beskydy Mts, Czech Republic (2pieces were European beeches (Fagus sylvatica L.); only two pieces were Norway spruces (Picea abies (L.) Karst.). First results showed an increase in the number of LWs in channel-reaches confined by the steepest adjacent hillslopes (especially at 0.15-0.20 km). Increasing downstream amount of SW most likely reflected transport processes in the stream, and the later deposition of SWs on the lowest channel gradients. Also LWs and SWs in the downstream channel-reaches were more decayed than wood presented in the upper reaches. The orientation of instream wood was connected with its length and stability, and LWs longer than 5 m were usually attached to adjacent hillslopes. Pieces longer than 2 m, which were unattached or were somehow stabilized in the channel bed, had often orientation of 0° or 337°. LWs were mostly unattached in the upstream channel-reaches, while often stabilized by adjacent hillslopes in the middle part. At 0.05-0.10 km, there were also many logs stabilized by bed sediments. By contrast, SWs were mostly unattached in the whole longitudinal profile. We observed higher % of influenced channel width by SWs than LWs. Also, SWs were usually entirely located in the channel, which was significantly different when compared to LWs. Nine small steps (step height ~0.5 m) were created by instream wood; six of them were formed by SWs. Dendrogeomorphic cross dating supported the observed decay status for LW/SW within the longitudinal profile: at the lowest channel gradients with wider higher active channels, the potential for storage of instream wood increased. In these downstream reaches we observed older LW and SW, with

  2. Earthworms and tree roots: A model study of the effect of preferential flow paths on runoff generation and groundwater recharge in steep, saprolitic, tropical lowland catchments

    Science.gov (United States)

    Cheng, Yanyan; Ogden, Fred L.; Zhu, Jianting

    2017-07-01

    Preferential flow paths (PFPs) affect the hydrological response of humid tropical catchments but have not received sufficient attention. We consider PFPs created by tree roots and earthworms in a near-surface soil layer in steep, humid, tropical lowland catchments and hypothesize that observed hydrological behaviors can be better captured by reasonably considering PFPs in this layer. We test this hypothesis by evaluating the performance of four different physically based distributed model structures without and with PFPs in different configurations. Model structures are tested both quantitatively and qualitatively using hydrological, geophysical, and geochemical data both from the Smithsonian Tropical Research Institute Agua Salud Project experimental catchment(s) in Central Panama and other sources in the literature. The performance of different model structures is evaluated using runoff Volume Error and three Nash-Sutcliffe efficiency measures against observed total runoff, stormflows, and base flows along with visual comparison of simulated and observed hydrographs. Two of the four proposed model structures which include both lateral and vertical PFPs are plausible, but the one with explicit simulation of PFPs performs the best. A small number of vertical PFPs that fully extend below the root zone allow the model to reasonably simulate deep groundwater recharge, which plays a crucial role in base flow generation. Results also show that the shallow lateral PFPs are the main contributor to the observed high flow characteristics. Their number and size distribution are found to be more important than the depth distribution. Our model results are corroborated by geochemical and geophysical observations.

  3. Polarization Calculation and Underwater Target Detection Inspired by Biological Visual Imaging

    Directory of Open Access Journals (Sweden)

    Jie Shen

    2014-04-01

    Full Text Available In challenging underwater environments, the polarization parameter maps calculated by the Stokes model are characterized by the high noise and error, harassing the underwater target detection tasks. In order to solve this problem, this paper proposes a novel bionic polarization calculation and underwater target detection method by modeling the visual system of mantis shrimps. This system includes many operators including a polarization-opposition calculation, a factor optimization and a visual neural network model. A calibration learning method is proposed to search the optimal value of the factors in the linear subtraction model. Finally, a six-channel visual neural network model is proposed to detect the underwater targets. Experimental results proved that the maps produced by the polarization-opposition parameter is more accurate and have lower noise than that produced by the Stokes parameter, achieving better performance in underwater target detection tasks.

  4. A novel underwater dam crack detection and classification approach based on sonar images.

    Science.gov (United States)

    Shi, Pengfei; Fan, Xinnan; Ni, Jianjun; Khan, Zubair; Li, Min

    2017-01-01

    Underwater dam crack detection and classification based on sonar images is a challenging task because underwater environments are complex and because cracks are quite random and diverse in nature. Furthermore, obtainable sonar images are of low resolution. To address these problems, a novel underwater dam crack detection and classification approach based on sonar imagery is proposed. First, the sonar images are divided into image blocks. Second, a clustering analysis of a 3-D feature space is used to obtain the crack fragments. Third, the crack fragments are connected using an improved tensor voting method. Fourth, a minimum spanning tree is used to obtain the crack curve. Finally, an improved evidence theory combined with fuzzy rule reasoning is proposed to classify the cracks. Experimental results show that the proposed approach is able to detect underwater dam cracks and classify them accurately and effectively under complex underwater environments.

  5. A novel underwater dam crack detection and classification approach based on sonar images.

    Directory of Open Access Journals (Sweden)

    Pengfei Shi

    Full Text Available Underwater dam crack detection and classification based on sonar images is a challenging task because underwater environments are complex and because cracks are quite random and diverse in nature. Furthermore, obtainable sonar images are of low resolution. To address these problems, a novel underwater dam crack detection and classification approach based on sonar imagery is proposed. First, the sonar images are divided into image blocks. Second, a clustering analysis of a 3-D feature space is used to obtain the crack fragments. Third, the crack fragments are connected using an improved tensor voting method. Fourth, a minimum spanning tree is used to obtain the crack curve. Finally, an improved evidence theory combined with fuzzy rule reasoning is proposed to classify the cracks. Experimental results show that the proposed approach is able to detect underwater dam cracks and classify them accurately and effectively under complex underwater environments.

  6. Construction Method of the Topographical Features Model for Underwater Terrain Navigation

    Directory of Open Access Journals (Sweden)

    Wang Lihui

    2015-09-01

    Full Text Available Terrain database is the reference basic for autonomous underwater vehicle (AUV to implement underwater terrain navigation (UTN functions, and is the important part of building topographical features model for UTN. To investigate the feasibility and correlation of a variety of terrain parameters as terrain navigation information metrics, this paper described and analyzed the underwater terrain features and topography parameters calculation method. Proposing a comprehensive evaluation method for terrain navigation information, and constructing an underwater navigation information analysis model, which is associated with topographic features. Simulation results show that the underwater terrain features, are associated with UTN information directly or indirectly, also affect the terrain matching capture probability and the positioning accuracy directly.

  7. The deep-sea hub of the ANTARES neutrino telescope

    Energy Technology Data Exchange (ETDEWEB)

    Anghinolfi, M. [INFN Sezione di Genova, Via Dodecaneso 33, I-16146 Genova (Italy); Calzas, A. [Centre de Physique des Particules de Marseille (CNRS/IN2P3), Universite de la Mediterranee, 13288 Marseille (France); Dinkespiler, B. [Centre de Physique des Particules de Marseille (CNRS/IN2P3), Universite de la Mediterranee, 13288 Marseille (France); Cuneo, S. [INFN Laboratori Nazionali del Sud, Via S. Sofia 44, I-95123 Catania (Italy); Favard, S. [Centre de Physique des Particules de Marseille (CNRS/IN2P3), Universite de la Mediterranee, 13288 Marseille (France); Hallewell, G. [Centre de Physique des Particules de Marseille (CNRS/IN2P3), Universite de la Mediterranee, 13288 Marseille (France)]. E-mail: gregh@cppm.in2p3.fr; Jaquet, M. [Centre de Physique des Particules de Marseille (CNRS/IN2P3), Universite de la Mediterranee, 13288 Marseille (France); Musumeci, M. [INFN Laboratori Nazionali del Sud, Via S. Sofia 44, I-95123 Catania (Italy); Papaleo, R. [INFN Laboratori Nazionali del Sud, Via S. Sofia 44, I-95123 Catania (Italy); Raia, G. [INFN Laboratori Nazionali del Sud, Via S. Sofia 44, I-95123 Catania (Italy); Valdy, P. [IFREMER - Institut francais de recherche pour l' exploitation de la mer, Centre de La Seyne, 83500 La Seyne sur mer (France); Vernin, P. [DSM-DAPNIA, CEA SACLAY, 91191 Gif sur Yvette Cedex (France)

    2006-11-15

    The ANTARES neutrino telescope, currently under construction at 2500 m depth off the French Mediterranean coast, will contain 12 detection lines, powered and read out through a deep-sea junction box (JB) hub. Electrical energy from the shore station is distributed through a transformer with multiple secondary windings and a plugboard with 16 deep sea-mateable electro-optic connectors. Connections are made to the JB outputs using manned or remotely operated submersible vehicles. The triply redundant power management and slow control system is based on two identical AC-powered systems, communicating with the shore through 160 Mb/s fibre G-links and a third battery-powered system using a slower link. We describe the power and slow control systems of the underwater hub.

