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Sample records for underwater arc cutting

  1. 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

  2. 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.)

  3. Dismantling of JPDR reactor internals by underwater plasma arc cutting technique using robotic manipulator

    International Nuclear Information System (INIS)

    Yokota, M.

    1988-01-01

    The actual dismantling of JPDR started on December 4, 1986. As of now, equipment that surrounds the reactor has mostly been removed to provide working space in reactor containment prior to the dismantling of reactor internals. Some reactor internals have been successfully dismantled using the underwater arc cutting system with a robotic manipulator during the period of January to March 1988. The cutting system is composed of an underwater plasma arc cutting device and a robotic manipulator. The cut off reactor internals were core spray block, feedwater sparger and stabilizers for fuel upper grid tube. The plasma arc cutting device was developed to dismantle the reactor internals underwater. It mainly consists of a plasma torch, power and gas supply systems for the torch, and by-product treatment systems. It has the cutting ability of 130 mm thickness stainless steel underwater. The robotic manipulator has seven degrees of freedom of movement, enabling it to move in almost the same way as the arm of a human being. The arm of the robot is mounted on a supporting device which is suspended by three chains from the support structure set on a service floor. A plasma torch is griped by the robotic hand; its position to the structure to be cut is controlled from a remote control room, about 100 meters outside the reactor containment

  4. Underwater plasma arc cutting in Three Mile Island's reactor

    International Nuclear Information System (INIS)

    McGough, M.S.; Knetl, G.J.; Austin, W.E.

    1989-01-01

    On March 28, 1979, the Pennsylvania Three Mile Island nuclear power plant Unit 2 (TMI-2) suffered a partial fuel-melt accident. During this accident, over 20,000 lb of molten fuel flowed through holes melted through the baffle plates and through the lower-core support assembly (LCSA). The molten fuel subsequently resolidified in the bottom of the reactor vessel. The lower-core support assembly of the TMI-2 reactor was not structurally damaged during the accident. In order to permit defueling of that region of the core, the LCSA was cut to permit access. A five-axis teleoperator was developed to deliver plasma arc cutting, rotary grinding and abrasive waterjet cutting of end effectors to the LCSA. Complex geometry sectioning was completed in a mock-up facility at chemistry and pressure conditions simulating those of the vessel, prior to actual in-vessel operations. In-vessel activities began in early May 1988 and were completed on April 11, 1989. This paper presents the details of the in-vessel cutting efforts

  5. Dross and ultrafine particulate formation in underwater plasma-arc cutting

    International Nuclear Information System (INIS)

    Waldie, B.; Harris, W.K.; Edimburg

    1991-01-01

    Production rates and detailed chemical and physical characteristics of solid emissions from underwater plasma-arc cutting of non-active 304 grade stainless steel have been studied. Steel thicknesses to 40 mm have been cut in water depths of up to 10 metres. An hyperbaric vessel and a deep water test column and associated experimental equipment and techniques were developed for these studies. Concentrations and compositions of effluent by-product gases were also investigated. Part of the work done has been jointly with CEA Saclay and other institutions. Quantitative data, and possible mechanisms involved in the following aspects of the project were achieved: distribution, particle size and composition of solid emissions; composition and flowrates of effluent gases; effect of depth and other cutting conditions on solid and gaseous emissions; filtration resistance characteristics of water suspended particles; repeatability of cut quality and yields of emissions under standard cutting conditions

  6. 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)

  7. Development and demonstration of the safe dismantling of metal components from the decommissioning of nuclear facilities by means of underwater plasma arc cutting. Development of a measurement and control system for a underwater plasma arc cutting device for the safe dismantling of metallic components from the decommissioning of nuclear facility. Final report

    International Nuclear Information System (INIS)

    Haferkamp, H.; Bach, F.W.; Steiner, H.; Kah, S.

    1992-01-01

    For the decommissioning of nuclear installations, methods and tools for the dismantling of complicated metallic components with great material thickness are needed. The method of underwater plasma arc cutting offers the possibility for the dismantling of highly activated components because of the shielding effect of water. Up to now the tools for the underwater method are only available for simple contours. Target of the project was the development of a plasma arc cutting technique for the dismantling of complicated components and of a control and measurement system. (orig./DG) [de

  8. Electric arc, water jet cutting of metals

    International Nuclear Information System (INIS)

    Bruening, D.

    1991-01-01

    For thermal dismantling and cutting of metallic components, as electric arc, water jet cutting method was developed that can be used for underwater cutting work up to a depth of 20 m. Short-circuiting of a continuously fed electrode wire in contact with the metal generates an electric arc which induces partial melting of the metal, and the water jet surrounding the wire rinses away the molten material, thus making a continuous kerf in the material. The method was also tested and modified to allow larger area, surface cutting and removal of metallic surface coatings. This is achieved by melting parts of the surface with the electric arc and subsequent rinsing by the water jet. The cutting and melting depth for surface removal can be accurately controlled by the operating parameters chosen. (orig./DG) [de

  9. High-performance thermal cutting techniques for underwater use

    International Nuclear Information System (INIS)

    Bach, F.W.

    2002-01-01

    Over the past few years, the Institute for Materials Research of the University of Hanover developed a new product family (Contact-Arc-Metal-X) of electrothermal techniques for underwater cutting of metal structures. This CAMX technology comprises contact arc metal cutting by means of a sword-shaped electrode, contact arc metal grinding with a rotating electrode, and contact arc metal drilling with an integrated interlocking mechanism. CAMC is characterized by its capability to cut components with complex structures. Undercuts and cavities constitute no obstacles in the process. CAMG is a technique for straight cutting characterized by its high cutting speeds. CAMD is able to produce countersunk boreholes and holes of any geometry. The integrated tensioning mechanism allows parts to be gripped and transported which could not be handled by conventional gripper systems. (orig.) [de

  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. Plasma arc cutting: speed and cut quality

    International Nuclear Information System (INIS)

    Nemchinsky, V A; Severance, W S

    2009-01-01

    When cutting metal with plasma arc cutting, the walls of the cut are narrower at the bottom than at the top. This lack of squareness increases as the cutting speed increases. A model of this phenomenon, affecting cut quality, is suggested. A thin liquid layer, which separates the plasma from the solid metal to be melted, plays a key role in the suggested model. This layer decreases heat transfer from the plasma to the solid metal; the decrease is more pronounced the higher the speed and the thicker the liquid metal layer. Since the layer is thicker at the bottom of the cut, the heat transfer effectiveness is lower at the bottom. The decrease in heat transfer effectiveness is compensated by the narrowness of the cut. The suggested model allows one to calculate the profile of the cut. The result of the calculations of the cutting speeds for plates of various thicknesses, at which the squareness of the cut is acceptable, agrees well with the speeds recommended by manufacturers. The second effect considered in the paper is the deflection of the plasma jet from the vertical at a high cutting speed. A qualitative explanation of this phenomenon is given. We believe the considerations of this paper are pertinent to other types of cutting with moving heat sources.

  12. Development of underwater laser cutting technique for steel and ...

    Indian Academy of Sciences (India)

    Laser cutting; underwater laser cutting; fibre optic beam delivery; Nd:YAG laser; material processing; heat affected zone; microstructure. PACS Nos 42.62.Cf; 42.62.-b; 42.55.Rz; 42.81.Ai; 42.81.-i. 1. Introduction. Underwater laser cutting and welding has many applications in nuclear facilities and shiping industry and is a ...

  13. Development of underwater laser cutting technique for steel and ...

    Indian Academy of Sciences (India)

    We have developed underwater cutting technique for 4.2 mm thick zircaloy pressure tubes and up to 6 mm thick steel using fibre-coupled 250 W average power pulsed Nd:YAG laser. This underwater cutting technique will be highly useful in various nuclear applications as well as in dismantling/repair of ship and pipe lines ...

  14. Development of underwater laser cutting technique for steel and ...

    Indian Academy of Sciences (India)

    metal vapour from the cut kerf is spread in air. In cutting of irradiated material, debris and metal vapour creates airborne activity, which may be harmful for people working nearby, whereas, underwater cutting is advantageous in terms of a narrow. HAZ adjacent to the laser cut surface providing better samples for the analysis.

  15. Prototype arc saw design and cutting trials

    International Nuclear Information System (INIS)

    Allison, G.S.

    1980-09-01

    A program was initiated to develop the arc saw as a tool capable of removing the end fittings from spent nuclear fuel bundles. A special arc saw for this purpose was designed, installed at the Pacific Northwest Laboratory and satisfactorily operated to remove end fittings from simulated, nonradioactive fuel bundles. The design of the arc saw included consideration of the cutting environment, power supply size, control equipment, and work piece size. Several simulated fuel bundles were cut to demonstrate that the arc saw met design specifications. Although the arc saw development program was curtailed before significant performance data could be collected, tests indicate that the arc saw is a good means of cropping spent fuel bundles and is well suited to remote operation and maintenance

  16. Evaluating optical hazards from plasma arc cutting.

    Science.gov (United States)

    Glassford, Eric; Burr, Gregory

    2018-01-01

    The Health Hazard Evaluation Program of the National Institute for Occupational Safety and Health evaluated a steel building materials manufacturer. The employer requested the evaluation because of concerns about optical radiation hazards from a plasma arc cutting system and the need to clarify eye protection requirements for plasma operators, other employees, and visitors. The strength of the ultraviolet radiation, visible radiation (light), and infrared radiation generated by the plasma arc cutter was measured at various distances from the source and at different operating amperages. Investigators also observed employees performing the plasma arc cutting. Optical radiation above safe levels for the unprotected eyes in the ultraviolet-C, ultraviolet-B, and visible light ranges were found during plasma arc cutting. In contrast, infrared and ultraviolet-A radiation levels during plasma arc cutting were similar to background levels. The highest non-ionizing radiation exposures occurred when no welding curtains were used. A plasma arc welding curtain in place did not eliminate optical radiation hazards to the plasma arc operator or to nearby employees. In most instances, the measured intensities for visible light, UV-C, and UV-B resulted in welding shade lens numbers that were lower than those stipulated in the OSHA Filter Lenses for Protection Against Radiant Energy table in 29 CFR 1910.133(a)(5). [1] Investigators recommended using a welding curtain that enclosed the plasma arc, posting optical radiation warning signs in the plasma arc cutter area, installing audible or visual warning cues when the plasma arc cutter was operating, and using welding shades that covered the plasma arc cutter operator's face to protect skin from ultraviolet radiation hazards.

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

    International Nuclear Information System (INIS)

    Ohwaki, Katsura; Morita, Ichiro; Kojima, Toshio; Sato, Shuichi

    2002-01-01

    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)

  18. 29 CFR 1926.351 - Arc welding and cutting.

    Science.gov (United States)

    2010-07-01

    ... 29 Labor 8 2010-07-01 2010-07-01 false Arc welding and cutting. 1926.351 Section 1926.351 Labor... (CONTINUED) SAFETY AND HEALTH REGULATIONS FOR CONSTRUCTION Welding and Cutting § 1926.351 Arc welding and... for arc welding and cutting, and are of a capacity capable of safely handling the maximum rated...

  19. 29 CFR 1915.56 - Arc welding and cutting.

    Science.gov (United States)

    2010-07-01

    ... 29 Labor 7 2010-07-01 2010-07-01 false Arc welding and cutting. 1915.56 Section 1915.56 Labor... § 1915.56 Arc welding and cutting. The provisions of this section shall apply to ship repairing... specifically designed for arc welding and cutting and are of a capacity capable of safely handling the maximum...

  20. Development of dismantlement technologies - plasma cutting, contact-arc cutting and contact-arc grinding of metal

    International Nuclear Information System (INIS)

    Bach, F.-W.; Kremer, G.; Ruemenapp, T.

    2007-01-01

    Paper describes possible procedures to cut contaminated large-size components in the course of the NPP dismantling, namely: the plasma arc cutting, the contact-arc-metal-cutting (CAMC), and the contact-arc metal grinding (CAMG). These techniques are usable when high thickness and sophisticated geometry of components, in this connection they are realized by relatively simple control systems. One considers application of some of the listed procedures (plasma arc cutting, contact-arc-metal-cutting) when dismantling the Karlsruhe multipurpose research reactor [ru

  1. Inner tubes cutting method by electrical arc saw

    International Nuclear Information System (INIS)

    Thome, P.

    1990-01-01

    The research program deals on the definition of tools used for dismantling steam generator tubes bundle of PWR and on tool used for cutting pipes of great diameter by using the process of cutting by electrical arc saw. The remote tools are used for cutting by the interior pipes of contamined circuits [fr

  2. Measurements of secondary emissions from plasma arc and laser cutting in standard experiments

    International Nuclear Information System (INIS)

    Pilot, G.; Noel, J.P.; Leautier, R.; Steiner, H.; Tarroni, G.; Waldie, B.

    1992-01-01

    As part of an inter-facility comparison of secondary emissions from plasma arc and laser-cutting techniques, standard cutting tests have been done by plasma arc underwater and in air, and by laser beam in air. The same team was commissioned to measure the secondary emissions (solid and gaseous) in each contractor's facility with the same measuring rig. 20 mm and 40 mm thick, grade 304 stainless-steel plates were cut by plasma-torch in three different facilities: Heriot Watt University of Edinburgh, Institut fuer Werkstoffkunde of Universitaet Hannover and CEA/CEN Cadarache. 10 mm and in some cases 20 mm thick, grade 304, stainless-steel plates were cut by laser beam in five different facilities: CEA-CEN Fontenay, CEA-CEN Saclay, Institut fuer Werkstoffkunde of Universitaet Hannover and ENEA/Frascati. The results obtained in the standard experiments are rather similar, and the differences that appear can be explained by the various scales of the involved facilities (semi-industrial and laboratory) and by some particularities in the cutting parameters (an additional secondary gas flow of oxygen in plasma cutting at Universitaet Hannover, for example)

  3. Using arc voltage to locate the anode attachment in plasma arc cutting

    International Nuclear Information System (INIS)

    Osterhouse, D J; Heberlein, J V R; Lindsay, J W

    2013-01-01

    Plasma arc cutting is a widely used industrial process in which an electric arc in the form of a high velocity plasma jet is used to melt and blow away metal. The arc attaches inside the resulting cut slot, or kerf, where it both provides a large heat flux and determines the flow dynamics of the plasma. Knowledge of the position of the arc attachment is essential for understanding the phenomena present at the work piece. This work presents a new method of measuring the location of the arc attachment in which the arc voltage is measured during the cutting of a range of work piece thicknesses. The attachment location is then interpreted from the voltages. To support the validity of this method, the kerf shape, dross particle size and dross adhesion to the work piece are also observed. While these do not conclusively give an attachment location, they show patterns which are consistent with the attachment location found from the voltage measurements. The method is demonstrated on the cutting of mild steel, where the arc attachment is found to be stationary in the upper portion of the cut slot and in reasonable agreement with existing published findings. For a process optimized for the cutting of 12.7 mm mild steel, the attachment is found at a depth of 1.5–3.4 mm. For a slower process optimized for the cutting of 25.4 mm mild steel, the attachment is found at a depth of 3.4–4.8 mm, which enhances heat transfer further down in the kerf, allowing cutting of the thicker work piece. The use of arc voltage to locate the position of the arc attachment is unique when compared with existing methods because it is entirely independent of the heat distribution and visualization techniques. (paper)

  4. Powerful demolition techniques - plasma fusion cutting, contact arc metal cutting (CAMC), and contact arc metal grinding (CAMG)

    International Nuclear Information System (INIS)

    Bach, F.W.; Kremer, G.; Ruemenapp, T.

    2006-01-01

    One of the most complicated steps in the demolition of nuclear power plants is the disassembly of radiologically burdened large components. Most of this work must be performed remotely and under a cover of water. Moreover, dimensions, structures, and locations pose problems. Various techniques of disassembly are available which have specific pros and cons. Thermal cutting techniques, i.e. plasma fusion cutting, contact arc metal cutting (CAMC), and contact arc metal grinding (CAMG), can be used with comparatively simple handling systems even for large material thicknesses and complex geometries. These thermal cutting techniques have been advanced considerably at the Institute for Materials Technology of the University of Hanover in recent years. In plasma fusion cutting, the workpiece is molten, partly evaporated, and the melt is blown out of the kerf by the gas jet. CAMC and CAMG are based on the thermal abrasion of electrically conducting materials under water by means of repeated non-steady short-circuit high-current arcs resulting from contacts between the electrode and the workpiece. Unlike plasma or laser beam cutting, hollow structures and sandwich structures pose no problems. The performance capability of plasma fusion cutting and contact arc metal cutting has been demonstrated impressively in the disassembly of reactor internals of the Karlsruhe multi-purpose research reactor (MZFR). (orig.)

  5. Experimental study of anode processes in plasma arc cutting

    Czech Academy of Sciences Publication Activity Database

    Kavka, Tetyana; Chumak, Oleksiy; Šonský, Jiří; Heinrich, M.; Stehrer, T.; Pauser, H.

    2013-01-01

    Roč. 46, č. 6 (2013), 065202-065202 ISSN 0022-3727 R&D Projects: GA ČR GAP205/11/2070 Institutional support: RVO:61389021 ; RVO:61388998 Keywords : Arc cutting * anode attachment * pilot arc * steam plasma cutting * torch * fluctuations * JET Subject RIV: BL - Plasma and Gas Discharge Physics; BL - Plasma and Gas Discharge Physics (UT-L) Impact factor: 2.521, year: 2013 http://iopscience.iop.org/0022-3727/46/6/065202/pdf/0022-3727_46_6_065202.pdf

  6. A study on practical use of underwater abrasive water jet cutting

    Science.gov (United States)

    Yamaguchi, Hitoshi; Demura, Kenji

    1993-09-01

    The practicality of underwater abrasive water jet cutting technology was studied in experiments. A study of abrasives in slurried form showed that optimum polymer concentration can be selected to suit underwater conditions. For the long-distance transport of slurry from the ocean surface to the ocean floor, a direct supply system by hose proved to be practical. This system takes advantage of the insolubility of the slurry in water due to a difference in specific gravity. For cutting thick steel plate at great ocean depths, a simulation with a pressurized container revealed the requirements for actual cutting. Confirmation of remote cutting operations will become the most important technology in field applications. Underwater sound vibration characteristics were found to change significantly in direct response to modifications in cutting conditions. This will be important basic data to develop an effective sensoring method.

  7. Shielded Metal Arc Welding and Carbon Arc Cutting--Air. Teacher Edition [and] Student Edition [and] Student Workbook. Third Edition.

    Science.gov (United States)

    Harper, Eddie; Knapp, John

    This document contains the teacher and student texts and student workbook for a secondary-level course in shielded metal arc welding (SMAW) and carbon arc cutting that consists of units on the following topics: SMAW safety; SMAW equipment, applications, and techniques; hardfacing; and carbon arc cutting--air. The teacher edition includes the…

  8. 30 CFR 75.1106 - Welding, cutting, or soldering with arc or flame underground.

    Science.gov (United States)

    2010-07-01

    ... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Welding, cutting, or soldering with arc or... Protection § 75.1106 Welding, cutting, or soldering with arc or flame underground. [Statutory Provisions] All welding, cutting, or soldering with arc or flame in all underground areas of a coal mine shall, whenever...

  9. 30 CFR 77.1112 - Welding, cutting, or soldering with arc or flame; safeguards.

    Science.gov (United States)

    2010-07-01

    ... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Welding, cutting, or soldering with arc or... WORK AREAS OF UNDERGROUND COAL MINES Fire Protection § 77.1112 Welding, cutting, or soldering with arc or flame; safeguards. (a) When welding, cutting, or soldering with arc or flame near combustible...

  10. Spectroscopic Characterization of a Steam Arc Cutting Torch

    Czech Academy of Sciences Publication Activity Database

    Sember, Viktor; Mašláni, Alan; Křenek, Petr; Heinrich, M.; Nimmervoll, R.; Pauser, H.; Hrabovský, Milan

    2011-01-01

    Roč. 31, č. 5 (2011), s. 755-770 ISSN 0272-4324 R&D Projects: GA ČR GAP205/11/2070 Institutional research plan: CEZ:AV0Z20430508 Keywords : Plasma cutting * Optical emission spectroscopy * Steam arc * Supersonic plasma jet Subject RIV: BL - Plasma and Gas Discharge Physics Impact factor: 1.602, year: 2011 http://www.springerlink.com/content/m4185257378320u2/fulltext.pdf

  11. Numerical investigation of the double-arcing phenomenon in a cutting arc torch

    Energy Technology Data Exchange (ETDEWEB)

    Mancinelli, B. R., E-mail: bmancinelli@frvt.utn.edu.ar [Grupo de Descargas Eléctricas, Departamento Ingeniería Electromecánica, Facultad Regional Venado Tuerto (UTN), Laprida 651 (2600) Venado Tuerto, Santa Fe (Argentina); Minotti, F. O.; Kelly, H. [Grupo de Descargas Eléctricas, Departamento Ingeniería Electromecánica, Facultad Regional Venado Tuerto (UTN), Laprida 651 (2600) Venado Tuerto, Santa Fe (Argentina); Instituto de Física del Plasma (CONICET), Departamento de Física, Facultad de Ciencias Exactas y Naturales (UBA) Ciudad Universitaria Pab. I, 1428 Buenos Aires (Argentina); Prevosto, L. [Instituto de Física del Plasma (CONICET), Departamento de Física, Facultad de Ciencias Exactas y Naturales (UBA) Ciudad Universitaria Pab. I, 1428 Buenos Aires (Argentina)

    2014-07-14

    A numerical investigation of the double-arcing phenomenon in a cutting arc torch is reported. The dynamics of the double-arcing were simulated by using a two-dimensional model of the gas breakdown development in the space-charge layer contiguous to the nozzle of a cutting arc torch operated with oxygen. The kinetic scheme includes ionization of heavy particles by electron impact, electron attachment, electron detachment, electron–ion recombination, and ion–ion recombination. Complementary measurements during double-arcing phenomena were also conducted. A marked rise of the nozzle voltage was found. The numerical results showed that the dynamics of a cathode spot at the exit of the nozzle inner surface play a key role in the raising of the nozzle voltage, which in turn allows more electrons to return to the wall at the nozzle inlet. The return flow of electrons thus closes the current loop of the double-arcing. The increase in the (floating) nozzle voltage is due to the fact that the increased electron emission at the spot is mainly compensated by the displacement current (the ions do not play a relevant role due to its low-mobility) until that the stationary state is achieved and the electron return flow fully-compensates the electron emission at the spot. A fairly good agreement was found between the model and the experiment for a spot emission current growth rate of the order of 7 × 10{sup 4} A/s.

  12. Development of measuring and control systems for underwater cutting of radioactive components

    International Nuclear Information System (INIS)

    Drews, P.; Fuchs, K.

    1990-01-01

    Shutdown and dismantling of nuclear power plants requires special techniques to decommission the radioactive components involved. For reasons of safety, decommissioning of components under water can be advantageous because of the radioactive shielding effect of water. In this project, research activities and developmental works focused on the realization of different sensor systems and their adaptation to cutting tasks. A new image-processing system has been developed in addition to the use of a modified underwater TV camera for optical cutting process control (plasma and abrasive wheel cutting). For control of process parameters, different inductive, ultrasonic and optical sensors have been modified and tested. The investigations performed are aimed at assuring high-quality underwater cutting with the help of sensor systems specially adapted to cutting tasks, with special signal procession and evaluation through microcomputer control. It is important that special attention be paid to the reduction of interferences in image pick-up and procession. The measuring system has been designed and realized according to the consideration of the demands for underwater cutting processes. The reliability of the system was tested in conjunction with a four-axes handling system

  13. Plasma arc and thermal lance techniques for cutting concrete and steel

    International Nuclear Information System (INIS)

    Bargagliotti, A.; Caprile, L.; Piana, F.; Tolle, E.

    1986-01-01

    The plasma arc technique is used today in industrial practice for any metal, but mainly for cutting stainless steel, carbon steel and aluminium. In air the maximum thickness that was cut in the performed tests was 150 mm, both with ferritic and austenitic steel. Underwater the maximum thickness cut was 103 mm. The two types of torch used in the tests are those used today: the plasma-shaped electrode torch (WIPC) and the pointed electrode torch (DMC-GRUEN). Two different types of gas were compared: an argon-nitrogen mixture and an argon-hydrogen mixture. The second mixture adopted results in less dust emission. The production of dust and aerosols also depends on the cutting speed, on the kind of steel, but mainly on the environmental conditions; it is reduced up to 500 times under water. Dust and aerosols can, jeopardize the efficiency of the system; moreover, the ambient air can have high-level radiation fields. Indirect and direct protections are needed (shields, remote control, robots, etc.). Tentative procedures for dismantling two types of BWR reactor are examined. Two series of tests demonstrated the feasibility of cutting the most geometrically difficult parts of the reactor internals. The thermal lance technique is used in industrial practice mainly for dismantling large reinforced concrete structures. This technique can be applied to dismantle nuclear facilities, even though it can cause some problems due to the gases, fumes and lapilli produced. In addition, the cost of this technique seems to be generally higher than the cost of other techniques. From the analyses done, the conclusion seems that both the above techniques are feasible for dismantling a nuclear power plant (NPP). The best solution is probably to analyse the different dismantling possibilities and problems and problems of each case

  14. Plasma Arc Cutting Dimensional Accuracy Optimization employing the Parameter Design approach

    Directory of Open Access Journals (Sweden)

    Kechagias John

    2017-01-01

    Full Text Available Plasma Arc Cutting (PAC is a thermal manufacturing process used for metal plates cutting. This work experimentally investigates the influence of process parameters onto the dimensional accuracy performance of the plasma arc cutting process. The cutting parameters studied were cutting speed (mm/min, torch standoff distance (mm, and arc voltage (volts. Linear dimensions of a rectangular workpiece were measured after PAC cutting following the full factorial design experimental approach. For each one of the three process parameters, three parameter levels were used. Analysis of means (ANOM and analysis of variances (ANOVA were performed in order for the effect of each parameter on the leaner dimensional accuracy to be assessed.

  15. Autonomous underwater handling system for service, measurement and cutting tasks for the decommissioning of nuclear facilities

    International Nuclear Information System (INIS)

    Hahn, M.; Haferkamp, H.; Bach, W.; Rose, N.

    1992-01-01

    For about 10 years the Institute for Material Science at the Hanover University has worked on projects of underwater cutting and welding. Increasing tasks to be done in nuclear facilities led to the development of special handling systems to support and handle the cutting tools. Also sensors and computers for extensive and complex tasks were integrated. A small sized freediving handling system, equipped with 2 video cameras, ultrasonic and radiation sensors and a plasma cutting torch for inspection and decommissioning tasks in nuclear facilities is described in this paper. (Author)

  16. Handling system for plasma arc cutting of metallic structures in the decommissioning of nuclear facilities

    International Nuclear Information System (INIS)

    Kah, S.; Haferkamp, H.; Bach, F.W.

    1992-01-01

    The decommissioning of nuclear facilities requires cutting techniques for metallic structures which must be technically safe and easy to handle remotely controlled. The most effective protection of the staff can be obtained when the work is carried out under water. Thus the personnel's exposure to ionizing radiation can be kept to a minimum. Under water plasma arc cutting offers some specific advantages for these cutting tasks. However the necessary plasma arc cutting and handling equipment to dismantle complex structures remotely controlled is not yet available. A handling system for under water plasma arc cutting of metallic components is under development in the Institut fur Werkstoffkunde, University of Hanover, Germany. (Author)

  17. Carbon nanostructures obtained by underwater arc discharge of graphite electrodes: Synthesis and characterization

    International Nuclear Information System (INIS)

    Darias Gonzalez, J. G.; Hernandez Tabare, L.; Herrera Palma, V.; Sierra Trujillo, J. S.; Desdin Garcia, L. F.; Codorniu Pujals, D.; Bermudez Martinez, A.; Arias de Fuentes, O.; Maury Toledo, A.

    2015-01-01

    In the present work, the application of the method of underwater arc discharge of graphite electrodes for obtaining several carbon nano structures is described. The analysis of the obtained products by Transmission Electron Microscopy (TEM), Scanning Electron Microscopy (SEM), Raman spectroscopy, Atomic Force Microscopy (AFM) and X-Ray Diffraction (XRD) showed that the samples collected from the material floating on the water surface were composed mainly by polyhedral onion-like particles, while those taken from the precipitate were a mixture multi walled nano-tubes, onion-like particles and other graphitic structures. The main features of the obtained nano structures are discussed. (Author)

  18. Gas Tungsten Arc Welding and Plasma Arc Cutting. Teacher Edition [and] Student Edition [and] Student Workbook. Second Edition.

    Science.gov (United States)

    Harper, Eddie; Knapp, John

    This packet of instructional materials for a gas tungsten arc welding (GTAW) and plasma arc cutting course is comprised of a teacher edition, student edition, and student workbook. The teacher edition consists of introductory pages and teacher pages. Introductory pages include training and competency profile, state duty/task crosswalk,…

  19. Repairs on underwater spent fuel transfer buggy and review of other underwater facilities of Cirus rod cutting building

    International Nuclear Information System (INIS)

    Rao, D.V.H.; Ganeshan, P.; Khadilkar, M.G.

    1994-01-01

    Cirus rod cutting building is a pool of water in concrete unlined bays. This houses several equipment required for processing of spent fuel and other experimental assemblies. These have been in use for over three decades. Recently the fuel transfer buggy had a major breakdown and the repair involved elaborate planning preparation and special methods to ensure safe working condition and to minimise manrem consumption. This also provided an opportunity to assess the condition of other underwater components in radiation environment which were hitherto inaccessible. This paper highlights the repair work carried on buggy and also the effect of ageing on some of the equipment vis a vis the possibility of their life extension. (author). 7 figs

  20. Performance optimization of water-jet assisted underwater laser cutting of AISI 304 stainless steel sheet

    Science.gov (United States)

    Mullick, Suvradip; Madhukar, Yuvraj K.; Roy, Subhransu; Nath, Ashish K.

    2016-08-01

    Recent development of water-jet assisted underwater laser cutting has shown some advantages over the gas assisted underwater laser cutting, as it produces much less turbulence, gas bubble and aerosols, resulting in a more gentle process. However, this process has relatively low efficiency due to different losses in water. Scattering is reported to be a dominant loss mechanism, which depends on the growth of vapor layer at cut front and its removal by water-jet. Present study reports improvement in process efficiency by reducing the scattering loss using modulated laser power. Judicious control of laser pulse on- and off-time could improve process efficiency through restricting the vapor growth and its effective removal by water-jet within the laser on- and off-time, respectively. Effects of average laser power, duty cycle and modulation frequency on specific energy are studied to get an operating zone for maximum efficiency. Next, the variation in laser cut quality with different process parameters are studied within this operating zone using Design of experiment (DOE). Response surface methodology (RSM) is used by implementing three level Box-Behnken design to optimize the variation in cut quality, and to find out the optimal process parameters for desired quality. Various phenomena and material removal mechanism involved in this process are also discussed.

  1. Aerosol, gas, and swarf production during underwater cutting of reactor core internals using electron discharge machining

    International Nuclear Information System (INIS)

    Watanabe, Atsushi; Yokoi, Hiroto

    2007-01-01

    Secondary products (aerosol, gas and swarf) are released in the work area when cutting nuclear reactor components are underwater during component replacement. We studied the characteristics and behavior of the secondary products produced during cutting of highly radioactive metals using electric discharge machinery (EDM) underwater. The ratio of the weight of the aerosol produced to the melted weight of a workpiece that was cut using EDM, both with a Ag/W alloy electrode and a carbon electrode, was about 1x10 -3 . The aerosol had a high concentration of manganese with a high vapor pressure. The production ratio was expressed as the aerosol production rate (ppm)=-4.6x10 -2 Tb + 1.4x10 2 (Tb: boiling point (K)). The EDM cutting produced metal vapors which condensed into particles. Air-borne nickel carbonyl was produced during the EDM cutting of nickel and carbon monoxide with a carbon electrode, and a high efficiency particulate air filter and a charcoal filter were used effectively. In the case of a Ag/W electrode, the swarf contained oxide particles of around 20 μm and hydroxide particles with a diameter of around 10 μm. The water clean-up system was able to purify water with over 95% filtration efficiency using a 1 μm pore-pleated filter cartridge. (author)

  2. Effect of electric arc cutting procedures on the properties of processed metal surface

    International Nuclear Information System (INIS)

    Gutman, L.M.; Novikova, D.P.; Struina, T.A.

    1980-01-01

    Presented are the data of comparative studies of the cutting surface, made by the electrodes of the ANR-2 type and by the coal electrode by the method of air-arc cutting. Absence of carbonization of cutting surface, minimum structural changes in metal and a considerably high productivity permit to recommend the ANR-2 and ANR-2M electrodes for separation metal cutting, weld root and defect area cut without further stripping by the grinding stone

  3. On the dynamics of cutting arc plasmas: the role of the power supply ripple

    Directory of Open Access Journals (Sweden)

    L. Prevosto

    2012-09-01

    Full Text Available The power sources used in cutting arc torches are usually poorly stabilized and have a large ripple factor. The strong oscillatory components in the voltage and arc current produce in turn, large fluctuations in the plasma quantities. Experimental observations on the dynamics of the non-equilibrium plasma inside the nozzle of a 30 A oxygen cutting torch with a 7 % ripple level of its power source are reported in this work.

  4. Aspects of plasma arc cutting process in the AISI 321 type stainless steel

    International Nuclear Information System (INIS)

    Souza Barros, I. de.

    1985-01-01

    Some aspects of plasma arc cutting process in the AISI321 stainless steel, used in nuclear industry, are analysed. The maximum values of the velocity of cutting and, the minimum quantity of energy per unit of length necesary for the plasma were determined. The localization of irregularities in the cut surface in function of the velocity of cutting was investigated. The cut surfaces were evaluated by surface roughness, using as measurement parameter, the distance between the sharpest salience and the deepest reentrance of the sample profile. The width of layer from thermal action of the plasma was influenced by the velocity of cutting. (Author) [pt

  5. Remote automatic control scheme for plasma arc cutting of contaminated waste

    International Nuclear Information System (INIS)

    Dudar, A.M.; Ward, C.R.; Kriikku, E.M.

    1993-01-01

    The Robotics Development Group at the Savannah River Technology Center has developed and implemented a scheme to perform automatic cutting of metallic contaminated waste. The scheme employs a plasma arc cutter in conjunction with a laser ranging sensor attached to a robotic manipulator called the Telerobot. A software algorithm using proportional control is then used to perturb the robot's trajectory in such a way as to regulate the plasma arc standoff and the robot's speed in order to achieve automatic plasma arc cuts. The scheme has been successfully tested on simulated waste materials and the results have been very favorable. This report details the development and testing of the scheme

  6. Experimental study of the effect of gas nature on plasma arc cutting of mild steel

    Czech Academy of Sciences Publication Activity Database

    Kavka, Tetyana; Mašláni, Alan; Hrabovský, Milan; Křenek, Petr; Stehrer, T.; Pauser, H.

    2013-01-01

    Roč. 46, č. 22 (2013), s. 224011-224011 ISSN 0022-3727 R&D Projects: GA ČR GAP205/11/2070 Institutional support: RVO:61389021 Keywords : Arc cutting * steam plasma cutting * energy balance Subject RIV: BL - Plasma and Gas Discharge Physics Impact factor: 2.521, year: 2013 http://iopscience.iop.org/0022-3727/46/22/224011/pdf/0022-3727_46_22_224011.pdf

  7. Plasma arc cutting: Microstructural modifications of hafnium cathodes during first cycles

    International Nuclear Information System (INIS)

    Rotundo, F.; Martini, C.; Chiavari, C.; Ceschini, L.; Concetti, A.; Ghedini, E.; Colombo, V.; Dallavalle, S.