  8. The deep-sea hub of the ANTARES neutrino telescope

    International Nuclear Information System (INIS)

    Anghinolfi, M.; Calzas, A.; Dinkespiler, B.; Cuneo, S.; Favard, S.; Hallewell, G.; Jaquet, M.; Musumeci, M.; Papaleo, R.; Raia, G.; Valdy, P.; Vernin, P.

    2006-01-01

    The ANTARES neutrino telescope, currently under construction at 2500 m depth off the French Mediterranean coast, will contain 12 detection lines, powered and read out through a deep-sea junction box (JB) hub. Electrical energy from the shore station is distributed through a transformer with multiple secondary windings and a plugboard with 16 deep sea-mateable electro-optic connectors. Connections are made to the JB outputs using manned or remotely operated submersible vehicles. The triply redundant power management and slow control system is based on two identical AC-powered systems, communicating with the shore through 160 Mb/s fibre G-links and a third battery-powered system using a slower link. We describe the power and slow control systems of the underwater hub

  9. Ocean Wave Energy: Underwater Substation System for Wave Energy Converters

    International Nuclear Information System (INIS)

    Rahm, Magnus

    2010-01-01

    This thesis deals with a system for operation of directly driven offshore wave energy converters. The work that has been carried out includes laboratory testing of a permanent magnet linear generator, wave energy converter mechanical design and offshore testing, and finally design, implementation, and offshore testing of an underwater collector substation. Long-term testing of a single point absorber, which was installed in March 2006, has been performed in real ocean waves in linear and in non-linear damping mode. The two different damping modes were realized by, first, a resistive load, and second, a rectifier with voltage smoothing capacitors and a resistive load in the DC-link. The loads are placed on land about 2 km east of the Lysekil wave energy research site, where the offshore experiments have been conducted. In the spring of 2009, another two wave energy converter prototypes were installed. Records of array operation were taken with two and three devices in the array. With two units, non-linear damping was used, and with three units, linear damping was employed. The point absorbers in the array are connected to the underwater substation, which is based on a 3 m3 pressure vessel standing on the seabed. In the substation, rectification of the frequency and amplitude modulated voltages from the linear generators is made. The DC voltage is smoothened by capacitors and inverted to 50 Hz electrical frequency, transformed and finally transmitted to the on-shore measuring station. Results show that the absorption is heavily dependent on the damping. It has also been shown that by increasing the damping, the standard deviation of electrical power can be reduced. The standard deviation of electrical power is reduced by array operation compared to single unit operation. Ongoing and future work include the construction and installation of a second underwater substation, which will connect the first substation and seven new WECs

  10. Effectiveness of an Automatic Tracking Software in Underwater Motion Analysis

    Directory of Open Access Journals (Sweden)

    Fabrício A. Magalhaes

    2013-12-01

    Full Text Available Tracking of markers placed on anatomical landmarks is a common practice in sports science to perform the kinematic analysis that interests both athletes and coaches. Although different software programs have been developed to automatically track markers and/or features, none of them was specifically designed to analyze underwater motion. Hence, this study aimed to evaluate the effectiveness of a software developed for automatic tracking of underwater movements (DVP, based on the Kanade-Lucas-Tomasi feature tracker. Twenty-one video recordings of different aquatic exercises (n = 2940 markers’ positions were manually tracked to determine the markers’ center coordinates. Then, the videos were automatically tracked using DVP and a commercially available software (COM. Since tracking techniques may produce false targets, an operator was instructed to stop the automatic procedure and to correct the position of the cursor when the distance between the calculated marker’s coordinate and the reference one was higher than 4 pixels. The proportion of manual interventions required by the software was used as a measure of the degree of automation. Overall, manual interventions were 10.4% lower for DVP (7.4% than for COM (17.8%. Moreover, when examining the different exercise modes separately, the percentage of manual interventions was 5.6% to 29.3% lower for DVP than for COM. Similar results were observed when analyzing the type of marker rather than the type of exercise, with 9.9% less manual interventions for DVP than for COM. In conclusion, based on these results, the developed automatic tracking software presented can be used as a valid and useful tool for underwater motion analysis.

  11. Micromachined fiber optic Fabry-Perot underwater acoustic probe

    Science.gov (United States)

    Wang, Fuyin; Shao, Zhengzheng; Hu, Zhengliang; Luo, Hong; Xie, Jiehui; Hu, Yongming

    2014-08-01

    One of the most important branches in the development trend of the traditional fiber optic physical sensor is the miniaturization of sensor structure. Miniature fiber optic sensor can realize point measurement, and then to develop sensor networks to achieve quasi-distributed or distributed sensing as well as line measurement to area monitoring, which will greatly extend the application area of fiber optic sensors. The development of MEMS technology brings a light path to address the problems brought by the procedure of sensor miniaturization. Sensors manufactured by MEMS technology possess the advantages of small volume, light weight, easy fabricated and low cost. In this paper, a fiber optic extrinsic Fabry-Perot interferometric underwater acoustic probe utilizing micromachined diaphragm collaborated with fiber optic technology and MEMS technology has been designed and implemented to actualize underwater acoustic sensing. Diaphragm with central embossment, where the embossment is used to anti-hydrostatic pressure which would largely deflect the diaphragm that induce interferometric fringe fading, has been made by double-sided etching of silicon on insulator. By bonding the acoustic-sensitive diaphragm as well as a cleaved fiber end in ferrule with an outer sleeve, an extrinsic Fabry-Perot interferometer has been constructed. The sensor has been interrogated by quadrature-point control method and tested in field-stable acoustic standing wave tube. Results have been shown that the recovered signal detected by the sensor coincided well with the corresponding transmitted signal and the sensitivity response was flat in frequency range from 10 Hz to 2kHz with the value about -154.6 dB re. 1/μPa. It has been manifest that the designed sensor could be used as an underwater acoustic probe.

  12. Deep GMRT 150 MHz Observations of the DEEP2 Fields

    Indian Academy of Sciences (India)

    2016-01-27

    Jan 27, 2016 ... High red-shift radio galaxies are best searched at low radio frequencies, due to its steep radio spectra. Here we present preliminary results from our programme to search for high red-shift radio galaxies to ∼ 10 to 100 times fainter than the known population till date. We have extracted ultra-steep spectrum ...

  13. Life-cycle cost comparison of alternative surfacing for steep slopes on low-volume roads in Ghana

    CSIR Research Space (South Africa)

    Anochie-Boateng, Joseph K

    2017-05-01

    Full Text Available surfacing options to gravel wearing courses used on steep gradients (in excess of 12%) of feeder roads in Ghana. A major outcome was three surfacing options (i.e. concrete, bituminous and stone setts/cobbles) that would be more effective to address drainage...

  14. The influence of steepness of dominance hierarchies on reciprocity and interchange in captive groups of bonobos (Pan paniscus)

    NARCIS (Netherlands)

    Stevens, J.M.G.; Vervaecke, H.; Vries, Han de; Elsacker, L. van

    2005-01-01

    Biological market models explain variability in reciprocity and interchange between groups. In groups with a shallow dominance gradient, grooming will be mostly exchanged for itself (i.e. exchange will occur). In groups with steep dominance hierarchies, interchange is expected: individuals will

  15. Validation and Refinement of Prediction Models to Estimate Exercise Capacity in Cancer Survivors Using the Steep Ramp Test

    NARCIS (Netherlands)

    Stuiver, Martijn M.; Kampshoff, Caroline S.; Persoon, Saskia; Groen, Wim; van Mechelen, Willem; Chinapaw, Mai J. M.; Brug, Johannes; Nollet, Frans; Kersten, Marie-José; Schep, Goof; Buffart, Laurien M.

    2017-01-01

    Objective: To further test the validity and clinical usefulness of the steep ramp test (SRT) in estimating exercise tolerance in cancer survivors by external validation and extension of previously published prediction models for peak oxygen consumption (Vo2(peak)) and peak power output (W-peak).&

  16. Productivity and cost estimators for conventional ground-based skidding on steep terrain using preplanned skid roads

    Science.gov (United States)

    Michael D. Erickson; Curt C. Hassler; Chris B. LeDoux

    1991-01-01

    Continuous time and motion study techniques were used to develop productivity and cost estimators for the skidding component of ground-based logging systems, operating on steep terrain using preplanned skid roads. Comparisons of productivity and costs were analyzed for an overland random access skidding method, verses a skidding method utilizing a network of preplanned...