    2012-01-01

    In the present work, the microstructural modifications of the Hf insert in plasma arc cutting (PAC) electrodes operating at 250 A were experimentally investigated during first cycles, in order to understand those phenomena occurring on and under the Hf emissive surface and involved in the electrode erosion process. Standard electrodes were subjected to an increasing number of cutting cycles (CCs) on mild steel plates in realistic operative conditions, with oxygen/air as plasma/shield gas. Microstructural analysis was performed for each electrode at different erosion stages by means of scanning electron microscopy (SEM) equipped with energy dispersive spectroscopy (EDS) and Raman spectroscopy. Electrodes cross sections were also observed by means of optical microscopy (both in bright field and in reflected polarised light) after chemical etching. In the insert, three typical zones were found after cutting: monoclinic HfO 2 layer; thermally-modified transition zone with O 2 –Hf solid solution; unmodified Hf. The erosion cavity and the oxide layer thickness increase with the number of cutting cycles. Macrocracking was observed in the oxide layer, while microcracking and grain growth were detected in the remelted Hf. Moreover, detachment was found at the Hf/Cu interface. Based on thermodynamics and kinetics of the Hf high temperature oxidation, conclusions can be drawn on the erosion mechanism involved. - Highlights: ► Hf microstructural modifications in cathodes after plasma arc cutting cycles investigated. ► 3 zones identified after cutting: HfO 2 layer; remelted zone with O 2 –Hf solid solution; unmodified Hf. ► Hf-based ejections both in arc-on and arc-off phases; erosion cavity deepens with cutting cycles. ► Detachment at the Hf/Cu interfaces, worsening heat dissipation and oxidation/erosion phenomena. ► The use of a different current ramp at subsequent erosion stages is suggested.

  8. Dismantling of JPDR internals using under water plasma arc cutting technique operated by robotic manipulator

    International Nuclear Information System (INIS)

    Yanagihara, S.; Asida, S.; Usui, H.

    1989-01-01

    Technology of underwater plasma cutting and design of robotic manipulator, successfully used for the dismantling of Japanese power demonstration JPDR reactor internals are considered. Of all time consumption which was 882 man-days, the 124 man-days were spent for preparation, 220 - for equipment mounting, 368 - for dismantling, 89 - for equipment disassembling and 81 - for decontamination. Labour consumption for dismantling of 1 t of the structures constituted 2200 man-days. Total dose of personnel irradiation does not exceed 0.05 R (10 -4 Sv)

  9. Underwater Hyperspectral Imaging (UHI) for Assessing the Coverage of Drill Cuttings on Benthic Habitats

    Science.gov (United States)

    Erdal, I.; Sandvik Aas, L. M.; Cochrane, S.; Ekehaug, S.; Hansen, I. M.

    2016-02-01

    Larger-scale mapping of seabed areas requires improved methods in order to obtain effective and sound marine management. The state of the art for visual surveys today involves video transects, which is a proven, yet time consuming and subjective method. Underwater hyperspectral imaging (UHI) utilizes high color sensitive information in the visible light reflected from objects on the seafloor to automatically identify seabed organisms and other objects of interest (OOI). A spectral library containing optical fingerprints of a range of OOI's are used in the classification. The UHI is a push-broom hyperspectral camera utilizing a state of the art CMOS sensor ensuring high sensitivity and low noise levels. Dedicated lamps illuminate the imaging area of the seafloor. Specialized software is used both for processing raw data and for geo-localization and OOI identification. The processed hyperspectral image are used as a reference when extracting new spectral data for OOI's to the spectral library. By using the spectral library in classification algorithms, large sea floor areas can automatically be classified. Recent advantages in UHI classification includes mapping of areas affected by drill cuttings. Tools for automated classification of seabed that have a different bottom composition than adjacent baseline areas are under development. Tests have been applied to a transect in gradient from the drilling hole to baseline seabed. Some areas along the transect were identified as different compared to baseline seabed. The finding was supported by results from traditional seabed mapping methods. We propose that this can be a useful tool for tomorrows environmental mapping and monitoring of drill sites.

  10. Measurement of Temperature in the Steam Arcjet During Plasma Arc Cutting

    Czech Academy of Sciences Publication Activity Database

    Mašláni, Alan; Sember, Viktor; Stehrer, T.; Pauser, H.

    2013-01-01

    Roč. 33, č. 3 (2013), s. 593-604 ISSN 0272-4324 R&D Projects: GA ČR GAP205/11/2070 Institutional support: RVO:61389021 Keywords : Plasma arc cutting * Optical emission spectroscopy * Plasma temperature * Steam torch Subject RIV: BL - Plasma and Gas Discharge Physics Impact factor: 1.599, year: 2013 http://link.springer.com/content/pdf/10.1007%2Fs11090-013-9443-y.pdf

  11. Contact arc metal cutting (CAMC), a young cutting technique has matured. Successful use under water in the demolition of the Karlsruhe multipurpose research reactor (MFZR)

    International Nuclear Information System (INIS)

    Stanke, D.; Bienia, H.; Loeb, A.; Thoma, M.; Eisenmann, B.; Prechtl, E.; Suessdorf, W.; Kremer, G.; Ruemenapp, T.

    2006-01-01

    Dismantling radiologically burdened large components is among the most complex and difficult jobs in the demolition of nuclear installations. The technologies used and their safe operation play a key role in demolition. Dismantling highly activated components as a rule requires shielding by water. As a consequence, the techniques employed must be designed for use under water. A variety of technologies are available for these applications. One established mechanical cutting method is water abrasive suspension jet cutting (WASS). Because of the small cutting nozzle employed, this highly flexible cutting technique can be used nearly anywhere together with different guiding systems. In the course of disassembly under water of the MZFR, plasma cutting has been found to be a reliable and efficient technique for remote operation. Contact arc metal cutting is a thermal cutting technique allowing all electrically conducting materials, including those with claddings, to be cut nearly irrespective of their component geometries. The methods, technology, possible uses, and practical operation of contact arc metal cutting in the demolition of the MZFR are covered in this article. (orig.)

  12. Underwater-manipulation system for measuring- and cutting tasks in dismantling decommissioned nuclear facilities. Final report

    International Nuclear Information System (INIS)

    Stegemann, D.; Reimche, W.; Hansch, M.; Spitzer, M.

    1995-01-01

    Not only manipulators are necessary for dismantling and inspection of structure parts in decomissioned nuclear facilities, but flexible underwater-vehicles. Free-diving underwater-vehicles for inspection and dismantling tasks are still not developed and tested. Aim of the project is the development of sensors and devices for the position determination and the depth regulation. For inspection tasks an ultrasonic measurement and dosimeter device shall be built up. A measurement device has been developed which evaluates the ultrasonic time of flight from a transmitter at the vehicle to several receivers, installed in the reactor pressure vessel. The depth regulation is based on a pressure sensor and the direct control of the thrusters. The ultrasonic measurements are realized by an adapted ultrasonic card, the γ-dosimetry with an ionization chamber and a pA-amplifier. An acoustic orientation system was built up, which measures very accurately with one transmitter mounted on the vehicle and four receivers. Problem occur by reflection from the walls of the basin. The depth regulation is working faultless. The ultrasonic device is preferably used for distance measurement. The radiation measurement device was tested and mounted in the vehicle. (orig./HP) [de

  13. Analysis of surface roughness and surface heat affected zone of steel S355J0 after plasma arc cutting

    International Nuclear Information System (INIS)

    Hatala, Michal; Chep, Robert; Pandilov, Zoran

    2010-01-01

    This paper deals with thermal cutting technology of materials with plasma arc. In the first part of this paper the theoretical knowledge of the principles of plasma arc cutting and current use of this technology in industry are presented. The cut of products with this technology is perpendicular and accurate, but the use of this technology affects micro-structural changes and depth of the heat affected zone (HAZ). This article deals with the experimental evaluation of plasma arc cutting technological process. The influence of technological factors on the roughness parameter Ra of the steel surface EN S355J0 has been evaluated by using planned experiments. By using the factor experiment, the significance of the four process factors such as plasma burner feed speed, plasma gas pressure, nozzle diameter, distance between nozzle mouth and material has been analyzed. Regression models obtained by multiple linear regression indicate the quality level of observed factors function. The heat from plasma arc cutting affects the micro-structural changes of the material, too.

  14. Advancement of the arc-waterjet cutting to a gouging process for contaminated surface activity of steel components

    International Nuclear Information System (INIS)

    Bach, F.W.; Bruening, D.

    1990-01-01

    The technique of arc-waterjet cutting had to be progressed so that it is possible to gouge the surface of metallic components of nuclear power plants. With applicable cutting parameters depending on the thickness of the contamination the surface had to be gouged and converted to a granulation that is to remove. A continously pulled out wire electrode strikes an arc to the workpeace by short circuit and melts both. A concentric around the wire placed waterjet is able to wash the liquid metal away. With a computer numeric control it is possible to remove the surface of metal up to a deep penetration of 4 to 5 mm. With arc waterjet gouging a remote-controlled removal of contaminated surface activity in shutdowned nuclear power plants under water is possible. (orig./HP) With 15 refs., 1 tab., 14 figs [de

  15. Optimization of arc evaporated (Ti,Al)N film composition for cutting tool applications

    Energy Technology Data Exchange (ETDEWEB)

    Coll, B.F.; Sathrum, P.; Fontana, R. (Multi-Arc Scientific Coatings, Rockaway, NJ (United States)); Peyre, J.P.; Duchateau, D. (CETIM, 60 - Senlis (France)); Benmalek, M. (CRV S.A., Pechiney Group, 38 - Voreppe (France))

    1992-03-15

    The arc evaporation process is commonly used to deposit TiN coatings for protection against wear and friction. The suitability of this established process for depositing ternary compound films of (Ti{sub x}Al{sub 1-x})N by using alloyed Ti-Al cathodes of various compositions is presented. The influence of the coating parameters on the final composition of the (Ti,Al)N films has been investigated. The bias voltage appears to be the main parameter controlling the final composition. Graded films with three different Al:Ti ratios (0.2, 0.3 and 0.8) have been prepared and comparative four-point-bending tests show a ductility of around 1.2%-1.5% for the (Ti,Al)N coatings. Comparative cutting tool experiments show the superior performance of (Ti,Al)N films for milling difficult-to-machine materials such as titanium alloys, stainless steels and nickel-based superalloys. (orig.).

  16. Microstructure, Pitting Corrosion Resistance and Impact Toughness of Duplex Stainless Steel Underwater Dry Hyperbaric Flux-Cored Arc Welds

    Science.gov (United States)

    Hu, Yu; Shen, Xiao-Qin; Wang, Zhong-Min

    2017-01-01

    Duplex stainless steel multi-pass welds were made at 0.15 MPa, 0.45 MPa, and 0.75 MPa pressure, simulating underwater dry hyperbaric welding by the flux-cored arc welding (FCAW) method, with welds of normal pressure as a benchmark. The purpose of this work was to estimate the effect of ambient pressure on the microstructure, pitting corrosion resistance and impact toughness of the weld metal. The microstructure measurement revealed that the ferrite content in the weld metal made at 0.45 MPa is the lowest, followed by that of 0.75 MPa and 0.15 MPa. The analysis of potentiodynamic polarization tests at 30 °C and 50 °C demonstrated that the pitting corrosion resistance depends on the phases of the lower pitting resistance equivalent numbers (PREN), secondary austenite and ferrite. The weld metal made at 0.45 MPa had the best resistance to pitting corrosion at 30 °C and 50 °C with the highest PRENs of secondary austenite and ferrite. The weld metal made at 0.15 MPa displayed the lowest pitting corrosion resistance at 30 °C with the lowest PREN of secondary austenite, while the weld metal made at 0.75 MPa was the most seriously eroded after being tested at 50 °C for the lowest PREN of ferrite, with large cluster pits seen in ferrite at 50 °C. The impact tests displayed a typical ductile-brittle transition because of the body-centered cubic (BCC) structure of the ferrite when the test temperature was lowered. All the weld metals met the required value of 34 J at −40 °C according to the ASTM A923. The highest ferrite content corresponded to the worst impact toughness, but the highest toughness value did not correspond to the greatest austenite content. With the decreasing of the test temperature, the drop value of absorbed energy was correlated to the ferrite content. Additionally, in this work, the weld metal made at 0.45 MPa had the best combined properties of pitting resistance and impact toughness. PMID:29258262

  17. Microstructure, Pitting Corrosion Resistance and Impact Toughness of Duplex Stainless Steel Underwater Dry Hyperbaric Flux-Cored Arc Welds.

    Science.gov (United States)

    Hu, Yu; Shi, Yong-Hua; Shen, Xiao-Qin; Wang, Zhong-Min

    2017-12-18

    Duplex stainless steel multi-pass welds were made at 0.15 MPa, 0.45 MPa, and 0.75 MPa pressure, simulating underwater dry hyperbaric welding by the flux-cored arc welding (FCAW) method, with welds of normal pressure as a benchmark. The purpose of this work was to estimate the effect of ambient pressure on the microstructure, pitting corrosion resistance and impact toughness of the weld metal. The microstructure measurement revealed that the ferrite content in the weld metal made at 0.45 MPa is the lowest, followed by that of 0.75 MPa and 0.15 MPa. The analysis of potentiodynamic polarization tests at 30 °C and 50 °C demonstrated that the pitting corrosion resistance depends on the phases of the lower pitting resistance equivalent numbers (PREN), secondary austenite and ferrite. The weld metal made at 0.45 MPa had the best resistance to pitting corrosion at 30 °C and 50 °C with the highest PRENs of secondary austenite and ferrite. The weld metal made at 0.15 MPa displayed the lowest pitting corrosion resistance at 30 °C with the lowest PREN of secondary austenite, while the weld metal made at 0.75 MPa was the most seriously eroded after being tested at 50 °C for the lowest PREN of ferrite, with large cluster pits seen in ferrite at 50 °C. The impact tests displayed a typical ductile-brittle transition because of the body-centered cubic (BCC) structure of the ferrite when the test temperature was lowered. All the weld metals met the required value of 34 J at -40 °C according to the ASTM A923. The highest ferrite content corresponded to the worst impact toughness, but the highest toughness value did not correspond to the greatest austenite content. With the decreasing of the test temperature, the drop value of absorbed energy was correlated to the ferrite content. Additionally, in this work, the weld metal made at 0.45 MPa had the best combined properties of pitting resistance and impact toughness.

  18. Cogema experience on decontamination and underwater automatically remote cutting using ultra high pressure water during nuclear decommissioning operations. The Aquarad robot

    International Nuclear Information System (INIS)

    Bodin, F.; Fournier, Ph.; Martin, L.

    2002-01-01

    Reprocessing operations on gas cooled French reactor spent fuel included a mechanical operation called decladding, (i.e., stripping the fuel rod from its magnesium metal cladding). After this operation shut down, COGEMA started a D and D project on the decladding building where specific equipment was stored under water. COGEMA then developed and operated a process to decontaminate and cut metallic structures remotely, using ultra-high-pressure water mixed with sand (3600 bar). This paper describes the experience gained, since the start up of this operation in 1994, discusses resulting dosimetry and waste produced, during decontamination and underwater cutting of high active large metallic structures including some with 200 mm thick steel plates. This process results in significantly lower exposures to workers involved in the D and D operations. In addition, the work was carried out in an environmentally safe manner with reasonable financial costs. (author)

  19. Development of a technique for dismantling geometric complicated and thick components of closed down nuclear power plants with the principle of arc-waterjet cutting

    International Nuclear Information System (INIS)

    Bach, F.W.; Bruening, D.

    1989-04-01

    1. Status of research: With arc waterjet cutting it is possible to cut stainless steel up to a wall thickness of 30 mm under water. An application of this technique in 20 m water depth is possible. 2. Aim of research work: A thermal cutting process which is empolyed in a water depth of 20 m is to be developed. Stainless steel up to a wall thickness of 100 mm must be sectile. Cutting of plane parts with variable wall thickness and geometric must be possible. Pipes and pipe assemblies are to be cut from inside or outside. 3. Method of research: A torch was developed which can melt the work piece with a wire electrode. The ignition of cutting will be done with short circuit with a concentrial around the wire out going water jet the liquid metal will be washed away. 4. Results: It is possible to cut stainless steel under water up to a wall thickness of 100 mm. There is no influence to the cutting process in a water depth of 20 m. 5. Suitability: With arc waterjet cutting remote controlled dismantling of thick-walled components of closed down nuclear power plants under water is possible. (orig.) With 35 refs., 6 tabs., 65 figs [de

  20. Reduction of emission when applying thermal separation processes in the dismantling of nuclear facilities - oxy-fuel gas and plasma arc cutting

    International Nuclear Information System (INIS)

    Stoiber, H.; Hammer, G.; Schultz, H.

    1995-01-01

    Plasma arc cutting and laser beam cutting was used for the studies with the goal of significantly reducing material emission by changing the operating and equipment parameters. Some separations using the oxy-fuel gas cutting process served the purpose of providing a guide for determining which factors can most effectively reduce emission. The separation experiments were carried out with specimens of R-St 37-2, 10 mm thick, as well as of X 6 CrNi 18 10 steel 5, 10, 15 and 20 mm thick. In all cases, lowering speed and the amount of gas proved at first to be effective measures to check material emission. It was also possible to achieve adherence of molten mass and slag on the flank of the joint with excessive icicling. When the plasma separates the CrNi steel, it is possible to increase emission reduction additionally by using an argon/hydrogen mixture instead of nitrogen as a cutting gas. (orig./DG) [de

  1. Properties and Cutting Performance of TiAlSiN Coating Prepared by Cathode Arc Ion Plating

    Science.gov (United States)

    Zhang, Er-Geng; Chen, Qiang; Wang, Qin-Xue; Huang, Biao

    2016-06-01

    TiAlSiN coating was deposited on high-speed steel (HSS) samples and cemented carbide tool inserts, respectively, by a new coating preparation procedure, and its properties and cutting performance were characterized. The coating thickness, chemical composition, microstructure morphology and mechanical properties were investigated by X-ray fluorescence measurement system, energy dispersive spectrometer (EDS), scanning electron microscope (SEM), nanoindentation, Rockwell hardness tester and ball-on-disc tribometer. A 3D orthogonal cutting experiment model was established by DEFORM-3D to study the influences of different coating thicknesses on cutting force and temperature, and the field cutting experiment was carried out. The results show that the thickness of TiAlSiN coating is 3.14μm prepared by the 3μm preparation procedure, microhardness is 36.727GPa with the Si content of about 5.22at.% as well as good fracture toughness and adhesion strength. The TC4 and AISI 1045 cutting tool inserts with 4μm coating thickness have the minimum cutting forces of about 734.7N and 450.7N, respectively. Besides, tool inserts with a thickness of 3μm have the minimum cutting temperatures of about 510.2∘C and 230.6∘C, respectively.

  2. 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.       

  3. Google™ underwater

    Science.gov (United States)

    Showstack, Randy

    2012-10-01

    The first underwater panoramic images were added to Google Maps™, the company announced on 25 September. This first “underwater Street View collection,” launched in partnership with the Caitlin Seaview Survey, provides people with the opportunity to “become the next virtual Jacques Cousteau.” For more information, see: maps.google.com/ocean.

  4. Underwater Vehicle

    National Research Council Canada - National Science Library

    Dick, James L

    2007-01-01

    There is thus provided an underwater vehicle having facility for maneuvering alongside a retrieving vehicle, as by manipulation of bow and stern planes, for engaging a hull surface of the retrieving...

  5. Arc saw and its application to decommissioning

    International Nuclear Information System (INIS)

    Deichelbohrer, P.R.

    1982-01-01

    The arc saw is a toothless, circular saw that cuts by arc erosion. A model was built to study the arc saw's usefulness in cutting up radioactively contaminated metal scrap. It was chosen because it cuts with very little contact to the work piece and because cutting is not affected by material hardness. After installation of several improvements it was found it could cut almost any combination of metals and that clamping or fixturing requirements were minimum. Cutting proceeds rapidly and efficiently

  6. Contours, 2ft Contour Information in AutoCAD & ArcInfo formats. AutoCAD contains cut line information. NAD83, Nevada State Plane, West Zone, US Foot. Broken into Township, Range, and Section Grids, Published in 2006, City of Carson City Government.

    Data.gov (United States)

    NSGIC Local Govt | GIS Inventory — Contours dataset current as of 2006. 2ft Contour Information in AutoCAD & ArcInfo formats. AutoCAD contains cut line information. NAD83, Nevada State Plane, West...

  7. Underwater manipulator

    Science.gov (United States)

    Schrum, P.B.; Cohen, G.H.

    1993-04-20

    Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer [plus minus]45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer [plus minus]10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.

  8. Underwater manipulator

    International Nuclear Information System (INIS)

    Schrum, P.B.; Cohen, G.H.

    1993-01-01

    Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer ±45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer ±10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion

  9. Underwater Sound Reference Division

    Data.gov (United States)

    Federal Laboratory Consortium — The Underwater Sound Reference Division (USRD) serves as the U.S. standardizing activity in the area of underwater acoustic measurements, as the National Institute...

  10. Estimativa da gordura corporal através de equipamentos de bioimpedância, dobras cutâneas e pesagem hidrostática Comparison of body fat estimation by bioelectric impedance, skinfold thickness, and underwater weighing

    Directory of Open Access Journals (Sweden)

    Maurício Nunes Rodrigues

    2001-08-01

    Full Text Available A estimativa do percentual de gordura (%G pela bioimpedância (BIA tem como vantagem a simplicidade da medida. Contudo, a confiabilidade da BIA tem sofrido críticas. O objetivo deste estudo foi comparar a estimativa do %G através das técnicas de bioimpedância (RJL-101; Byodinamics A-310, Maltron BF-900 e BF-906, de dobras cutâneas (DC e da pesagem hidrostática (PH. Observaram-se 25 indivíduos, homogeneizados segundo raça (branca, gênero (masculino e idade (18 a 36 anos. Para a medida de BIA foi utilizada a padronização proposta por Lukaski et al. (1985, 1986. Para as DC foram utilizadas as equações de å 3 DC e å 7 DC (Jackson, Pollock, 1978. Os valores de %G e de volume residual para PH foram preditos, respectivamente, pelas equações de Siri (1961 e Goldman e Becklake (1959. A análise estatística compreendeu: a comparação entre os métodos através da ANOVA com medidas repetidas seguida de testes post-hoc de Tukey; b correlação de Pearson (r; e c cálculo do erro padrão de estimativa (SEE das técnicas em relação à PH. Os resultados indicaram que: a as medidas de BIA não diferiram significativamente, entre si, para o %G estimado; b As medidas dos aparelhos A-310 e BF-906 não coincidiram com a PH (p The main advantage of the bioelectric impedance method (BIA in the determination of body fat (%BF is the simplicity of the procedure. However, its accuracy and reliability have been criticized. The purpose of this study was to compare the %BF obtained by BIA (RJL-101; Biodynamics A-310, Maltron BF-900 e BF-906, by skinfold thickness (ST, and by underwater weighing (UW. Twenty-five subjects, divided in homogenous groups according to age (18 to 36 years, sex (men, and race (white participated in the study. BIA measures were taken using the Lukaski et al. standardization (1985,1986. ST was taken by using the equation of 3 and 7 skinfolds (Jackson, Pollock, 1978. The values of %BF and residual volume for the UW were estimated

  11. ???????? ??????? ???????? ????? ?? ?????? ArcGIS ??? ?????? ??????????????? ?????????? ????? ???????????? ?????????? ???????????

    OpenAIRE

    ?????, ?.; ?????, ?.; ???????????, ?.; ????????, ?.

    2016-01-01

    ?????????? ?????? ????????? ???????????????? ??????? ??? ???????? ????? ??? ???????????? ????????? ????? ?????? ?? ????????? ???????????? ?????????? ???????????. ??????? ??????? ??????? ???????, ???????????? ?? ???? ??????????? ???????????? ArcGIS. ?????????? ?????????? ?????????? ???????? ?? ??????????? ?????????? ? ????????????? ??????? ArcGIS Online ?? ??????? Collector for ArcGIS. ???????? ???? ???????? ????????????????? ??????? ??? ????? ?????? ? ?????????????? ?????? ????? ???????? ?? ?...

  12. Underwater Geotechnical Foundations

    National Research Council Canada - National Science Library

    Lee, Landris

    2001-01-01

    This report provides an overview and description of the design and construction of underwater geotechnical foundations and offers preliminary guidance based on past and current technology applications...

  13. Tethered Antennas for Unmanned Underwater Vehicles

    Science.gov (United States)

    2009-04-27

    Concepts The first design (Figure 1) was based on the concept of an airfoil kite. The shape of the tow body was built around a NACA5515 hydrofoil to...Underwater Vehicles Brooke Ocean Technology (USA) Inc. 6 Figure 1: Hydrofoil Design The second design was based on that of a boat hull...communications. A sharp bow was utilized to cut through the water to reduce drag when on the surface. Like the hydrofoil design the top profile was

  14. 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…

  15. 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.

  16. Underwater Glider System Study

    OpenAIRE

    Jenkins, Scott A; Humphreys, Douglas E; Sherman, Jeff; Osse, Jim; Jones, Clayton; Leonard, Naomi; Graver, Joshua; Bachmayer, Ralf; Clem, Ted; Carroll, Paul; Davis, Philip; Berry, Jon; Worley, Paul; Wasyl, Joseph

    2003-01-01

    The goals of this study are to determine how to advance from present capabilities of underwater glider (and hybrid motorglider) technology to what could be possible within the next few years; and to identify critical research issues that must be resolved to make such advancements possible. These goals were pursued by merging archival flight data with numerical model results and system spreadsheet analysis to extrapolate from the present state-of-the–art in underwater (UW) gliders to potential...

  17. Under water cutting of metallic materials by laser

    International Nuclear Information System (INIS)

    Jha, S.K.; Ghosal, Swati; Goswami, G.L.

    1994-01-01

    A laser cutting assembly has been made which allows laser beam to be focused on a job submerged under water, even though the laser head remains outside water. Under water cutting will be very useful for cutting of radioactive materials inside pool or storage bay. This can also be used for reactive materials like uranium etc which otherwise are difficult to cut in open atmosphere as they catch fire. The effect of cutting parameters on the cut quality and also comparison between under-water cutting and open air-cutting is discussed. (author). 2 refs., 1 tab

  18. Removal of drill cutting in the oil platforms and underwater dredging of polluted sea beds; Remocao de residuos de perfuracao em plataformas petroliferas e dragagem de leitos poluidos no mar

    Energy Technology Data Exchange (ETDEWEB)

    Medeiros, Arnaldo Leal; Faldi, Giovanni [PNEUMA S.r.l., Rome (Italy)

    2003-07-01

    The purpose of this technical paper is to explain in summary the patented PNEUMA non-pollution and selective dredging technology, as well as its further application in collaboration with IME-Oceaneering (UK) to develop a newly patented technology PNEUMA and IME, for removal of drill cuttings in oil platforms in depths down to 700m. (author)

  19. "Boxnep" advanced modular underwater robot

    OpenAIRE

    Buluev, Ilia

    2016-01-01

    The article discusses the relevance of the underwater vehicles' ability to solve a wide range of problems. The idea put in the basis of this research is designing a modular underwater robot. It allows to mount various equipment and test it in underwater environment. The paper deals with the concept of the robot and its characteristics.

  20. 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…

  1. Broadband focusing of underwater sound using a transparent pentamode lens.

    Science.gov (United States)

    Su, Xiaoshi; Norris, Andrew N; Cushing, Colby W; Haberman, Michael R; Wilson, Preston S

    2017-06-01

    An inhomogeneous acoustic metamaterial lens based on spatial variation of refractive index for broadband focusing of underwater sound is reported. The index gradient follows a modified hyperbolic secant profile designed to reduce aberration and suppress side lobes. The gradient index (GRIN) lens is comprised of transversely isotropic hexagonal microstructures with tunable quasi-static bulk modulus and mass density. In addition, the unit cells are impedance-matched to water and have in-plane shear modulus negligible compared to the effective bulk modulus. The flat GRIN lens is fabricated by cutting hexagonal centimeter scale hollow microstructures in aluminum plates, which are then stacked and sealed from the exterior water. Broadband focusing effects are observed within the homogenization regime of the lattice in both finite element simulations and underwater measurements (20-40 kHz). This design approach has potential applications in medical ultrasound imaging and underwater acoustic communications.

  2. Underwater laser detection system

    Science.gov (United States)

    Gomaa, Walid; El-Sherif, Ashraf F.; El-Sharkawy, Yasser H.

    2015-02-01

    The conventional method used to detect an underwater target is by sending and receiving some form of acoustic energy. But the acoustic systems have limitations in the range resolution and accuracy; while, the potential benefits of a laserbased underwater target detection include high directionality, high response, and high range accuracy. Lasers operating in the blue-green region of the light spectrum(420 : 570nm)have a several applications in the area of detection and ranging of submersible targets due to minimum attenuation through water ( less than 0.1 m-1) and maximum laser reflection from estimated target (like mines or submarines) to provide a long range of detection. In this paper laser attenuation in water was measured experimentally by new simple method by using high resolution spectrometer. The laser echoes from different targets (metal, plastic, wood, and rubber) were detected using high resolution CCD camera; the position of detection camera was optimized to provide a high reflection laser from target and low backscattering noise from the water medium, digital image processing techniques were applied to detect and discriminate the echoes from the metal target and subtract the echoes from other objects. Extraction the image of target from the scattering noise is done by background subtraction and edge detection techniques. As a conclusion, we present a high response laser imaging system to detect and discriminate small size, like-mine underwater targets.

  3. 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.

  4. Performance Testing of Thermal Cutting Systems for Sweet Pepper Harvesting Robot in Greenhouse Horticulture

    Science.gov (United States)

    Bachche, Shivaji; Oka, Koichi

    2013-03-01

    This paper proposes design of end-effector and prototype of thermal cutting system for harvesting sweet peppers. The design consists of two parallel gripper bars mounted on a frame connected by specially designed notch plate and operated by servo motor. Based on voltage and current, two different types of thermal cutting system prototypes; electric arc and temperature arc respectively were developed and tested for performance. In electric arc, a special electric device was developed to obtain high voltage to perform cutting operation. At higher voltage, electrodes generate thermal arc which helps to cut stem of sweet pepper. In temperature arc, nichrome wire was mounted between two electrodes and current was provided directly to electrodes which results in generation of high temperature arc between two electrodes that help to perform cutting operation. In both prototypes, diameters of basic elements were varied and the effect of this variation on cutting operation was investigated. The temperature arc thermal system was found significantly suitable for cutting operation than electric arc thermal system. In temperature arc thermal cutting system, 0.5 mm nichrome wire shows significant results by accomplishing harvesting operation in 1.5 seconds. Also, thermal cutting system found suitable to increase shelf life of fruits by avoiding virus and fungal transformation during cutting process and sealing the fruit stem. The harvested sweet peppers by thermal cutting system can be preserved at normal room temperature for more than 15 days without any contamination.

  5. Carbon Nanotube Underwater Acoustic Thermophone

    Science.gov (United States)

    2016-09-23

    Attorney Docket No. 300009 1 of 8 A CARBON NANOTUBE UNDERWATER ACOUSTIC THERMOPHONE STATEMENT OF GOVERNMENT INTEREST [0001] The...the Invention [0003] The present invention is an acoustically transparent carbon nanotube thermophone. (2) Description of the Prior Art [0004...amplitude of the resulting sound waves. [0006] Recently, there has been development of underwater acoustic carbon nanotube (CNT) yarn sheets capable

  6. Underwater gas tornado

    Science.gov (United States)

    Byalko, Alexey V.

    2013-07-01

    We present the first experimental observation of a new hydrodynamic phenomenon, the underwater tornado. Simple measurements show that the tornado forms a vortex of the Rankine type, i.e. the rising gas rotates as a solid body and the liquid rotates with a velocity decreasing hyperbolically with the radius. We obtain the dependence of the tornado radius a on the gas stream value j theoretically: a ∼ j2/5. Processing of a set of experiments yielded the value 0.36 for the exponent in this expression. We also report the initial stages of the theoretical study of this phenomenon.

  7. Underwater Hearing in Turtles.

    Science.gov (United States)

    Willis, Katie L

    2016-01-01

    The hearing of turtles is poorly understood compared with the other reptiles. Although the mechanism of transduction of sound into a neural signal via hair cells has been described in detail, the rest of the auditory system is largely a black box. What is known is that turtles have higher hearing thresholds than other reptiles, with best frequencies around 500 Hz. They also have lower underwater hearing thresholds than those in air, owing to resonance of the middle ear cavity. Further studies demonstrated that all families of turtles and tortoises share a common middle ear cavity morphology, with scaling best suited to underwater hearing. This supports an aquatic origin of the group. Because turtles hear best under water, it is important to examine their vulnerability to anthropogenic noise. However, the lack of basic data makes such experiments difficult because only a few species of turtles have published audiograms. There are also almost no behavioral data available (understandable due to training difficulties). Finally, few studies show what kinds of sounds are behaviorally relevant. One notable paper revealed that the Australian snake-necked turtle (Chelodina oblonga) has a vocal repertoire in air, at the interface, and under water. Findings like these suggest that there is more to the turtle aquatic auditory scene than previously thought.

  8. 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

  9. Cutting assembly

    Science.gov (United States)

    Racki, Daniel J.; Swenson, Clark E.; Bencloski, William A.; Wineman, Arthur L.

    1984-01-01

    A cutting apparatus includes a support table mounted for movement toward and away from a workpiece and carrying a mirror which directs a cutting laser beam onto the workpiece. A carrier is rotatably and pivotally mounted on the support table between the mirror and workpiece and supports a conduit discharging gas toward the point of impingement of the laser beam on the workpiece. Means are provided for rotating the carrier relative to the support table to place the gas discharging conduit in the proper positions for cuts made in different directions on the workpiece.

  10. 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.

    . This stresses for implementation of multiple safety measures of a high degree so that the platform operates continuously in a fail-safe mode. This paper discusses issues on safety measures implemented on the autonomous underwater platforms namely MAYA AUV...

  11. Arc saw development report

    International Nuclear Information System (INIS)

    Deichelbohrer, P.R.; Beitel, G.A.

    1981-01-01

    The arc saw is one of the key components of the Contaminated Equipment Volume Reduction (CEVR) Program. This report describes the progress of the arc saw from its inception to its current developmental status. History of the arc saw and early contributors are discussed. Particular features of the arc saw and their advantages for CEVR are detailed. Development of the arc saw including theory of operation, pertinent experimental results, plans for the large arc saw and advanced control systems are covered. Associated topics such as potential applications for the arc saw and other arc saw installations in the world is also touched upon

  12. Underwater optical wireless communication network

    Science.gov (United States)

    Arnon, Shlomi

    2010-01-01

    The growing need for underwater observation and subsea monitoring systems has stimulated considerable interest in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. This communication technology is expected to play an important role in investigating climate change, in monitoring biological, biogeochemical, evolutionary, and ecological changes in the sea, ocean, and lake environments, and in helping to control and maintain oil production facilities and harbors using unmanned underwater vehicles (UUVs), submarines, ships, buoys, and divers. However, the present technology of underwater acoustic communication cannot provide the high data rate required to investigate and monitor these environments and facilities. Optical wireless communication has been proposed as the best alternative to meet this challenge. Models are presented for three kinds of optical wireless communication links: (a) a line-of-sight link, (b) a modulating retroreflector link, and (c) a reflective link, all of which can provide the required data rate. We analyze the link performance based on these models. From the analysis, it is clear that as the water absorption increases, the communication performance decreases dramatically for the three link types. However, by using the scattered light it was possible to mitigate this decrease in some cases. It is concluded from the analysis that a high-data-rate underwater optical wireless network is a feasible solution for emerging applications such as UUV-to-UUV links and networks of sensors, and extended ranges in these applications could be achieved by applying a multi-hop concept.

  13. Dictionary: Welding, cutting and allied processes. Pt. 2

    International Nuclear Information System (INIS)

    Kleiber, A.W.

    1987-01-01

    The dictionary contains approximately 40 000 entries covering all aspects of welding technology. It is based on the evaluation of numerous English, American and German sources. This comprehensive and up to date dictionary will be a reliable and helpful aid in evaluation and translating. The dictionary covers the following areas: Welding: gas welding, arc welding, gas shielded welding, resistance welding, welding of plastics, special welding processes; Cutting: flame cutting, arc cutting and special thermal cutting processes; Soldering: brazing and soldering; Other topics: thermal spraying, metal to metal adhesion, welding filler materials and other consumables, test methods, plant and equipment, accessories, automation, welding trade, general welding terminology. (orig./HP) [de

  14. Technology development for cutting a reactor pressure vessel using a mechanical cutting technique

    International Nuclear Information System (INIS)

    Watanabe, Masaaki; Miyasaka, Yasuhiko; Miyao, Hidehiko; Ooki, Arahiko; Ninomiya, Toshiaki; Koiwai, Masami

    2001-01-01

    On decommissioning of nuclear facilities, the thermal cutting technique such as an oxygen-acetylene gas cutting and a plasma arc cutting are generally used for cutting massive and thick steel structures in consideration with cutting speed and control performance. These techniques generate dust, smoke, aerosol and a large quantity of secondary waste. Mechanical cutting technique has an advantage of small amount of secondary waste, and the metal chips from the kerf recovered easily compared with these thermal cutting technique. The remote mechanical cutting system for highly activated RPV has been developed with the manner which achieves the safety and cost effectiveness. The development has been performed on consignment to RANDEC from the Science and Technology Agency of Japan. (author)

  15. Cutting Cosmos

    DEFF Research Database (Denmark)

    Mikkelsen, Henrik Hvenegaard

    around which Bugkalot society revolves, but also a reflection on anthropological theory and writing. Focusing on the transgressive acts through which masculinity is performed, this book explores the idea of the cosmic cut, the ritual act that enables the Bugkalot man to momentarily hold still the chaotic......For the first time in over 30 years, a new ethnographic study emerges on the Bugkalot tribe, more widely known as the Ilongot of the northern Philippines. Exploring the notion of masculinity among the Bugkalot, Cutting Cosmos is not only an experimental, anthropological study of the paradoxes...

  16. Selection of the most influential factors on the water-jet assisted underwater laser process by adaptive neuro-fuzzy technique

    Science.gov (United States)

    Nikolić, Vlastimir; Petković, Dalibor; Lazov, Lyubomir; Milovančević, Miloš

    2016-07-01

    Water-jet assisted underwater laser cutting has shown some advantages as it produces much less turbulence, gas bubble and aerosols, resulting in a more gentle process. However, this process has relatively low efficiency due to different losses in water. It is important to determine which parameters are the most important for the process. In this investigation was analyzed the water-jet assisted underwater laser cutting parameters forecasting based on the different parameters. The method of ANFIS (adaptive neuro fuzzy inference system) was applied to the data in order to select the most influential factors for water-jet assisted underwater laser cutting parameters forecasting. Three inputs are considered: laser power, cutting speed and water-jet speed. The ANFIS process for variable selection was also implemented in order to detect the predominant factors affecting the forecasting of the water-jet assisted underwater laser cutting parameters. According to the results the combination of laser power cutting speed forms the most influential combination foe the prediction of water-jet assisted underwater laser cutting parameters. The best prediction was observed for the bottom kerf-width (R2 = 0.9653). The worst prediction was observed for dross area per unit length (R2 = 0.6804). According to the results, a greater improvement in estimation accuracy can be achieved by removing the unnecessary parameter.

  17. 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.

  18. 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.

  19. Underwater measurements of muon intensity

    Science.gov (United States)

    Fedorov, V. M.; Pustovetov, V. P.; Trubkin, Y. A.; Kirilenkov, A. V.

    1985-01-01

    Experimental measurements of cosmic ray muon intensity deep underwater aimed at determining a muon absorption curve are of considerable interest, as they allow to reproduce independently the muon energy spectrum at sea level. The comparison of the muon absorption curve in sea water with that in rock makes it possible to determine muon energy losses caused by nuclear interactions. The data available on muon absorption in water and that in rock are not equivalent. Underground measurements are numerous and have been carried out down to the depth of approx. 15km w.e., whereas underwater muon intensity have been measured twice and only down to approx. 3km deep.

  20. Cutting Technology for Decommissioning of the Reactor Pressure Vessels in Nuclear Power Plants

    International Nuclear Information System (INIS)

    Jeong, Kwan Seong; Kim, Geun Ho; Moon, Jei Kwon; Choi, Byung Seon

    2012-01-01

    Lots of nuclear power plants have been decommissioned during the last 2 decades. An essential part of this work is the dismantling of the Reactor Pressure Vessel and its Internals. For this purpose a wide variety of different cutting technologies have been developed, adapted and applied. A detailed introduction to Plasma Arc cutting, Contact Arc Metal cutting and Abrasive Water Suspension Jet cutting is given, as it turned out that these cutting technologies are particularly suitable for these type of segmentation work. A comparison of these technologies including gaseous emissions, cutting power, manipulator requirements as well as selected design approaches are given. Process limits as well as actual limits of application are presented

  1. CO2 laser cutting

    CERN Document Server

    Powell, John

    1998-01-01

    The laser has given manufacturing industry a new tool. When the laser beam is focused it can generate one of the world's most intense energy sources, more intense than flames and arcs, though similar to an electron beam. In fact the intensity is such that it can vaporise most known materials. The laser material processing industry has been growing swiftly as the quality, speed and new manufacturing possibilities become better understood. In the fore of these new technologies is the process of laser cutting. Laser cutting leads because it is a direct process substitu­ tion and the laser can usually do the job with greater flexibility, speed and quality than its competitors. However, to achieve these high speeds with high quality con­ siderable know how and experience is required. This information is usually carefully guarded by the businesses concerned and has to be gained by hard experience and technical understanding. Yet in this book John Powell explains in lucid and almost non­ technical language many o...

  2. An Underwater Color Image Quality Evaluation Metric.

    Science.gov (United States)

    Yang, Miao; Sowmya, Arcot

    2015-12-01

    Quality evaluation of underwater images is a key goal of underwater video image retrieval and intelligent processing. To date, no metric has been proposed for underwater color image quality evaluation (UCIQE). The special absorption and scattering characteristics of the water medium do not allow direct application of natural color image quality metrics especially to different underwater environments. In this paper, subjective testing for underwater image quality has been organized. The statistical distribution of the underwater image pixels in the CIELab color space related to subjective evaluation indicates the sharpness and colorful factors correlate well with subjective image quality perception. Based on these, a new UCIQE metric, which is a linear combination of chroma, saturation, and contrast, is proposed to quantify the non-uniform color cast, blurring, and low-contrast that characterize underwater engineering and monitoring images. Experiments are conducted to illustrate the performance of the proposed UCIQE metric and its capability to measure the underwater image enhancement results. They show that the proposed metric has comparable performance to the leading natural color image quality metrics and the underwater grayscale image quality metrics available in the literature, and can predict with higher accuracy the relative amount of degradation with similar image content in underwater environments. Importantly, UCIQE is a simple and fast solution for real-time underwater video processing. The effectiveness of the presented measure is also demonstrated by subjective evaluation. The results show better correlation between the UCIQE and the subjective mean opinion score.

  3. Calibration of Underwater Sound Transducers

    OpenAIRE

    H.R.S. Sastry

    1983-01-01

    The techniques of calibration of underwater sound transducers for farfield, near-field and closed environment conditions are reviewed in this paper .The design of acoustic calibration tank is mentioned. The facilities available at Naval Physical & Oceanographic Laboratory, Cochin for calibration of transducers are also listed.

  4. 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)

  5. 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…

  6. Shroud cutting techniques and collection systems for secondary radioactivity release

    International Nuclear Information System (INIS)

    Yokoi, H.; Watanabe, A.; Uetake, N.; Shimura, T.; Omote, T.; Adachi, H.; Murakami, S.; Kobayashi, H.; Gotoh, M.

    2001-01-01

    Replacement of in-core shroud has been conducted as part of the preventive maintenance program in Tsuruga-1. The EDM (electric discharged machining) and plasma cutting methods were applied to in-core shroud cutting and secondary cutting in the DSP (dryer/separator pool), respectively. The cutting systems were improved in order to decrease radioactive secondary products. 1) Fundamental EDM cutting tests: fundamental EDM cutting tests were carried out in order to study secondary products. It could be presumed that volatile Co-carbonyl compound was generated by using a carbon electrode. The Ag/W electrode was effective as EDM electrode for in-core shroud cutting to prevent generation of Co-carbonyl compound and to decrease the total amount of secondary products. 2) In-core shroud cutting in RPV (reactor pressure vessel): EDM cutting system with the Ag/W electrode and collection system could keep a good environment during in-core shroud cutting in Tsuruga-1. Activity concentration was lower value than limitation of mask charge level, 4E-6 Bq/cm 3 , even near the water surface. 3) Secondary plasma cutting in DSP: the secondary cutting work was successful in the point of reduction of working period and radiation exposure. The amount of radiation exposure was reduced to 60% of the planned value, because of adequate decontamination of the working environment and reduction of number of torch maintenance tasks by improvements of the underwater cutting device

  7. DC arc weld starter

    Science.gov (United States)

    Campiotti, Richard H.; Hopwood, James E.

    1990-01-01

    A system for starting an arc for welding uses three DC power supplies, a high voltage supply for initiating the arc, an intermediate voltage supply for sustaining the arc, and a low voltage welding supply directly connected across the gap after the high voltage supply is disconnected.

  8. Network Computing for Distributed Underwater Acoustic Sensors

    Science.gov (United States)

    2014-03-31

    Physical layer in UASNs Our main investigations are about underwater communications using acoustic waves. Elec- tromagnetic and optical waves do not...Shengli, Z., and Jun-Hong, C. (2008), Prospects and problems of wireless communication for underwater sensor networks, Wirel. Commun . Mob. Comput., 8(8... Wireless Communications , 9(9), 2934–2944. [21] Pompili, D. and Akyildiz, I. (2010), A multimedia cross-layer protocol for underwater acoustic sensor networks

  9. 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...

  10. 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, ...

  11. Typical Underwater Tunnels in the Mainland of China and Related Tunneling Technologies

    Directory of Open Access Journals (Sweden)

    Kairong Hong

    2017-12-01

    Full Text Available In the past decades, many underwater tunnels have been constructed in the mainland of China, and great progress has been made in related tunneling technologies. This paper presents the history and state of the art of underwater tunnels in the mainland of China in terms of shield-bored tunnels, drill-and-blast tunnels, and immersed tunnels. Typical underwater tunnels of these types in the mainland of China are described, along with innovative technologies regarding comprehensive geological prediction, grouting-based consolidation, the design and construction of large cross-sectional tunnels with shallow cover in weak strata, cutting tool replacement under limited drainage and reduced pressure conditions, the detection and treatment of boulders, the construction of underwater tunnels in areas with high seismic intensity, and the treatment of serious sedimentation in a foundation channel of immersed tunnels. Some suggestions are made regarding the three potential great strait-crossing tunnels—the Qiongzhou Strait-Crossing Tunnel, Bohai Strait-Crossing Tunnel, and Taiwan Strait-Crossing Tunnel—and issues related to these great strait-crossing tunnels that need further study are proposed. Keywords: Underwater tunnel, Strait-crossing tunnel, Shield-bored tunnel, Immersed tunnel, Drill and blast

  12. Monitoring ARC services with GangliARC

    International Nuclear Information System (INIS)

    Cameron, D; Karpenko, D

    2012-01-01

    Monitoring of Grid services is essential to provide a smooth experience for users and provide fast and easy to understand diagnostics for administrators running the services. GangliARC makes use of the widely-used Ganglia monitoring tool to present web-based graphical metrics of the ARC computing element. These include statistics of running and finished jobs, data transfer metrics, as well as showing the availability of the computing element and hardware information such as free disk space left in the ARC cache. Ganglia presents metrics as graphs of the value of the metric over time and shows an easily-digestable summary of how the system is performing, and enables quick and easy diagnosis of common problems. This paper describes how GangliARC works and shows numerous examples of how the generated data can quickly be used by an administrator to investigate problems. It also presents possibilities of combining GangliARC with other commonly-used monitoring tools such as Nagios to easily integrate ARC monitoring into the regular monitoring infrastructure of any site or computing centre.

  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 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

  14. Tungsten erosion by unipolar arcing in DIII-D

    Science.gov (United States)

    Bykov, I.; Chrobak, C. P.; Abrams, T.; Rudakov, D. L.; Unterberg, E. A.; Wampler, W. R.; Hollmann, E. M.; Moyer, R. A.; Boedo, J. A.; Stahl, B.; Hinson, E. T.; Yu, J. H.; Lasnier, C. J.; Makowski, M.; McLean, A. G.

    2017-12-01

    Unipolar arcing was an important mechanism of metal surface erosion during the recently conducted Metal Rings Campaign in DIII-D when two toroidally continuous tile rings with 5 cm wide W-coated TZM inserts were installed in graphite tiles in the lower divertor, one on the floor and one on the shelf. Most of the arc damage occurred on the shelf ring. The total amount of W removed by arcing from the affected ˜4% of the shelf ring area was estimated ˜0.8 × 1021 at., about half of the total amount of W eroded and redeposited outside the inserts (1.8 ± 0.9)×1021 at. The rings were exposed for a total of ˜480 discharges, an equivalent of plasma time on W surfaces (with {{I}}{{p}}> 0.5 MA) ˜103 s. Arcing was monitored in situ with WI (400.9 nm) filtered camera and photomultipliers and showed that: (i) arcing only occurred during ELMs and disruptions, (ii) arcing rate was much lower on the floor than on the shelf ring, and (iii) arcing had a low cut off power flux density about 2 MW m-2. About half of arc tracks had large {10}\\circ pitch angle and probably were produced during disruptions. Such tracks were only found on the shelf. Moderate toroidal variation of the arc track density and W erosion with nearly n = 1 pattern has been measured.

  15. Cataphoresis in electric arcs

    Science.gov (United States)

    Murphy, A. B.

    1998-12-01

    A two-dimensional numerical model is used to investigate cataphoresis (demixing driven by electrical fields) in free-burning arcs in mixtures of argon with helium, hydrogen, nitrogen and oxygen at atmospheric pressure. The method of inclusion of electrical field effects in the combined diffusion coefficient treatment of diffusion and demixing is presented. Cataphoresis is found to lead to large increases in helium concentration near the anode in argon-helium arcs and smaller decreases in hydrogen concentration near the axis in argon-hydrogen arcs. There is no significant effect in argon-nitrogen and argon-oxygen arcs. The effects of cataphoresis on other arc properties are generally small and are significant only in argon-helium arcs.

  16. Emissions of chromium (VI) from arc welding.

    Science.gov (United States)

    Heung, William; Yun, Myoung-Jin; Chang, Daniel P Y; Green, Peter G; Halm, Chris

    2007-02-01

    The presence of Cr in the +6 oxidation state (Cr[VI]) is still observed in ambient air samples in California despite steps taken to reduce emissions from plating operations. One known source of emission of Cr(VI) is welding, especially with high Cr-content materials, such as stainless steels. An experimental effort was undertaken to expand and update Cr(VI) emission factors by conducting tests on four types of arc-welding operations: gas-metal arc welding (GMAW), shielded metal arc welding (SMAW), fluxcore arc welding, and pulsed GMAW. Standard American Welding Society hood results were compared with a total enclosure method that permitted isokinetic sampling for particle size-cut measurement, as well as total collection of the aerosol. The fraction of Cr(VI) emitted per unit mass of Cr electrode consumed was determined. Consistent with AP-42 data, initial results indicate that a significant fraction of the total Cr in the aerosol is in the +6 oxidation state. The fraction of Cr(VI) and total aerosol mass produced by the different arc welding methods varies with the type of welding process used. Self-shielded electrodes that do not use a shield gas, for example, SMAW, produce greater amounts of Cr(VI) per unit mass of electrode consumed. The formation of Cr(VI) from standard electrode wires used for welding mild steel was below the method detection limit after eliminating an artifact in the analytical method used.

  17. Electric arc hydrogen heaters

    International Nuclear Information System (INIS)

    Zasypin, I.M.

    2000-01-01

    The experimental data on the electric arc burning in hydrogen are presented. Empirical and semiempirical dependences for calculating the arc characteristics are derived. An engineering method of calculating plasma torches for hydrogen heating is proposed. A model of interaction of a hydrogen arc with a gas flow is outlined. The characteristics of plasma torches for heating hydrogen and hydrogen-bearing gases are described. (author)

  18. Comparative assessment of several dismantling cutting tools

    International Nuclear Information System (INIS)

    Pilot, G.; Bernard, J.; Lorin, C.; Ravera, J.P.

    1992-01-01

    The research work relates to semi-industrial scale testing in air of various relevant cutting tools (plasma torch, arc-air, grinder, alternating saw) for mild steel and stainless steel with thicknesses of 10, 30 and 50 mm. Its originality is a comparison between tools in the same normalized conditions of use in order to determine the performances of the different techniques and to measure all the generated secondary solid wastes. Among the tested tools, the plasma torch is the fastest and the alternating saw the slowest. The arc-air produces the widest kerf and thus the most wastes. The electrode of the arc-air and the wheel of the grinder wear the swiftest. The alternating saw generates the least mass of aerosols. (author). 1 ref., 7 figs

  19. 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

  20. Self Harm - Cutting

    Science.gov (United States)

    ... a sign that your child has thoughts of suicide. If you are concerned your child is cutting, learn the warning signs, methods of ... your child’s risk of cutting. While thoughts of suicide aren’t common with cutting, your child could accidentally cut deep enough or cut an ...

  1. Spatiotemporally resolved characteristics of a gliding arc discharge in a turbulent air flow at atmospheric pressure

    DEFF Research Database (Denmark)

    Zhu, Jiajian; Gao, Jinlong; Ehn, Andreas

    2017-01-01

    A gliding arc discharge was generated in a turbulent air flow at atmospheric pressure driven by a 35 kHz alternating current (AC) electric power. The spatiotemporally resolved characteristics of the gliding arc discharge, including glow-type discharges, spark-type discharges, short-cutting events...

  2. Development of thick wall welding and cutting tools for ITER

    Energy Technology Data Exchange (ETDEWEB)

    Nakahira, Masataka; Takahashi, Hiroyuki; Akou, Kentaro; Koizumi, Koichi [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment

    1998-04-01

    The Vacuum Vessel, which is a core component of International Thermonuclear Experimental Reactor (ITER), is required to be exchanged remotely in a case of accident such as superconducting coil failure. The in-vessel components such as blanket and divertor are planned to be exchanged or fixed. In these exchange or maintenance operations, the thick wall welding and cutting are inevitable and remote handling tools are necessary. The thick wall welding and cutting tools for blanket are under developing in the ITER R and D program. The design requirement is to weld or cut the stainless steel of 70 mm thickness in the narrow space. Tungsten inert gas (TIG) arc welding, plasma cutting and iodine laser welding/cutting are selected as primary option. Element welding and cutting tests, design of small tools to satisfy space requirement, test fabrication and performance tests were performed. This paper reports the tool design and overview of welding and cutting tests. (author)

  3. Double Arc Instability in the Solar Corona

    Energy Technology Data Exchange (ETDEWEB)

    Ishiguro, N.; Kusano, K., E-mail: n-ishiguro@isee.nagoya-u.ac.jp [Institute for Space-Earth Environmental Research, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8601 Japan (Japan)

    2017-07-10

    The stability of the magnetic field in the solar corona is important for understanding the causes of solar eruptions. Although various scenarios have been suggested to date, the tether-cutting reconnection scenario proposed by Moore et al. is one of the widely accepted models to explain the onset process of solar eruptions. Although the tether-cutting reconnection scenario proposes that the sigmoidal field formed by internal reconnection is the magnetic field in the pre-eruptive state, the stability of the sigmoidal field has not yet been investigated quantitatively. In this paper, in order to elucidate the stability problem of the pre-eruptive state, we developed a simple numerical analysis in which the sigmoidal field is modeled by a double arc electric current loop and its stability is analyzed. As a result, we found that the double arc loop is more easily destabilized than the axisymmetric torus, and it becomes unstable even if the external field does not decay with altitude, which is in contrast to the axisymmetric torus instability. This suggests that tether-cutting reconnection may well work as the onset mechanism of solar eruptions, and if so, the critical condition for eruption under a certain geometry may be determined by a new type of instability rather than by the torus instability. Based on them, we propose a new type of instability called double arc instability (DAI). We discuss the critical conditions for DAI and derive a new parameter κ , defined as the product of the magnetic twist and the normalized flux of the tether-cutting reconnection.

  4. Model based image restoration for underwater images

    Science.gov (United States)

    Stephan, Thomas; Frühberger, Peter; Werling, Stefan; Heizmann, Michael

    2013-04-01

    The inspection of offshore parks, dam walls and other infrastructure under water is expensive and time consuming, because such constructions must be inspected manually by divers. Underwater buildings have to be examined visually to find small cracks, spallings or other deficiencies. Automation of underwater inspection depends on established water-proved imaging systems. Most underwater imaging systems are based on acoustic sensors (sonar). The disadvantage of such an acoustic system is the loss of the complete visual impression. All information embedded in texture and surface reflectance gets lost. Therefore acoustic sensors are mostly insufficient for these kind of visual inspection tasks. Imaging systems based on optical sensors feature an enormous potential for underwater applications. The bandwidth from visual imaging systems reach from inspection of underwater buildings via marine biological applications through to exploration of the seafloor. The reason for the lack of established optical systems for underwater inspection tasks lies in technical difficulties of underwater image acquisition and processing. Lightening, highly degraded images make a computational postprocessing absolutely essential.

  5. Optical diagnostics of a gliding arc

    DEFF Research Database (Denmark)

    Sun, Z.W.; Zhu, J.J.; Li, Z.S.

    2013-01-01

    triggered by Townsend breakdown between the two legs of the gliding arc. The emission from the plasma column is shown to pulsate at a frequency of 62.5 kHz, i.e., twice the frequency of the AC power supply. Optical emission spectra of the plasma radiation show the presence of excited N2, NO and OH radicals......Dynamic processes in a gliding arc plasma generated between two diverging electrodes in ambient air driven by 31.25 kHz AC voltage were investigated using spatially and temporally resolved optical techniques. The life cycles of the gliding arc were tracked in fast movies using a high-speed camera...... with framing rates of tens to hundreds of kHz, showing details of ignition, motion, pulsation, short-cutting, and extinction of the plasma column. The ignition of a new discharge occurs before the extinction of the previous discharge. The developed, moving plasma column often short-cuts its current path...

  6. An extending island arc: The case of Kamchatka

    Science.gov (United States)

    Kozhurin, Andrey; Zelenin, Egor

    2017-06-01

    We report a first estimate of the extension rate of the onshore Kamchatka island arc, it central wider part. This average rate is 17 ± 3 mm/yr over mid-late Quaternary time. The extension is absorbed by slip on major normal active faults of Central Kamchatka, and graben-producing faulting in its volcanic belt. Probable extension of the underwater portion of the arc, its rate remaining unknown, may add up to the total value. The onshore extension rate, established by remote fault scarp measurements on DEMs resembles the numerical modelling estimate of Schellart et al. (2007), suggesting that the primary driving force responsible for the extension at Kamchatka is slab and trench retreat.

  7. 29 CFR 1910.254 - Arc welding and cutting.

    Science.gov (United States)

    2010-07-01

    ... rated load with rated temperature rises where the temperature of the cooling air does not exceed 40 °C... personnel or by metal objects, i.e., vehicles, crane hooks, etc. Protection may be obtained by use of: Dead... contact with persons, conducting objects, fuel or compressed gas tanks. (8) Electric shock. Cables with...

  8. 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.

  9. 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... VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING 5. FUNDING NUMBERS 6. AUTHOR(S) Jake A. Jones 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS...underwater vehicles (AUVs), robot vision, autonomy, visual odometry, underwater color shift, optical properties of water 15. NUMBER OF PAGES 75 16

  10. ArcGIS studies and field relationships of Paleoproterozoic mafic ...

    Indian Academy of Sciences (India)

    Google Earth Image and cross-cutting field relationships of distinct Paleoproterozoic mafic dykes from south of Devarakonda area in the Eastern .... range of applications (Legg 1994; Rajesh 2004). For the present study, an ArcGIS ... metric ages have been used as such studies could be the best elements to interpret their ...

  11. Welding arc initiator

    Science.gov (United States)

    Correy, T.B.

    1989-05-09

    An improved inert gas shielded tungsten arc welder is disclosed of the type wherein a tungsten electrode is shielded within a flowing inert gas, and, an arc, following ignition, burns between the energized tungsten electrode and a workpiece. The improvement comprises in combination with the tungsten electrode, a starting laser focused upon the tungsten electrode which to ignite the electrode heats a spot on the energized electrode sufficient for formation of a thermionic arc. Interference problems associated with high frequency starters are thus overcome. 3 figs.

  12. Tokamak ARC damage

    Energy Technology Data Exchange (ETDEWEB)

    Murray, J.G.; Gorker, G.E.

    1985-01-01

    Tokamak fusion reactors will have large plasma currents of approximately 10 MA with hundreds of megajoules stored in the magnetic fields. When a major plasma instability occurs, the disruption of the plasma current induces voltage in the adjacent conducting structures, giving rise to large transient currents. The induced voltages may be sufficiently high to cause arcing across sector gaps or from one protruding component to another. This report reviews a tokamak arcing scenario and provides guidelines for designing tokamaks to minimize the possibility of arc damage.

  13. Tokamak ARC damage

    International Nuclear Information System (INIS)

    Murray, J.G.; Gorker, G.E.

    1985-01-01

    Tokamak fusion reactors will have large plasma currents of approximately 10 MA with hundreds of megajoules stored in the magnetic fields. When a major plasma instability occurs, the disruption of the plasma current induces voltage in the adjacent conducting structures, giving rise to large transient currents. The induced voltages may be sufficiently high to cause arcing across sector gaps or from one protruding component to another. This report reviews a tokamak arcing scenario and provides guidelines for designing tokamaks to minimize the possibility of arc damage

  14. Flexible Laser Metal Cutting

    DEFF Research Database (Denmark)

    Villumsen, Sigurd; Jørgensen, Steffen Nordahl; Kristiansen, Morten

    2014-01-01

    This paper describes a new flexible and fast approach to laser cutting called ROBOCUT. Combined with CAD/CAM technology, laser cutting of metal provides the flexibility to perform one-of-a-kind cutting and hereby realises mass production of customised products. Today’s laser cutting techniques...

  15. Multibeam Fibre Laser Cutting

    DEFF Research Database (Denmark)

    Olsen, Flemming Ove

    -laser cutting have until now limited its application in metal cutting. In this paper the first results of proof-of-principle studies applying a new approach (patent pending) for laser cutting with high brightness short wavelength lasers will be presented. In the approach, multi beam patterns are applied...... to control the melt flow out of the cut kerf resulting in improved cut quality in metal cutting. The beam patterns in this study are created by splitting up beams from 2 single mode fibre lasers and combining these beams into a pattern in the cut kerf. The results are obtained with a total of 550 W of single......The appearance of the high power high brilliance fibre laser has opened for new possibilities in laser materials processing. In laser cutting this laser has demonstrated high cutting performance compared to the dominating cutting laser, the CO2-laser. However, quality problems in fibre...

  16. Jellyfish inspired underwater unmanned vehicle

    Science.gov (United States)

    Villanueva, Alex; Bresser, Scott; Chung, Sanghun; Tadesse, Yonas; Priya, Shashank

    2009-03-01

    An unmanned underwater vehicle (UUV) was designed inspired by the form and functionality of a Jellyfish. These natural organisms were chosen as bio-inspiration for a multitude of reasons including: efficiency of locomotion, lack of natural predators, proper form and shape to incorporate payload, and varying range of sizes. The structure consists of a hub body surrounded by bell segments and microcontroller based drive system. The locomotion of UUV was achieved by shape memory alloy "Biometal Fiber" actuation which possesses large strain and blocking force with adequate response time. The main criterion in design of UUV was the use of low-profile shape memory alloy actuators which act as artificial muscles. In this manuscript, we discuss the design of two Jellyfish prototypes and present experimental results illustrating the performance and power consumption.

  17. Underwater sympathetic detonation of pellet explosive

    Science.gov (United States)

    Kubota, Shiro; Saburi, Tei; Nagayama, Kunihito

    2017-06-01

    The underwater sympathetic detonation of pellet explosives was taken by high-speed photography. The diameter and the thickness of the pellet were 20 and 10 mm, respectively. The experimental system consists of the precise electric detonator, two grams of composition C4 booster and three pellets, and these were set in water tank. High-speed video camera, HPV-X made by Shimadzu was used with 10 Mfs. The underwater explosions of the precise electric detonator, the C4 booster and a pellet were also taken by high-speed photography to estimate the propagation processes of the underwater shock waves. Numerical simulation of the underwater sympathetic detonation of the pellet explosives was also carried out and compared with experiment.

  18. Underwater Grass Comeback Helps Chesapeake Bay

    Science.gov (United States)

    The fortified Susquehanna Flats, the largest bed of underwater grasses in the Chesapeake Bay, seems able to withstand a major weather punch. Its resilience is contributing to an overall increase in the Bay’s submerged aquatic vegetation.

  19. 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.

  20. Sensor network architectures for monitoring underwater pipelines.

    Science.gov (United States)

    Mohamed, Nader; Jawhar, Imad; Al-Jaroodi, Jameela; Zhang, Liren

    2011-01-01

    This paper develops and compares different sensor network architecture designs that can be used for monitoring underwater pipeline infrastructures. These architectures are underwater wired sensor networks, underwater acoustic wireless sensor networks, RF (radio frequency) wireless sensor networks, integrated wired/acoustic wireless sensor networks, and integrated wired/RF wireless sensor networks. The paper also discusses the reliability challenges and enhancement approaches for these network architectures. The reliability evaluation, characteristics, advantages, and disadvantages among these architectures are discussed and compared. Three reliability factors are used for the discussion and comparison: the network connectivity, the continuity of power supply for the network, and the physical network security. In addition, the paper also develops and evaluates a hierarchical sensor network framework for underwater pipeline monitoring.

  1. ALICE - ARC integration

    OpenAIRE

    Anderlik, Csaba; Gregersen, Anders Rhod; Kleist, Josva; Peters, Andreas; Siaz, Pablo

    2007-01-01

    AliEn or Alice Environment is the Gridware developed and used within the ALICE collaboration for storing and processing data in a distributed manner. ARC (Advanced Resource Connector) is the Grid middleware deployed across the Nordic countries and gluing together the resources within the Nordic Data Grid Facility (NDGF). In this paper we will present our approach to integrate AliEn and ARC, in the sense that ALICE data management and job processing can be carried out on the NDGF infrastructur...

  2. 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.)

  3. Underwater noise levels in UK waters

    OpenAIRE

    Merchant, Nathan D.; Brookes, Kate L.; Faulkner, Rebecca C.; Bicknell, Anthony W. J.; Godley, Brendan J.; Witt, Matthew J.

    2016-01-01

    Underwater noise from human activities appears to be rising, with ramifications for acoustically sensitive marine organisms and the functioning of marine ecosystems. Policymakers are beginning to address the risk of ecological impact, but are constrained by a lack of data on current and historic noise levels. Here, we present the first nationally coordinated effort to quantify underwater noise levels, in support of UK policy objectives under the EU Marine Strategy Framework Directive (MSFD). ...

  4. Underwater gait analysis in Parkinson's disease.

    Science.gov (United States)

    Volpe, Daniele; Pavan, Davide; Morris, Meg; Guiotto, Annamaria; Iansek, Robert; Fortuna, Sofia; Frazzitta, Giuseppe; Sawacha, Zimi

    2017-02-01

    Although hydrotherapy is one of the physical therapies adopted to optimize gait rehabilitation in people with Parkinson disease, the quantitative measurement of gait-related outcomes has not been provided yet. This work aims to document the gait improvements in a group of parkinsonians after a hydrotherapy program through 2D and 3D underwater and on land gait analysis. Thirty-four parkinsonians and twenty-two controls were enrolled, divided into two different cohorts. In the first one, 2 groups of patients underwent underwater or land based walking training; controls underwent underwater walking training. Hence pre-treatment 2D underwater and on land gait analysis were performed, together with post-treatment on land gait analysis. Considering that current literature documented a reduced movement amplitude in parkinsonians across all lower limb joints in all movement planes, 3D underwater and on land gait analysis were performed on a second cohort of subjects (10 parkinsonians and 10 controls) who underwent underwater gait training. Baseline land 2D and 3D gait analysis in parkinsonians showed shorter stride length and slower speed than controls, in agreement with previous findings. Comparison between underwater and on land gait analysis showed reduction in stride length, cadence and speed on both parkinsonians and controls. Although patients who underwent underwater treatment exhibited significant changes on spatiotemporal parameters and sagittal plane lower limb kinematics, 3D gait analysis documented a significant (p<0.05) improvement in all movement planes. These data deserve attention for research directions promoting the optimal recovery and maintenance of walking ability. Crown Copyright © 2016. Published by Elsevier B.V. All rights reserved.

  5. Affordable underwater wireless optical communication using LEDs

    Science.gov (United States)

    Pilipenko, Vladimir; Arnon, Shlomi

    2013-09-01

    In recent years the need for high data rate underwater wireless communication (WC) has increased. Nowadays, the conventional technology for underwater communication is acoustic. However, the maximum data rate that acoustic technology can provide is a few kilobits per second. On the other hand, emerging applications such as underwater imaging, networks of sensors and swarms of underwater vehicles require much faster data rates. As a result, underwater optical WC, which can provide much higher data rates, has been proposed as an alternative means of communication. In addition to high data rates, affordable communication systems become an important feature in the development requirements. The outcome of these requirements is a new system design based on off-the-shelf components such as blue and green light emitting diodes (LEDs). This is due to the fact that LEDs offer solutions characterized by low cost, high efficiency, reliability and compactness. However, there are some challenges to be met when incorporating LEDs as part of the optical transmitter, such as low modulation rates and non linearity. In this paper, we review the main challenges facing the incorporation of LEDs as an integral part of underwater WC systems and propose some techniques to mitigate the LED limitations in order to achieve high data rate communication

  6. An underwater optical wireless communication network

    Science.gov (United States)

    Arnon, Shlomi

    2009-08-01

    The growing need for underwater observation and sub-sea monitoring systems has stimulated considerable interest in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. This communication technology is expected to play an important role in investigating climate change, in monitoring biological, bio-geochemical, evolutionary and ecological changes in the sea, ocean and lake environments and in helping to control and maintain oil production facilities and harbors using unmanned underwater vehicles (UUVs), submarines, ships, buoys, and divers. However, the present technology of underwater acoustic communication cannot provide the high data rate required to investigate and monitor these environments and facilities. Optical wireless communication has been proposed as the best alternative to meet this challenge. We present models of three kinds of optical wireless communication links a) a line-of-sight link, b) a modulating retro-reflector link and c) a reflective link, all of which can provide the required data rate. We analyze the link performance based on these models. From the analysis, it is clear that as the water absorption increases, the communication performance decreases dramatically for the three link types. However, by using the scattered lighted it was possible to mitigate this decrease in some cases. We conclude from the analysis that a high data rate underwater optical wireless network is a feasible solution for emerging applications such as UUV to UUV links and networks of sensors, and extended ranges in these applications could be achieved by applying a multi-hop concept.

  7. Development of fuel debris cutting technique by laser gouging

    International Nuclear Information System (INIS)

    Nomura, Kota; Shiihara, Katsunori; Chida, Itaru; Kono, Wataru; Suzuki, Jun

    2015-01-01

    Development of damaged fuel debris cutting technique in Fukushima Daiichi nuclear plant is one of the important issues for the defueling operations such as removing from the reactor, handling and storage, and so on. Previous knowledge in the Three Mile Island Unit 2 (TMI-2) nuclear plant accident is reported that fuel debris was made of uranium oxides, stainless steel, zircaloy and so on. Therefore, it is difficult to cut fuel debris by machine processing. Laser cutting is convenient to cut complex materials. However, it is difficult to know the thickness of fuel debris in advance, so it is hard to apply the conventional laser cutting method. In this study, we have been developed the cutting technique for fuel debris by using laser gouging method. Test pieces that simulate fuel debris ware fabricated by embedding ceramic pellet on stainless steel. Laser gouging test was performed by cutting surface of the test pieces with high power fiber laser, whose maximum irradiation power was 10 kW. According to the test result, laser gouging process has the ability to grind the simulated fuel debris under atmospheric condition. In addition, same kind of cutting effect could be performed underwater. (author)

  8. Multibeam fiber laser cutting

    DEFF Research Database (Denmark)

    Olsen, Flemming Ove; Hansen, Klaus Schütt; Nielsen, Jakob Skov

    2009-01-01

    of single mode fiber laser power. Burr free cuts in 1 mm steel and aluminum and in 1 and 2 mm AISI 304 stainless steel is demonstrated over a wide range of cutting rates. The industrial realization of this approach is foreseen to be performed by either beam patterning by diffractive optical elements......The appearance of the high power high brilliance fiber laser has opened for new possibilities in laser materials processing. In laser cutting this laser has demonstrated high cutting performance compared to the dominating Cutting laser, the CO2 laser. However, quality problems in fiber...... to control the melt flow out of the cut kerf resulting in improved cut quality in metal cutting. The beam patterns in this study are created by splitting up beams from two single mode fiber lasers and combining these beams into a pattern in the cut kerf. The results are obtained with a total of 550 W...