  17. The Cs-137 technique applied to steep Mediterranean slopes (Part I) : the effects of lithology, slope morphology and land use

    NARCIS (Netherlands)

    de Meijer, R.J.; van der Graaf, E.R.

    2004-01-01

    Concentrations in the soil of anthropogenic and natural radionuclides have been investigated in order to assess the applicability of the Cs-137 technique in an area of typical Mediterranean steep slopes. This technique can be used to estimate net soil redistribution rates but its potential in areas

  18. The 137Cs technique applied to steep Mediterranean slopes (Part I): the effects of lithology, slope morphology and land use

    NARCIS (Netherlands)

    Schoorl, J.M.; Boix Fayos, C.; Meijer, de R.J.; Graaff, van der E.R.; Veldkamp, A.

    2004-01-01

    Concentrations in the soil of anthropogenic and natural radionuclides have been investigated in order to assess the applicability of the Cs-137 technique in an area of typical Mediterranean steep slopes. This technique can be used to estimate net soil redistribution rates but its potential in areas

  19. Statistics of peak overpressure and shock steepness for linear and nonlinear N-wave propagation in a kinematic turbulence.

    Science.gov (United States)

    Yuldashev, Petr V; Ollivier, Sébastien; Karzova, Maria M; Khokhlova, Vera A; Blanc-Benon, Philippe

    2017-12-01

    Linear and nonlinear propagation of high amplitude acoustic pulses through a turbulent layer in air is investigated using a two-dimensional KZK-type (Khokhlov-Zabolotskaya-Kuznetsov) equation. Initial waves are symmetrical N-waves with shock fronts of finite width. A modified von Kármán spectrum model is used to generate random wind velocity fluctuations associated with the turbulence. Physical parameters in simulations correspond to previous laboratory scale experiments where N-waves with 1.4 cm wavelength propagated through a turbulence layer with the outer scale of about 16 cm. Mean value and standard deviation of peak overpressure and shock steepness, as well as cumulative probabilities to observe amplified peak overpressure and shock steepness, are analyzed. Nonlinear propagation effects are shown to enhance pressure level in random foci for moderate initial amplitudes of N-waves thus increasing the probability to observe highly peaked waveforms. Saturation of the pressure level is observed for stronger nonlinear effects. It is shown that in the linear propagation regime, the turbulence mainly leads to the smearing of shock fronts, thus decreasing the probability to observe high values of steepness, whereas nonlinear effects dramatically increase the probability to observe steep shocks.

  20. Event Localization in Underwater Wireless Sensor Networks using Monitoring Courses

    KAUST Repository

    Debont, Matthew

    2011-11-01

    In this thesis we consider different methods to localize events in a multi-hop wireless sensor network operating underwater using acoustic modems. The network consists of surface gateway nodes and relay nodes. Localization of surface gateways can be achieved through GPS, but we cannot rely on this technology for localizing underwater nodes. Surface Gateway nodes can distribute their locations through the network using the incoming signals by the acoustic modems from the relay nodes. Relay nodes are deployed to remain static but due to water currents, floating, and the untethered nature of the nodes, they often suffer from frequent drifting which can result in a deployed network suffering link failures. In this work, we developed a novel concept of an underwater alarming system, which adapts a cyclic graph model. In the event of link failure, a series of alarm packets are broadcasted in the network. These alarms are then captured through a novel concept of underwater Monitoring Courses (M-Courses), which can also be used to assure network connectivity and identify node faults. M-Courses also allow the network to localize events and identify network issues at a local level before forwarding any results upwards to a Surface Gateway nodes. This reduces the amount of communication overhead needed and allowing for distributed management of nodes in a network which may be constantly moving. We show that the proposed algorithms can reduce the number of send operations needed for an event to be localized in a network. We have found that M-Course routing reduces the number of sends required to report an event to a Surface Gateway by up to 80% in some cases when compared to a naive routing implementation. But this is achieved by increasing the time for an event to reach a Surface Gateway. These effects are both due to the buffering effect of M-Course routing, which allows us to efficiently deal with multiple events in an local area and we find that the performance of M

  1. Point features extraction: towards slam for an autonomous underwater vehicle

    CSIR Research Space (South Africa)

    Matsebe, O

    2010-07-01

    Full Text Available and Control. Available: http://www.robots.ox.ac.uk/~pnewman/papers/Robotica.pdf, date accessed: [2009, 05/20] [7] Williams, S.B., Newman, P., Rosenblatt, J., Dissanayake, G. & Whyte, H.D., Autonomous Underwater Simultaneous and Localisation and Map Building.... Available: http://www.robots.ox.ac.uk/~pnewman/papers/Robotica.pdf., date accessed: [2009, 05/20] [8]http://www.tritech.co.uk/products/products-micron_sonar.htm, date accessed: [10/01/10] [9] Tena, I., Petillot, Y., Lane, D.M.,Salson. Feature Extraction...

  2. Corrosion Resistant Cladding by YAG Laser Welding in Underwater Environment

    International Nuclear Information System (INIS)

    Tsutomi Kochi; Toshio Kojima; Suemi Hirata; Ichiro Morita; Katsura Ohwaki

    2002-01-01

    It is known that stress-corrosion cracking (SCC) will occur in nickel-base alloys used in Reactor Pressure Vessel (RPV) and Internals of nuclear power plants. A SCC sensitivity has been evaluated by IHI in each part of RPV and Internals. There are several water level instrumentation nozzles installed in domestic BWR RPV. In water level instrumentation nozzles, 182 type nickel-base alloys were used for the welding joint to RPV. It is estimated the SCC potential is high in this joint because of a higher residual stress than the yield strength (about 400 MPa). This report will describe a preventive maintenance method to these nozzles Heat Affected Zone (HAZ) and welds by a corrosion resistant cladding (CRC) by YAG Laser in underwater environment (without draining a reactor water). There are many kinds of countermeasures for SCC, for example, Induction Heating Stress Improvement (IHSI), Mechanical Stress Improvement Process (MSIP) and so on. A YAG laser CRC is one of them. In this technology a laser beam is used for heat source and irradiated through an optical fiber to a base metal and SCC resistant material is used for welding wires. After cladding the HAZ and welds are coated by the corrosion resistant materials so their surfaces are improved. A CRC by gas tungsten arc welding (GTAW) in an air environment had been developed and already applied to a couple of operating plants (16 Nozzles). This method was of course good but it spent much time to perform because of an installation of some water-proof working boxes to make a TIG-weldability environment. CRC by YAG laser welding in underwater environment has superior features comparing to this conventional TIG method as follows. At the viewpoint of underwater environment, (1) an outage term reduction (no drainage water). (2) a radioactive exposure dose reduction for personnel. At that of YAG laser welding, (1) A narrower HAZ. (2) A smaller distortion. (3) A few cladding layers. A YAG laser CRC test in underwater

  3. ECS: Efficient Communication Scheduling for Underwater Sensor Networks

    Directory of Open Access Journals (Sweden)

    Lu Hong

    2011-03-01

    Full Text Available TDMA protocols have attracted a lot of attention for underwater acoustic sensor networks (UWSNs, because of the unique characteristics of acoustic signal propagation such as great energy consumption in transmission, long propagation delay and long communication range. Previous TDMA protocols all allocated transmission time to nodes based on discrete time slots. This paper proposes an efficient continuous time scheduling TDMA protocol (ECS for UWSNs, including the continuous time based and sender oriented conflict analysis model, the transmission moment allocation algorithm and the distributed topology maintenance algorithm. Simulation results confirm that ECS improves network throughput by 20% on average, compared to existing MAC protocols.