  9. The effect of different rutile electrodes on mechanical properties of underwater wet welded AH-36 steel plates

    Science.gov (United States)

    Winarto, Winarto; Purnama, Dewin; Churniawan, Iwan

    2018-04-01

    Underwater welding is an important role in the rescue of ships and underwater structures, in case of emergency. In this study, the marine steel plates used are AH-36 steel as parent material. This type of steel is included in the High Strength Low Alloy (HSLA). Electrodes used for welding AH-36 steel plates are commonly the E6013 and E 7024 which are the type of based rutile electrodes. Those electrodes are widely available on the market and they would be compared with the original electrode for underwater which is the type of E7014 with the trade name of Broco UW-CS-1. Welding method used is Shielding Metal Arc Welding (SMAW) with the variation of 5 m and 10 m underwater depth and also varied with the electric current of 120A, 140A and 250A. It was found that hardness value of increased in the area of weld metal and HAZ. HAZ also tends to have the highest hardness compared to both of weld metal and base metal. Non destructive test by radiographed test (RT) on welds showed that there are found welding defects in the form of incomplete penetration on all variations of welding parameters, but there is no porosity defect detected. The results of the hardness tests of underwater wet welded steel plates show that the hardness value of both rutile electrodes (E6013 and E 7024) is apparently similar hardness value compared with the existing commercial electrode (E7014 of Broco UW-CS- 1). The tensile test results of underwater wet welded steel plates show that the use of rutile electrode of E6013 gives a better tensile properties than other rutile electrodes.

  10. ALICE-ARC integration

    International Nuclear Information System (INIS)

    Anderlik, C; Gregersen, A R; Kleist, J; Peters, A; Saiz, P

    2008-01-01

    AliEn or Alice Environment is the Grid middleware developed and used within the ALICE collaboration for storing and processing data in a distributed manner. ARC (Advanced Resource Connector) is the Grid middleware deployed across the Nordic countries and gluing together the resources within the Nordic Data Grid Facility (NDGF). In this paper we will present our approach to integrate AliEn and ARC, in the sense that ALICE data management and job processing can be carried out on the NDGF infrastructure, using the client tools available in AliEn. The inter-operation has two aspects, one is the data management part and the second the job management aspect. The first aspect was solved by using dCache across NDGF to handle data. Therefore, we will concentrate on the second part. Solving it, was somewhat cumbersome, mainly due to the different computing models employed by AliEn and ARC. AliEN uses an Agent based pull model while ARC handles jobs through the more 'traditional' push model. The solution comes as a module implementing the functionalities necessary to achieve AliEn job submission and management to ARC enabled sites

  11. Consolidating NASA's Arc Jets

    Science.gov (United States)

    Balboni, John A.; Gokcen, Tahir; Hui, Frank C. L.; Graube, Peter; Morrissey, Patricia; Lewis, Ronald

    2015-01-01

    The paper describes the consolidation of NASA's high powered arc-jet testing at a single location. The existing plasma arc-jet wind tunnels located at the Johnson Space Center were relocated to Ames Research Center while maintaining NASA's technical capability to ground-test thermal protection system materials under simulated atmospheric entry convective heating. The testing conditions at JSC were reproduced and successfully demonstrated at ARC through close collaboration between the two centers. New equipment was installed at Ames to provide test gases of pure nitrogen mixed with pure oxygen, and for future nitrogen-carbon dioxide mixtures. A new control system was custom designed, installed and tested. Tests demonstrated the capability of the 10 MW constricted-segmented arc heater at Ames meets the requirements of the major customer, NASA's Orion program. Solutions from an advanced computational fluid dynamics code were used to aid in characterizing the properties of the plasma stream and the surface environment on the calorimeters in the supersonic flow stream produced by the arc heater.

  12. ALICE—ARC integration

    Science.gov (United States)

    Anderlik, C.; Gregersen, A. R.; Kleist, J.; Peters, A.; Saiz, P.

    2008-07-01

    AliEn or Alice Environment is the Grid middleware developed and used within the ALICE collaboration for storing and processing data in a distributed manner. ARC (Advanced Resource Connector) is the Grid middleware deployed across the Nordic countries and gluing together the resources within the Nordic Data Grid Facility (NDGF). In this paper we will present our approach to integrate AliEn and ARC, in the sense that ALICE data management and job processing can be carried out on the NDGF infrastructure, using the client tools available in AliEn. The inter-operation has two aspects, one is the data management part and the second the job management aspect. The first aspect was solved by using dCache across NDGF to handle data. Therefore, we will concentrate on the second part. Solving it, was somewhat cumbersome, mainly due to the different computing models employed by AliEn and ARC. AliEN uses an Agent based pull model while ARC handles jobs through the more 'traditional' push model. The solution comes as a module implementing the functionalities necessary to achieve AliEn job submission and management to ARC enabled sites.

  13. Arcs from gravitational lensing

    Science.gov (United States)

    Grossman, Scott A.; Narayan, Ramesh

    1988-01-01

    The proposal made by Paczynski (1987) that the arcs of blue light found recently in two cluster cores are gravitationally lensed elongated images of background galaxies is investigated. It is shown that lenses that are circularly symmetric in projection produce pairs of arcs, in conflict with the observations. However, more realistic asymmetric lenses produce single arcs, which can become as elongated as the observed ones whenever the background galaxy is located on or close to a cusp caustic. Detailed computer simulations of lensing by clusters using a reasonable model of the mass distribution are presented. Elongated and curved lensed images longer than 10 arcsec occur in 12 percent of the simulated clusters. It is concluded that the lensing hypothesis must be taken seriously.

  14. ALICE - ARC integration

    DEFF Research Database (Denmark)

    Anderlik, Csaba; Gregersen, Anders Rhod; Kleist, Josva

    Data Grid Facility (NDGF). In this paper we will present our approach to integrate AliEn and ARC, in the sense that ALICE data management and job processing can be carried out on the NDGF infrastructure, using the client tools available in AliEn. The interoperation has two aspects, one is the data...... management part and the second the job management aspect. The first aspect was solved by using dCache across NDGF to handle data. dCache provides support for several data management tools (among them for xrootd the tools used by AliEn) using the so called "doors". Therefore, we will concentrate on the second...... part. Solving it, was somewhat cumbersome, mainly due to the different computing models employed by AliEn and ARC. AliEN uses an Agent based pull model while ARC handles jobs through the more "traditional" push model. The solution comes as a module implementing the functionalities necessary to achieve...

  15. Underwater Noise Modeling in Lithuanian Area of the Baltic Sea

    Directory of Open Access Journals (Sweden)

    Donatas Bagočius

    2017-09-01

    Full Text Available Along with rising awareness of public and scientific societies about environmental and ecological impacts of underwater noise, the need for underwater noise modelling in the shallow Lithuanian area of Baltic Sea emerged. Marine Strategy Framework Directive issues regarding underwater noise indicators refers to possibility of evaluation of Good Environmental State using underwater noise measurements as well as possibility to model underwater noise. Main anthropogenic underwater noise contributor in the Seas is the shipping lanes as known due to date, with no exclusion of Lithuanian Baltic Sea area. In this manuscript, it is presented the methods of development of simplistic underwater ambient noise model purposed for computation of underwater soundscape in shallow area of the Lithuanian Baltic Sea.

  16. 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

  17. Magnetohydrodynamic underwater vehicular propulsion systems

    International Nuclear Information System (INIS)

    Swallom, D.W.; Sadovnik, I.; Gibbs, J.S.; Gurol, H.; Nguyen, L.

    1990-01-01

    The development of magnetohydrodynamic propulsion systems for underwater vehicles is discussed. According to the authors, it is a high risk endeavor that offers the possibility of a number of significant advantages over conventional propeller propulsion systems. These advantages may include the potential for greater stealth characteristics, increased maneuverability, enhanced survivability, elimination of cavitation limits, and addition of a significant emergency propulsion system. The possibility of increased stealth is by far the most important advantage. A conceptual design study has been completed with numerical results that shows that these advantages may be obtained with a magnetohydrodynamic propulsion system in an annular configuration externally surrounding a generic study submarine that is neutrally buoyant and can operate with the existing submarine propulsion system power plant. The classical submarine mission requirements make the use of these characteristics of the magnetohydrodynamic propulsion system particularly appropriate for submarine missions. The magnetohydrodynamic annular propulsion system for a generic attack class submarine has been designed to take advantage of the magnetohydrodynamic thruster characteristics

  18. Routing strategies for underwater gliders

    Science.gov (United States)

    Davis, Russ E.; Leonard, Naomi E.; Fratantoni, David M.

    2009-02-01

    Gliders are autonomous underwater vehicles that achieve long operating range by moving at speeds comparable to those of, or slower than, typical ocean currents. This paper addresses routing gliders to rapidly reach a specified waypoint or to maximize the ability to map a measured field, both in the presence of significant currents. For rapid transit in a frozen velocity field, direct minimization of travel time provides a trajectory "ray" equation. A simpler routing algorithm that requires less information is also discussed. Two approaches are developed to maximize the mapping ability, as measured by objective mapping error, of arrays of vehicles. In order to produce data sets that are readily interpretable, both approaches focus sampling near predetermined "ideal tracks" by measuring mapping skill only on those tracks, which are laid out with overall mapping skill in mind. One approach directly selects each vehicle's headings to maximize instantaneous mapping skill integrated over the entire array. Because mapping skill decreases when measurements are clustered, this method automatically coordinates glider arrays to maintain spacing. A simpler method that relies on manual control for array coordination employs a first-order control loop to balance staying close to the ideal track and maintaining vehicle speed to maximize mapping skill. While the various techniques discussed help in dealing with the slow speed of gliders, nothing can keep performance from being degraded when current speeds are comparable to vehicle speed. This suggests that glider utility could be greatly enhanced by the ability to operate high speeds for short periods when currents are strong.

  19. Welding and cutting

    International Nuclear Information System (INIS)

    Drews, P.; Schulze Frielinghaus, W.

    1978-01-01

    This is a survey, with 198 literature references, of the papers published in the fields of welding and cutting within the last three years. The subjects dealt with are: weldability of the materials - Welding methods - Thermal cutting - Shaping and calculation of welded joints - Environmental protection in welding and cutting. (orig.) [de

  20. Vacuum Arc Ion Sources

    CERN Document Server

    Brown, I.

    2013-12-16

    The vacuum arc ion source has evolved into a more or less standard laboratory tool for the production of high-current beams of metal ions, and is now used in a number of different embodiments at many laboratories around the world. Applications include primarily ion implantation for material surface modification research, and good performance has been obtained for the injection of high-current beams of heavy-metal ions, in particular uranium, into particle accelerators. As the use of the source has grown, so also have the operational characteristics been improved in a variety of different ways. Here we review the principles, design, and performance of vacuum arc ion sources.

  1. Arc Heated Scramjet Test Facility

    Data.gov (United States)

    Federal Laboratory Consortium — The Arc Heated Scramjet Test Facility is an arc heated facility which simulates the true enthalpy of flight over the Mach number range of about 4.7 to 8 for free-jet...

  2. Device for cutting protrusions

    Science.gov (United States)

    Bzorgi, Fariborz M [Knoxville, TN

    2011-07-05

    An apparatus for clipping a protrusion of material is provided. The protrusion may, for example, be a bolt head, a nut, a rivet, a weld bead, or a temporary assembly alignment tab protruding from a substrate surface of assembled components. The apparatus typically includes a cleaver having a cleaving edge and a cutting blade having a cutting edge. Generally, a mounting structure configured to confine the cleaver and the cutting blade and permit a range of relative movement between the cleaving edge and the cutting edge is provided. Also typically included is a power device coupled to the cutting blade. The power device is configured to move the cutting edge toward the cleaving edge. In some embodiments the power device is activated by a momentary switch. A retraction device is also generally provided, where the retraction device is configured to move the cutting edge away from the cleaving edge.

  3. 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.

  4. 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

  5. Recent developments in underwater repair welding

    International Nuclear Information System (INIS)

    Offer, H.P.; Chapman, T.L.; Willis, E.R.; Maslakowski, J.; Van Diemen, P.; Smith, B.W.

    2001-01-01

    As nuclear plants age and reactor internal components begin to show increased evidence of age-related phenomena such as corrosion and fatigue, interest in the development of cost-effective mitigation and repair remedies grows. One technology currently receiving greater development and application program focus is underwater welding. Underwater welding, as used herein, is the application of weld metal to a substrate surface that is wet, but locally dry in the immediate area surrounding the welding torch. The locally dry environment is achieved by the use of a mechanical device that is specifically designed for water exclusion from the welding torch, surface to be welded, and the welding groove. This paper will explore recent developments in the use of underwater welding as a mitigation and repair technique. (author)

  6. Electric contact arcing

    International Nuclear Information System (INIS)

    Cuthrell, R.E.

    1976-01-01

    Electrical contacts must function properly in many types of components used in nuclear weapon systems. Design, application, and testing of these components require detailed knowledge of chemical and physical phenomena associated with stockpile storage, stockpile testing, and operation. In the past, investigation of these phenomena has led to significant discoveries on the effects of surface contaminants, friction and wear, and the mechanics of closure on contact performance. A recent investigation of contact arcing phenomena which revealed that, preceding contact closure, arcs may occur at voltages lower than had been previously known is described. This discovery is important, since arcing may damage contacts, and repetitive testing of contacts performed as part of a quality assurance program might produce cumulative damage that would yield misleading life-test data and could prevent proper operation of the contacts at some time in the future. This damage can be avoided by determining the conditions under which arcing occurs, and ensuring that these conditions are avoided in contact testing

  7. Gas tungsten arc welder

    Science.gov (United States)

    Christiansen, D.W.; Brown, W.F.

    A welder for automated closure of fuel pins by a gas tungsten arc process in which a rotating length of cladding is positioned adjacent a welding electrode in a sealed enclosure. An independently movable axial grinder is provided in the enclosure for refurbishing the used electrode between welds.

  8. ALICE: ARC integration

    CERN Document Server

    Anderlik, C; Kleist, J; Peters, A; Saiz, P

    2008-01-01

    AliEn or Alice Environment is the Grid middleware developed and used within the ALICE collaboration for storing and processing data in a distributed manner. ARC (Advanced Resource Connector) is the Grid middleware deployed across the Nordic countries and gluing together the resources within the Nordic Data Grid Facility (NDGF). In this paper we will present our approach to integrate AliEn and ARC, in the sense that ALICE data management and job processing can be carried out on the NDGF infrastructure, using the client tools available in AliEn. The inter-operation has two aspects, one is the data management part and the second the job management aspect. The first aspect was solved by using dCache across NDGF to handle data. Therefore, we will concentrate on the second part. Solving it, was somewhat cumbersome, mainly due to the different computing models employed by AliEn and ARC. AliEN uses an Agent based pull model while ARC handles jobs through the more 'traditional' push model. The solution comes as a modu...

  9. Thermal Arc Spray Overview

    Science.gov (United States)

    Hafiz Abd Malek, Muhamad; Hayati Saad, Nor; Kiyai Abas, Sunhaji; Mohd Shah, Noriyati

    2013-06-01

    Usage of protective coating for corrosion protection was on highly demand during the past decade; and thermal spray coating played a major part during that time. In recent years, the thermal arc spray coating becomes a popular coating. Many big players in oil and gas such as PETRONAS, EXXON MOBIL and SHELL in Malaysia tend to use the coating on steel structure as a corrosion protection. Further developments in coating processes, the devices, and raw materials have led to expansion of functional coatings and applications scope from conventional coating to specialized industries. It is widely used because of its ability to withstand high process temperature, offer advantages in efficiency, lower cost and acts as a corrosion protection. Previous research also indicated that the thermal arc spray offers better coating properties compared to other methods of spray. This paper reviews some critical area of thermal spray coating by discussing the process/parameter of thermal arc spray technology and quality control of coating. Coating performance against corrosion, wear and special characteristic of coating are also described. The field application of arc spray technology are demonstrated and reviewed.

  10. ALICE-ARC integration

    DEFF Research Database (Denmark)

    Anderlik, Csaba; Gregersen, Anders Rhod; Kleist, Josva

    2008-01-01

    Data Grid Facility (NDGF). In this paper we will present our approach to integrate AliEn and ARC, in the sense that ALICE data management and job processing can be carried out on the NDGF infrastructure, using the client tools available in AliEn. The interoperation has two aspects, one is the data...

  11. Hot tests of the small portable arc saw using an electromechanical manipulator

    International Nuclear Information System (INIS)

    Deichelbohrer, P.R.

    1985-01-01

    A hand-held portable arc saw was demonstrated in 1982. Known as the Small Portable Arc Saw (SPARCS), it weighed less than 15-lb and could cut metal sheet up to 1/2-in thick. From the hand-held SPARCS, a manipulator-handled model was developed for use in decommissioning operations by Pacific Northwest Laboratory (PNL). During cold tests, the SPARCS, which was maneuvered with a mechanical, master-slave manipulator, cut 1-in thick stainless steel plate. The decommissioning method of PNL depended principally on a plasma cutting torch for size reduction. The SPARCS unit was installed in the cell to assist the plasma torch. At present, use of the SPARCS in this project has not been necessary, and it has not been operated in the cell. The plasma cutting torch is a widely used tool for size reduction; the torch can cut stainless steel and heavy material, is lightweight, and is easy to handle with manipulators. Some shortcomings, however, have been reported; for example, cutting pipe, laminates, or forms with hollow cross sections (e.g., unistrut) is sometimes cumbersome. The stand-off spacing required is another constraint. The torch tip must be spaced approximately 1/2-in from the work to achieve proper cutting action. During cutting, this spacing requires accurate control of the torch. The manipulator operator must have significant skill to achieve this control. Test results to date show that the arc saw's ability to cut heavy, hard, and inert metal compares favorably with the performance of the plasma torch. The arc saw offers the further advantages of cutting hollow cross-section forms without special procedures, and of cutting without stand-off spacing

  12. 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......). This paper presents an application of the Udwadia-Kalaba Equation for modelling the Reconfigurable Underwater Robots. The constraints developed to enforce the rigid connection between robots in the system is derived through restrictions on relative distances and orientations. To avoid singularities...... in the orientation and, thereby, allow the robots to undertake any relative configuration the attitude is represented in Euler parameters....

  13. Underwater noise from offshore oil production vessels.

    Science.gov (United States)

    Erbe, Christine; McCauley, Robert; McPherson, Craig; Gavrilov, Alexander

    2013-06-01

    Underwater acoustic recordings of six Floating Production Storage and Offloading (FPSO) vessels moored off Western Australia are presented. Monopole source spectra were computed for use in environmental impact assessments of underwater noise. Given that operations on the FPSOs varied over the period of recording, and were sometimes unknown, the authors present a statistical approach to noise level estimation. No significant or consistent aspect dependence was found for the six FPSOs. Noise levels did not scale with FPSO size or power. The 5th, 50th (median), and 95th percentile source levels (broadband, 20 to 2500 Hz) were 188, 181, and 173 dB re 1 μPa @ 1 m, respectively.

  14. Development of underlying techniques for underwater survey robot to decommission nuclear power plants

    International Nuclear Information System (INIS)

    Kobayashi, Ryosuke; Kouno, Naoyuki; Otani, Kenichi; Yamada, Taiichiro; Takatori, Yousuke; Inada, Takashi

    2014-01-01

    This paper describes localization and cable handling method as the underlying techniques for underwater survey robot. Map matching method comparing cross-sectional shape data cut from a 3-D CAD with structural shapes measured by a range sensor is proposed as the localization. The cable handling system mounted to a robot is developed to operate the cable remotely. Some experiments to evaluate performance of the proposed techniques were implemented at mock-ups of a reactor building and the real field. As a result, it was confirmed that the position was detected with an accuracy of 100 mm, and 100 m cable was handled. (author)

  15. Hall-effect arc protector

    Science.gov (United States)

    Rankin, R.A.; Kotter, D.K.

    1997-05-13

    The Hall-Effect Arc Protector is used to protect sensitive electronics from high energy arcs. The apparatus detects arcs by monitoring an electrical conductor, of the instrument, for changes in the electromagnetic field surrounding the conductor which would be indicative of a possible arcing condition. When the magnitude of the monitored electromagnetic field exceeds a predetermined threshold, the potential for an instrument damaging are exists and the control system logic activates a high speed circuit breaker. The activation of the breaker shunts the energy imparted to the input signal through a dummy load to the ground. After the arc condition is terminated, the normal signal path is restored. 2 figs.

  16. Arc - An endogenous neuronal retrovirus?

    Science.gov (United States)

    Shepherd, Jason D

    2018-05-01

    The neuronal gene Arc is essential for long-lasting information storage in the mammalian brain and has been implicated in various neurological disorders. However, little is known about Arc's evolutionary origins. Recent studies suggest that mammalian Arc originated from a vertebrate lineage of Ty3/gypsy retrotransposons, which are also ancestral to retroviruses. In particular, Arc contains homology to the Gag polyprotein that forms the viral capsid and is essential for viral infectivity. This surprising connection raises the intriguing possibility that Arc may share molecular characteristics of retroviruses. Copyright © 2017 Elsevier Ltd. All rights reserved.

  17. 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

  18. Characterization of Particulate Fume and Oxides Emission from Stainless Steel Plasma Cutting.

    Science.gov (United States)

    Wang, Jun; Hoang, Tien; Floyd, Evan L; Regens, James L

    2017-04-01

    Plasma cutting is a metal fabrication process that employs an electrically conductive plasma arc to cut metals. The metal fume emitted from stainless steel plasma cutting may consist of hexavalent chromium (Cr6+), which is a carcinogen, and other toxicants. Overexposure to plasma cutting fume may cause pulmonary toxicity and other health effects. This study was to evaluate the effects of operation parameters (arc current and arc time) on the fume formation rates, Cr6+ and other oxides concentrations, particle size distributions (PSD), and particle morphology. A fume chamber and high-volume pump were used to collect fume produced from cutting ER308L stainless steel plates with arc currents varying between 20 and 50 A. The amount of fume collected on glass fiber filters was gravimetrically determined and normalized to arc time. Cr6+ and other oxides in the fume were analyzed using ion chromatography. PSD of the fume was examined using a scanning mobility particle sizer and an aerodynamic particle sizer for fine and coarse fractions, respectively. The particle morphology was imaged through a transmission electron microscope (TEM). Total fume generation rate increased with arc current and ranged from 16.5 mg min-1 at 20 A to 119.0 mg min-1 at 50 A. Cr6+ emissions (219.8-480.0 µg min-1) from the plasma cutting were higher than welding fume in a previous study. Nitrogen oxides level can be an indicator of oxidation level and Cr6+ formation (R = 0.93). Both PSD measurement and TEM images confirmed a multimodal size distribution. A high concentration of a fine fraction of particles with geometric mean sizes from 96 to 235 nm was observed. Higher arc current yielded more particles, while lower arc current was not able to penetrate the metal plates. Hence, the worker should optimize the arc current to balance cut performance and fume emission. The findings indicated that arc current was the dominant factor in fume emission from plasma cutting. Appropriate ventilation and

  19. Ultrasonic Cutting of Foods

    Science.gov (United States)

    Schneider, Yvonne; Zahn, Susann; Rohm, Harald

    In the field of food engineering, cutting is usually classified as a mechanical unit operation dealing with size reduction by applying external forces on a bulk product. Ultrasonic cutting is realized by superpositioning the macroscopic feed motion of the cutting device or of the product with a microscopic vibration of the cutting tool. The excited tool interacts with the product and generates a number of effects. Primary energy concentration in the separation zone and the modification of contact friction along the tool flanks arise from the cyclic loading and are responsible for benefits such as reduced cutting force, smooth cut surface, and reduced product deformation. Secondary effects such as absorption and cavitation originate from the propagation of the sound field in the product and are closely related to chemical and physical properties of the material to be cut. This chapter analyzes interactions between food products and ultrasonic cutting tools and relates these interactions with physical and chemical product properties as well as with processing parameters like cutting velocity, ultrasonic amplitude and frequency, and tool design.

  20. Underwater Advanced Time-Domain Electromagnetic System

    Science.gov (United States)

    2017-03-03

    sufficiently waterproofed ...................................................................... 20 Objective: Calibration method can be used both topside... additional background variability is observed at early times, as illustrated in Figure 15. The layout of this figure is the same as Figure 14. Now the...are discussed in the following sections and summarized in Table 5. Objective: System is sufficiently waterproofed The array remained underwater up to

  1. 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.

  2. Detection of Underwater UXOs in Mud

    Science.gov (United States)

    2013-04-01

    2nd International Conference on Underwater Acoustic Measurements, Crete, Greece, 2007. 16 [10] P.T. Gough and D.W. Hawkins “Imaging algorithms...course. Runs 275 and 325 folla.v the same trad < and run 322 foUows a track on the opposite side of the swath. The LF SAS image of run 325 is shown

  3. Adaptive turbo equalization for underwater acoustic communication

    NARCIS (Netherlands)

    Cannelli, L; Leus, G.; Dol, H.S.; Walree, P.A. van

    2013-01-01

    In this paper a multiband transceiver designed for underwater channels is presented. Multi-branch filtering at the receiver is used to leverage the diversity offered by a multi-scale multi-lag scenario. The multi-branch bank of filters is constructed by estimating scale and delay coefficients

  4. 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

  5. Evolution: Fossil Ears and Underwater Sonar.

    Science.gov (United States)

    Lambert, Olivier

    2016-08-22

    A key innovation in the history of whales was the evolution of a sonar system together with high-frequency hearing. Fossils of an archaic toothed whale's inner ear bones provide clues for a stepwise emergence of underwater echolocation ability. Copyright © 2016 Elsevier Ltd. All rights reserved.

  6. 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

  7. Investigation of flux-powder wire’s components-stabilizers on welding and technological properties in underwater welding

    Directory of Open Access Journals (Sweden)

    М. Ю. Каховський

    2015-03-01

    Full Text Available Based on long-term experience of welding by mechanized flux-cored wires, the E.O. Paton Electric Welding Institute investigated a self-protecting flux-cored wire for wet underwater welding of stainless steels type 18-10. It allows to perform welding of butt, fillet and overlapped joints in flat and vertical positions of high-alloy corrosion-resistant steels type of 18-10 (AISI 304L, 308L, 347 and 321. The article presents results of development of welding-repair technology using self-shielded flux-cored wire for wet underwater welding of high-alloy stainless steels type 18-10. Also, the article describes a method of increasing the process stability of the arc in wet underwater welding high corrosion resistant steels type 18-10 by self-shielded flux cored wire. Studied welding characteristics of the weld metal with the introduction of the charge wire components stabilizers. The application of this technology allows partially or completely reducing the human participation in welding process under the extreme conditions: at large depth, in radioactive environments (in case of NPS and also gaining a significant economic effect due to greater efficiency (productivity of welding-repair works. The practical value of this technology consists in possibility of welding-repair works directly under water without any additional assembly works. As to its properties the developed self-shielding wire for underwater welding of high-alloy corrosion resistant steel meets completely the requirements of class (B of the International standard ANSI/AWS D3.6 on underwater welding

  8. THE ARC TRAIL

    African Journals Online (AJOL)

    canal to fonn part of Moss. • The trail should be made use of by schools and the public. • The area should be cleared of exotic vegetation. e Indigenous trees should be planted to replace the removed exotic trees. The establishment of the ARC trail in 1985 came about as a direct result of the 1983 team1s rec ommenda ti ons ...

  9. Circular arc structures

    KAUST Repository

    Bo, Pengbo

    2011-07-01

    The most important guiding principle in computational methods for freeform architecture is the balance between cost efficiency on the one hand, and adherence to the design intent on the other. Key issues are the simplicity of supporting and connecting elements as well as repetition of costly parts. This paper proposes so-called circular arc structures as a means to faithfully realize freeform designs without giving up smooth appearance. In contrast to non-smooth meshes with straight edges where geometric complexity is concentrated in the nodes, we stay with smooth surfaces and rather distribute complexity in a uniform way by allowing edges in the shape of circular arcs. We are able to achieve the simplest possible shape of nodes without interfering with known panel optimization algorithms. We study remarkable special cases of circular arc structures which possess simple supporting elements or repetitive edges, we present the first global approximation method for principal patches, and we show an extension to volumetric structures for truly threedimensional designs. © 2011 ACM.

  10. Cutting Class Harms Grades

    Science.gov (United States)

    Taylor, Lewis A., III

    2012-01-01

    An accessible business school population of undergraduate students was investigated in three independent, but related studies to determine effects on grades due to cutting class and failing to take advantage of optional reviews and study quizzes. It was hypothesized that cutting classes harms exam scores, attending preexam reviews helps exam…

  11. Fundamentals of cutting.

    Science.gov (United States)

    Williams, J G; Patel, Y

    2016-06-06

    The process of cutting is analysed in fracture mechanics terms with a view to quantifying the various parameters involved. The model used is that of orthogonal cutting with a wedge removing a layer of material or chip. The behaviour of the chip is governed by its thickness and for large radii of curvature the chip is elastic and smooth cutting occurs. For smaller thicknesses, there is a transition, first to plastic bending and then to plastic shear for small thicknesses and smooth chips are formed. The governing parameters are tool geometry, which is principally the wedge angle, and the material properties of elastic modulus, yield stress and fracture toughness. Friction can also be important. It is demonstrated that the cutting process may be quantified via these parameters, which could be useful in the study of cutting in biology.

  12. 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.

  13. Paper-cutting operations using scissors in Drury's law tasks.

    Science.gov (United States)

    Yamanaka, Shota; Miyashita, Homei

    2018-05-01

    Human performance modeling is a core topic in ergonomics. In addition to deriving models, it is important to verify the kinds of tasks that can be modeled. Drury's law is promising for path tracking tasks such as navigating a path with pens or driving a car. We conducted an experiment based on the observation that paper-cutting tasks using scissors resemble such tasks. The results showed that cutting arc-like paths (1/4 of a circle) showed an excellent fit with Drury's law (R 2  > 0.98), whereas cutting linear paths showed a worse fit (R 2  > 0.87). Since linear paths yielded better fits when path amplitudes were divided (R 2  > 0.99 for all amplitudes), we discuss the characteristics of paper-cutting operations using scissors. Copyright © 2018 Elsevier Ltd. All rights reserved.

  14. Curved-Line Cutting Using a Flexible Circular Saw

    Science.gov (United States)

    Yamada, Yohei; Osumi, Nobuyuki; Takasugi, Akio; Sasahara, Hiroyuki

    We propose a flexible circular saw for high-speed cutting of curved lines in carbon fiber-reinforced plastic (CFRP). A conventional circular saw is appropriate for straight line cutting, but it cannot be applied to curved line cutting because of the interference between the saw body and the machined surface. To eliminate this problem, the flexible circular saw is deflected into a bowl shape by circular forced displacement, and the cross-section of the saw becomes a circular arc. A curved line can be cut by the bowl-like-deflection. The deflection shape is very important to realize the curved-line cutting without interference. We investigated the deflection of the flexible circular saw by a finite element method (FEM) analysis. Suitable slit shapes for the saw body are also proposed, based on the FEM results regarding stress in the saw body, the minimum radius of curvature, and the effects of cutting force and centrifugal force and eigenvalue. We also conducted a curved-line cutting test on a CFRP plate, and we found that the flexible circular saw can cut curved lines with high accuracy and high speed without interference between the saw body and the machined surface.

  15. Advanced cutting techniques: laser and fissuration cutting

    International Nuclear Information System (INIS)

    Perrin, J.; Tanis, G.

    1984-01-01

    The aim of this study is to develop a new method for cutting metal components of nuclear power plants, which produces virtually no secondary waste. In this method, a controlled intergranular fissure is produced in a heated area of the component by the addition of a molten material which gives rise to the formation of brittle compounds. With the presence of molten metal, the material or alloys in which we have tension stresses can have a brittle intergranular failure. Generally the failure occurs in a defined temperature range. The tension stresses are created by the thermal gradient induced during the local heating. At the same time, the molten metal is added. Our work has been developed in two directions: Study on the maximum thickness (presently it is potentially possible to cut thick sheets up to 100 mm); dismantling of nuclear parts as tubes, cans, hot cell walls (we are on the beginning of the development in this field of work). (author)

  16. Dynamics, OH distributions and UV emission of a gliding arc at various flow-rates investigated by optical measurements

    DEFF Research Database (Denmark)

    Zhu, Jiajian; Sun, Zhiwei; Li, Zhongshan

    2014-01-01

    emission of the gliding arc were investigated by optical methods. High-speed photography was utilized to reveal flow-rate dependent dynamics such as ignitions, propagation, short-cutting events, extinctions and conversions of the discharge from glowtype to spark-type. Short-cutting events and ignitions...... hundreds of microseconds after being electronically short-cut by a newly ignited arc. The extinction time decreases with the increase of the flow rate. The frequency of the conversion of a discharge from glow-type to spark-type increases with the flow rate. Additionally, spatial distributions of ground...

  17. Cutting hospital costs without cutting staff.

    Science.gov (United States)

    Ortiz, John P

    2011-10-01

    A hospital that is seeking ways to cut costs without compromising care should resist the temptation to lay off staff and instead make it a priority to improve efficiencies. This approach requires a formal program to identify and analyze all of the hospital's processes. The focus of the analysis should be to determine which activities are being performed efficiently, which are being performed inefficiently, and which are unnecessary. This effort will achieve the greatest success if it is customer-centric.

  18. Advanced cutting techniques: laser and fissuration cutting

    International Nuclear Information System (INIS)

    Migliorati, B.; Gay, P.

    1984-01-01

    Experimental tests have been performed using CO 2 laser with output power 1 to 15 kW to evaluate the effect of varying the following parameters: material (carbon steel Fe 42 C, stainless steel AISI 304, concrete), laser power, beam characteristics, work piece velocity, gas type and distribution on the laser interaction zone. In the case of concrete, drilling depths of 80 mm were obtained in a few seconds using a 10 kW laser beam. Moreover pieces of 160 mm were cut at 0.01 meters per minute. Results with carbon steel indicated maximum thicknesses of 110 mm, cut at 0.01 meters per minute with 10 kW, depths about 20% lower were obtained with the AISI 304 stainless steel. A parallel investigation was aimed at characterizing particulate emission during the laser cutting process. At the end of the research it was possible to elaborate a preliminary proposal concerning a laser based dismantling system for the application to a typical Nuclear Power Station. (author)

  19. The ARCS radial collimator

    Directory of Open Access Journals (Sweden)

    Stone M.B.

    2015-01-01

    Full Text Available We have designed, installed, and commissioned a scattered beam radial collimator for use at the ARCS Wide Angular Range Chopper Spectrometer at the Spallation Neutron Source. The collimator has been designed to work effectively for thermal and epithermal neutrons and with a range of sample environments. Other design considerations include the accommodation of working within a high vacuum environment and having the ability to quickly install and remove the collimator from the scattered beam. We present here characterization of the collimator's performance and methodologies for its effective use.

  20. APPARATUS FOR ARC WELDING

    Science.gov (United States)

    Lingafelter, J.W.

    1960-04-01

    An apparatus is described in which a welding arc created between an annular electrode and a workpiece moves under the influence of an electromagnetic field about the electrode in a closed or annular path. This mode of welding is specially suited to the enclosing of nuclear-fuel slugs in a protective casing. For example, a uranium slug is placed in an aluminum can, and an aluminum closure is welded to the open end of the can along a closed or annular path conforming to the periphery of the end closure.

  1. Gas tungsten arc welder

    International Nuclear Information System (INIS)

    Christiansen, D.W.; Brown, W.F.

    1984-01-01

    A welder for automated closure of fuel pins by a gas tungsten arc process in which a rotating length of cladding is positioned adjacent a welding electrode in a sealed enclosure. An independently movable grinder, co-axial with the electrode, is provided in the enclosure for refurbishing the used electrode between welds. The specification also discloses means for loading of the cladding with fuel pellets and for placement of reflectors, gas capsules and end caps. Gravity feed conveyor and inerting means are also described. (author)

  2. 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...

  3. 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.

  4. 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.

  5. Laser Cutting, Development Trends

    DEFF Research Database (Denmark)

    Olsen, Flemming Ove

    1999-01-01

    In this paper a short review of the development trends in laser cutting will be given.The technology, which is the fastest expanding industrial production technology will develop in both its core market segment: Flat bed cutting of sheet metal, as it will expand in heavy industry and in cutting...... of 3-dimensional shapes.The CO2-laser will also in the near future be the dominating laser source in the market, although the new developments in ND-YAG-lasers opens for new possibilities for this laser type....

  6. An Evaluation of Potential Operating Systems for Autonomous Underwater Vehicles

    Science.gov (United States)

    2013-02-01

    remote control of such vehicles requires the use of a tether , limiting the vehicle’s range; however operating underwater vehicles autonomously requires...URBI Universal Robot Body Interface UUV Unmanned Underwater Vehicle UNCLASSIFIED xi DSTO–TN–1194 UNCLASSIFIED THIS PAGE IS INTENTIONALLY BLANK xii... underwater environment, where many platforms are still reliant upon an umbilical tether for power and high bandwidth communications. This tether

  7. On the Performance of the Underwater Acoustic Sensor Networks

    Science.gov (United States)

    2015-05-01

    waves for Underwater Wireless Communication (UWC); radio waves, optical waves, and acoustic waves are few to name. Radio waves are good for extra low...2211 underwater communication , wireless sensors, mutual information REPORT DOCUMENTATION PAGE 11. SPONSOR/MONITOR’S REPORT NUMBER(S) 10. SPONSOR...Cotae, “On the Performance of the Underwater Wireless Communication Sensor Networks: Work in Progress” ASEE Mid-Atlantic Fall 2014 Conference

  8. 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)

  9. 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.)

  10. 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.

  11. 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.

  12. Experimental testing of exchangeable cutting inserts cutting ability

    OpenAIRE

    Čep, Robert; Janásek, Adam; Čepová, Lenka; Petrů, Jana; Hlavatý, Ivo; Car, Zlatan; Hatala, Michal

    2013-01-01

    The article deals with experimental testing of the cutting ability of exchangeable cutting inserts. Eleven types of exchangeable cutting inserts from five different manufacturers were tested. The tested cutting inserts were of the same shape and were different especially in material and coating types. The main aim was both to select a suitable test for determination of the cutting ability of exchangeable cutting inserts and to design such testing procedure that could make it possible...

  13. Influence of Cutting Fluid Flow Rate and Cutting Parameters on the Surface Roughness and Flank Wear of TiAlN Coated Tool In Turning AISI 1015 Steel Using Taguchi Method

    Directory of Open Access Journals (Sweden)

    Moganapriya C.

    2017-09-01

    Full Text Available This paper presents the influence of cutting parameters (Depth of cut, feed rate, spindle speed and cutting fluid flow rate on the surface roughness and flank wear of physical vapor deposition (PVD Cathodic arc evaporation coated TiAlN tungsten carbide cutting tool insert during CNC turning of AISI 1015 mild steel. Analysis of Variance has been applied to determine the critical influence of cutting parameters. Taguchi orthogonal test design has been employed to optimize the process parameters affecting surface roughness and tool wear. Depth of cut was found to be the most dominant factor contributing to high surface roughness (67.5% of the inserts. However, cutting speed, feed rate and flow rate of cutting fluid showed minimal contribution to surface roughness. On the other hand, cutting speed (45.6% and flow rate of cutting fluid (23% were the dominant factors influencing tool wear. The optimum cutting conditions for desired surface roughness constitutes the following parameters such as medium cutting speed, low feed rate, low depth of cut and high cutting fluid flow rate. Minimal tool wear was achieved for the following process parameters such as low cutting speed, low feed rate, medium depth of cut and high cutting fluid flow rate.

  14. A MAC protocol for underwater sensors networks

    OpenAIRE

    Santos, Rodrigo; Orozco, Javier; Ochoa, Sergio; Meseguer Pallarès, Roc; Eggly, Gabriel

    2015-01-01

    “The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-26401-1_37." Underwater sensor networks are becoming an important field of research, because of its everyday increasing application scope. Examples of their application areas are environmental and pollution monitoring (mainly oil spills), oceanographic data collection, support for submarine geo-localization, ocean sampling and early tsunamis alert. It is well-known the challenge that represents to perfo...

  15. Passive Mode Carbon Nanotube Underwater Acoustic Transducer

    Science.gov (United States)

    2016-09-20

    irreversible Joule heat) by an electric light bulb . The reciprocal (or reverse) of this process by supplying heat and shining light to the same electric bulb ...limit the invention to the precise form disclosed; and obviously many modifications and variations are possible in light of the above teaching...300151 1 of 14 PASSIVE MODE CARBON NANOTUBE UNDERWATER ACOUSTIC TRANSDUCER STATEMENT OF GOVERNMENT INTEREST [0001] The invention described

  16. Underwater suction device for irradiated materials

    International Nuclear Information System (INIS)

    Qurnell, F.D.; Peloquin, A.V.

    1982-01-01

    An underwater suction device for collecting irradiated materials in a pool of water includes injection and suction tubes and a removable, disposable filter for capturing irradiated materials. Pressurized water is injected into the suction tube through a jet pump nozzle to establish a suction flow through the tube. The suction device is manoeuverable by a pole, which is pivotally connected to the suction device by a latching mechanism. (author)

  17. 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

  18. 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.

  19. Obstacle avoidance in underwater glider path planning

    OpenAIRE

    Isern González, Josep; Hernández Sosa, Daniel; Fernández Perdomo, Enrique; Cabrera Gámez, Jorge; Domínguez Brito, Antonio Carlos; Prieto Marañón, Víctor

    2012-01-01

    Underwater gliders have revealed as a valuable scientific platform, with a growing number of successful environmental sampling applications. They are specially suited for long range missions due to their unmatched autonomy level, although their low surge speed make them strongly affected by ocean currents. Path planning constitute a real concern for this type of vehicle, as it may reduce the time taken to reach a given waypoint or save power. In such a dynamic environment it is not easy to fi...

  20. A Recovery System for Unmanned Underwater Vehicles

    Science.gov (United States)

    2017-09-28

    300170 1 of 10 A RECOVERY SYSTEM FOR UNMANNED UNDERWATER VEHICLES STATEMENT OF GOVERNMENT INTEREST [0001] The invention described herein may...6 of 10 forces cannot be easily predicted and can be strong enough to require a significantly larger handling system and significantly more...the sea state, the ship handling system , the capture mechanism and the design of the capture mechanism 400. [0024] The water jets 100 will increase

  1. Electric arc welding gun

    Science.gov (United States)

    Luttrell, Edward; Turner, Paul W.

    1978-01-01

    This invention relates to improved apparatus for arc welding an interior joint formed by intersecting tubular members. As an example, the invention is well suited for applications where many similar small-diameter vertical lines are to be welded to a long horizontal header. The improved apparatus includes an arc welding gun having a specially designed welding head which is not only very compact but also produces welds that are essentially free from rolled-over solidified metal. The welding head consists of the upper end of the barrel and a reversely extending electrode holder, or tip, which defines an acute angle with the barrel. As used in the above-mentioned example, the gun is positioned to extend upwardly through the vertical member and the joint to be welded, with its welding head disposed within the horizontal header. Depending on the design of the welding head, the barrel then is either rotated or revolved about the axis of the vertical member to cause the electrode to track the joint.

  2. Cuts and the cutting edge: British science funding and the making of animal biotechnology in 1980s Edinburgh.

    Science.gov (United States)

    Myelnikov, Dmitriy

    2017-12-01

    The Animal Breeding Research Organisation in Edinburgh (ABRO, founded in 1945) was a direct ancestor of the Roslin Institute, celebrated for the cloning of Dolly the sheep. After a period of sustained growth as an institute of the Agricultural Research Council (ARC), ABRO was to lose most of its funding in 1981. This decision has been absorbed into the narrative of the Thatcherite attack on science, but in this article I show that the choice to restructure ABRO pre-dated major government cuts to agricultural research, and stemmed from the ARC's wish to prioritize biotechnology in its portfolio. ABRO's management embraced this wish and campaigned against the cuts based on a promise of biotechnological innovation, shifting its focus from farm animal genetics to the production of recombinant pharmaceuticals in sheep milk. By tracing interaction between government policies, research council agendas and local strategies, I show how novel research programmes such as genetic modification could act as a lifeline for struggling institutions.

  3. Short-cut math

    CERN Document Server

    Kelly, Gerard W

    1984-01-01

    Clear, concise compendium of about 150 time-saving math short-cuts features faster, easier ways to add, subtract, multiply, and divide. Each problem includes an explanation of the method. No special math ability needed.

  4. 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...

  5. 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...

  6. Calibration Techniques for Accurate Measurements by Underwater Camera Systems.

    Science.gov (United States)

    Shortis, Mark

    2015-12-07

    Calibration of a camera system is essential to ensure that image measurements result in accurate estimates of locations and dimensions within the object space. In the underwater environment, the calibration must implicitly or explicitly model and compensate for the refractive effects of waterproof housings and the water medium. This paper reviews the different approaches to the calibration of underwater camera systems in theoretical and practical terms. The accuracy, reliability, validation and stability of underwater camera system calibration are also discussed. Samples of results from published reports are provided to demonstrate the range of possible accuracies for the measurements produced by underwater camera systems.

  7. Calibration Techniques for Accurate Measurements by Underwater Camera Systems

    Directory of Open Access Journals (Sweden)

    Mark Shortis

    2015-12-01

    Full Text Available Calibration of a camera system is essential to ensure that image measurements result in accurate estimates of locations and dimensions within the object space. In the underwater environment, the calibration must implicitly or explicitly model and compensate for the refractive effects of waterproof housings and the water medium. This paper reviews the different approaches to the calibration of underwater camera systems in theoretical and practical terms. The accuracy, reliability, validation and stability of underwater camera system calibration are also discussed. Samples of results from published reports are provided to demonstrate the range of possible accuracies for the measurements produced by underwater camera systems.

  8. 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

  9. 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...

  10. 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...

  11. Underwater Acoustic Target Tracking: A Review.

    Science.gov (United States)

    Luo, Junhai; Han, Ying; Fan, Liying

    2018-01-02

    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.

  12. 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.

  13. 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.

  14. Underwater Noise Modelling of Wave Energy Devices

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2009-07-01

    Future large-scale implementation of wave energy converts (WECs) will introduce an anthropogenic activity in the ocean which may contribute to underwater noise. The Ocean houses several marine species with acoustic sensibility; consequently the potential impact of the underwater noise needs to be addressed. At present, there are no acoustic impact studies based on acquired data. The WEAM project (Wave Energy Acoustic Monitoring) aims at developing an underwater noise monitoring plan for WECs. The development of an acoustic monitoring plan must consider the sound propagation in the ocean, identify noise sources, understand the operational characteristics and select adequate instrumentation. Any monitoring strategy must involve in-situ measurements. However, the vast distances which sound travels within the ocean, can make in-situ measurements covering the entire area of interest, impracticable. This difficulty can be partially overcome through acoustic numerical modelling. This paper presents a synthetic study, on the application of acoustic forward modelling and the evaluation of the impact of noise produced by wave energy devices on marine mammals using criteria based on audiograms of dolphins, or other species. The idea is to illustrate the application of that methodology, and to show to what extent it allows for estimating distances of impacts due to acoustic noise.

  15. Laser cutting system

    Science.gov (United States)

    Dougherty, Thomas J

    2015-03-03

    A workpiece cutting apparatus includes a laser source, a first suction system, and a first finger configured to guide a workpiece as it moves past the laser source. The first finger includes a first end provided adjacent a point where a laser from the laser source cuts the workpiece, and the first end of the first finger includes an aperture in fluid communication with the first suction system.

  16. Cutting and Self-Harm

    Science.gov (United States)

    ... Your feelings Feeling sad Cutting and self-harm Cutting and self-harm Self-harm, sometimes called self- ... There are many types of self-injury, and cutting is one type that you may have heard ...

  17. ADVANCED CUTTINGS TRANSPORT STUDY

    Energy Technology Data Exchange (ETDEWEB)

    Troy Reed; Stefan Miska; Nicholas Takach; Kaveh Ashenayi; Gerald Kane; Mark Pickell; Len Volk; Mike Volk; Affonso Lourenco; Evren Ozbayoglu; Lei Zhou

    2002-01-30

    This is the second quarterly progress report for Year 3 of the ACTS project. It includes a review of progress made in: (1) Flow Loop development and (2) research tasks during the period of time between Oct 1, 2001 and Dec. 31, 2001. This report presents a review of progress on the following specific tasks: (a) Design and development of an Advanced Cuttings Transport Facility (Task 3: Addition of a Cuttings Injection/Collection System), (b) Research project (Task 6): ''Study of Cuttings Transport with Foam Under LPAT Conditions (Joint Project with TUDRP)'', (c) Research project (Task 9): ''Study of Foam Flow Behavior Under EPET Conditions'', (d) Research project (Task 10): ''Study of Cuttings Transport with Aerated Mud Under Elevated Pressure and Temperature Conditions'', (e) Research on instrumentation tasks to measure: Cuttings concentration and distribution in a flowing slurry (Task 11), and Foam properties while transporting cuttings. (Task 12), (f) Development of a Safety program for the ACTS Flow Loop. Progress on a comprehensive safety review of all flow-loop components and operational procedures. (Task 1S). (g) Activities towards technology transfer and developing contacts with Petroleum and service company members, and increasing the number of JIP members.

  18. Laser Assisted Plasma Arc Welding

    Energy Technology Data Exchange (ETDEWEB)

    FUERSCHBACH,PHILLIP W.

    1999-10-05

    Experiments have been performed using a coaxial end-effecter to combine a focused laser beam and a plasma arc. The device employs a hollow tungsten electrode, a focusing lens, and conventional plasma arc torch nozzles to co-locate the focused beam and arc on the workpiece. Plasma arc nozzles were selected to protect the electrode from laser generated metal vapor. The project goal is to develop an improved fusion welding process that exhibits both absorption robustness and deep penetration for small scale (< 1.5 mm thickness) applications. On aluminum alloys 6061 and 6111, the hybrid process has been shown to eliminate hot cracking in the fusion zone. Fusion zone dimensions for both stainless steel and aluminum were found to be wider than characteristic laser welds, and deeper than characteristic plasma arc welds.

  19. ADVANCED CUTTINGS TRANSPORT STUDY

    Energy Technology Data Exchange (ETDEWEB)

    Stefan Miska; Nicholas Takach; Kaveh Ashenayi; Mengjiao Yu; Ramadan Ahmed; Mark Pickell; Len Volk; Lei Zhou; Zhu Chen; Aimee Washington; Crystal Redden

    2003-09-30

    The Quarter began with installing the new drill pipe, hooking up the new hydraulic power unit, completing the pipe rotation system (Task 4 has been completed), and making the SWACO choke operational. Detailed design and procurement work is proceeding on a system to elevate the drill-string section. The prototype Foam Generator Cell has been completed by Temco and delivered. Work is currently underway to calibrate the system. Literature review and preliminary model development for cuttings transportation with polymer foam under EPET conditions are in progress. Preparations for preliminary cuttings transport experiments with polymer foam have been completed. Two nuclear densitometers were re-calibrated. Drill pipe rotation system was tested up to 250 RPM. Water flow tests were conducted while rotating the drill pipe up to 100 RPM. The accuracy of weight measurements for cuttings in the annulus was evaluated. Additional modifications of the cuttings collection system are being considered in order to obtain the desired accurate measurement of cuttings weight in the annular test section. Cutting transport experiments with aerated fluids are being conducted at EPET, and analyses of the collected data are in progress. The printed circuit board is functioning with acceptable noise level to measure cuttings concentration at static condition using ultrasonic method. We were able to conduct several tests using a standard low pass filter to eliminate high frequency noise. We tested to verify that we can distinguish between different depths of sand in a static bed of sand. We tested with water, air and a mix of the two mediums. Major modifications to the DTF have almost been completed. A stop-flow cell is being designed for the DTF, the ACTF and Foam Generator/Viscometer which will allow us to capture bubble images without the need for ultra fast shutter speeds or microsecond flash system.

  20. Arc fault detection system

    Science.gov (United States)

    Jha, K.N.

    1999-05-18

    An arc fault detection system for use on ungrounded or high-resistance-grounded power distribution systems is provided which can be retrofitted outside electrical switchboard circuits having limited space constraints. The system includes a differential current relay that senses a current differential between current flowing from secondary windings located in a current transformer coupled to a power supply side of a switchboard, and a total current induced in secondary windings coupled to a load side of the switchboard. When such a current differential is experienced, a current travels through a operating coil of the differential current relay, which in turn opens an upstream circuit breaker located between the switchboard and a power supply to remove the supply of power to the switchboard. 1 fig.

  1. Improved cutting performance in high power laser cutting

    DEFF Research Database (Denmark)

    Olsen, Flemming Ove

    2003-01-01

    Recent results in high power laser cutting especially with focus on cutting of mild grade steel types for shipbuilding are described.......Recent results in high power laser cutting especially with focus on cutting of mild grade steel types for shipbuilding are described....

  2. Arc Interference Behavior during Twin Wire Gas Metal Arc Welding Process

    Directory of Open Access Journals (Sweden)

    Dingjian Ye

    2013-01-01

    Full Text Available In order to study arc interference behavior during twin wire gas metal arc welding process, the synchronous acquisition system has been established to acquire instantaneous information of arc profile including dynamic arc length variation as well as relative voltage and current signals. The results show that after trailing arc (T-arc is added to the middle arc (M-arc in a stable welding process, the current of M arc remains unchanged while the agitation increases; the voltage of M arc has an obvious increase; the shape of M arc changes, with increasing width, length, and area; the transfer frequency of M arc droplet increases and the droplet itself becomes smaller. The wire extension length of twin arc turns out to be shorter than that of single arc welding.

  3. A German research project about applicable graphite cutting techniques

    International Nuclear Information System (INIS)

    Holland, D.; Quade, U.; Bach, F.W.; Wilk, P.

    2001-01-01

    In Germany, too, quite large quantities of irradiated nuclear graphite, used in research and prototype reactors, are waiting for an environmental way of disposal. While incineration of nuclear graphite does not seem to be a publicly acceptable way, cutting and packaging into ductile cast iron containers could be a suitable way of disposal in Germany. Nevertheless, the cutting of graphite is also a very difficult technique by which a large amount of secondary waste or dust might occur. An applicable graphite cutting technique is needed. Therefore, a group of 13 German partners, consisting of one university, six research reactor operators, one technical inspection authority, three engineering companies, one industrial cutting specialist and one commercial dismantling company, decided in 1999 to start a research project to develop an applicable technique for cutting irradiated nuclear graphite. Aim of the project is to find the most suitable cutting techniques for the existing shapes of graphite blocks with a minimum of waste production rate. At the same time it will be learned how to sample the dust and collect it in a filter system. The following techniques will be tested and evaluated: thermal cutting, water jet cutting, mechanical cutting with a saw, plasma arc cutting, drilling. The subsequent evaluation will concentrate on dust production, possible irradiation of staff, time and practicability under different constraints. This research project is funded by the German Minister of Education and Research under the number 02 S 7849 for a period of two years. A brief overview about the work to be carried out in the project will be given. (author)

  4. Visual-adaptation-mechanism based underwater object extraction

    Science.gov (United States)

    Chen, Zhe; Wang, Huibin; Xu, Lizhong; Shen, Jie

    2014-03-01

    Due to the major obstacles originating from the strong light absorption and scattering in a dynamic underwater environment, underwater optical information acquisition and processing suffer from effects such as limited range, non-uniform lighting, low contrast, and diminished colors, causing it to become the bottleneck for marine scientific research and projects. After studying and generalizing the underwater biological visual mechanism, we explore its advantages in light adaption which helps animals to precisely sense the underwater scene and recognize their prey or enemies. Then, aiming to transform the significant advantage of the visual adaptation mechanism into underwater computer vision tasks, a novel knowledge-based information weighting fusion model is established for underwater object extraction. With this bionic model, the dynamical adaptability is given to the underwater object extraction task, making them more robust to the variability of the optical properties in different environments. The capability of the proposed method to adapt to the underwater optical environments is shown, and its outperformance for the object extraction is demonstrated by comparison experiments.

  5. Self-localization for underwater inspection robot in reactor systems

    International Nuclear Information System (INIS)

    Kobayashi, Futoshi; Kojima, Fumio

    2007-01-01

    An underwater inspection robot has been needed for preventive maintenance in a nuclear power plant. This paper deals with a self-localization method for the underwater inspection robot. In this method, the position and the orientation of the robot are estimated by using the particle filter. For showing the effectiveness of the proposed method, an experiment with real robot is demonstrated. (author)

  6. 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

  7. Characterization of ships as sources of underwater noise

    NARCIS (Netherlands)

    Jong, C.A.F. de

    2009-01-01

    There is a growing interest in the possible impact of anthropogenic underwater noise on marine life [1]. One of the concerns is the increasing contribution of shipping noise, with the growing number and size of commercial ships. Traditionally, underwater radiated noise control was only of interest

  8. 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

  9. Theoretical Models for Orthogonal Cutting

    DEFF Research Database (Denmark)

    De Chiffre, Leonardo

    This review of simple models for orthogonal cutting was extracted from: “L. De Chiffre: Metal Cutting Mechanics and Applications, D.Sc. Thesis, Technical University of Denmark, 1990.”......This review of simple models for orthogonal cutting was extracted from: “L. De Chiffre: Metal Cutting Mechanics and Applications, D.Sc. Thesis, Technical University of Denmark, 1990.”...

  10. Radial cutting torch

    Energy Technology Data Exchange (ETDEWEB)

    Robertson, M.C.

    1997-01-08

    The project`s aim is to complete development of the Radial Cutting Torch, a pyrotechnic cutter, for use in all downhole tubular cutting operations in the petroleum industry. Project objectives are to redesign and pressure test nozzle seals to increase product quality, reliability, and manufacturability; improve the mechanical anchor to increase its temperature tolerance and its ability to function in a wider variety of wellbore fluids; and redesign and pressure test the RCT nozzle for operation at pressures from 10 to 20 ksi. The proposal work statement is included in the statement of work for the grant via this reference.

  11. Capacitive Micromachined Ultrasonic Transducers (CMUTs for Underwater Imaging Applications

    Directory of Open Access Journals (Sweden)

    Jinlong Song

    2015-09-01

    Full Text Available A capacitive micromachined ultrasonic transducer structure for use in underwater imaging is designed, fabricated and tested in this paper. In this structure, a silicon dioxide insulation layer is inserted between the top electrodes and the vibration membrane to prevent ohmic contact. The capacitance-voltage (C-V characteristic curve shows that the transducer offers suitable levels of hysteresis and repeatability performance. The −6 dB center frequency is 540 kHz and the transducer has a bandwidth of 840 kHz for a relative bandwidth of 155%. Underwater pressure of 143.43 Pa is achieved 1 m away from the capacitive micromachined ultrasonic transducer under 20  excitation. Two-dimensional underwater ultrasonic imaging, which is able to prove that a rectangular object is present underwater, is achieved. The results presented here indicate that our work will be highly beneficial for the establishment of an underwater ultrasonic imaging system.

  12. Underwater Sensor Network Redeployment Algorithm Based on Wolf Search.

    Science.gov (United States)

    Jiang, Peng; Feng, Yang; Wu, Feng

    2016-10-21

    This study addresses the optimization of node redeployment coverage in underwater wireless sensor networks. Given that nodes could easily become invalid under a poor environment and the large scale of underwater wireless sensor networks, an underwater sensor network redeployment algorithm was developed based on wolf search. This study is to apply the wolf search algorithm combined with crowded degree control in the deployment of underwater wireless sensor networks. The proposed algorithm uses nodes to ensure coverage of the events, and it avoids the prematurity of the nodes. The algorithm has good coverage effects. In addition, considering that obstacles exist in the underwater environment, nodes are prevented from being invalid by imitating the mechanism of avoiding predators. Thus, the energy consumption of the network is reduced. Comparative analysis shows that the algorithm is simple and effective in wireless sensor network deployment. Compared with the optimized artificial fish swarm algorithm, the proposed algorithm exhibits advantages in network coverage, energy conservation, and obstacle avoidance.

  13. Design and implementation of an underwater sound recording device

    Energy Technology Data Exchange (ETDEWEB)

    Martinez, Jayson J.; Myers, Joshua R.; Carlson, Thomas J.; Deng, Zhiqun; Rohrer, John S.; Caviggia, Kurt A.

    2011-09-19

    The purpose of this study was to design and build two versions of an underwater sound recording device. The device designed is referred to as the Underwater Sound Recorder (USR), which can be connected to one or two hydrophones or other underwater sound sensors. The URS contains a 26 dB preamplifier and a user selectable gain that permits additional amplification of input to the system from 26 dB to 46 dB. Signals within the frequency range up to 15 kHz may be recorded using the USR. Examples of USR applications are monitoring underwater processes that have the potential to create large pressure waves that could potentially harm fish or other aquatic life, such as underwater explosions or pile driving. Additional applications are recording sound generated by vessels or the vocalizations of some marine mammals, such as the calls from many species of whales.

  14. 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.

  15. ADVANCED CUTTINGS TRANSPORT STUDY

    Energy Technology Data Exchange (ETDEWEB)

    Stefan Miska; Troy Reed; Ergun Kuru

    2004-09-30

    The Advanced Cuttings Transport Study (ACTS) was a 5-year JIP project undertaken at the University of Tulsa (TU). The project was sponsored by the U.S. Department of Energy (DOE) and JIP member companies. The objectives of the project were: (1) to develop and construct a new research facility that would allow three-phase (gas, liquid and cuttings) flow experiments under ambient and EPET (elevated pressure and temperature) conditions, and at different angle of inclinations and drill pipe rotation speeds; (2) to conduct experiments and develop a data base for the industry and academia; and (3) to develop mechanistic models for optimization of drilling hydraulics and cuttings transport. This project consisted of research studies, flow loop construction and instrumentation development. Following a one-year period for basic flow loop construction, a proposal was submitted by TU to the DOE for a five-year project that was organized in such a manner as to provide a logical progression of research experiments as well as additions to the basic flow loop. The flow loop additions and improvements included: (1) elevated temperature capability; (2) two-phase (gas and liquid, foam etc.) capability; (3) cuttings injection and removal system; (4) drill pipe rotation system; and (5) drilling section elevation system. In parallel with the flow loop construction, hydraulics and cuttings transport studies were preformed using drilling foams and aerated muds. In addition, hydraulics and rheology of synthetic drilling fluids were investigated. The studies were performed under ambient and EPET conditions. The effects of temperature and pressure on the hydraulics and cuttings transport were investigated. Mechanistic models were developed to predict frictional pressure loss and cuttings transport in horizontal and near-horizontal configurations. Model predictions were compared with the measured data. Predominantly, model predictions show satisfactory agreements with the measured data. As a

  16. 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.)

  17. 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

  18. Hemispherical optical dome for underwater communication

    Science.gov (United States)

    Shiri, Ron S.; Lunde, Emily L.; Coronado, Patrick L.; Quijada, Manuel A.

    2017-08-01

    For many years, acoustic systems have been used as the primary method for underwater communication; however, the data transfer rate of such systems is low because sound propagates slowly through water. A higher throughput can be achieved using visible light to transmit data underwater. The first issue with this approach is that there is generally a large loss of the light signal due to scattering and absorption in water, even though there is an optimal wavelength for transmission in the blue or green wavelengths of the visible spectrum. The second issue is that a simple communication system, consisting only of a highly directional source/transmitter and small optical detector/receiver, has a very narrow field of view. The goal of this project is to improve an optical, underwater communication system by increasing the effective field of view of the receiving optics. To this end, we make two changes to the simple system: (1) An optical dome was added near the receiver. An array of lenses is placed radially on the surface of the dome, reminiscent of the compound eye of an insect. The lenses make the source and detector planes conjugate, and each lens adds a new region of the source plane to the instrument's total field of view. (2) The receiver was expanded to include multiple photodiodes. With these two changes, the receiver has much more tolerance to misalignments (in position and angle) of the transmitter. Two versions of the optical dome (with 6" and 8" diameters) were designed using PTC's Creo CAD software and modeled using Synopsys' CODE V optical design software. A series of these transparent hemispherical domes, with both design diameters, were manufactured using a 5-axis mill. The prototype was then retrofitted with lenses and compared with the computer-generated model to demonstrate the effectiveness of this solution. This work shows that the dome design improves the optical field of view of the underwater communication system considerably. Furthermore, with

  19. 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.

  20. 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.)

  1. 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...

  2. Adaptive Target Tracking for Underwater Maneuvering Targets.

    Science.gov (United States)

    1979-12-01

    concenetrate on the bearings-only approach. In this method the Observer monitors his bearing to the Source, over a period of time. Usually the Observer must...developed in [ 5] was earlier applied with much success to tracking maneuvering air targets. This approach will now be applied in the underwater environment...April 1977. [11] A. H. Jazwinski, Stochastic Processes and Filtering Theory, Academic Press, New York, 1970. [12] D. H. Halliday, and R. Resnick, Physics, John Wiley & Sons, Inc., New York, 1966. hI

  3. Cutting Cakes Carefully

    Science.gov (United States)

    Hill, Theodore P.; Morrison, Kent E.

    2010-01-01

    This paper surveys the fascinating mathematics of fair division, and provides a suite of examples using basic ideas from algebra, calculus, and probability which can be used to examine and test new and sometimes complex mathematical theories and claims involving fair division. Conversely, the classical cut-and-choose and moving-knife algorithms…

  4. Cuts, Scratches, and Scrapes

    Science.gov (United States)

    ... Body Mind Sexual Health Food & Fitness Diseases & Conditions Infections Drugs & Alcohol School & Jobs Sports Expert Answers (Q&A) Staying Safe Videos for Educators Search English Español Cuts, Scratches, and ... Infection Signs of Infection Print en español Cortes, rasguños ...

  5. Petrographic drill cutting analysis

    Energy Technology Data Exchange (ETDEWEB)

    Thom, R. [Core Laboratories Canada Ltd., Calgary, AB (Canada)

    1999-11-01

    Some of the diagnostic tools which are available to determine valuable reservoir rock information from drill cuttings were described. For example, valuable information can be obtained from drill cuttings and petrographic thin sections regarding mineralogy, facies, pore systems, reservoir quality and fluid sensitivity. This paper described the best ways to pick representative drill cuttings from vials. Colour and texture are among the most important determining factors. New guidelines from the Alberta Energy and Utilities Board have made it possible to obtain thin sections from drill cuttings from a competitor`s wells. Up to 12 chips from each vial can be removed for thin section scanning electron microscopy (SEM) analysis. X-ray diffraction (XRD) analysis of drill chips is not recommended because it is usually not possible to obtain enough sample material. Another powerful tool to investigate and characterize pore systems is the Mercury Injection Capillary Pressure technique. This technique makes it possible to characterize the pore system and to determine pore throat size distribution, permeability/porosity, producible reserves, capillary pressure, effective versus non-effective porosity, irreducible water saturation, and height above free water. The most reliable and valuable information is obtained from sandstone and carbonate aggregate chips in which the pore system is preserved. It was also noted that core porosity can be empirically derived if a trend line is constructed using sections prepared from an equivalent cored zone. Permeability can be derived in much the same way. 9 figs.

  6. Simultaneous Cake Cutting

    DEFF Research Database (Denmark)

    Balkanski, Eric; Branzei, Simina; Kurokawa, David

    2014-01-01

    We introduce the simultaneous model for cake cutting (the fair allocation of a divisible good), in which agents simultaneously send messages containing a sketch of their preferences over the cake. We show that this model enables the computation of divisions that satisfy proportionality — a popular...

  7. 46 CFR 115.650 - Alternative Hull Examination (AHE) Program options: Divers or underwater ROV.

    Science.gov (United States)

    2010-10-01

    ...: Divers or underwater ROV. 115.650 Section 115.650 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY... Alternative Hull Examination (AHE) Program options: Divers or underwater ROV. To complete your underwater survey, you may use divers or an underwater remotely operated vehicle (ROV). (a) If you use divers to...

  8. Percussive arc welding apparatus

    Science.gov (United States)

    Hollar, Jr., Donald L.

    2002-01-01

    A percussive arc welding apparatus includes a generally cylindrical actuator body having front and rear end portions and defining an internal recess. The front end of the body includes an opening. A solenoid assembly is provided in the rear end portion in the internal recess of the body, and an actuator shaft assembly is provided in the front end portion in the internal recess of the actuator body. The actuator shaft assembly includes a generally cylindrical actuator block having first and second end portions, and an actuator shaft having a front end extending through the opening in the actuator body, and the rear end connected to the first end portion of the actuator block. The second end portion of the actuator block is in operational engagement with the solenoid shaft by a non-rigid connection to reduce the adverse rebound effects of the actuator shaft. A generally transversely extending pin is rigidly secured to the rear end of the shaft. One end of the pin is received in a slot in the nose housing sleeve to prevent rotation of the actuator shaft during operation of the apparatus.

  9. UNDERWATER STROKE KINEMATICS DURING BREATHING AND BREATH-HOLDING FRONT CRAWL SWIMMING

    Directory of Open Access Journals (Sweden)

    Nickos Vezos

    2007-03-01

    Full Text Available The aim of the present study was to determine the effects of breathing on the three - dimensional underwater stroke kinematics of front crawl swimming. Ten female competitive freestyle swimmers participated in the study. Each subject swam a number of front crawl trials of 25 m at a constant speed under breathing and breath-holding conditions. The underwater motion of each subject's right arm was filmed using two S-VHS cameras, operating at 60 Hz, which were positioned behind two underwater viewing windows. The spatial coordinates of selected points were calculated using the DLT procedure with 30 control points and after the digital filtering of the raw data with a cut-off frequency of 6 Hz, the hand's linear displacements and velocities were calculated. The results revealed that breathing caused significantly increases in the stroke duration (t9 = 2.764; p < 0.05, the backward hand displacement relative to the water (t9 = 2.471; p<0.05 and the lateral displacement of the hand in the X - axis during the downsweep (t9 = 2.638; p < 0.05. On the contrary, the peak backward hand velocity during the insweep (t9 = 2.368; p < 0.05 and the displacement of the hand during the push phase (t9 = -2.297; p < 0.05 were greatly reduced when breathing was involved. From the above, it was concluded that breathing action in front crawl swimming caused significant modifications in both the basic stroke parameters and the overall motor pattern were, possibly due to body roll during breathing

  10. Underwater pipeline impact localization using piezoceramic transducers

    Science.gov (United States)

    Zhu, Junxiao; Ho, Siu Chun Michael; Patil, Devendra; Wang, Ning; Hirsch, Rachel; Song, Gangbing

    2017-10-01

    Reports indicated that impact events accounted for 47% of offshore pipeline failures, which calls for impact detection and localization for subsea pipelines. In this paper, an innovative method for rapid localization of impacts on underwater pipelines utilizing a novel determination technique for both arrival-time and group velocity (ATGV) of ultrasonic guided waves with lead zirconate titanate (PZT) transducers is described. PZT transducers mounted on the outer surface of a model pipeline were utilized to measure ultrasonic guided waves generated by impact events. Based on the signals from PZT sensors, the ATGV technique integrates wavelet decomposition, Hilbert transform and statistical analysis to pinpoint the arrival-time of the designated ultrasonic guided waves with a specific group velocity. Experimental results have verified the effectiveness and the localization accuracy for eight impact points along a model underwater pipeline. All estimations errors were small and were comparable with the wavelength of the designated ultrasonic guided waves. Furthermore, the method is robust against the low frequency structural vibration introduced by other external forces.