  4. Annotated Bibliography of Underwater Acoustic Research, 1942-1945.

    Science.gov (United States)

    1983-11-02

    easily be produced in underwater-telephony adapter was quantities by existing facilities at sea-tested on USS LIONFISH . The New the Submarine Base...including 7500 lacquering, waxing, making and yd, with the LIONFISH operating fitting pointers, and maintenance, underway at periscope deptn and the Two...R61 1-452 D24/R62i -462 * USS PERCH (SS-313) USS JORDAN (DE204) D24/R736-564 P42 /R75 9-584 D16/R1388-i 152 D24/R780-603 054 /R992-783 USS LIONFISH (SS

  5. NEMD study for supercavitation mechanism with underwater object

    Energy Technology Data Exchange (ETDEWEB)

    Gong Bozhi [Department of Chemistry, Zhejiang University, Hangzhou, Zhejiang 310027 (China); Zhang Bingjian [Department of Chemistry, Zhejiang University, Hangzhou, Zhejiang 310027 (China)], E-mail: zbj@mail.ha.zj.cn; Zhang Hui [Department of Chemistry, Ohio State University, Columbus, OH 43210 (United States)

    2008-11-24

    An open system model was introduced for Non-Equilibrium Molecular Dynamics (NEMD) simulation for studying flow phenomenon surrounding different underwater object. Cavitation number {sigma} criterion was proved to be applicable in predicting local cavitation mechanism. An interesting phenomenon was found that low {sigma} areas and actual cavities were spatially separated in molecular scale, and stable supercavitation would require a large enough low {sigma} area to sustain. Effects of cavitator shape and flow velocity were compared with macro scale flow under similar {sigma}, providing a new computational method to study the molecular scale mechanism of this phenomenon.

  6. NEMD study for supercavitation mechanism with underwater object

    International Nuclear Information System (INIS)

    Gong Bozhi; Zhang Bingjian; Zhang Hui

    2008-01-01

    An open system model was introduced for Non-Equilibrium Molecular Dynamics (NEMD) simulation for studying flow phenomenon surrounding different underwater object. Cavitation number σ criterion was proved to be applicable in predicting local cavitation mechanism. An interesting phenomenon was found that low σ areas and actual cavities were spatially separated in molecular scale, and stable supercavitation would require a large enough low σ area to sustain. Effects of cavitator shape and flow velocity were compared with macro scale flow under similar σ, providing a new computational method to study the molecular scale mechanism of this phenomenon

  7. Swarm Underwater Acoustic 3D Localization: Kalman vs Monte Carlo

    Directory of Open Access Journals (Sweden)

    Sergio Taraglio

    2015-07-01

    Full Text Available Two three-dimensional localization algorithms for a swarm of underwater vehicles are presented. The first is grounded on an extended Kalman filter (EKF scheme used to fuse some proprioceptive data such as the vessel's speed and some exteroceptive measurements such as the time of flight (TOF sonar distance of the companion vessels. The second is a Monte Carlo particle filter localization processing the same sensory data suite. The results of several simulations using the two approaches are presented, with comparison. The case of a supporting surface vessel is also considered. An analysis of the robustness of the two approaches against some system parameters is given.

  8. Spatiotemporal dynamics of underwater conical shock wave focusing

    Czech Academy of Sciences Publication Activity Database

    Hoffer, Petr; Lukeš, Petr; Akiyama, H.; Hosseini, H.

    2017-01-01

    Roč. 27, č. 4 (2017), s. 685-690 ISSN 0938-1287 Grant - others:Rada Programu interní podpory projektů mezinárodní spolupráce AV ČR(CZ) M100431203 Program:M Institutional support: RVO:61389021 Keywords : Underwater shock wave focusing * multichannel * electrohydraulic discharge * conical shock wave reflection * medical application Subject RIV: BI - Acoustics OBOR OECD: Applied mechanics Impact factor: 1.107, year: 2016 https://link.springer.com/article/10.1007/s00193-016-0703-7

  9. Erosion protection Phytoreinforcement of SCARP steep slopes of the holy virgin’s DITCH

    Directory of Open Access Journals (Sweden)

    Darchiya Valentina Ivanovna

    2015-09-01

    Full Text Available Erosion protection landscaping embedment of steep subsoil slopes is a time-sensitive issue of road construction and planning of recreational area that are often fit on a challenging picturesque terrain unsuitable for site development. The article provides the results of a 4-year experiment on landscaping and plant fixing of up to 4.5 m soil slopes with 1:1 and 2:1 grades; the experiment was carried out by the MGSU on the territory of a convent in the south of the Nizhniy Novgorod region. The site has slopes oriented towards all cardinals. At some places the slopes are bedimmed by trees. All these factors create a wide range of geo-ecological conditions for lawns. All the slopes are fixed with geo-fibrefill grids; slopes with 2:1 grade are strengthened by auxiliary grids made of reinforced metal bars, anchors and braces on the bottom of the Holy Moat. The paper recommends composition of grass plants as well as techniques to build up lawns suitable for various micro-climate conditions. It also advises the structure of multi-tier plant entity. The suggested methods are tested during a 3-year maintenance of slopes built for constant use.

  10. Is Snow Gliding a Major Soil Erosion Agent in Steep Alpine Areas?

    International Nuclear Information System (INIS)

    Meusburger, K.; Walter, A.; Alewell, C.; Leitinger, G.; Mabit, L.; Mueller, M.H.

    2015-01-01

    Snow cover is a key hydrological characteristic of mountain areas. Nevertheless, a majority of studies focused on quantifying rates of soil erosion and sediment transport in steep mountain areas has largely neglected the role of snow cover on soil erosion rates (Stanchi et al., 2014). Soil erosion studies have focused almost exclusively on the snow-free periods even though it is well known that wet avalanches can yield enormous erosive forces (Freppaz et al., 2010; Korup and Rixen, 2014). This raises the question whether annual snow cover and particularly the slow movement of snow packages over the soil surface, termed ‘‘snow gliding’’, contribute significantly to the total soil loss in these areas. Three different approaches to estimate soil erosion rates were used to address this question. These include (1) the anthropogenic soil tracer 137 Cs, (2) the Revised Universal Soil Loss Equation (RUSLE), and (3) direct sediment yield measurements of snow glide deposits. The fallout radionuclide 137 Cs integrates total soil loss due to all erosion agents involved, the RUSLE model is suitable to estimate soil loss by water erosion and the sediment yield measurements yield represents a direct estimate of soil removal by snow gliding. Moreover, cumulative snow glide distance was measured for 14 sites and modelled for the surrounding area with the Spatial Snow Glide Model (Leitinger et al., 2008)

  11. Are double trailers cost effective for transporting forest biomass on steep terrain?

    Directory of Open Access Journals (Sweden)

    Rene Zamora-Cristales

    2015-07-01

    Full Text Available Transportation of forest biomass on steep terrain involves logistical challenges. Trucks with large single trailers are often unable to travel on forest roads due to their narrowness, tight curves, adverse grades and limited areas to turn around. A shorter trailer must be used but then transportation capacity is limited by the trailer volume due to the low bulk density of the processed biomass, particularly when the biomass is dry. With double trailers, transportation capacity can be limited by allowable legal weight based on axle number and spacing. We developed a simulation model that explores the economic feasibility of using double-trailer configurations to transport forest biomass to a bioenergy facility from the grinder at a landing or from a centralized yard in Washington, Oregon and California. Results show that double trailers can be a cost effective alternative to single trailers under limited conditions in Oregon and Washington, but they are not a competitive option in California due to the state's transportation regulations.

  12. Steep discounting of delayed monetary and food rewards in obesity: a meta-analysis.

    Science.gov (United States)

    Amlung, M; Petker, T; Jackson, J; Balodis, I; MacKillop, J

    2016-08-01

    An increasing number of studies have investigated delay discounting (DD) in relation to obesity, but with mixed findings. This meta-analysis synthesized the literature on the relationship between monetary and food DD and obesity, with three objectives: (1) to characterize the relationship between DD and obesity in both case-control comparisons and continuous designs; (2) to examine potential moderators, including case-control v. continuous design, money v. food rewards, sample sex distribution, and sample age (18 years); and (3) to evaluate publication bias. From 134 candidate articles, 39 independent investigations yielded 29 case-control and 30 continuous comparisons (total n = 10 278). Random-effects meta-analysis was conducted using Cohen's d as the effect size. Publication bias was evaluated using fail-safe N, Begg-Mazumdar and Egger tests, meta-regression of publication year and effect size, and imputation of missing studies. The primary analysis revealed a medium effect size across studies that was highly statistically significant (d = 0.43, p food rewards and child/adolescent samples. Limited evidence of publication bias was present, although the Begg-Mazumdar test and meta-regression suggested a slightly diminishing effect size over time. Steep DD of food and money appears to be a robust feature of obesity that is relatively consistent across the DD assessment methodologies and study designs examined. These findings are discussed in the context of research on DD in drug addiction, the neural bases of DD in obesity, and potential clinical applications.