  11. GAS FLOW IN UNDERWATER BREATHING INSTALLATIONS

    Directory of Open Access Journals (Sweden)

    Anca CONSTANTIN

    2017-11-01

    Full Text Available The open circuit underwater breathing apparatus can be a one or two-stage regulator used in scuba diving or a two-stage regulator used in surface supplied installations. These installations are proper in underwater sites at small depth. The pneumatic circuit of a two-stage regulator is composed mainly of a first stage regulator mounted on the air cylinders and a second stage carried by the diver in his mouth. The two regulators are linked together by a medium pressure hose. The circuit opens when the depression created by the diver’s inhalation, in the second stage body, reaches a certain value. The second stage opening causes a transient movement, namely an expansion wave that propagates through the medium pressure hose to the first stage regulator. The first stage regulator opens and the air in the cylinders is allowed to flow to the diver. The longer the hose, the greater the duration of the expansion wave propagation. Investigations on the wave propagation offer data on the inspiration unsteady motion duration which influences the respiratory effort of the diver.

  12. 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.

  13. 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.

  14. Hydrogel microphones for stealthy underwater listening

    Science.gov (United States)

    Gao, Yang; Song, Jingfeng; Li, Shumin; Elowsky, Christian; Zhou, You; Ducharme, Stephen; Chen, Yong Mei; Zhou, Qin; Tan, Li

    2016-08-01

    Exploring the abundant resources in the ocean requires underwater acoustic detectors with a high-sensitivity reception of low-frequency sound from greater distances and zero reflections. Here we address both challenges by integrating an easily deformable network of metal nanoparticles in a hydrogel matrix for use as a cavity-free microphone. Since metal nanoparticles can be densely implanted as inclusions, and can even be arranged in coherent arrays, this microphone can detect static loads and air breezes from different angles, as well as underwater acoustic signals from 20 Hz to 3 kHz at amplitudes as low as 4 Pa. Unlike dielectric capacitors or cavity-based microphones that respond to stimuli by deforming the device in thickness directions, this hydrogel device responds with a transient modulation of electric double layers, resulting in an extraordinary sensitivity (217 nF kPa-1 or 24 μC N-1 at a bias of 1.0 V) without using any signal amplification tools.

  15. 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.

  16. Software architecture of biomimetic underwater vehicle

    Science.gov (United States)

    Praczyk, Tomasz; Szymak, Piotr

    2016-05-01

    Autonomous underwater vehicles are vehicles that are entirely or partly independent of human decisions. In order to obtain operational independence, the vehicles have to be equipped with a specialized software. The main task of the software is to move the vehicle along a trajectory with collision avoidance. Moreover, the software has also to manage different devices installed on the vehicle board, e.g. to start and stop cameras, sonars etc. In addition to the software embedded on the vehicle board, the software responsible for managing the vehicle by the operator is also necessary. Its task is to define mission of the vehicle, to start, to stop the mission, to send emergency commands, to monitor vehicle parameters, and to control the vehicle in remotely operated mode. An important objective of the software is also to support development and tests of other software components. To this end, a simulation environment is necessary, i.e. simulation model of the vehicle and all its key devices, the model of the sea environment, and the software to visualize behavior of the vehicle. The paper presents architecture of the software designed for biomimetic autonomous underwater vehicle (BAUV) that is being constructed within the framework of the scientific project financed by Polish National Center of Research and Development.

  17. STABILITY OF UNDERWATER STRUCTURE UNDER WAVE ATTACK

    Directory of Open Access Journals (Sweden)

    C. Paotonan

    2012-02-01

    Full Text Available Geotube is, among others, a type of coastal structure that is increasingly accepted for coastal protection especially underwater breakwater. Besides its relatively low cost, it has other advantages such as flexibility, ease of construction and the fact that it can be filled with local sand material. Similar to all other coastal structures, it should also be stable under wave attack. A simple theoretical approach based on linear wave was adopted to estimate the stability of such structure. The theoretical solution was then compared with an experimental study. The experimental study was conducted at the Hydraulics and Hydrology Laboratory of Universitas Gadjah Mada. However, instead of a real geotube, PVC pipe was used where the weight of the PVC was varied by adjusting the volume of sand in the pipe. The result indicated that the agreement between the theoretical solution and the experiment was encouraging. The analytical solution may be utilized to predict underwater pipe stability under wave attack with certain degree of accuracy.

  18. Underwater noise levels in UK waters.

    Science.gov (United States)

    Merchant, Nathan D; Brookes, Kate L; Faulkner, Rebecca C; Bicknell, Anthony W J; Godley, Brendan J; Witt, Matthew J

    2016-11-10

    Underwater noise from human activities appears to be rising, with ramifications for acoustically sensitive marine organisms and the functioning of marine ecosystems. Policymakers are beginning to address the risk of ecological impact, but are constrained by a lack of data on current and historic noise levels. Here, we present the first nationally coordinated effort to quantify underwater noise levels, in support of UK policy objectives under the EU Marine Strategy Framework Directive (MSFD). Field measurements were made during 2013-2014 at twelve sites around the UK. Median noise levels ranged from 81.5-95.5 dB re 1 μPa for one-third octave bands from 63-500 Hz. Noise exposure varied considerably, with little anthropogenic influence at the Celtic Sea site, to several North Sea sites with persistent vessel noise. Comparison of acoustic metrics found that the RMS level (conventionally used to represent the mean) was highly skewed by outliers, exceeding the 97 th percentile at some frequencies. We conclude that environmental indicators of anthropogenic noise should instead use percentiles, to ensure statistical robustness. Power analysis indicated that at least three decades of continuous monitoring would be required to detect trends of similar magnitude to historic rises in noise levels observed in the Northeast Pacific.

  19. Underwater Wireless Acousto-Optic Waveguide (UWAOW)

    Science.gov (United States)

    Giuliano, Giovanni; Kent, Lionel W. J.; Laycock, Leslie C.

    2017-10-01

    The present study originated in the lack of research into achieving underwater total internal reflection (TIR) via the acousto-optic effect. The uniqueness of this technique exists in the fact that it is based on a high sound pressure level which induces a localised change in refractive index of seawater sufficient to achieve total internal reflection within the communication channel. Different transducer systems for generating the pressure wave have been investigated and take the form of a wave which may be either a standing wave, or a novel beamforming technique. The former is based on an array of transducers and with an acoustic mirror at the receiver in order to establish the standing wave. The alternative approach relies on the high intrinsic directionality of a novel beamformer where an annular transducer array is examined as an acoustic source. In this paper, the main characteristics of the acoustic optic waveguide will be presented. This will include both sound and light propagation in the ocean, TIR, novel beam propagation, the refractive index of water as a function of the externally applied acoustic pressure, and the acoustic technology. The modelled results, the limitations imposed by the challenging medium, and the system requirements required to obtain an Underwater Wireless Acousto-Optic Waveguide (UWAOW) will be also addressed.

  20. Core Cutting Test with Vertical Rock Cutting Rig (VRCR)

    Science.gov (United States)

    Yasar, Serdar; Osman Yilmaz, Ali

    2017-12-01

    Roadheaders are frequently used machines in mining and tunnelling, and performance prediction of roadheaders is important for project economics and stability. Several methods were proposed so far for this purpose and, rock cutting tests are the best choice. Rock cutting tests are generally divided into two groups which are namely, full scale rock cutting tests and small scale rock cutting tests. These two tests have some superiorities and deficiencies over themselves. However, in many cases, where rock sampling becomes problematic, small scale rock cutting test (core cutting test) is preferred for performance prediction, since small block samples and core samples can be conducted to rock cutting testing. Common problem for rock cutting tests are that they can be found in very limited research centres. In this study, a new mobile rock cutting testing equipment, vertical rock cutting rig (VRCR) was introduced. Standard testing procedure was conducted on seven rock samples which were the part of a former study on cutting rocks with another small scale rock cutting test. Results showed that core cutting test can be realized successfully with VRCR with the validation of paired samples t-test.

  1. A Speed Control Method for Underwater Vehicle under Hydraulic Flexible Traction

    OpenAIRE

    Zhao, Yin; Xia, Ying-kai; Chen, Ying; Xu, Guo-Hua

    2015-01-01

    Underwater vehicle speed control methodology method is the focus of research in this study. Driven by a hydraulic flexible traction system, the underwater vehicle advances steadily on underwater guide rails, simulating an underwater environment for the carried device. Considering the influence of steel rope viscoelasticity and the control system traction structure feature, a mathematical model of the underwater vehicle driven by hydraulic flexible traction system is established. A speed contr...

  2. 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.)

  3. 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.

  4. Towards a Hybrid Approach to Context Reasoning for Underwater Robots

    Directory of Open Access Journals (Sweden)

    Xin Li

    2017-02-01

    Full Text Available Ontologies have been widely used to facilitate semantic interoperability and serve as a common information model in many applications or domains. The Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs project, aiming to facilitate coordination and cooperation between heterogeneous underwater vehicles, also adopts ontologies to formalize information that is necessarily exchanged between vehicles. However, how to derive more useful contexts based on ontologies still remains a challenge. In particular, the extreme nature of the underwater environment introduces uncertainties in context data, thus imposing more difficulties in context reasoning. None of the existing context reasoning methods could individually deal with all intricacies in the underwater robot field. To this end, this paper presents the first proposal applying a hybrid context reasoning mechanism that includes ontological, rule-based, and Multi-Entity Bayesian Network (MEBN reasoning methods to reason about contexts and their uncertainties in the underwater robot field. The theoretical foundation of applying this reasoning mechanism in underwater robots is given by a case study on the oil spill monitoring. The simulated reasoning results are useful for further decision-making by operators or robots and they show that the consolidation of different reasoning methods is a promising approach for context reasoning in underwater robots.

  5. [Spectra and thermal analysis of the arc in activating flux plasma arc welding].

    Science.gov (United States)

    Chai, Guo-Ming; Zhu, Yi-Feng

    2010-04-01

    In activating flux plasma arc welding the welding arc was analyzed by spectra analysis technique, and the welding arc temperature field was measured by the infrared sensing and computer image technique. The distribution models of welding arc heat flow density of activating flux PAW welding were developed. The composition of welding arc affected by activated flux was studied, and the welding arc temperature field was studied. The results show that the spectral lines of argon atom and ionized argon atom of primary ionization are the main spectra lines of the conventional plasma welding arc. The spectra lines of weld metal are inappreciable in the spectra lines of the conventional plasma welding arc. The gas particle is the main in the conventional plasma welding arc. The conventional plasma welding arc is gas welding arc. The spectra lines of argon atom and ionized argon atom of primary ionization are intensified in the activating flux plasma welding arc, and the spectra lines of Ti, Cr and Fe elements are found in the activating flux plasma welding arc. The welding arc temperature distribution in activating flux plasma arc welding is compact, the outline of the welding arc temperature field is narrow, the range of the welding arc temperature distribution is concentrated, the welding arc radial temperature gradient is large, and the welding arc radial temperature gradient shows normal Gauss distribution.

  6. The low-frequency sound power measuring technique for an underwater source in a non-anechoic tank

    Science.gov (United States)

    Zhang, Yi-Ming; Tang, Rui; Li, Qi; Shang, Da-Jing

    2018-03-01

    In order to determine the radiated sound power of an underwater source below the Schroeder cut-off frequency in a non-anechoic tank, a low-frequency extension measuring technique is proposed. This technique is based on a unique relationship between the transmission characteristics of the enclosed field and those of the free field, which can be obtained as a correction term based on previous measurements of a known simple source. The radiated sound power of an unknown underwater source in the free field can thereby be obtained accurately from measurements in a non-anechoic tank. To verify the validity of the proposed technique, a mathematical model of the enclosed field is established using normal-mode theory, and the relationship between the transmission characteristics of the enclosed and free fields is obtained. The radiated sound power of an underwater transducer source is tested in a glass tank using the proposed low-frequency extension measuring technique. Compared with the free field, the radiated sound power level of the narrowband spectrum deviation is found to be less than 3 dB, and the 1/3 octave spectrum deviation is found to be less than 1 dB. The proposed testing technique can be used not only to extend the low-frequency applications of non-anechoic tanks, but also for measurement of radiated sound power from complicated sources in non-anechoic tanks.

  7. Cutting to the chase

    International Nuclear Information System (INIS)

    Snieckus, D.

    2001-01-01

    This article reports on the development of the cost effective abrasive cutting Sabre system which came as a result of UWG's work on the decommissioning of the Phillips' Maureen wells and adds to UWG's 'total severance solution' tools. The advantages of the system are highlighted and include the ability to operate from a platform or diving support vessel, to cut internal cases, and to eliminate the use of environmentally damaging explosives and the need to operate from a rig. The new Mark II version of the Sabre designed to work at greater depths of water, the range of the severance tools, UWG's well abandonment hole assembly system, and its aim to enter the Gulf of Mexico market are discussed. Details are given of the decommissioning of the Schwedeneck-See platforms in Kiel Bay off Germany and the Phillips' UK decommissioning plans for the Maureen platform

  8. ADVANCED CUTTINGS TRANSPORT STUDY

    Energy Technology Data Exchange (ETDEWEB)

    Ergun Kuru; Stefan Miska; Nicholas Takach; Kaveh Ashenayi; Gerald Kane; Mark Pickell; Len Volk; Mike Volk; Barkim Demirdal; Affonso Lourenco; Evren Ozbayoglu; Paco Vieira; Neelima Godugu

    2000-07-30

    ACTS flow loop is now operational under elevated pressure and temperature. Currently, experiments with synthetic based drilling fluids under pressure and temperature are being conducted. Based on the analysis of Fann 70 data, empirical correlations defining the shear stress as a function of temperature, pressure and the shear rate have been developed for Petrobras synthetic drilling fluids. PVT equipment has been modified for testing Synthetic oil base drilling fluids. PVT tests with Petrobras Synthetic base mud have been conducted and results are being analyzed Foam flow experiments have been conducted and the analysis of the data has been carried out to characterize the rheology of the foam. Comparison of pressure loss prediction from the available foam hydraulic models and the test results has been made. Cuttings transport experiments in horizontal annulus section have been conducted using air, water and cuttings. Currently, cuttings transport tests in inclined test section are being conducted. Foam PVT analysis tests have been conducted. Foam stability experiments have also been conducted. Effects of salt and oil concentration on the foam stability have been investigated. Design of ACTS flow loop modification for foam and aerated mud flow has been completed. A flow loop operation procedure for conducting foam flow experiments under EPET conditions has been prepared Design of the lab-scale flow loop for dynamic foam characterization and cuttings monitoring instrumentation tests has been completed. The construction of the test loop is underway. As part of the technology transport efforts, Advisory Board Meeting with ACTS-JIP industry members has been organized on May 13, 2000.

  9. 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.

  10. 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 underwater drill needs to be transported and positioned by three collaborating robots as part of an underwater autonomous operation....... and assesses the capabilities under communication constraints between the individual robots. In the centralised case, each robot sends information related to its own status to a unique virtual actuator that computes the necessary reconfiguration. In the decentralised case, each robot is equipped with its own...

  11. Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena

    Directory of Open Access Journals (Sweden)

    Carrick Detweiler

    2014-05-01

    Full Text Available Understanding the dynamics of bodies of water and their impact on the global environment requires sensing information over the full volume of water. In this article, we develop a gradient-based decentralized controller that dynamically adjusts the depth of a network of underwater sensors to optimize sensing for computing maximally detailed volumetric models. We prove that the controller converges to a local minimum and show how the controller can be extended to work with hybrid robot and sensor network systems. We implement the controller on an underwater sensor network with depth adjustment capabilities. Through simulations and in-situ experiments, we verify the functionality and performance of the system and algorithm.

  12. ADVANCED CUTTINGS TRANSPORT STUDY

    Energy Technology Data Exchange (ETDEWEB)

    Troy Reed; Stefan Miska; Nicholas Takach; Kaveh Ashenayi; Mark Pickell; Len Volk; Mike Volk; Lei Zhou; Zhu Chen; Crystal Redden; Aimee Washington

    2003-07-30

    This Quarter has been divided between running experiments and the installation of the drill-pipe rotation system. In addition, valves and piping were relocated, and three viewports were installed. Detailed design work is proceeding on a system to elevate the drill-string section. Design of the first prototype version of a Foam Generator has been finalized, and fabrication is underway. This will be used to determine the relationship between surface roughness and ''slip'' of foams at solid boundaries. Additional cups and rotors are being machined with different surface roughness. Some experiments on cuttings transport with aerated fluids have been conducted at EPET. Theoretical modeling of cuttings transport with aerated fluids is proceeding. The development of theoretical models to predict frictional pressure losses of flowing foam is in progress. The new board design for instrumentation to measure cuttings concentration is now functioning with an acceptable noise level. The ultrasonic sensors are stable up to 190 F. Static tests with sand in an annulus indicate that the system is able to distinguish between different sand concentrations. Viscometer tests with foam, generated by the Dynamic Test Facility (DTF), are continuing.

  13. Vortex cutting in superconductors

    Science.gov (United States)

    Vlasko-Vlasov, Vitalii K.; Koshelev, Alexei E.; Glatz, Andreas; Welp, Ulrich; Kwok, Wai-K.

    2015-03-01

    Unlike illusive magnetic field lines in vacuum, magnetic vortices in superconductors are real physical strings, which interact with the sample surface, crystal structure defects, and with each other. We address the complex and poorly understood process of vortex cutting via a comprehensive set of magneto-optic experiments which allow us to visualize vortex patterns at magnetization of a nearly twin-free YBCO crystal by crossing magnetic fields of different orientations. We observe a pronounced anisotropy in the flux dynamics under crossing fields and the filamentation of induced supercurrents associated with the staircase vortex structure expected in layered cuprates, flux cutting effects, and angular vortex instabilities predicted for anisotropic superconductors. At some field angles, we find formation of the vortex domains following a type-I phase transition in the vortex state accompanied by an abrupt change in the vortex orientation. To clarify the vortex cutting scenario we performed time-dependent Ginzburg-Landau simulations, which confirmed formation of sharp vortex fronts observed in the experiment and revealed a left-handed helical instability responsible for the rotation of vortices. This work was supported by the U.S. Department of Energy, Office of Science, Materials Sciences and Engineering Division.

  14. Cutting forces during turning with variable depth of cut

    Directory of Open Access Journals (Sweden)

    M. Sadílek

    2016-03-01

    The proposed research for the paper is an experimental work – measuring cutting forces and monitoring of the tool wear on the cutting edge. It compares the turning where standard roughing cycle is used and the turning where the proposed roughing cycle with variable depth of cut is applied.

  15. 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.

  16. Performance Testing of Cutting Fluids

    DEFF Research Database (Denmark)

    Belluco, Walter

    The importance of cutting fluid performance testing has increased with documentation requirements of new cutting fluid formulations based on more sustainable products, as well as cutting with minimum quantity of lubrication and dry cutting. Two sub-problems have to be solved: i) which machining...... tests feature repeatability, reproducibility and sensitivity to cutting fluids, and ii) to what extent results of one test ensure relevance to a wider set of machining situations. The present work is aimed at assessing the range of validity of the different testing methods, investigating correlation...... within the whole range of operations, materials, cutting fluids, operating conditions, etc. Cutting fluid performance was evaluated in turning, drilling, reaming and tapping, and with respect to tool life, cutting forces, chip formation and product quality (dimensional accuracy and surface integrity...

  17. Remote Laser Cutting of CFRP: Improvements in the Cut Surface

    Science.gov (United States)

    Stock, Johannes; Zaeh, Michael F.; Conrad, Markus

    In the automotive industry carbon fibre reinforced plastics (CFRP) are considered as a future key material to reduce the weight of the vehicle. Therefore, capable production techniques are required to process this material in mass industry. E.g., state of the art methods for cutting are limited by the high tool wear or the feasible feed rate. Laser cutting processes are still under investigation. This paper presents detailed new studies on remote laser cutting of CFRP focusing on the influence of the material properties and the quality of the cut surface. By adding light absorbing soot particles to the resin of the matrix, the cutting process is improved and fewer defects emerge.

  18. Arcing phenomena in fusion devices workshop

    Energy Technology Data Exchange (ETDEWEB)

    Clausing, R.E.

    1979-01-01

    The workshop on arcing phenomena in fusion devices was organized (1) to review the pesent status of our understanding of arcing as it relates to confinement devices, (2) to determine what informaion is needed to suppress arcing and (3) to define both laboratory and in-situ experiments which can ultimately lead to reduction of impurities in the plasma caused by arcing. The workshop was attended by experts in the area of vacuum arc electrode phenomena and ion source technology, materials scientists, and both theoreticians and experimentalists engaged in assessing the importance of unipolar arcing in today's tokamaks. Abstracts for papers presented at the workshop are included.

  19. Arcing phenomena in fusion devices workshop

    International Nuclear Information System (INIS)

    Clausing, R.E.

    1979-01-01

    The workshop on arcing phenomena in fusion devices was organized (1) to review the pesent status of our understanding of arcing as it relates to confinement devices, (2) to determine what informaion is needed to suppress arcing and (3) to define both laboratory and in-situ experiments which can ultimately lead to reduction of impurities in the plasma caused by arcing. The workshop was attended by experts in the area of vacuum arc electrode phenomena and ion source technology, materials scientists, and both theoreticians and experimentalists engaged in assessing the importance of unipolar arcing in today's tokamaks. Abstracts for papers presented at the workshop are included

  20. Status of the ANTARES underwater neutrino telescope

    CERN Document Server

    Hallewell, G D

    2003-01-01

    The ANTARES Collaboration is constructing a deep underwater neutrino detector for operation at -2400 m off the French Mediterranean coast near Toulon. The detector, which will begin operation in 2004, will have an aperture of approx 0.1 km sup 2 , and will contain 900 photomultiplier tubes. The photomultiplier axes will be angled 45 deg. downward toward the seabed to observe the Cherenkov emissions of upward-going muons created by the interactions in or near the detector of high energy neutrinos traversing the Earth. These neutrinos arrive undeviated from a variety of galactic and extragalactic sources of astrophysical interest, and might be produced in the possible annihilation of dark matter neutralinos. The design and present status of the detector are summarized. Results from site evaluation and the development of supporting instrumentation are outlined.

  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. 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.

  3. A Validation Process for Underwater Localization Algorithms

    Directory of Open Access Journals (Sweden)

    Marc Hildebrandt

    2014-09-01

    Full Text Available This paper describes the validation process of a localization algorithm for underwater vehicles. In order to develop new localization algorithms, it is essential to characterize them with regard to their accuracy, long-term stability and robustness to external sources of noise. This is only possible if a gold-standard reference localization (GSRL is available against which any new localization algorithm (NLA can be tested. This process requires a vehicle which carries all the required sensor and processing systems for both the GSRL and the NLA. This paper will show the necessity of such a validation process, briefly sketch the test vehicle and its capabilities, describe the challenges in computing the localizations of both the GSRL and the NLA simultaneously for comparison, and conclude with experimental data of real-world trials.

  4. Improved Underwater Excitation-Emission Matrix Fluorometer

    Science.gov (United States)

    Moore, Casey; daCunha, John; Rhoades, Bruce; Twardowski, Michael

    2007-01-01

    A compact, high-resolution, two-dimensional excitation-emission matrix fluorometer (EEMF) has been designed and built specifically for use in identifying and measuring the concentrations of organic compounds, including polluting hydrocarbons, in natural underwater settings. Heretofore, most EEMFs have been designed and built for installation in laboratories, where they are used to analyze the contents of samples collected in the field and brought to the laboratories. Because the present EEMF can be operated in the field, it is better suited to measurement of spatially and temporally varying concentrations of substances of interest. In excitation-emission matrix (EEM) fluorometry, fluorescence is excited by irradiating a sample at one or more wavelengths, and the fluorescent emission from the sample is measured at multiple wavelengths. When excitation is provided at only one wavelength, the technique is termed one-dimensional (1D) EEM fluorometry because the resulting matrix of fluorescence emission data (the EEM) contains only one row or column. When excitation is provided at multiple wavelengths, the technique is termed two-dimensional (2D) EEM fluorometry because the resulting EEM contains multiple rows and columns. EEM fluorometry - especially the 2D variety - is well established as a means of simultaneously detecting numerous dissolved and particulate compounds in water. Each compound or pool of compounds has a unique spectral fluorescence signature, and each EEM is rich in information content, in that it can contain multiple fluorescence signatures. By use of deconvolution and/or other mixture-analyses techniques, it is often possible to isolate the spectral signature of compounds of interest, even when their fluorescence spectra overlap. What distinguishes the present 2D EEMF over prior laboratory-type 2D EEMFs are several improvements in packaging (including a sealed housing) and other aspects of design that render it suitable for use in natural underwater

  5. Adaptive control of nonlinear underwater robotic systems

    Directory of Open Access Journals (Sweden)

    Thor I. Fossen

    1991-04-01

    Full Text Available The problem of controlling underwater mobile robots in 6 degrees of freedom (DOF is addressed. Uncertainties in the input matrix due to partly known nonlinear thruster characteristics are modeled as multiplicative input uncertainty. This paper proposes two methods to compensate for the model uncertainties: (1 an adaptive passivity-based control scheme and (2 deriving a hybrid (adaptive and sliding controller. The hybrid controller consists of a switching term which compensates for uncertainties in the input matrix and an on-line parameter estimation algorithm. Global stability is ensured by applying Barbalat's Lyapunovlike lemma. The hybrid controller is simulated for the horizontal motion of the Norwegian Experimental Remotely Operated Vehicle (NEROV.

  6. Collision Detection for Underwater ROV Manipulator Systems.

    Science.gov (United States)

    Sivčev, Satja; Rossi, Matija; Coleman, Joseph; Omerdić, Edin; Dooly, Gerard; Toal, Daniel

    2018-04-06

    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.

  7. 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.

  8. 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)

  9. On sampling the ocean using underwater gliders

    Science.gov (United States)

    Rudnick, Daniel L.; Cole, Sylvia T.

    2011-08-01

    The sampling characteristics of an underwater glider are addressed through comparison with contemporaneous measurements from a ship survey using a towed vehicle. The comparison uses the underwater glider Spray and the towed vehicle SeaSoar north of Hawaii along 158°W between 22.75°N and 34.5°N. A Spray dive from the surface to 1000 m and back took 5.6 h and covered 5.3 km, resulting in a horizontal speed of 0.26 m s-1. SeaSoar undulated between the surface and 400 m, completing a cycle in 11 min while covering 2.6 km, for a speed of 3.9 m s-1. Adjacent profiles of temperature and salinity are compared between the two platforms to prove that each is accurate. Spray and SeaSoar data are compared through sections, isopycnal spatial series, and wave number spectra. The relative slowness of the glider results in the projection of high-frequency oceanic variability, such as internal waves, onto spatial structure. The projection is caused by Doppler smearing because of finite speed and aliasing due to discrete sampling. The projected variability is apparent in properties measured on depth surfaces or in isopycnal depth. No projected variability is seen in observations of properties on constant density surfaces because internal waves are intrinsically filtered. Wave number spectra suggest that projected variability affects properties at constant depth at wavelengths shorter than 30 km. These results imply that isobaric quantities, like geostrophic shear, are valid at wavelengths longer than 30 km, while isopycnal quantities, like spice, may be analyzed for scales as small as a glider measures.

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

    African Journals Online (AJOL)

    lethal methods may become an increasingly useful tool to investigate shark populations where researchers encounter logistical or conservation-related constraints. Keywords: biopsy probe, laser photogrammetry, non-lethal sampling, underwater ...

  11. 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.

  12. Automated Underwater Image Restoration and Retrieval of Related Optical Properties

    National Research Council Canada - National Science Library

    Hou, Weilin; Gray, Deric J; Weidemann, Alan D; Fournier, Georges R; Forand, J. L

    2007-01-01

    ...) in the spatial domain and the modulation transfer function (MTF) in the frequency domain. Due to the intensity variations involved in underwater sensing, denoising is carefully carried out by wavelet decompositions...

  13. 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.

  14. 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.

  15. 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.

  16. 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.

  17. Collision Avoidance of Moving Obstacles for Underwater Robots

    Directory of Open Access Journals (Sweden)

    KWON KYOUNG YOUB

    2006-10-01

    Full Text Available A fuzzy logic for autonomous navigation of underwater robot is proposed in this paper. The VFF(Virtual Force Field algorithm, which is widely used in the field of mobile robot, is modified for application to the autonomous navigation of underwater robot. This Modified Virtual Force Field(MVFF algorithm using the fuzzy logic can be used in either track keeping or obstacle avoidance. Fuzzy logics are devised to handle various situations which can be faced during autonomous navigation of underwater robot. A graphic simulator based on OpenGL for an autonomous navigation has been developed. The good performance of the proposed MVFF algorithm is verified through computer simulations on an underwater robot.

  18. 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%.

  19. Underwater image enhancement through depth estimation based on random forest

    Science.gov (United States)

    Tai, Shen-Chuan; Tsai, Ting-Chou; Huang, Jyun-Han

    2017-11-01

    Light absorption and scattering in underwater environments can result in low-contrast images with a distinct color cast. This paper proposes a systematic framework for the enhancement of underwater images. Light transmission is estimated using the random forest algorithm. RGB values, luminance, color difference, blurriness, and the dark channel are treated as features in training and estimation. Transmission is calculated using an ensemble machine learning algorithm to deal with a variety of conditions encountered in underwater environments. A color compensation and contrast enhancement algorithm based on depth information was also developed with the aim of improving the visual quality of underwater images. Experimental results demonstrate that the proposed scheme outperforms existing methods with regard to subjective visual quality as well as objective measurements.

  20. Navigation of autonomous underwater vehicle using extended kalman filter

    Digital Repository Service at National Institute of Oceanography (India)

    Ranjan, T.N.; Nherakkol, A.; Navelkar, G.S.

    To navigate the Autonomous Underwater Vehicle (AUV) accurately is one of the most important aspects in its application. A truly autonomous vehicle must determine its position which requires the optimal integration of all available attitude...

  1. 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.

  2. Surface erosion by electrical arcs

    International Nuclear Information System (INIS)

    Behrisch, R.

    1984-01-01

    The authors discuss traces of cathode spots from electrical arcs observed on the vessel walls of high temperature plasma experiments. They originate from short metal plasma discharges which can be ignited at the walls due to the Langmuir sheath potential in front of the walls and thus the hydrogen plasma acts as the anode. The arcs may also be caused by electrical potentials which are created by gradients in the plasma, by plasma motion or during disruptive plasma phases. The material eroded from the walls at the cathode spots contributes to impurity introduction into the hydrogen plasma. Further arcing is a critical issue in high intensity ion sources and in RF transmitters and antennas for plasma heating

  3. Under Water Thermal Cutting of the Moderator Vessel and Thermal Shield

    International Nuclear Information System (INIS)

    Loeb, A.; Sokcic-Kostic, M.; Eisenmann, B.; Prechtl, E.

    2007-01-01

    This paper presents the segmentation of the in 8 meter depth of water and for cutting through super alloyed moderator vessel and of the thermal shield of the MZFR stainless steel up to 130 mm wall thickness. Depending on the research reactor by means of under water plasma and contact arc metal cutting. The moderator vessel and the thermal shield are the most essential parts of the MZFR reactor vessel internals. These components have been segmented in 2005 by means of remotely controlled under water cutting utilizing a special manipulator system, a plasma torch and CAMC (Contact Arc Metal Cutting) as cutting tools. The engineered equipment used is a highly advanced design developed in a two years R and D program. It was qualified to cut through steel walls of more than 100 mm thickness in 8 meters water depth. Both the moderator vessel and the thermal shield had to be cut into such size that the segments could afterwards be packed into shielded waste containers each with a volume of roughly 1 m 3 . Segmentation of the moderator vessel and of the thermal shield was performed within 15 months. (author)

  4. Underwater acoustic communications. From point-to-point to networks

    OpenAIRE

    Jesus, S. M.

    2013-01-01

    This is a review presentation that addresses recent developments in underwater acoustic telemetry as a tool for ocean observation, monitoring and protection. Distributed sensing is a paradigm with important reflections in oceanic technology where bottom installed structures can not always be connected to a central hub through cabled networks. Moreover, recent developments in ocean robotics lead to the off-the-shelf availability of autonomous underwater vehicles that rely on wireless communica...

  5. Estimation of underwater acoustic fields at high frequencies

    OpenAIRE

    Temsamani, A.B.; Vandenplas, S.; Van Biesen, L.

    2001-01-01

    In this work a parametric modeling of the underwater acoustic field is investigated in a laboratory scale at high frequencies (150-850 kHz). The aim is to develop experimentally verifiable theoretical models to investigate the acoustic field propagation in elastic and viscoelastic or porous media. To achieve this goal, the efforts have been directed to three integral parts pertaining to the development of the methods. The first part deals with the modeling of the underwater acoustic field fol...

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

    Science.gov (United States)

    Xiao, Kun; Fang, Shao-Ji; Pang, Yong-Jie

    2007-06-01

    To impove 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.

  7. Underwater striling engine design with modified one-dimensional model

    OpenAIRE

    Li, Daijin; Qin, Kan; Luo, Kai

    2015-01-01

    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 mod...

  8. Characterization of ships as sources of underwater noise

    OpenAIRE

    Jong, C.A.F. de

    2009-01-01

    There is a growing interest in the possible impact of anthropogenic underwater noise on marine life [1]. One of the concerns is the increasing contribution of shipping noise, with the growing number and size of commercial ships. Traditionally, underwater radiated noise control was only of interest for naval [2,3] and fishery research vessels [4]. Due to the potential environmental impact, it becomes also relevant for commercial shipping. The challenge is to bring the expertise from the naval ...

  9. 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

  10. Terminal homing position estimation forAutonomous underwater vehicle docking

    Science.gov (United States)

    2017-06-01

    79  ix LIST OF FIGURES Figure 1.  NPS REMUS 100 with WHOI Docking Station. Source: [1...underwater missions were short and quick . Now, with advanced technology, underwater missions can be as long as the user desires. The new AUVs have...the full information problem. In order to use the MHE approach for real-time applications, the optimization process should be quick and accurate

  11. A potential flow based flight simulator for an underwater glider

    OpenAIRE

    Phoemsapthawee, Surasak; Le Boulluec, Marc; Laurens, Jean-marc; Deniset, Francois

    2013-01-01

    Underwater gliders are recent innovative types of autonomous underwater vehicles (AUVs) used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of th...

  12. Analytical and Numerical Optimal Motion Planning for an Underwater Glider

    OpenAIRE

    Kraus, Robert J.

    2010-01-01

    The use of autonomous underwater vehicles (AUVs) for oceanic observation and research is becoming more common. Underwater gliders are a specific class of AUV that do not use conventional propulsion. Instead they change their buoyancy and center of mass location to control attitude and trajectory. The vehicles spend most of their time in long, steady glides, so even minor improvements in glide range can be magnified over multiple dives. This dissertation presents a rigid-body dynamic system...

  13. Boundary curvature effects on gas bubble oscillations in underwater explosion

    OpenAIRE

    Matsumoto, Kazuhiro

    1996-01-01

    The oscillation of a gas bubble produced as a result of underwater explosion could cause the severe whipping damage on nearby marine vehicle. The effects of rigid boundary curvatures to explosive gas bubble oscillation behavior in underwater were investigated. The analyses were conducted using a multimaterial Lagrangian-Eulerian finite element code, MSC/DYTRAN. The incident shock wave pressure, bubble pulse pressure, gas bubble radius and period were calculated for the case of detonation of a...

  14. Multilayer composition coatings for cutting tools: formation and performance properties

    Science.gov (United States)

    Tabakov, Vladimir P.; Vereschaka, Anatoly S.; Vereschaka, Alexey A.