  13. Limit behavior of mass critical Hartree minimization problems with steep potential wells

    Science.gov (United States)

    Guo, Yujin; Luo, Yong; Wang, Zhi-Qiang

    2018-06-01

    We consider minimizers of the following mass critical Hartree minimization problem: eλ(N ) ≔inf {u ∈H1(Rd ) , ‖u‖2 2=N } Eλ(u ) , where d ≥ 3, λ > 0, and the Hartree energy functional Eλ(u) is defined by Eλ(u ) ≔∫Rd|∇u (x ) |2d x +λ ∫Rdg (x ) u2(x ) d x -1/2 ∫Rd∫Rdu/2(x ) u2(y ) |x -y |2 d x d y . Here the steep potential g(x) satisfies 0 =g (0 ) =infRdg (x ) ≤g (x ) ≤1 and 1 -g (x ) ∈Ld/2(Rd ) . We prove that there exists a constant N* > 0, independent of λg(x), such that if N ≥ N*, then eλ(N) does not admit minimizers for any λ > 0; if 0 N N*, then there exists a constant λ*(N) > 0 such that eλ(N) admits minimizers for any λ > λ*(N) and eλ(N) does not admit minimizers for 0 N). For any given 0 N N*, the limit behavior of positive minimizers for eλ(N) is also studied as λ → ∞, where the mass concentrates at the bottom of g(x).

  14. Optimization of liquid-liquid extraction of biosurfactants from corn steep liquor.

    Science.gov (United States)

    Vecino, X; Barbosa-Pereira, L; Devesa-Rey, R; Cruz, J M; Moldes, A B

    2015-09-01

    In this work, the optimization of the operational conditions for the chloroform-based extraction of surface-active compounds from corn steep liquor (CSL) was carried out and the nutritional properties of the remnant aqueous phase (CSL-less biosurfactant) was evaluated as microbial fermentation medium. The optimal conditions to obtain biosurfactants from CSL were as follows: chloroform/CSL ratio 2 (v/v), 56 °C at extraction times >30 min. At the optima conditions, 100 % of biosurfactant extract can be obtained from CSL, obtaining 12.0 ± 0.5 g of biosurfactant extract/Kg of CSL. The critical micelle concentration (CMC) of the biosurfactant extract was 399.4 mg L(-1). This value is similar to the CMC of cetrimonium bromide (CTAB), a cationic surfactant used in the formulation of nanoparticles. The extraction of biosurfactant can be also carried out at room temperature although in this case, the extraction yield decreased about 15 %. The extraction of surface-active compounds from agroindustrial streams can suppose important advances for the bio-based surfactants industry. Biosurfactants obtained in this work are not only more eco-friendly than chemical detergents but also can be cost competitive with its chemical counterparts. Furthermore, after the extraction of surface-active compounds, CSL-less biosurfactant was found to be suitable as nutritional supplement for lactic acid bacteria, maintaining its nutritional properties in comparison with regular CSL.

  15. Groundwater and surface water interaction in a basin surrounded by steep mountains, central Japan

    Science.gov (United States)

    Ikeda, Koichi; Tsujimura, Maki; Kaeriyama, Toshiaki; Nakano, Takanori

    2015-04-01

    Mountainous headwaters and lower stream alluvial plains are important as water recharge and discharge areas from the view point of groundwater flow system. Especially, groundwater and surface water interaction is one of the most important processes to understand the total groundwater flow system from the mountain to the alluvial plain. We performed tracer approach and hydrometric investigations in a basin with an area 948 square km surrounded by steep mountains with an altitude from 250m to 2060m, collected 258 groundwater samples and 112 surface water samples along four streams flowing in the basin. Also, Stable isotopes ratios of oxygen-18 (18O) and deuterium (D) and strontium (Sr) were determined on all water samples. The 18O and D show distinctive values for each sub-basin affected by different average recharge altitudes among four sub-basins. Also, Sr isotope ratio shows the same trend as 18O and D affected by different geological covers in the recharge areas among four sub-basins. The 18O, D and Sr isotope values of groundwater along some rivers in the middle stream region of the basin show close values as the rivers, and suggesting that direct recharge from the river to the shallow groundwater is predominant in that region. Also, a decreasing trend of discharge rate of the stream along the flow supports this idea of the groundwater and surface water interaction in the basin.

  16. Nonlocal Sediment Transport on Steep Lateral Moraines, Eastern Sierra Nevada, California, USA

    Science.gov (United States)

    Doane, Tyler H.; Furbish, David Jon; Roering, Joshua J.; Schumer, Rina; Morgan, Daniel J.

    2018-01-01

    Recent work has highlighted the significance of long-distance particle motions in hillslope sediment transport. Such motions imply that the flux at a given hillslope position is appropriately described as a weighted function of surrounding conditions that influence motions reaching the given position. Although the idea of nonlocal sediment transport is well grounded in theory, limited field evidence has been provided. We test local and nonlocal formulations of the flux and compare their ability to reproduce land surface profiles of steep moraines in California. We show that nonlocal and nonlinear models better reproduce evolved land surface profiles, notably the amount of lowering and concavity near the moraine crest and the lengthening and straightening of the depositional apron. The analysis provides the first estimates of key parameters that set sediment entrainment rates and travel distances in nonlocal formulations and highlights the importance of correctly specifying the entrainment rate when modeling land surface evolution. Moraine evolution associated with nonlocal and nonlinear transport formulations, when described in terms of the evolution of the Fourier transform of the moraine surface, displays a distinct behavior involving growth of certain wave numbers, in contrast to the decay of all wave numbers associated with linear transport. Nonlinear and nonlocal formulations share key mathematical elements yielding a nonlinear relation between the flux and the land surface slope.

  17. Fabrication of hydrogels with steep stiffness gradients for studying cell mechanical response.

    Directory of Open Access Journals (Sweden)

    Raimon Sunyer

    Full Text Available Many fundamental cell processes, such as angiogenesis, neurogenesis and cancer metastasis, are thought to be modulated by extracellular matrix stiffness. Thus, the availability of matrix substrates having well-defined stiffness profiles can be of great importance in biophysical studies of cell-substrate interaction. Here, we present a method to fabricate biocompatible hydrogels with a well defined and linear stiffness gradient. This method, involving the photopolymerization of films by progressively uncovering an acrylamide/bis-acrylamide solution initially covered with an opaque mask, can be easily implemented with common lab equipment. It produces linear stiffness gradients of at least 115 kPa/mm, extending from ∼1 kPa to 240 kPa (in units of Young's modulus. Hydrogels with less steep gradients and narrower stiffness ranges can easily be produced. The hydrogels can be covalently functionalized with uniform coatings of proteins that promote cell adhesion. Cell spreading on these hydrogels linearly correlates with hydrogel stiffness, indicating that this technique effectively modifies the mechanical environment of living cells. This technique provides a simple approach that produces steeper gradients, wider rigidity ranges, and more accurate profiles than current methods.

  18. Ecological mechanisms underlying soil bacterial responses to rainfall along a steep natural precipitation gradient.

    Science.gov (United States)

    Waring, Bonnie; Hawkes, Christine V

    2018-02-01

    Changes in the structure and function of soil microbial communities can drive substantial ecosystem feedbacks to altered precipitation. However, the ecological mechanisms underlying community responses to environmental change are not well understood. We used an 18-month soil reciprocal transplant experiment along a steep precipitation gradient to quantify how changes in rainfall affected bacterial community structure. We also conducted an enhanced dispersal treatment to ask whether higher immigration rates of taxa from the surrounding environment would accelerate community responses to climate change. Finally, we addressed how the composition of soil bacteria communities was related to the functional response of soil respiration to moisture in these treatments. Bacterial community structure (OTU abundance) and function (respiration rates) changed little in response to manipulation of either rainfall environment or dispersal rates. Although most bacteria were ecological generalists, a subset of specialist taxa, over 40% of which were Actinobacteria, tended to be more abundant in the rainfall environment that matched their original conditions. Bacteria community composition was an important predictor of the respiration response to moisture. Thus, the high compositional resistance of microbial communities dictated respiration responses to altered rainfall in this system.

  19. Ge p-channel tunneling FETs with steep phosphorus profile source junctions

    Science.gov (United States)

    Takaguchi, Ryotaro; Matsumura, Ryo; Katoh, Takumi; Takenaka, Mitsuru; Takagi, Shinichi

    2018-04-01

    The solid-phase diffusion processes of three n-type dopants, i.e., phosphorus (P), arsenic (As), and antimony (Sb), from spin-on-glass (SOG) into Ge are compared. We show that P diffusion can realize both the highest impurity concentration (˜7 × 1019 cm-3) and the steepest impurity profile (˜10 nm/dec) among the cases of the three n-type dopants because the diffusion coefficient is strongly dependent on the dopant concentration. As a result, we can conclude that P is the most suitable dopant for the source formation of Ge p-channel TFETs. Using this P diffusion, we fabricate Ge p-channel TFETs with high-P-concentration and steep-P-profile source junctions and demonstrate their operation. A high ON current of ˜1.7 µA/µm is obtained at room temperature. However, the subthreshold swing and ON current/OFF current ratio are degraded by any generation-recombination-related current component. At 150 K, SSmin of ˜108 mV/dec and ON/OFF ratio of ˜3.5 × 105 are obtained.

  20. Time series modeling of soil moisture dynamics on a steep mountainous hillside

    Science.gov (United States)

    Kim, Sanghyun

    2016-05-01

    The response of soil moisture to rainfall events along hillslope transects is an important hydrologic process and a critical component of interactions between soil vegetation and the atmosphere. In this context, the research described in this article addresses the spatial distribution of soil moisture as a function of topography. In order to characterize the temporal variation in soil moisture on a steep mountainous hillside, a transfer function, including a model for noise, was introduced. Soil moisture time series with similar rainfall amounts, but different wetness gradients were measured in the spring and fall. Water flux near the soil moisture sensors was modeled and mathematical expressions were developed to provide a basis for input-output modeling of rainfall and soil moisture using hydrological processes such as infiltration, exfiltration and downslope lateral flow. The characteristics of soil moisture response can be expressed in terms of model structure. A seasonal comparison of models reveals differences in soil moisture response to rainfall, possibly associated with eco-hydrological process and evapotranspiration. Modeling results along the hillslope indicate that the spatial structure of the soil moisture response patterns mainly appears in deeper layers. Similarities between topographic attributes and stochastic model structures are spatially organized. The impact of temporal and spatial discretization scales on parameter expression is addressed in the context of modeling results that link rainfall events and soil moisture.

  1. STEEP4 code for computation of specific thermonuclear reaction rates from pointwise cross sections

    International Nuclear Information System (INIS)

    Harris, D.R.; Dei, D.E.; Husseiny, A.A.; Sabri, Z.A.; Hale, G.M.

    1976-05-01

    A code module, STEEP4, is developed to calculate the fusion reaction rates in terms of the specific reactivity [sigma v] which is the product of cross section and relative velocity averaged over the actual ion distributions of the interacting particles in the plasma. The module is structured in a way suitable for incorporation in thermonuclear burn codes to provide rapid and yet relatively accurate on-line computation of [sigma v] as a function of plasma parameters. Ion distributions are modified to include slowing-down contributions which are characterized in terms of plasma parameters. Rapid and accurate algorithms are used for integrating [sigma v] from cross sections and spectra. The main program solves for [sigma v] by the method of steepest descent. However, options are provided to use Gauss-Hermite and dense trapezoidal quadrature integration techniques. Options are also provided for rapid calculation of screening effects on specific reaction rates. Although such effects are not significant in cases of plasmas of laboratory interest, the options are included to increase the range of applicability of the code. Gamow penetration form, log-log interpolation, and cubic interpolation routines are included to provide the interpolated values of cross sections

  2. Determining basic parameters of shafts with cage hoisting systems in mines with steep seams

    Energy Technology Data Exchange (ETDEWEB)

    Durov, E.M.

    1982-05-01

    This paper analyzes problems associated with increasing depth of mine shafts in operating coal mines. Schemes of shaft excavation in mines with steep coal seams are analyzed. Removal of mine rock and the ground surface by existing mine shafts is most economical in most cases. Yuzhgiproshakht has investigated a number of hoisting schemes during mine shaft excavation in order to select the optimum shaft diameter which permits shaft reconstruction and deepening to be optimized. The following conditions are analyzed: coal output of a coal mine ranges from 0.9 megatons (Mt) to 1.8 Mt/year, mining depth ranges from 600 m to 1600 m (with intermediary depth of 800, 1000, 1200 and 1400 m also considered). Separate hoisting of coal and rock waste is used. Shaft sinking rate ranges from 10 to 50 m/month. The following hoisting schemes are analyzed: two independent systems which consist of a cage with counterweight, three systems of a cage with counterweight, double cage system and a cage with counterweight. Hoisting schemes are shown in 9 diagrams. Investigations show that a 7 to 8 m diameter of mine shafts is most economic. In mine shafts 7 m in diameter equipped with two cages with counterweights one of the cages is removed to form a free space for the hoisting bucket. In the 8 m shaft equipped with a double cage system and a cage with counterweight the cage with counterweight is removed to form a free place for the hoisting bucket used during shaft excavation.

  3. Substitution of wheat bran by corn gluten feed without steep water in cats feed

    Directory of Open Access Journals (Sweden)

    Lívia Geraldi Ferreira

    Full Text Available ABSTRACT: This study aimed to evaluate the effects of substituting wheat bran (WB by corn gluten feed without steep water (CGF in cats feeds regarding the nutritional value of the diet, stool characteristics, time of food passage through the gastrointestinal tract (GIT, intestinal gas production and concentrations of short chain fatty acids (SCFA in blood and faeces. Twenty eight cats were distributed in a randomized block design with four treatments (0, 2.6, 5.3 or 8.0% CGF, based on dry matter, substituting for WB and seven replicates. Substitution of WB by CGF decreased (P0.05 the digestibility of other nutrients and apparent metabolizable energy. There was also no effect (P>0.05 on faeces moisture, faecal pH and score, food transit time in the GIT, intestinal gas area and SCFA concentrations in faeces, while blood concentrations of propionate were influenced differently by the different feeds and sampling times (P<0.05. Thus replacement of up to 8% of WB by CGF may be done safely in cats feed.

  4. Greedy Deep Dictionary Learning

    OpenAIRE

    Tariyal, Snigdha; Majumdar, Angshul; Singh, Richa; Vatsa, Mayank

    2016-01-01

    In this work we propose a new deep learning tool called deep dictionary learning. Multi-level dictionaries are learnt in a greedy fashion, one layer at a time. This requires solving a simple (shallow) dictionary learning problem, the solution to this is well known. We apply the proposed technique on some benchmark deep learning datasets. We compare our results with other deep learning tools like stacked autoencoder and deep belief network; and state of the art supervised dictionary learning t...

  5. Snow control on active layer and permafrost in steep alpine rock walls (Aiguille du Midi, 3842 m a.s.l, Mont Blanc massif)

    Science.gov (United States)

    Magnin, Florence; Westermann, Sebastian; Pogliotti, Paolo; Ravanel, Ludovic; Deline, Philip

    2016-04-01

    Permafrost degradation through the thickening of the active layer and the rising temperature at depth is a crucial process of rock wall stability. The ongoing increase in rock falls observed during hot periods in mid-latitude mountain ranges is regarded as a result of permafrost degradation. However, the short-term thermal dynamics of alpine rock walls are misunderstood since they result of complex processes related to the interaction of local climate variables, heterogeneous snow cover and heat transfers. As a consequence steady-state and long-term changes that can be approached with simpler process mainly related to air temperature, solar radiations and heat conduction were the most common dynamics to be studied so far. The effect of snow on the bedrock surface temperature is increasingly investigated and has already been demonstrated to be an essential factor of permafrost distribution. Nevertheless, its effect on the year-to-year changes of the active layer thickness and of the permafrost temperature in steep alpine bedrock has not been investigated yet, partly due to the lack of appropriate data. We explore the role of snow accumulations on the active layer and permafrost thermal regime of steep rock walls of a high-elevated site, the Aiguille du Midi (AdM, 3842 m a.s.l, Mont Blanc massif, Western European Alps) by mean of a multi-methods approach. We first analyse six years of temperature records in three 10-m-deep boreholes. Then we describe the snow accumulation patterns on two rock faces by means of automatically processed camera records. Finally, sensitivity analyses of the active layer thickness and permafrost temperature towards timing and magnitude of snow accumulations are performed using the numerical permafrost model CryoGrid 3. The energy balance module is forced with local meteorological measurements on the AdM S face and validated with surface temperature measurements at the weather station location. The heat conduction scheme is calibrated with

  6. Underwater Coatings Testing for INEEL Fuel Basin Applications

    International Nuclear Information System (INIS)