    2018-03-01

    The paper considers the concept of a multi-layer architecture of the coating in which each layer has a predetermined functionality. Latest generation of coatings with multi-layered architecture for cutting tools secure a dual nature of the coating, in which coatings should not only improve the mechanical and physical characteristics of the cutting tool material, but also reduce the thermo-mechanical effect on the cutting tool determining wear intensity. Here are presented the results of the development of combined methods of forming multi-layer coatings with improved properties. Combined method of forming coatings using a pulsed laser allowed reducing excessively high levels of compressive residual stress and increasing micro hardness of the multilayered coatings. The results in testing coated HSS tools showed that the use of additional pulse of laser processing increases tool life up to 3 times. Using filtered cathodic vacuum arc deposition for the generation of multilayer coatings based on TiAlN compound has increased the wear-resistance of carbide tools by 2 fold compared with tool life of cutting tool with commercial TiN coatings. The aim of this study was to develop an innovative methodological approach to the deposition of multilayer coatings for cutting tools with functional architectural selection, properties and parameters of the coating based on sound knowledge of coating failure in machining process.

  15. Photochemical cutting of fabrics

    Science.gov (United States)

    Piltch, Martin S.

    1994-01-01

    Apparatus for the cutting of garment patterns from one or more layers of fabric. A laser capable of producing laser light at an ultraviolet wavelength is utilized to shine light through a pattern, such as a holographic phase filter, and through a lens onto the one or more layers of fabric. The ultraviolet laser light causes rapid photochemical decomposition of the one or more layers of fabric, but only along the pattern. The balance of the fabric of the one or more layers of fabric is undamaged.

  16. ADVANCED CUTTINGS TRANSPORT STUDY

    Energy Technology Data Exchange (ETDEWEB)

    Stefan Miska; Nicholas Takach; Kaveh Ashenayi

    2004-07-31

    We have tested the loop elevation system. We raised the mast to approximately 25 to 30 degrees from horizontal. All went well. However, while lowering the mast, it moved laterally a couple of degrees. Upon visual inspection, severe spalling of the concrete on the face of the support pillar, and deformation of the steel support structure was observed. At this time, the facility is ready for testing in the horizontal position. A new air compressor has been received and set in place for the ACTS test loop. A new laboratory has been built near the ACTS test loop Roughened cups and rotors for the viscometer (RS300) were obtained. Rheologies of aqueous foams were measured using three different cup-rotor assemblies that have different surface roughness. The relationship between surface roughness and foam rheology was investigated. Re-calibration of nuclear densitometers has been finished. The re-calibration was also performed with 1% surfactant foam. A new cuttings injection system was installed at the bottom of the injection tower. It replaced the previous injection auger. A mechanistic model for cuttings transport with aerated mud has been developed. Cuttings transport mechanisms with aerated water at various conditions were experimentally investigated. A total of 39 tests were performed. Comparisons between the model predictions and experimental measurements show a satisfactory agreement. Results from the ultrasonic monitoring system indicated that we could distinguish between different sand levels. We also have devised ways to achieve consistency of performance by securing the sensors in the caps in exactly the same manner as long as the sensors are not removed from the caps. A preliminary test was conducted on the main flow loop at 100 gpm flow rate and 20 lb/min cuttings injection rate. The measured bed thickness using the ultrasonic method showed a satisfactory agreement with nuclear densitometer readings. Thirty different data points were collected after the test

  17. Cutting the Cord-2

    Science.gov (United States)

    2004-01-01

    This animation shows the view from the rear hazard avoidance cameras on the Mars Exploration Rover Spirit as the rover turns 45 degrees clockwise. This maneuver is the first step in a 3-point turn that will rotate the rover 115 degrees to face west. The rover must make this turn before rolling off the lander because airbags are blocking it from exiting from the front lander petal. Before this crucial turn took place, engineers instructed the rover to cut the final cord linking it to the lander. The turn took around 30 minutes to complete.

  18. Cutting the Cord

    Science.gov (United States)

    2004-01-01

    This animation shows the view from the front hazard avoidance cameras on the Mars Exploration Rover Spirit as the rover turns 45 degrees clockwise. This maneuver is the first step in a 3-point turn that will rotate the rover 115 degrees to face west. The rover must make this turn before rolling off the lander because airbags are blocking it from exiting off the front lander petal. Before this crucial turn could take place, engineers instructed the rover to cut the final cord linking it to the lander. The turn took around 30 minutes to complete.

  19. Can You Cut It?

    DEFF Research Database (Denmark)

    Kjær, Tina; Lillelund, Christoffer Bredo; Moth-Poulsen, Mie

    2017-01-01

    The advent of affordable virtual reality (VR) displays and 360◦ video cameras has sparked an interest in bringing cinematic experiences from the screen and into VR. However, it remains uncertain whether traditional approaches to filmmaking can be directly applied to cinematic VR. Historically......’ sense of disorientation and their ability to follow the story, during exposure to fictional 360◦ films experienced using a head-mounted display. The results revealed no effects of increased cut frequency which leads us to conclude that editing need not pose a problem in relation to cinematic VR, as long...

  20. 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.

  1. Underwater and in-air sounds from a small hovercraft

    Science.gov (United States)

    Blackwell, Susanna B.; Greene, Charles R.

    2005-12-01

    Underwater and in-air recordings were made from a boat anchored near Prudhoe Bay, Alaska, while a Griffon 2000TD hovercraft drove by at or near full power on four passes. At the closest point of approach (CPA, 6.5 m), underwater broadband (10-10 000 Hz) levels reached 133 and 131 dB re: 1 μPa at depths of 1 and 7 m, respectively. In-air unweighted and A-weighted broadband (10-10 000 Hz) levels reached 104 and 97 dB re: 20 μPa, respectively. The hovercraft produced sound at a wide range of frequencies. Both underwater and in air, the largest spectral peak was near 87 Hz, which corresponded to the blade rate of the thrust propeller. In addition, the spectral composition included several harmonics of this frequency. The shaft or blade rate of the lift fan was barely detectable underwater despite its proximity to the water. The hovercraft was considerably quieter underwater than similar-sized conventional vessels and may be an attractive alternative when there is concern over underwater sounds.

  2. 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.

  3. Performance Evaluation of Hybrid Acoustic-Optical Underwater Swarm Networks

    Directory of Open Access Journals (Sweden)

    Samuela PERSIA

    2016-04-01

    Full Text Available The Underwater Swarm is a particular Underwater Network configuration characterized by nodes very close one to each other, with mobility capability. The structure of the network is that of a distributed network, in which the nodes, through the exchange of control information, will take decisions in collaborative manner. This type of network raises challenges for its effective design and development, for which the only use of acoustic communication as traditionally suggested in underwater communication could be not enough. A new emerging solution could be a hybrid solution that combines the use of acoustic and optical channel in order to overcome the acoustic channel limitations in underwater environment. In this work, we want to investigate how the acoustic and optical communications influence the Underwater Swarm performance by considering the Low Layers Protocols (Physical Layer, Data Link Layer and Network Layer effects over the two different propagation technologies. Performance simulations have been carried out to suggest how the new hybrid system could be designed. This study will permit to provide useful analysis for the real implementation of an Underwater Swarm based on hybrid communication technology.

  4. Leptogenesis: The other cuts

    International Nuclear Information System (INIS)

    Garbrecht, Bjoern

    2011-01-01

    For standard leptogenesis from the decay of singlet right-handed neutrinos, we derive source terms for the lepton asymmetry that are present in a finite density background but absent in the vacuum. These arise from cuts through the vertex correction to the decay asymmetry, where in the loop either the Higgs boson and the right-handed neutrino or the left-handed lepton and the right-handed neutrino are simultaneously on-shell. We evaluate the source terms numerically and use them to calculate the lepton asymmetry for illustrative points in parameter space, where we consider only two right-handed neutrinos for simplicity. Compared to calculations where only the standard cut through the propagators of left-handed lepton and Higgs boson is included, sizable corrections arise when the masses of the right-handed neutrinos are of the same order, but the new sources are found to be most relevant when the decaying right-handed neutrino is heavier than the one in the loop. In that situation, they can yield the dominant contribution to the lepton asymmetry.

  5. Aerosols from metal cutting techniques typical of decommissioning nuclear facilities - experimental system for collection and characterization

    International Nuclear Information System (INIS)

    Newton, G.J.; Hoover, M.D.; Barr, E.B.; Wong, B.A.; Ritter, P.D.

    1982-01-01

    Decommissioning of radioactively contaminated sites has the potential for creating radioactive and other potentially toxic aerosols. We describe an experimental system to collect and characterize aerosols from metal cutting activities typical of those used in decommissioning of nuclear facilities. A special enclosure was designed for the experiment and consisted of a 5.1 cm x 10.2 cm stud frame with double walls of flame retardant polyethylene film. Large plexiglass windows allowed the cutting operations to be directed and filmed. Ventilation was 8500 liters/minute (300 CFM) exhausted through HEPA filters. Seven cutting techniques were evaluated: pipe cutter, reciprocating saw, band saw, chop saw, oxy-acetylene torch, electric arc cut rod and plasma torch. Two grinding tools were also evaluated. Materials cut were 5.1 cm, 7.6 cm and 10.2 cm diameter schedule 40, 80 and 180 type 304L stainless steel pipe

  6. Cathode erosion in high-current high-pressure arc

    CERN Document Server

    Nemchinsky, V A

    2003-01-01

    Cathode erosion rate was experimentally investigated for two types of arcs: one with tungsten cathode in nitrogen atmosphere and one with hafnium cathode in oxygen atmosphere. Conditions were typical for plasma arc cutting systems: gas pressure from 2 to 5 atm, arc current from 200 to 400 A, gas flow rate from 50 to 130 litre min sup - sup 1. It was found that the actual cathode evaporation rate G is much lower than G sub 0 , the evaporation rate that follows from the Hertz-Knudsen formula: G = nu G sub 0. The difference is because some of the evaporated particles return back to the cathode. For conditions of our experiments, the factor nu could be as low as 0.01. It was shown experimentally that nu depends strongly on the gas flow pattern close to the cathode. In particular, swirling the gas increases nu many times. To explain the influence of gas swirling, model calculations of gas flows were performed. These calculations revealed difference between swirling and non-swirling flows: swirling the gas enhances...

  7. Rotating Drive for Electrical-Arc Machining

    Science.gov (United States)

    Fransen, C. D.

    1986-01-01

    Rotating drive improves quality of holes made by electrical-arc machining. Mechanism (Uni-tek, rotary head, or equivalent) attached to electrical-arc system. Drive rotates electrode as though it were mechanical drill, while an arc disintegrates metal in workpiece, thereby creating hole. Rotating electrode method often used in electric-discharge machining. NASA innovation is application of technique to electrical-arc machining.

  8. Hybrid laser-arc welding

    DEFF Research Database (Denmark)

    building and the automotive industry. With its distinguished editor and international team of contributors, Hybrid laser-arc welding, will be a valuable source of reference for all those using this important welding technology. Professor Flemming Ove Olsen works in the Department of Manufacturing...

  9. A rotating arc plasma invertor

    International Nuclear Information System (INIS)

    Reusch, M.F.; Jayaram, K.

    1987-02-01

    A device is described for the inversion of direct current to alternating current. The main feature is the use of a rotating plasma arc in crossed electric and magnetic fields as a switch. This device may provide an economic alternative to other inversion methods in some circumstances

  10. Hooded arc ion-source

    CERN Multimedia

    CERN PhotoLab

    1972-01-01

    The positioning system for the hooded arc ion-source, shown prior to mounting, consists of four excentric shafts to locate the ion-source and central electrodes. It will be placed on the axis of the SC and introduced into the vacuum tank via the air locks visible in the foreground.

  11. Vacuum Gas Tungsten Arc Welding

    Science.gov (United States)

    Weeks, J. L.; Todd, D. T.; Wooten, J. R.

    1997-01-01

    A two-year program investigated vacuum gas tungsten arc welding (VGTAW) as a method to modify or improve the weldability of normally difficult-to-weld materials. After a vacuum chamber and GTAW power supply were modified, several difficult-to-weld materials were studied and key parameters developed. Finally, Incoloy 903 weld overlays were produced without microfissures.

  12. Magnification Bias in Gravitational Arc Statistics

    Energy Technology Data Exchange (ETDEWEB)

    Caminha, G. B. [Rio de Janeiro, CBPF; Estrada, J. [Fermilab; Makler, M. [Rio de Janeiro, CBPF

    2013-08-29

    The statistics of gravitational arcs in galaxy clusters is a powerful probe of cluster structure and may provide complementary cosmological constraints. Despite recent progresses, discrepancies still remain among modelling and observations of arc abundance, specially regarding the redshift distribution of strong lensing clusters. Besides, fast "semi-analytic" methods still have to incorporate the success obtained with simulations. In this paper we discuss the contribution of the magnification in gravitational arc statistics. Although lensing conserves surface brightness, the magnification increases the signal-to-noise ratio of the arcs, enhancing their detectability. We present an approach to include this and other observational effects in semi-analytic calculations for arc statistics. The cross section for arc formation ({\\sigma}) is computed through a semi-analytic method based on the ratio of the eigenvalues of the magnification tensor. Using this approach we obtained the scaling of {\\sigma} with respect to the magnification, and other parameters, allowing for a fast computation of the cross section. We apply this method to evaluate the expected number of arcs per cluster using an elliptical Navarro--Frenk--White matter distribution. Our results show that the magnification has a strong effect on the arc abundance, enhancing the fraction of arcs, moving the peak of the arc fraction to higher redshifts, and softening its decrease at high redshifts. We argue that the effect of magnification should be included in arc statistics modelling and that it could help to reconcile arcs statistics predictions with the observational data.

  13. STRUVE arc and EUPOS® stations

    Science.gov (United States)

    Lasmane, Ieva; Kaminskis, Janis; Balodis, Janis; Haritonova, Diana

    2013-04-01

    The Struve Geodetic Arc was developed in Years 1816 to 1855, 200 years ago. Historic information on the points of the Struve Geodetic Arc are included in the UNESCO World Heritage list in 2005. Nevertheless, the sites of many points are still not identified nor included in the data bases nowadays. Originally STRUVE arc consisted of 258 main triangles with 265 triangulation points. Currently 34 of the original station points are identified and included in the in the UNESCO World Heritage list. identified original measurement points of the Meridian Arc are located in Sweden (7 points), Norway (15), Finland (83), Russia (1), Estonia (22), Latvia (16), Lithuania (18), Belorussia (28), Ukraine (59) and Moldova (27). In Year 2002 was initiated another large coverage project - European Position Determination System "EUPOS®". Currently there are about 400 continuously operating GNSS (Global Navigation Satellite Systems) stations covering EU countries Estonia, Latvia, Lithuania, Poland, Czech Republic, Slovakia, Hungary, Bulgaria, Romania and East European countries Ukraine and Moldavia. EUPOS® network is a ground based GNSS augmentation system widely used for geodesy, land surveying, geophysics and navigation. It gives the opportunity for fast and accurate position determination never available before. It is an honorable task to use the EUPOS® system for research of the Struve triangulation former sites. Projects with Struve arc can popularize geodesy, geo-information and its meaning in nowadays GIS and GNSS systems. Struve Arc and its points is unique cooperation cross-border object which deserve special attention because of their natural beauty and historical value for mankind. GNSS in geodesy discovers a powerful tool for the verification and validation of the height values of geodetic leveling benchmarks established historically almost 200 years ago. The differential GNSS and RTK methods appear very useful to identify vertical displacement of landscape by means of

  14. Influence of arc current and pressure on non-chemical equilibrium air arc behavior

    Science.gov (United States)

    Yi, WU; Yufei, CUI; Jiawei, DUAN; Hao, SUN; Chunlin, WANG; Chunping, NIU

    2018-01-01

    The influence of arc current and pressure on the non-chemical equilibrium (non-CE) air arc behavior of a nozzle structure was investigated based on the self-consistent non-chemical equilibrium model. The arc behavior during both the arc burning and arc decay phases were discussed at different currents and different pressures. We also devised the concept of a non-equilibrium parameter for a better understanding of non-CE effects. During the arc burning phase, the increasing current leads to a decrease of the non-equilibrium parameter of the particles in the arc core, while the increasing pressure leads to an increase of the non-equilibrium parameter of the particles in the arc core. During the arc decay phase, the non-CE effect will decrease by increasing the arc burning current and the nozzle pressure. Three factors together—convection, diffusion and chemical reactions—influence non-CE behavior.

  15. After the Ribbon Cutting

    DEFF Research Database (Denmark)

    Hodge, Graeme A.; Boulot, Emille; Duffield, Colin

    2017-01-01

    - to long-term governance arrangements. It finds that although industry interviewees agreed PPP governance had improved significantly, they had differing views on how capable Australian states were in governing PPP and how well this task was being undertaken. They were also split on the adequacy......Much attention has gone towards ‘up-front’ processes when delivering infrastructure public–private partnerships (PPPs), but less on how to best govern after the ribbon is cut and the infrastructure built. This paper identifies the primary contractual and institutional governance challenges arising...... in the medium to long term of PPP concession contracts and explores these governance challenges through interviews with high-level PPP industry insiders. The paper presents new findings on the importance of good public administration for successful PPP operation, and on the interesting evolution of medium...

  16. Autonomous Underwater Vehicle Magnetic Mapping System

    Science.gov (United States)

    Steigerwalt, R.; Johnson, R. M.; Trembanis, A. C.; Schmidt, V. E.; Tait, G.

    2012-12-01

    An Autonomous Underwater Vehicle (AUV) Magnetic Mapping (MM) System has been developed and tested for military munitions detection as well as pipeline locating, wreck searches, and geologic surveys in underwater environments. The system is comprised of a high sensitivity Geometrics G-880AUV cesium vapor magnetometer integrated with a Teledyne-Gavia AUV and associated Doppler enabled inertial navigation further utilizing traditional acoustic bathymetric and side scan imaging. All onboard sensors and associated electronics are managed through customized crew members to autonomously operate through the vehicles primary control module. Total field magnetic measurements are recorded with asynchronous time-stamped data logs which include position, altitude, heading, pitch, roll, and electrical current usage. Pre-planned mission information can be uploaded to the system operators to define data collection metrics including speed, height above seafloor, and lane or transect spacing specifically designed to meet data quality objectives for the survey. As a result of the AUVs modular design, autonomous navigation and rapid deployment capabilities, the AUV MM System provides cost savings over current surface vessel surveys by reducing the mobilization/demobilization effort, thus requiring less manpower for operation and reducing or eliminating the need for a surface support vessel altogether. When the system completes its mission, data can be remotely downloaded via W-LAN and exported for use in advanced signal processing platforms. Magnetic compensation software has been concurrently developed to accept electrical current measurements directly from the AUV to address distortions from permanent and induced magnetization effects on the magnetometer. Maneuver and electrical current compensation terms can be extracted from the magnetic survey missions to perform automated post-process corrections. Considerable suppression of system noise has been observed over traditional

  17. 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

  18. Underwater Optical Wireless Channel Modeling Using Monte-Carlo Method

    Science.gov (United States)

    Saini, P. Sri; Prince, Shanthi

    2011-10-01

    At present, there is a lot of interest in the functioning of the marine environment. Unmanned or Autonomous Underwater Vehicles (UUVs or AUVs) are used in the exploration of the underwater resources, pollution monitoring, disaster prevention etc. Underwater, where radio waves do not propagate, acoustic communication is being used. But, underwater communication is moving towards Optical Communication which has higher bandwidth when compared to Acoustic Communication but has shorter range comparatively. Underwater Optical Wireless Communication (OWC) is mainly affected by the absorption and scattering of the optical signal. In coastal waters, both inherent and apparent optical properties (IOPs and AOPs) are influenced by a wide array of physical, biological and chemical processes leading to optical variability. The scattering effect has two effects: the attenuation of the signal and the Inter-Symbol Interference (ISI) of the signal. However, the Inter-Symbol Interference is ignored in the present paper. Therefore, in order to have an efficient underwater OWC link it is necessary to model the channel efficiently. In this paper, the underwater optical channel is modeled using Monte-Carlo method. The Monte Carlo approach provides the most general and most flexible technique for numerically solving the equations of Radiative transfer. The attenuation co-efficient of the light signal is studied as a function of the absorption (a) and scattering (b) coefficients. It has been observed that for pure sea water and for less chlorophyll conditions blue wavelength is less absorbed whereas for chlorophyll rich environment red wavelength signal is absorbed less comparative to blue and green wavelength.

  19. The diffuse cut-off

    International Nuclear Information System (INIS)

    2014-09-01

    After having recalled the interest of cut-off practices when consumption is higher than production (a cut-off operator turns out some sources of consumption), this publication more particularly addresses the practice of cut-off in the residential sector, also called diffused cut-off. This practice is based on a temporary reduction of electricity consumption in a great number of small sites (for example, a brief interruption of the electricity supply of radiators, hot water tanks, air conditioning devices in dwellings to reduce the total demand of an area). The three main modalities of valorisation of this cut-off power by the operator are presented. Advantages and drawbacks are discussed, and more particularly the impact of cut-off on thermal comfort

  20. Review of Arc Models in Distribution Networks

    Directory of Open Access Journals (Sweden)

    Yin Qi

    2016-01-01

    Full Text Available The incipient fault in underground cable is recognized as arc fault. Then the arc model selection is very important for the incipient fault detection. The arc features and some typical models have been introduced in detail, including traditional thermal based models, arc models in low voltage and models of arc in long free air. At last, the Kizilcay’s model is recommended to analyze the incipient fault in underground cable for its accuracy and widely utilized. Finally, some conclusions are summarized.

  1. Tungsten monocrystal cutting without distortion

    International Nuclear Information System (INIS)

    Dudkin, A.Yu.; Matveev, I.V.; Cheremisin, S.M.

    1982-01-01

    Electrolyte with high electric current localization, containing 1-3 % KOH and 2-10 % NH 3 , is suggested to use for electrochemical cutting of tungsten. A cutting device is described which includes a cathode feed mechanism based on electric heating and a circuit of automatic control of an interelectrode gap. Laue patterns obtained from a cut surface are practically the same as ones from the initial monocrystal

  2. Laser Cutting of Different Materials

    Directory of Open Access Journals (Sweden)

    Kadir ÇAVDAR

    2013-08-01

    Full Text Available In this paper; in general potential developments and trends of a particular machining field by extensively evaluating present studies of laser beam machining have been discussed. As it is indicated below, technical literatures have been subsumed under five major headlines: Experimental studies, reviews, optimization researches of the cutting parameters, theoretical modelling studies of laser beam cutting and academic studies relating to laser cutting

  3. 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...

  4. A comparative view of routing protocols for underwater wireless sensor networks

    NARCIS (Netherlands)

    Bayrakdar, Y.; Meratnia, Nirvana; Kantarci, Aylin

    2011-01-01

    Design of efficient routing protocols for underwater sensor networks is challenging because of the distinctive characteristics of the water medium. Currently, many routing protocols are available for terrestrial wireless sensor networks. However, specific properties of underwater medium such as

  5. US-Japan Cooperative Research on Biology-Inspired Precision Maneuvering of Underwater Vehicles

    National Research Council Canada - National Science Library

    Kato, Naomi

    2004-01-01

    .... We constructed an underwater vehicle equipped with two pairs of mechanical pectoral fins and pectoral fin controllers to examine the swimming performance of the underwater vehicle in still water...

  6. 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...

  7. Thermal neutron optical experiments with tuneable many-bounce channel-cut crystals

    Science.gov (United States)

    Treimer, W.; Strobl, M.; Hilger, A.

    We realized the first tuneable channel-cut crystals to be used as monochromator and analyzer in a double-crystal diffractometer and demonstrated the superior operation for ultra small angle scattering. With this new system it was possible to measure the ultra small angle scattering from a single 14-μm glass fibre, the small angle scattering from an Al wedge and the diffraction pattern of a Si phase grating. The last measurement was only possible due to the reduction of the Darwin width of both crystals from 5.7 sec of arc (natural Darwin width) to 1.4 sec of arc.

  8. Shape optimisation of an underwater Bernoulli gripper

    Science.gov (United States)

    Flint, Tim; Sellier, Mathieu

    2015-11-01

    In this work, we are interested in maximising the suction produced by an underwater Bernoulli gripper. Bernoulli grippers work by exploiting low pressure regions caused by the acceleration of a working fluid through a narrow channel, between the gripper and a surface, to provide a suction force. This mechanism allows for non-contact adhesion to various surfaces and may be used to hold a robot to the hull of a ship while it inspects welds for example. A Bernoulli type pressure analysis was used to model the system with a Darcy friction factor approximation to include the effects of frictional losses. The analysis involved a constrained optimisation in order to avoid cavitation within the mechanism which would result in decreased performance and damage to surfaces. A sensitivity based method and gradient descent approach was used to find the optimum shape of a discretised surface. The model's accuracy has been quantified against finite volume computational fluid dynamics simulation (ANSYS CFX) using the k- ω SST turbulence model. Preliminary results indicate significant improvement in suction force when compared to a simple geometry by retaining a pressure just above that at which cavitation would occur over as much surface area as possible. Doctoral candidate in the Mechanical Engineering Department of the University of Canterbury, New Zealand.

  9. Underwater radiated noise from modern commercial ships.

    Science.gov (United States)

    McKenna, Megan F; Ross, Donald; Wiggins, Sean M; Hildebrand, John A

    2012-01-01

    Underwater radiated noise measurements for seven types of modern commercial ships during normal operating conditions are presented. Calibrated acoustic data (autonomous seafloor-mounted acoustic recorder were combined with ship passage information from the Automatic Identification System. This approach allowed for detailed measurements (i.e., source level, sound exposure level, and transmission range) on ships of opportunity. A key result was different acoustic levels and spectral shapes observed from different ship-types. A 54 kGT container ship had the highest broadband source level at 188 dB re 1 μPa@1m; a 26 kGT chemical tanker had the lowest at 177 dB re 1 μPa@1m. Bulk carriers had higher source levels near 100 Hz, while container ship and tanker noise was predominantly below 40 Hz. Simple models to predict source levels of modern merchant ships as a group from particular ship characteristics (e.g., length, gross tonnage, and speed) were not possible given individual ship-type differences. Furthermore, ship noise was observed to radiate asymmetrically. Stern aspect noise levels are 5 to 10 dB higher than bow aspect noise levels. Collectively, these results emphasize the importance of including modern ship-types in quantifying shipping noise for predictive models of global, regional, and local marine environments. © 2012 Acoustical Society of America.

  10. 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.

  11. Autonomous Underwater Vehicle Thermoelectric Power Generation

    Science.gov (United States)

    Buckle, J. R.; Knox, A.; Siviter, J.; Montecucco, A.

    2013-07-01

    Autonomous underwater vehicles (AUVs) are a vital part of the oceanographer's toolbox, allowing long-term measurements across a range of ocean depths of a number of ocean properties such as salinity, fluorescence, and temperature profile. Buoyancy-based gliding, rather than direct propulsion, dramatically reduces AUV power consumption and allows long-duration missions on the order of months rather than hours or days, allowing large distances to be analyzed or many successive analyses of a certain area without the need for retrieval. Recent versions of these gliders have seen the buoyancy variation system change from electrically powered to thermally powered using phase-change materials, however a significant battery pack is still required to power communications and sensors, with power consumption in the region of 250 mW. The authors propose a novel application of a thermoelectric generation system, utilizing the depth-related variation in oceanic temperature. A thermal energy store provides a temperature differential across which a thermoelectric device can generate from repeated dives, with the primary purpose of extending mission range. The system is modeled in Simulink to analyze the effect of variation in design parameters. The system proves capable of generating all required power for a modern AUV.

  12. 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.

  13. Research of Algorithms for Approaching and Docking Underwater Vehicle with Underwater Station

    Directory of Open Access Journals (Sweden)

    Pshikhopov Vyacheslav

    2015-01-01

    Full Text Available Authors consider problem of maintenance and service of underwater vehicles. Usually, underwater station or accompanying ship is required for such operations. Docking is one of the most difficult tasks on the vehicle path from the outer space to the servicing bay. Algorithms allowing docking were presented in the earlier paper, and in this paper authors prove their stability. Movement control is based upon the path regulator. The stability of the closed-loop system according to Liapunov with the given control and limitations is proven. Equations, showing that vehicle will complete the positioning task with account to given limitations and staying stable are given. The criterion for switching movement and “positioning to point” algorithms is proposed. Achievement of the developed criterion was researched theoretically and in computer simulation. Experiments provide deviation of actual coordinates and velocity from the required ones and proved that achieving of criterion is enough to claim that system will be stable while performing algorithms with limitations for controls.

  14. 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)

  15. Modeling and Simulation of Underwater Flexible Manipulator as Raleigh Beam Using Bond Graph

    OpenAIRE

    Sumit Kumar; Sunil Kumar; Chandan Deep Singh

    2015-01-01

    This paper presents modeling and simulation of flexible robot in an underwater environment. The underwater environment completely contrasts with ground or space environment. The robot in an underwater situation is subjected to various dynamic forces like buoyancy forces, hydrostatic and hydrodynamic forces. The underwater robot is modeled as Rayleigh beam. The developed model further allows estimating the deflection of tip in two directions. The complete dynamics of the u...

  16. Design and implementation of an underwater sound recording device.

    Science.gov (United States)

    Martinez, Jayson J; Myers, Josh R; Carlson, Thomas J; Deng, Z Daniel; Rohrer, John S; Caviggia, Kurt A; Woodley, Christa M; Weiland, Mark A

    2011-01-01

    To monitor the underwater sound and pressure waves generated by anthropogenic activities such as underwater blasting and pile driving, an autonomous system was designed to record underwater acoustic signals. The underwater sound recording device (USR) allows for connections of two hydrophones or other dynamic pressure sensors, filters high frequency noise out of the collected signals, has a gain that can be independently set for each sensor, and allows for 2 h of data collection. Two versions of the USR were created: a submersible model deployable to a maximum depth of 300 m, and a watertight but not fully submersible model. Tests were performed on the USR in the laboratory using a data acquisition system to send single-frequency sinusoidal voltages directly to each component. These tests verified that the device operates as designed and performs as well as larger commercially available data acquisition systems, which are not suited for field use. On average, the designed gain values differed from the actual measured gain values by about 0.35 dB. A prototype of the device was used in a case study to measure blast pressures while investigating the effect of underwater rock blasting on juvenile Chinook salmon and rainbow trout. In the case study, maximum positive pressure from the blast was found to be significantly correlated with frequency of injury for individual fish. The case study also demonstrated that the device withstood operation in harsh environments, making it a valuable tool for collecting field measurements.

  17. Design and Implementation of an Underwater Sound Recording Device

    Directory of Open Access Journals (Sweden)

    Christa M. Woodley

    2011-09-01

    Full Text Available To monitor the underwater sound and pressure waves generated by anthropogenic activities such as underwater blasting and pile driving, an autonomous system was designed to record underwater acoustic signals. The underwater sound recording device (USR allows for connections of two hydrophones or other dynamic pressure sensors, filters high frequency noise out of the collected signals, has a gain that can be independently set for each sensor, and allows for 2 h of data collection. Two versions of the USR were created: a submersible model deployable to a maximum depth of 300 m, and a watertight but not fully submersible model. Tests were performed on the USR in the laboratory using a data acquisition system to send single-frequency sinusoidal voltages directly to each component. These tests verified that the device operates as designed and performs as well as larger commercially available data acquisition systems, which are not suited for field use. On average, the designed gain values differed from the actual measured gain values by about 0.35 dB. A prototype of the device was used in a case study to measure blast pressures while investigating the effect of underwater rock blasting on juvenile Chinook salmon and rainbow trout. In the case study, maximum positive pressure from the blast was found to be significantly correlated with frequency of injury for individual fish. The case study also demonstrated that the device withstood operation in harsh environments, making it a valuable tool for collecting field measurements.

  18. Underwater topography acquired by remote sensing based on SOFM

    Science.gov (United States)

    Zhao, Jianhu; Zhou, Fengnian; Zhang, Hongmei; Li, Juanjuan

    2008-12-01

    In large-scope marine investigation, the traditional bathymetric measurement can not meet the requirement of rapid data acquisition with lower cost of financial and material resources, while remote sensing (RS) technology provides a perfect way in the work. RS can not only provide quickly and efficiently the information of underwater topography with respect to the traditional method, but also present corresponding underwater topography with different-period RS images. In this paper, we depict in detail the procedures and some key techniques in acquiring underwater topography by remote sensing inversion technology based on self-organization feature mapping (SOFM). Firstly, we introduce some basic theories about the acquisition of underwater topography by the RS inversion technology. Besides, we discuss the data acquisition and preparation in the work. Moreover, we implement correlation analysis and find out the sensitive bands used for building RS inversion model. In virtue of SOFM, we construct the mapping relation between water depth and the reflectivity of sensitive band in the studied area, and test the it in two experimental water areas. The model achieves satisfying accuracy and can meet the requirement of given bathymetric scale. Finally the mapping relation is used for the water depth inversion in the studied water area. We also use the water depth from the model to draw the underwater topographic map in the water area.

  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. 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.

  1. 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.

  2. 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.

  3. 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.

  4. 76 FR 31233 - Safety Zone; Underwater Hazard, Gravesend Bay, Brooklyn, NY

    Science.gov (United States)

    2011-05-31

    ...-AA00 Safety Zone; Underwater Hazard, Gravesend Bay, Brooklyn, NY AGENCY: Coast Guard, DHS. ACTION... maritime public and safety of navigation from recently discovered underwater explosive hazards in Gravesend... published a notice of proposed rulemaking (NPRM) entitled ``Safety Zone; Underwater Hazard, Gravesend Bay...

  5. 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.

  6. Dynamic Response of Composite Structures Underwater

    Science.gov (United States)

    2013-09-01

    Sample Prior to Cutting into Strips ........................................................12 Figure 5. Strain Gage Orientation on the Plate Sample...weaponry and armor (layered swords), high-rise buildings (rebar reinforcing concrete), and automobiles (body panels, seats, etc) [1]. The Navy...68.3 m, were built in the 1980s. These ships have a fiberglass reinforced wood hull. This minimized the amount of steel that was used in the ship

  7. The SOAR Gravitational Arc Survey

    Science.gov (United States)

    Makler, M.; Furlanetto, C.; Santiago, B. X.; Caminha, G. B.; Cypriano, E.; Cibirka, N.; Pereira, M. E. S.; Bom, C. R. D.; Lima, M. P.; Brandt, C. H.; Neto, A. F.; Estrada, J.; Lin, H.; Hao, J.; McKay, T. M.; da Costa, L. N.; Maia, M. A. G.

    2014-10-01

    We present the first results of the SOAR Gravitational Arc Survey (SOGRAS). The survey imaged 47 clusters in two redshift intervals centered at z=0.27 and z=0.55, targeting the richest clusters in each interval. Images were obtained in the g', r' and i' bands with a median seeing of 0.83, 0.76 and 0.71 arcsec, respectively, in these filters. Most of the survey clusters are located within the Sloan Digital Sky Survey (SDSS) Stripe-82 region and all of them are in the SDSS footprint. We present the first results of the survey, including the 6 best strong lensing systems, photometric and morphometric catalogs of the galaxy sample, and cross matches of the clusters and galaxies with complementary samples (spectroscopic redshifts, photometry in several bands, X-ray and Sunyaev Zel'dovich clusters, etc.), exploiting the synergy with other surveys in Stripe-82. We apply several methods to characterize the gravitational arc candidates, including the Mediatrix method (Bom et al. 2012) and ArcFitting (Furlanetto et al. 2012), and for the subtraction of galaxy cluster light. Finally, we apply strong lensing inversion techniques to the best systems, providing constraints on their mass distribution. The analyses of a spectral follow-up with Gemini and the derived dynamical masses are presented in a poster submitted to this same meeting (Cibirka et al.). Deeper follow-up images with Gemini strengthen the case for the strong lensing nature of the candidates found in this survey.