    Julia L. Tripp

    2004-01-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) is deactivating several fuel storage basins. Airborne contamination is a concern when the sides of the basins are exposed and allowed to dry during water removal. One way of controlling this airborne contamination is to fix the contamination in place while the pool walls are still submerged. There are many underwater coatings available on the market that are used in marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives are easily applied and adhere well to the substrates (pool wall materials) found in INEEL fuel pools. The four pools considered included (1) Test Area North (TAN-607) with epoxy painted concrete walls; (2) Idaho Nuclear Technology and Engineering Center (INTEC) (CPP-603) with bare concrete walls; (3) Materials Test Reactor (MTR) Canal with stainless steel lined concrete walls; and (4) Power Burst Facility (PBF-620) with stainless steel lined concrete walls on the bottom and epoxy painted carbon steel lined walls on the upper portions. Therefore, the four materials chosen for testing included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The typical water temperature of the pools varies from 55 F to 80 F dependent on the pool and the season. These tests were done at room temperature

  7. Underwater striling engine design with modified one-dimensional model

    Directory of Open Access Journals (Sweden)

    Daijin Li

    2015-05-01

    Full Text Available Stirling engines are regarded as an efficient and promising power system for underwater devices. Currently, many researches on one-dimensional model is used to evaluate thermodynamic performance of Stirling engine, but in which there are still some aspects which cannot be modeled with proper mathematical models such as mechanical loss or auxiliary power. In this paper, a four-cylinder double-acting Stirling engine for Unmanned Underwater Vehicles (UUVs is discussed. And a one-dimensional model incorporated with empirical equations of mechanical loss and auxiliary power obtained from experiments is derived while referring to the Stirling engine computer model of National Aeronautics and Space Administration (NASA. The P-40 Stirling engine with sufficient testing results from NASA is utilized to validate the accuracy of this one-dimensional model. It shows that the maximum error of output power of theoretical analysis results is less than 18% over testing results, and the maximum error of input power is no more than 9%. Finally, a Stirling engine for UUVs is designed with Schmidt analysis method and the modified one-dimensional model, and the results indicate this designed engine is capable of showing desired output power.

  8. Trajectory-Based Visual Localization in Underwater Surveying Missions

    Directory of Open Access Journals (Sweden)

    Antoni Burguera

    2015-01-01

    Full Text Available We present a new vision-based localization system applied to an autonomous underwater vehicle (AUV with limited sensing and computation capabilities. The traditional EKF-SLAM approaches are usually expensive in terms of execution time; the approach presented in this paper strengthens this method by adopting a trajectory-based schema that reduces the computational requirements. The pose of the vehicle is estimated using an extended Kalman filter (EKF, which predicts the vehicle motion by means of a visual odometer and corrects these predictions using the data associations (loop closures between the current frame and the previous ones. One of the most important steps in this procedure is the image registration method, as it reinforces the data association and, thus, makes it possible to close loops reliably. Since the use of standard EKFs entail linearization errors that can distort the vehicle pose estimations, the approach has also been tested using an iterated Kalman filter (IEKF. Experiments have been conducted using a real underwater vehicle in controlled scenarios and in shallow sea waters, showing an excellent performance with very small errors, both in the vehicle pose and in the overall trajectory estimates.

  9. Reviving a neglected celestial underwater polarization compass for aquatic animals.

    Science.gov (United States)

    Waterman, Talbot H

    2006-02-01

    Substantial in situ measurements on clear days in a variety of marine environments at depths in the water down to 200 m have demonstrated the ubiquitous daytime presence of sun-related e-vector (=plane of polarization) patterns. In most lines of sight the e-vectors tilt from horizontal towards the sun at angles equal to the apparent underwater refracted zenith angle of the sun. A maximum tilt-angle of approximately 48.5 degrees , is reached in horizontal lines of sight at 90 degrees to the sun's bearing (the plane of incidence). This tilt limit is set by Snell's window, when the sun is on the horizon. The biological literature since the 1980s has been pervaded with assumptions that daytime aquatic e-vectors are mainly horizontal. This review attempts to set the record straight concerning the potential use of underwater e-vectors as a visual compass and to reopen the field to productive research on aquatic animals' orientation and navigation.

  10. Underwater Photosynthesis of Submerged Plants – Recent Advances and Methods

    Science.gov (United States)

    Pedersen, Ole; Colmer, Timothy D.; Sand-Jensen, Kaj

    2013-01-01

    We describe the general background and the recent advances in research on underwater photosynthesis of leaf segments, whole communities, and plant dominated aquatic ecosystems and present contemporary methods tailor made to quantify photosynthesis and carbon fixation under water. The majority of studies of aquatic photosynthesis have been carried out with detached leaves or thalli and this selectiveness influences the perception of the regulation of aquatic photosynthesis. We thus recommend assessing the influence of inorganic carbon and temperature on natural aquatic communities of variable density in addition to studying detached leaves in the scenarios of rising CO2 and temperature. Moreover, a growing number of researchers are interested in tolerance of terrestrial plants during flooding as torrential rains sometimes result in overland floods that inundate terrestrial plants. We propose to undertake studies to elucidate the importance of leaf acclimation of terrestrial plants to facilitate gas exchange and light utilization under water as these acclimations influence underwater photosynthesis as well as internal aeration of plant tissues during submergence. PMID:23734154

  11. Correction of Navigational Information Supplied to Biomimetic Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Praczyk Tomasz

    2018-03-01

    Full Text Available In order to autonomously transfer from one point of the environment to the other, Autonomous Underwater Vehicles (AUV need a navigational system. While navigating underwater the vehicles usually use a dead reckoning method which calculates vehicle movement on the basis of the information about velocity (sometimes also acceleration and course (heading provided by on-board devicesl ike Doppler Velocity Logs and Fibre Optical Gyroscopes. Due to inaccuracies of the devices and the influence of environmental forces, the position generated by the dead reckoning navigational system (DRNS is not free from errors, moreover the errors grow exponentially in time. The problem becomes even more serious when we deal with small AUVs which do not have any speedometer on board and whose course measurement device is inaccurate. To improve indications of the DRNS the vehicle can emerge onto the surface from time to time, record its GPS position, and measure position error which can be further used to estimate environmental influence and inaccuracies caused by mechanisms of the vehicle. This paper reports simulation tests which were performed to determine the most effective method for correction of DRNS designed for a real Biomimetic AUV.

  12. Spectral analysis of underwater explosions in the Dead Sea

    Science.gov (United States)

    Gitterman, Y.; Ben-Avraham, Z.; Ginzburg, A.

    1998-08-01

    The present study utilizes the Israel Seismic Network (ISN) as a spatially distributed multichannel system for the discrimination of low-magnitude events (ML UWEs) and 16 earthquakes in the magnitude range ML = 1.6-2.8, within distances of 10-150 km, recorded by the ISN, were selected for the analysis. The analysis is based on a smoothed (0.5 Hz window) Fourier spectrum of the whole signal (defined by the signal-to-noise criterion), without picking separate wave phases. It was found that the classical discriminant of the seismic energy ratio between the relatively low-frequency (1-6 Hz) and high-frequency (6-11 Hz) bands, averaged over an ISN subnetwork, showed an overlap between UWEs and earthquakes and cannot itself provide reliable identification. We developed and tested a new multistation discriminant based on the low- frequency spectral modulation (LFSM) method. In our case the LFSM is associated with the bubbling effect in underwater explosions. The method demonstrates a distinct azimuth-invariant coherency of spectral shapes in the low-frequency range (1-12 Hz) of short-period seismometer systems. The coherency of the modulated spectra for different ISN stations was measured by semblance statistics commonly used in seismic prospecting for phase correlation in the time domain. The modified statistics provided an almost complete separation between earthquakes and underwater explosions.

  13. Potential role of resurfacing Subtropical Underwater in ENSO evolution

    Science.gov (United States)

    Qu, T.; Chi, J.

    2017-12-01

    Results from a model of the Estimating the Circulation and Climate of the Ocean (ECCO) have shown that the resurfacing of high salinity Subtropical Underwater contributes to the sea surface salinity variability in the equatorial Pacific. On interannual time scale, this contribution can account for as much as 25% of the surface freshwater flux anomalies and is believed to play a role in ENSO evolution. Having these results in mind, this study investigates the surface salinity budget and its primary controls in the equatorial Pacific using ECCO output for the period 1993-2016. Particular attention is paid to 2014/2015 and 2015/2016. Preliminary analyses of the model results suggest that enhanced subsurface processes and in particular enhanced entrainment of Subtropical Underwater are primarily responsible for the positive sea surface salinity anomalies in the central equatorial Pacific during 2014/2015, which represents an opposite phase of El Niño. These subsurface processes weakened during 2015/2016, diretly contributing to the development of the 2015/2016 El Niño. The mechanisms controlling these subsurface processes are discussed.

  14. A Survey on Intermediation Architectures for Underwater Robotics

    Directory of Open Access Journals (Sweden)

    Xin Li

    2016-02-01

    Full Text Available Currently, there is a plethora of solutions regarding interconnectivity and interoperability for networked robots so that they will fulfill their purposes in a coordinated manner. In addition to that, middleware architectures are becoming increasingly popular due to the advantages that they are capable of guaranteeing (hardware abstraction, information homogenization, easy access for the applications above, etc.. However, there are still scarce contributions regarding the global state of the art in intermediation architectures for underwater robotics. As far as the area of robotics is concerned, this is a major issue that must be tackled in order to get a holistic view of the existing proposals. This challenge is addressed in this paper by studying the most compelling pieces of work for this kind of software development in the current literature. The studied works have been assessed according to their most prominent features and capabilities. Furthermore, by studying the individual pieces of work and classifying them several common weaknesses have been revealed and are highlighted. This provides a starting ground for the development of a middleware architecture for underwater robotics capable of dealing with these issues.

  15. Distributed estimation of sensors position in underwater wireless sensor network

    Science.gov (United States)

    Zandi, Rahman; Kamarei, Mahmoud; Amiri, Hadi

    2016-05-01

    In this paper, a localisation method for determining the position of fixed sensor nodes in an underwater wireless sensor network (UWSN) is introduced. In this simple and range-free scheme, the node localisation is achieved by utilising an autonomous underwater vehicle (AUV) that transverses through the network deployment area, and that periodically emits a message block via four directional acoustic beams. A message block contains the actual known AUV position as well as a directional dependent marker that allows a node to identify the respective transmit beam. The beams form a fixed angle with the AUV body. If a node passively receives message blocks, it could calculate the arithmetic mean of the coordinates existing in each messages sequence, to find coordinates at two different time instants via two different successive beams. The node position can be derived from the two computed positions of the AUV. The major advantage of the proposed localisation algorithm is that it is silent, which leads to energy efficiency for sensor nodes. The proposed method does not require any synchronisation among the nodes owing to being silent. Simulation results, using MATLAB, demonstrated that the proposed method had better performance than other similar AUV-based localisation methods in terms of the rates of well-localised sensor nodes and positional root mean square error.

  16. A trajectory tracking controller for an underwater hexapod vehicle.

    Science.gov (United States)

    Plamondon, N; Nahon, M

    2009-09-01

    This paper describes work done in the modeling and control of a low speed underwater vehicle that uses paddles instead of thrusters to move in the water. A review of previously modeled vehicles and of controller designs for underwater applications is presented. Then, a method to accurately predict the thrust produced by an oscillating flexible paddle is developed and validated. This is followed by the development of a method to determine the ideal paddle motion to produce a desired thrust. Several controllers are then developed and tested using a numerical simulation of the vehicle. We found that some model-based controllers could improve the performance of the system while others showed no benefit. Finally, we report results from experimental trials performed in an open water environment comparing the performance of the controllers. The experimental results showed that all the model-based controllers outperform the simple proportional-derivative controller. The controller giving the best performance was the model-based nonlinear controller. We also found that the vehicle was able to follow a change of a roll angle of 90 degrees in 0.7 s and to precisely follow a sinusoidal trajectory with a period of 6.28 s and an amplitude of 5 degrees.

  17. A trajectory tracking controller for an underwater hexapod vehicle

    International Nuclear Information System (INIS)

    Plamondon, N; Nahon, M

    2009-01-01

    This paper describes work done in the modeling and control of a low speed underwater vehicle that uses paddles instead of thrusters to move in the water. A review of previously modeled vehicles and of controller designs for underwater applications is presented. Then, a method to accurately predict the thrust produced by an oscillating flexible paddle is developed and validated. This is followed by the development of a method to determine the ideal paddle motion to produce a desired thrust. Several controllers are then developed and tested using a numerical simulation of the vehicle. We found that some model-based controllers could improve the performance of the system while others showed no benefit. Finally, we report results from experimental trials performed in an open water environment comparing the performance of the controllers. The experimental results showed that all the model-based controllers outperform the simple proportional-derivative controller. The controller giving the best performance was the model-based nonlinear controller. We also found that the vehicle was able to follow a change of a roll angle of 90 deg. in 0.7 s and to precisely follow a sinusoidal trajectory with a period of 6.28 s and an amplitude of 5 deg.

  18. Underwater Noise Pollution at the Strait of Istanbul (Bosphorus

    Directory of Open Access Journals (Sweden)

    Cem Gazioğlu

    2016-12-01

    Full Text Available Underwater noise pollution (UNP has become a major concern in marine habitats, which is intense anthropogenic noise in the marine (aquatic environment. It is caused by ship traffic, oceanographic experiments, and use of explosives in geophysical research, underwater construction, active sonars and seismic survey techniques. Oceans are much nosier than 1960s. Narrow and shallow channel noisy aquatic environments where noise levels reach the highest value is not surprising. The Strait of Istanbul (SoI; Bosphorus is one of the most important maritime passages (app. 50 000 vessel/year or 140 vessel/day which is situated between the Black Sea and the Aegean Sea are also biologically extremely important gateway not only it provides access to a channel. Many of the varieties of fish migration hunting value are realized through the TSS. Local maritime traffic is another important acoustic sources which are more than 3 000 elements (Kesgin and Vardar, 2001 of everyday local traffic in SoI, which are causing noise in the 2 and 10 kHz range. Large vessels create signals both in bands below 1 kHz (main engine, electrical instruments cavitation noise creates higher frequency bands. Almost all elements of marine traffic in SoI located therefore encountered UND in all bands.

  19. Aluminum-Enhanced Underwater Electrical Discharges for Steam Explosion Triggering

    International Nuclear Information System (INIS)

    HOGELAND, STEVE R.; NELSON, LLOYD S.; ROTH, THOMAS CHRISTOPHER

    1999-01-01

    For a number of years, we have been initiating steam explosions of single drops of molten materials with pressure and flow (bubble growth) transients generated by discharging a capacitor bank through gold bridgewires placed underwater. Recent experimental and theoretical advances in the field of steam explosions, however, have made it important to substantially increase these relatively mild transients in water without using high explosives, if possible. To do this with the same capacitor bank, we have discharged similar energies through tiny strips of aluminum foil submerged in water. By replacing the gold wires with the aluminum strips, we were able to add the energy of the aluminum-water combustion to that normally deposited electrically by the bridgewire explosion in water. The chemical enhancement of the explosive characteristics of the discharges was substantial: when the same electrical energies were discharged through the aluminum strips, peak pressures increased as much as 12-fold and maximum bubble volumes as much as 5-fold above those generated with the gold wires. For given weights of aluminum, the magnitudes of both parameters appeared to exceed those produced by the underwater explosion of equivalent weights of high explosives

  20. Path Diversity Improved Opportunistic Routing for Underwater Sensor Networks.

    Science.gov (United States)

    Bai, Weigang; Wang, Haiyan; He, Ke; Zhao, Ruiqin

    2018-04-23

    The packets carried along a pre-defined route in underwater sensor networks are very vulnerble. Node mobility or intermittent channel availability easily leads to unreachable routing. Opportunistic routing has been proven to be a promising paradigm to design routing protocols for underwater sensor networks. It takes advantage of the broadcast nature of the wireless medium to combat packet losses and selects potential paths on the fly. Finding an appropriate forwarding candidate set is a key issue in opportunistic routing. Many existing solutions ignore the impact of candidates location distribution on packet forwarding. In this paper, a path diversity improved candidate selection strategy is applied in opportunistic routing to improve packet forwarding efficiency. It not only maximizes the packet forwarding advancements but also takes the candidate’s location distribution into account. Based on this strategy, we propose two effective routing protocols: position improved candidates selection (PICS) and position random candidates selection (PRCS). PICS employs two-hop neighbor information to make routing decisions. PRCS only uses one-hop neighbor information. Simulation results show that both PICS and PRCS can significantly improve network performance when compared with the previous solutions, in terms of packet delivery ratio, average energy consumption and end-to-end delay.