  8. Chaos-Based Underwater Communication With Arbitrary Transducers and Bandwidth

    Directory of Open Access Journals (Sweden)

    Chao Bai

    2018-01-01

    Full Text Available In this work, an enhanced differential chaos shift keying (DCSK, based on a first order hybrid chaotic system, is being proposed for a high reliability underwater acoustic communication system. It can be integrated into systems that use standard existing transducers. We show that a coherent operation between the received signal and the time reversal of the basis function in a first order hybrid chaotic system maximizes the signal to noise ratio at the receiver. Concurrently, DCSK configuration is used to resist the distortion caused by the complex underwater acoustic channel. Our simulation results show that the proposed method has lower bit error rate (BER. In addition, it shows higher communication reliability over underwater acoustic channel as compared to the conventional DCSK using logistic map and its variant forms such as Correlation Delay Shift Keying (CDSK, Phase-Separate DCSK (PS-DCSK, High Efficiency DCSK (HE-DCSK, and Reference Modulated DCSK (RM-DCSK.

  9. 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.

  10. 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.

  11. Underwater Imaging Using a 1 × 16 CMUT Linear Array.

    Science.gov (United States)

    Zhang, Rui; Zhang, Wendong; He, Changde; Zhang, Yongmei; Song, Jinlong; Xue, Chenyang

    2016-03-01

    A 1 × 16 capacitive micro-machined ultrasonic transducer linear array was designed, fabricated, and tested for underwater imaging in the low frequency range. The linear array was fabricated using Si-SOI bonding techniques. Underwater transmission performance was tested in a water tank, and the array has a resonant frequency of 700 kHz, with pressure amplitude 182 dB (μPa·m/V) at 1 m. The -3 dB main beam width of the designed dense linear array is approximately 5 degrees. Synthetic aperture focusing technique was applied to improve the resolution of reconstructed images, with promising results. Thus, the proposed array was shown to be suitable for underwater imaging applications.

  12. Underwater Imaging Using a 1 × 16 CMUT Linear Array

    Directory of Open Access Journals (Sweden)

    Rui Zhang

    2016-03-01

    Full Text Available A 1 × 16 capacitive micro-machined ultrasonic transducer linear array was designed, fabricated, and tested for underwater imaging in the low frequency range. The linear array was fabricated using Si-SOI bonding techniques. Underwater transmission performance was tested in a water tank, and the array has a resonant frequency of 700 kHz, with pressure amplitude 182 dB (μPa·m/V at 1 m. The −3 dB main beam width of the designed dense linear array is approximately 5 degrees. Synthetic aperture focusing technique was applied to improve the resolution of reconstructed images, with promising results. Thus, the proposed array was shown to be suitable for underwater imaging applications.

  13. 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.

  14. A simple inexpensive method for estimating underwater weight.

    Science.gov (United States)

    Thomas, T. R.; Cook, P. L.

    1978-01-01

    A description is given of a simple, inexpensive and versatile method for estimating underwater weight. The use of a portable stock tank allows the determination of % Fat by underwater weighing without requiring a swimming pool, built-in tank, or special facility. Twenty-eight college students were weighed on two separate testing sessions 24-48 hours apart. Ten trials were performed at each session. The mean of the last five trials was used in determining underwater weight. The test-retest reliability coefficient was high, r = 0.98, and most of the successive trial correlations were above 0.99. The mean % Fat for the women (N = 9) was 22.2 +/- 5.9 and for the men (N = 19) was 13.7 +/- 5.1. Images Figure 1 PMID:630178

  15. An underwater optical wireless communication system based on LED source

    Science.gov (United States)

    Rao, Jionghui; Wei, Wei; Wang, Feng; Zhang, Xiaohui

    2011-11-01

    Compared with other communication methods, optical wireless communication (OWC) holds the merits of higher transmitting rate and sufficient secrecy. So it is an efficacious communicating measure for data transmitting between underwater carriers. However, due to the water attenuation and the transmitter & the receiver (TX/RX) collimation, this application is restrained in underwater mobile carriers. A prototype for underwater OWC was developed, in which a high-powered green LED array was used as the light source which partly raveled the TX/RX collimation out. A small pumped-multiple-tube (PMT) was used as the detector to increase the communicating range, and FPGA chips were employed to code and decode the communicating data. The data rate of the prototype approached to 4 Mb/s at 8.4m and 1 Mb/s at 22m where voice and Morse communications were achieved in a scope of 30 degree TX/RX angle.

  16. Underwater Acoustic Communication Quality Evaluation Model Based on USV

    Directory of Open Access Journals (Sweden)

    Zhichao Lv

    2018-01-01

    Full Text Available The unmanned surface vehicle (USV integrated with acoustic modems has some advantages such as easy integration, rapid placement, and low cost, which becomes a kind of selective novel node in the underwater acoustic (UWA communication network and a kind of underwater or overwater communication relay as well. However, it is difficult to ensure the communication quality among the nodes on the network due to the random underwater acoustic channel, the severe marine environment, and the complex mobile node system. Aiming to model the communication characteristics of the USV, the multipath effect and Doppler effect are main concerns for the UWA communication in this paper, so that the ray beam method is utilized, the channel transmission function and the channel gain are obtained, and the mobile communication quality evaluation model is built. The simulation and lake experiments verify that the built mobile UWA communication quality evaluation model on USV can provide preference and technique support for USV applications.

  17. Course Outline for a SCUBA Diving Speciality "UNDERWATER Survey DIVER"

    Science.gov (United States)

    Papadimitriou, K.

    2015-04-01

    The purpose of this paper is to outline a course for the training of divers with a special interest in underwater surveying (e.g. surveyors, archaeologists, biologists, geologists, photographers/videographers). This outline presents: i) the Courses' Standards ii) the Learning Objectives for the related Knowledge Development, iii) the Skills that have to be conducted, iv) the Performance Requirements for the students and v) the Open Water Considerations for the Training Dives. It is expected that the resulting course outline will be used as a reference for the training of certified divers who want to become underwater surveyors, providing them basic knowledge and skills to survey adequate data for the detailed documentation of submerged features. Moreover the combination of knowledge (what) and the skills (how) that are presented during the proposed course attempt to define a protocol for the recording of underwater features in favor of mapping and 3D modeling.

  18. 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.

  19. 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.

  20. A potential flow based flight simulator for an underwater glider

    Science.gov (United States)

    Phoemsapthawee, Surasak; Le Boulluec, Marc; Laurens, Jean-Marc; Deniset, François

    2013-03-01

    Underwater gliders are recent innovative types of autonomous underwater vehicles (AUVs) used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of the hydrodynamic behavior and the flight mechanics of the underwater glider is necessary. A 6-DOF motion simulator is coupled with an unsteady potential flow model for this purpose. In some specific cases, the numerical study demonstrates that an inappropriate stabilizer dimension can cause counter-steering behavior. The simulator can be used to improve the automatic flight control. It can also be used for the hydrodynamic design optimization of the devices.

  1. Development and experiments of the Sea-Wing underwater glider

    Science.gov (United States)

    Yu, Jian-Cheng; Zhang, Ai-Qun; Jin, Wen-Ming; Chen, Qi; Tian, Yu; Liu, Chong-Jie

    2011-12-01

    Underwater gliders, which glide through water columns by use of a pair of wings, are efficient long-distance, long-duration marine environment observatory platforms. The Sea-Wing underwater glider, developed by the Shenyang Institute of Automation, CAS, is designed for the application of deep-sea environment variables observation. The system components, the mechanical design, and the control system design of the Sea-Wing underwater glider are described in this paper. The pitch and roll adjusting models are derived based on the mechanical design, and the adjusting capabilities for the pitch and roll are analyzed according to the models. Field experiments have been carried out for validating the gliding motion and the ability of measuring ocean environment variables. Experimental results of the motion performances of the glider are presented.

  2. Cutting concrete with abrasion jet

    International Nuclear Information System (INIS)

    Yie, G.G.

    1982-01-01

    Fluidyne Corporation has developed a unique process and apparatus that allow selected abrasives to be introduced into high-speed waterjet to produce abrasive-entrained waterjet that has high material-cutting capabilities, which is termed by Fluidyne as the Abrasion Jet. Such Abrasion Jet has demonstrated capability in cutting hard rock and concrete at a modest pressure of less than 1360 bars (20,000 psi) and a power input of less than 45 kW (60 horsepower). Abrasion Jet cutting of concrete is characterized by its high rate of cutting, flexible operation, good cut quality, and relatively low costs. This paper presents a general description of this technology together with discussions of recent test results and how it could be applied to nuclear decontamination and decommissioning work. 8 references

  3. Underwater Visual Computing: The Grand Challenge Just around the Corner.

    Science.gov (United States)

    von Lukas, Uwe Freiherr

    2016-01-01

    Visual computing technologies have traditionally been developed for conventional setups where air is the surrounding medium for the user, the display, and/or the camera. However, given mankind's increasingly need to rely on the oceans to solve the problems of future generations (such as offshore oil and gas, renewable energies, and marine mineral resources), there is a growing need for mixed-reality applications for use in water. This article highlights the various research challenges when changing the medium from air to water, introduces the concept of underwater mixed environments, and presents recent developments in underwater visual computing applications.

  4. Ancient Dwarka: Study based on recent underwater archaeological investigations

    Digital Repository Service at National Institute of Oceanography (India)

    Gaur, A.S.; Sundaresh; Tripati, S.

    -1 Migration & Diffusion, Vol. 6, Issue Number 21, 2005 ANCIENT DWARKA: STUDY BASED ON RECENT UNDERWATER ARCHAEOLOGICAL INVESTIGATIONS by A.S. Gaur, Sundaresh and Sila Tripati Summary Dwarka, one of the best-studied underwater sites in India, has...). Dwarka has been the attraction for historians since the beginning of the 20th century. The ancient town Dwarka has been described as 56 Migration & Diffusion, Vol 6, Issue Number 21, 2005 Fig.l: Dwarka is headquarter of the Okhamandal taluka in Jamnagar...

  5. 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.

  6. Auroral arc classification scheme based on the observed arc-associated electric field pattern

    International Nuclear Information System (INIS)

    Marklund, G.

    1983-06-01

    Radar and rocket electric field observations of auroral arcs have earlier been used to identify essentially four different arc types, namely anticorrelation and correlation arcs (with, respectively, decreased and increased arc-assocaited field) and asymmetric and reversal arcs. In this paper rocket double probe and supplementary observations from the literature, obtained under various geophysical conditions, are used to organize the different arc types on a physical rather than morphological basis. This classification is based on the relative influence on the arc electric field pattern from the two current continuity mechanisms, polarisation electric fields and Birkeland currents. In this context the tangential electric field plays an essential role and it is thus important that it can be obtained with both high accuracy and resolution. In situ observations by sounding rockets are shown to be better suited for this specific task than monostatic radar observations. Depending on the dominating mechanism, estimated quantitatively for a number of arc-crossings, the different arc types have been grouped into the following main categories: Polarisation arcs, Birkeland current arcs and combination arcs. Finally the high altitude potential distributions corresponding to some of the different arc types are presented. (author)

  7. Underwater maintenance guide: A guide to diving and remotely operated vehicle operations for nuclear maintenance personnel

    International Nuclear Information System (INIS)

    Jenco, J.

    1990-12-01

    This Underwater Maintenance Guide has been developed to provide utility plant personnel with a single-source reference to underwater services. These services, which include both manned diving and remotely-operated vehicle operations, are required to perform certain underwater maintenance functions at nuclear power generating stations. This Guide provides an introduction to those underwater services and their general operations, as well as overviews of specific work tasks which have been identified thus far. This information is intended to familiarize utility maintenance personnel with the general scope and capabilities of underwater services, without encroaching upon the contractor's flexibility to develop responses to individual maintenance tasks

  8. Experimental and numerical study of shock wave propagation in water generated by pulsed arc electrohydraulic discharges

    Science.gov (United States)

    Chen, Wen; Maurel, Olivier; La Borderie, Christian; Reess, Thierry; De Ferron, Antoine; Matallah, Mohammed; Pijaudier-Cabot, Gilles; Jacques, Antoine; Rey-Bethbeder, Frank

    2014-05-01

    The objective of this study is to simulate the propagation of the shock wave in water due to an explosion. The study is part of a global research program on the development of an alternative stimulation technique to conventional hydraulic fracturing in tight gas reservoirs aimed at inducing a distributed state of microcracking of rocks instead of localized fracture. We consider the possibility of increasing the permeability of rocks with dynamic blasts. The blast is a shock wave generated in water by pulsed arc electrohydraulic discharges. The amplitude of these shock waves is prescribed by the electrohydraulic discharges which generate high pressures of several kilobars within microseconds. A simplified method has been used to simulate the injected electrical energy as augmentation of enthalpy in water locally. The finite element code EUROPLEXUS is used to perform fluid fast dynamic computation. The predicted pressure is consistent with the experimental results. In addition, shock wave propagation characteristics predicted with simulation can be valuable reference for design of underwater structural elements and engineering of underwater explosion.

  9. Interaction mechanism in hybrid laser arc welding

    OpenAIRE

    Mahrle, Achim; Rose, Sascha; Lohse, Martin; Beyer, Eckhard; Füssel, Uwe

    2014-01-01

    Achievable benefits in hybrid laser-arc welding are closely related to suitable parameter settings. Basic optimizations consequently need a profound understanding of the relevance of involved interaction mechanisms. These are however differently evaluated and discussed in literature. This paper gives an overview on the most popular hypotheses in the field of laser-arc processing. The importance of direct interactions between laser radiation and arc plasma as well as the role of metal evaporat...

  10. Programming ArcGIS with Python cookbook

    CERN Document Server

    Pimpler, Eric

    2015-01-01

    Programming ArcGIS with Python Cookbook, Second Edition, is written for GIS professionals who wish to revolutionize their ArcGIS workflow with Python. Whether you are new to ArcGIS or a seasoned professional, you almost certainly spend time each day performing various geoprocessing tasks. This book will teach you how to use the Python programming language to automate these geoprocessing tasks and make you a more efficient and effective GIS professional.

  11. Diffuse and spot mode of cathode arc attachments in an atmospheric magnetically rotating argon arc

    International Nuclear Information System (INIS)

    Chen, Tang; Wang, Cheng; Liao, Meng-Ran; Xia, Wei-Dong

    2016-01-01

    A model including the cathode, near-cathode region, and arc column was constructed. Specifically, a thermal perturbation layer at the arc fringe was calculated in order to couple sheath/presheath modelling with typical arc column modelling. Comparative investigation of two modes of attachment of a dc (100, 150, 200 A) atmospheric-pressure arc in argon to a thermionic cathode made of pure tungsten was conducted. Computational data revealed that there exists two modes of arc discharge: the spot mode, which has an obvious cathode surface temperature peak in the arc attachment centre; and the diffuse mode, which has a flat cathode surface temperature distribution and a larger arc attachment area. The modelling results of the arc attachment agree with previous experimental observations for the diffuse mode. A further 3D simulation is obviously needed to investigate the non-axisymmetrical features, especially for the spot mode. (paper)

  12. Preferences of cut flowers consumers

    Directory of Open Access Journals (Sweden)

    Sylwia Kierczyńska

    2010-01-01

    Full Text Available The results of interviews suggest that majority of the cut flowers’ consumers has favourite kind of flower, among which most frequently pointed one was the rose. More than half of the interviewed favour the uniform colour of cut flowers and red colour was the most favourite one. The subtle smell of flowers was the most preferable one but the intensive fragrance was favoured for more consumers than odourless flowers. The data from selected florists’ confirm the information from interviews – in spite of the occasion, roses were the most demanded cut flowers.

  13. Laser cutting of Kevlar laminates

    Energy Technology Data Exchange (ETDEWEB)

    VanCleave, R.A.

    1977-09-01

    An investigation has been conducted of the use of laser energy for cutting contours, diameters, and holes in flat and shaped Kevlar 49 fiber-reinforced epoxy laminates as an alternate to conventional machining. The investigation has shown that flat laminates 6.35 mm thick may be cut without backup by using a high-powered (1000-watt) continuous wave CO/sub 2/ laser at high feedrates (33.87 mm per second). The cut produced was free of the burrs and delaminations resulting from conventional machining methods without intimate contact backup. In addition, the process cycle time was greatly reduced.

  14. Regge cuts in inclusive reactions

    International Nuclear Information System (INIS)

    Paige, F.E.; Trueman, T.L.

    1975-01-01

    The contribution of Regge cuts to single-particle inclusive processes is analyzed using the techniques of Gribov. The dependence of these contributions on the polarization state of the target is emphasized. A general formula is obtained and certain contributions to it are calculated. It is not possible, however, to reduce this to a simple, powerful formula expressing the total cut contribution in terms of other measurable quantities, as can be done for the cut contribution to the total cross section. The reasons for this are discussed in detail. The single-particle intermediate states, analogous to the absorption model for elastic scattering, are explicitly calculated as an illustration

  15. Observations of arcing in the ISX tokamak

    International Nuclear Information System (INIS)

    Mioduszewski, P.; Clausing, R.E.; Heatherly, L.

    1979-01-01

    Arcing has been proposed as a major source of metal impurities in tokamak plasmas. Arc tracks have been observed in the ISX tokamak on the limiter, the inner-wall surface, and on the samples from the surface analysis station. Linear as well as fern-like arc tracks have been observed. From optical and SEM analysis of the tracks, it was estimated that about 10 16 to 10 17 atoms were released per arc. To study the influence of arcing on the tokamak discharge, an experiment was set up to measure electrical and optical signals of arcing in situ. In well controlled tokamak discharges, arcing was observed only during the initial breakdown of the plasma and during the quenching phase at the end of the discharge. In disrupted discharges, each plasma disruption was accompanied by arcing. The pulse-length of one single unipolar arc was measured to be about 50 μs and the current amplitude was typically about 20 A

  16. The Abundance of Large Arcs From CLASH

    Science.gov (United States)

    Xu, Bingxiao; Postman, Marc; Meneghetti, Massimo; Coe, Dan A.; Clash Team

    2015-01-01

    We have developed an automated arc-finding algorithm to perform a rigorous comparison of the observed and simulated abundance of large lensed background galaxies (a.k.a arcs). We use images from the CLASH program to derive our observed arc abundance. Simulated CLASH images are created by performing ray tracing through mock clusters generated by the N-body simulation calibrated tool -- MOKA, and N-body/hydrodynamic simulations -- MUSIC, over the same mass and redshift range as the CLASH X-ray selected sample. We derive a lensing efficiency of 15 ± 3 arcs per cluster for the X-ray selected CLASH sample and 4 ± 2 arcs per cluster for the simulated sample. The marginally significant difference (3.0 σ) between the results for the observations and the simulations can be explained by the systematically smaller area with magnification larger than 3 (by a factor of ˜4) in both MOKA and MUSIC mass models relative to those derived from the CLASH data. Accounting for this difference brings the observed and simulated arc statistics into full agreement. We find that the source redshift distribution does not have big impact on the arc abundance but the arc abundance is very sensitive to the concentration of the dark matter halos. Our results suggest that the solution to the "arc statistics problem" lies primarily in matching the cluster dark matter distribution.

  17. Stability of alternating current gliding arcs

    DEFF Research Database (Denmark)

    Kusano, Yukihiro; Salewski, Mirko; Leipold, Frank

    2014-01-01

    on Ohm’s law indicates that the critical length of alternating current (AC) gliding arc discharge columns can be larger than that of a corresponding direct current (DC) gliding arc. This finding is supported by previously published images of AC and DC gliding arcs. Furthermore, the analysis shows...... that the critical length can be increased by increasing the AC frequency, decreasing the serial resistance and lowering the gas flow rate. The predicted dependence of gas flow rate on the arc length is experimentally demonstrated. The gap width is varied to study an optimal electrode design, since the extended non...

  18. Performance tracking under ARCS contracts. Directive

    International Nuclear Information System (INIS)

    1992-01-01

    The directive discusses the development of a non-resource intensive method for reporting performance based work allocation results under the ARCS (Alternative Remedial Contracting Strategy) contractors

  19. The Improved Kriging Interpolation Algorithm for Local Underwater Terrain Based on Fractal Compensation

    Directory of Open Access Journals (Sweden)

    Pengyun Chen

    2014-01-01

    Full Text Available The interpolation-reconstruction of local underwater terrain using the underwater digital terrain map (UDTM is an important step for building an underwater terrain matching unit and directly affects the accuracy of underwater terrain matching navigation. The Kriging method is often used in terrain interpolation, but, with this method, the local terrain features are often lost. Therefore, the accuracy cannot meet the requirements of practical application. Analysis of the geographical features is performed on the basis of the randomness and self-similarity of underwater terrain. We extract the fractal features of local underwater terrain with the fractal Brownian motion model, compensating for the possible errors of the Kriging method with fractal theory. We then put forward an improved Kriging interpolation method based on this fractal compensation. Interpolation-reconstruction tests show that the method can simulate the real underwater terrain features well and that it has good usability.

  20. 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.

  1. 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.

  2. A comparison of the seismic structure of oceanic island arc crust and continental accreted arc terranes

    Science.gov (United States)

    Calvert, A. J.

    2015-12-01

    Amalgamation of island arcs and their accretion to pre-existing continents is considered to have been one of the primary mechanisms of continental growth over the last 3 Ga, with arc terranes identified within Late Archean, Proterozoic, and Phanerozoic continental crust. Crustal-scale seismic refraction surveys can provide P wave velocity models that can be used as a proxy for crustal composition, and although they indicate some velocity variation in accreted arcs, these terranes have significantly lower velocities, and are hence significantly more felsic, than modern island arcs. Modern oceanic arcs exhibit significant variations in crustal thickness, from as little as 10 km in the Bonin arc to 35 km in the Aleutian and northern Izu arcs. Although globally island arcs appear to have a mafic composition, intermediate composition crust is inferred in central America and parts of the Izu arc. The absence of a sharp velocity contrast at the Moho appears to be a first order characteristic of island arc crust, and indicates the existence of a broad crust-mantle transition zone. Multichannel seismic reflection surveys complement refraction surveys by revealing structures associated with variations in density and seismic velocity at the scale of a few hundred meters or less to depths of 60 km or more. Surveys from the Mariana and Aleutian arcs show that modern middle and lower arc crust is mostly non-reflective, but reflections are observed from depths 5-25 km below the refraction Moho suggesting the localized presence of arc roots that may comprise gabbro, garnet gabbro, and pyroxenite within a broad transition from mafic lower crust to ultramafic mantle. Such reflective, high velocity roots are likely separated from the overlying arc crust prior to, or during arc-continent collision, and seismic reflections within accreted arc crust document the collisional process and final crustal architecture.

  3. Ecton processes in vacuum arc

    International Nuclear Information System (INIS)

    Mesyats, G.A.

    1995-01-01

    It is established that when microexplosions occur on a cathode there is a so-called explosive electron emission (EEE) observed. Such an emission is realized through individual short portions (the electron avalanches) which we have named open-quotes ectonsclose quotes. The duration of electron current of such a portion is dictated by the time needed to cool down the emission center, that causes the EEE to stop. We will proceed from the assumption of Kesaev, that the cathode spot consists of separate cells from which the current i n , equal to the doubled arc current i m , is flowing. An ecton is formed by interaction between the liquid metal stream and plasma. When the current exceeds a certain threshold value, the liquid metal stream produces a drop. This drop, even before its break-off, leads to the increase in density of the ion current from plasma in the stream-drop joint. This results in a great energy concentration in the joint and initiates an ecton due to the Joule heating of the joint. We consider the arc cycle to consist of two processes. The first one, of a duration t e , is the process of ecton operation. The second one, of a duration t i , is due to the ion current flowing within the cathode region. During the t i period the formation of a new liquid metal stream is completed, which causes a new ecton to emerge. The process thus becomes self-sustaining. If the new ecton is produced, with a drop breaking-off, then the criterion for the arc cycle to be self-sustaining is written as γd t i m ≥ 1

  4. Analogue modeling of arc and backarc deformation in the New Hebrides arc and North Fiji Basin

    NARCIS (Netherlands)

    Schellart, W. P.; Lister, G. S.; Jessell, M. W.

    In most backarc basins, extension is perpendicular to the arc. Thus individual spreading ridges extend approximately parallel to the arc. In the North Fiji Basin, however, several ancient and active spreading ridges strike 70°-90° to the New Hebrides arc. These high-angle spreading ridges relocated

  5. Tomographic Measurements of Temperature Fluctuations in an Air Plasma Cutting Torch

    Czech Academy of Sciences Publication Activity Database

    Hlína, Jan; Šonský, Jiří; Gruber, Jan

    2017-01-01

    Roč. 37, č. 3 (2017), s. 689-699 ISSN 0272-4324 Institutional support: RVO:61388998 Keywords : cutting arc * air plasma * tomography Subject RIV: BL - Plasma and Gas Discharge Physics OBOR OECD: Fluids and plasma physics (including surface physics) Impact factor: 2.355, year: 2016 http://link.springer.com/article/10.1007%2Fs11090-017-9794-x

  6. An Energy Harvesting Underwater Acoustic Transmitter for Aquatic Animals

    Energy Technology Data Exchange (ETDEWEB)

    Li, Huidong; Tian, Chuan; Lu, Jun; Myjak, Mitchell J.; Martinez, Jayson J.; Brown, Richard S.; Deng, Zhiqun

    2016-09-20

    This paper presents a self-powered underwater acoustic transmitter using a piezoelectric beam to harvest the mechanical energy from fish swimming. This transmitter does not require a battery and is demonstrated in live fish. It transmits an acoustic waveform as the implanted fish swims. It enables long-term monitoring of aquatic animals.

  7. Different survival strategies amongst plants to cope with underwater conditions

    NARCIS (Netherlands)

    Van Veen, Hans; Vashisht, Divya; Voesenek, Laurentius A C J; Sasidharan, Rashmi

    2014-01-01

    Many plants experience flooding at some point during their life cycle. The underwater environment creates a carbon and energy crisis for the plant, for which two successful strategies have been identified, quiescence and escape. During quiescence, growth is actively reduced until the water levels

  8. 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 ...

  9. Moving in extreme environments: inert gas narcosis and underwater activities.

    Science.gov (United States)

    Clark, James E

    2015-01-01

    Exposure to the underwater environment for pleasure or work poses many challenges on the human body including thermal stress, barotraumas, decompression sickness as well as the acute effects of breathing gases under pressure. With the popularity of recreational self-contained underwater breathing apparatus (SCUBA) diving on the increase and deep inland dive sites becoming more accessible, it is important that we understand the effects of breathing pressurised gas at depth can have on the body. One of the common consequences of hyperbaric gas is the narcotic effect of inert gas. Nitrogen (a major component of air) under pressure can impede mental function and physical performance at depths of as little as 10 m underwater. With increased depth, symptoms can worsen to include confusion, disturbed coordination, lack of concentration, hallucinations and unconsciousness. Narcosis has been shown to contribute directly to up to 6% of deaths in divers and is likely to be indirectly associated with other diving incidents at depth. This article explores inert gas narcosis, the effect on divers' movement and function underwater and the proposed physiological mechanisms. Also discussed are some of the factors that affect the susceptibility of divers to the condition. In conclusion, understanding the cause of this potentially debilitating problem is important to ensure that safe diving practices continue.

  10. 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.

  11. 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.

  12. Biophysics of underwater hearing in the clawed frog, Xenopus laevis

    DEFF Research Database (Denmark)

    Christensen-Dalsgaard, J; Elepfandt, A

    1995-01-01

    Anesthetized clawed frogs (Xenopus laevis) were stimulated with underwater sound and the tympanic disk vibrations were studied using laser vibrometry. The tympanic disk velocities ranged from 0.01 to 0.5 mm/s (at a sound pressure of 2 Pa) in the frequency range of 0.4-4 kHz and were 20-40 dB higher...

  13. Estimate-Merge-Technique-based algorithms to track an underwater ...

    Indian Academy of Sciences (India)

    D V A N Ravi Kumar

    2017-07-04

    Jul 4, 2017 ... Abstract. Bearing-only passive target tracking is a well-known underwater defence issue dealt in the recent past with the conventional nonlinear estimators like extended Kalman filter (EKF) and unscented Kalman filter. (UKF). It is being treated now-a-days with the derivatives of EKF, UKF and a highly ...

  14. Netcentric underwater warfare; The Remedy for 'Silent Subs'?

    NARCIS (Netherlands)

    Ort, C.M.; Beerens, S.P.; Theije, P.A.M. de

    2004-01-01

    Although in most recent crises around the world it would appear from a superficial glance that there was no imminent underwater threat, a closer look shows differently. In the War on Iraq, for instance, a large allied effort was spent on eliminating the very real mine threat that endangered the

  15. Interaction tools for underwater shock analysis in naval platform design

    NARCIS (Netherlands)

    Aanhold, J.E.; Tuitman, J.T.; Trouwborst, W.; Vaders, J.A.A.

    2016-01-01

    In order to satisfy the need for good quality UNDerwater EXplosion (UNDEX) response estimates of naval platforms, TNO developed two 3D simulation tools: the Simplified Interaction Tool (SIT) and the hydro/structural code 3DCAV. Both tools are an add-on to LS-DYNA. SIT is a module of user routines

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

    Indian Academy of Sciences (India)

    Development of energy-efficient data collection and routing schemes for Underwater Wireless Sensor Networks (UWSNs) is a challenging issue due to the peculiarities of the underlying physical layer technology. Since the recharging or replacement of sensor nodes is almost impossible after deployment, the critical issue of ...

  17. 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

  18. 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

    ; the second occurs for some impacts but not others. A range of conditions is described in which a bubble is produced for every drop impact, and it is shown that these conditions are likely to be met by a significant fraction of the raindrops in a typical shower. Underwater sound produced by artificial as well...

  19. Student-Built Underwater Video and Data Capturing Device

    Science.gov (United States)

    Whitt, F.

    2016-12-01

    Students from Stockbridge High School Robotics Team invention is a low cost underwater video and data capturing device. This system is capable of shooting time-lapse photography and/or video for up to 3 days of video at a time. It can be used in remote locations without having to change batteries or adding additional external hard drives for data storage. The video capturing device has a unique base and mounting system which houses a pi drive and a programmable raspberry pi with a camera module. This system is powered by two 12 volt batteries, which makes it easier for users to recharge after use. Our data capturing device has the same unique base and mounting system as the underwater camera. The data capturing device consists of an Arduino and SD card shield that is capable of collecting continuous temperature and pH readings underwater. This data will then be logged onto the SD card for easy access and recording. The low cost underwater video and data capturing device can reach depths up to 100 meters while recording 36 hours of video on 1 terabyte of storage. It also features night vision infrared light capabilities. The cost to build our invention is $500. The goal of this was to provide a device that can easily be accessed by marine biologists, teachers, researchers and citizen scientists to capture photographic and water quality data in marine environments over extended periods of time.

  20. 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.

  1. 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.

  2. 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

  3. Underwater Wireless Optical Communication System Using Blue LEDs

    Science.gov (United States)

    Lin, Aobo; Tong, Zheng; Song, Yuhang; Kong, Meiwei; Xu, Jing

    2016-02-01

    We demonstrate a self-designed underwater wireless optical communication system using blue LEDs. The performance of the transmitter and receiver was experimentally investigated. Four different square wave signals (10 KHz, 100 KHz, 500 KHz and 1 MHz) were successfully transmitted via a short water channel at the first phase.

  4. BER evaluations for multimode beams in underwater turbulence

    Science.gov (United States)

    Altay Arpali, Serap; Baykal, Yahya; Arpali, Çağlar

    2016-07-01

    In underwater optical communication links, bit error rate (BER) is an important performance criterion. For this purpose, the effects of oceanic turbulence on multimode laser beam incidences are studied and compared in terms of average BER (), which is related to the scintillation index. Based on the log-normal distribution, is analysed for underwater turbulence parameters, including the rate of dissipation of the mean squared temperature, the rate of dissipation of the turbulent kinetic energy, the parameter that determines the relative strength of temperature and salinity in driving index fluctuations, the Kolmogorov microscale length and other link parameters such as link length, wavelength and laser source size. It is shown that use of multimode improves the system performance of optical wireless communication systems operating in an underwater medium. For all the investigated multimode beams, decreasing link length, source size, the relative strength of temperature and salinity in driving the index fluctuations, the rate of dissipation of the mean squared temperature and Kolmogorov microscale length improve the . Moreover, lower values are obtained for the increasing wavelength of operation and the rate of dissipation of the turbulent kinetic energy in underwater turbulence.

  5. Experimental Assessment of Underwater Radiated Sound of Different Ship Types

    NARCIS (Netherlands)

    Jansen, H.W.; Jong, C.A.F. de

    2015-01-01

    The aim of the SONIC project is to develop tools to investigate and mitigate the effects of underwater noise generated by shipping. One way to study the contribution of shipping noise to the background noise in the seas is to produce shipping noise maps. The SONIC project delivers the required

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

    Science.gov (United States)

    Yuan, Xin; Martínez-Ortega, José-Fernán; Fernández, José Antonio Sánchez; Eckert, Martina

    2017-05-21

    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.

  7. 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.

  8. Swimming, swarming and sensing. Bio-inspired underwater robotics

    NARCIS (Netherlands)

    Henrion, S.; Vercruyssen, T.; Müller, U.K.

    2014-01-01

    For operations in complex underwater environments, bio-inspired robots offer manoeuvrability, stealth and autonomy. They integrate propulsion and control systems into one multi-purpose undulatory propeller. By generating large counteracting forces, undulating fins generate a wide range of net

  9. 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

  10. 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

  11. A network coding based routing protocol for underwater sensor networks.

    Science.gov (United States)

    Wu, Huayang; Chen, Min; Guan, Xin

    2012-01-01

    Due to the particularities of the underwater environment, some negative factors will seriously interfere with data transmission rates, reliability of data communication, communication range, and network throughput and energy consumption of underwater sensor networks (UWSNs). Thus, full consideration of node energy savings, while maintaining a quick, correct and effective data transmission, extending the network life cycle are essential when routing protocols for underwater sensor networks are studied. In this paper, we have proposed a novel routing algorithm for UWSNs. To increase energy consumption efficiency and extend network lifetime, we propose a time-slot based routing algorithm (TSR).We designed a probability balanced mechanism and applied it to TSR. The theory of network coding is introduced to TSBR to meet the requirement of further reducing node energy consumption and extending network lifetime. Hence, time-slot based balanced network coding (TSBNC) comes into being. We evaluated the proposed time-slot based balancing routing algorithm and compared it with other classical underwater routing protocols. The simulation results show that the proposed protocol can reduce the probability of node conflicts, shorten the process of routing construction, balance energy consumption of each node and effectively prolong the network lifetime.

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

    NARCIS (Netherlands)

    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

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

    Indian Academy of Sciences (India)

    Jalaja Janardanan Kartha

    2017-09-07

    Sep 7, 2017 ... We model the problem as a constrained optimization prob- lem, considering the peculiarities of the underwater environ- ment, resource limitations and application requirements. In particular, we formulate an optimization problem that maxi- mizes the lifetime of the UWSN, subject to node energy con- straints ...

  14. Real-time underwater image enhancement: An improved approach ...

    Indian Academy of Sciences (India)

    fers extensively from visual image processing, primarily due to three major underwater channel impairments, i.e. ... visual quality of the image by mitigating color cast with subsequent contrast enhancement. In the proposed method, ...... sincere thanks to all Robotics & Automation Group mem- bers for their help and support.

  15. Enrichment of colloidal solutions by nanoparticles in underwater spark discharge

    International Nuclear Information System (INIS)

    Lopat'ko, K.; Aftandiliants, Y.; Veklich, A.; Boretskij, V.; Taran, N.; Batsmanova, L.; Trach, V.; Tugai, T.

    2015-01-01

    The underwater spark discharge between manganese granules was studied. Optical emission spectroscopy methods were used for diagnostics of such discharge plasma. The colloidal solution with manganese nanoparticles was produced by this discharge. The biological applications of this colloid were analyzed. The mechanism of metallic nanoparticle action and their transformation at interacting with biological objects were studied in Alternaria alternata culture

  16. Survey of Temperature Measurement Techniques For Studying Underwater Shock Waves

    Science.gov (United States)

    Danehy, Paul M.; Alderfer, David W.

    2004-01-01

    Several optical methods for measuring temperature near underwater shock waves are reviewed and compared. The relative merits of the different techniques are compared, considering accuracy, precision, ease of use, applicable temperature range, maturity, spatial resolution, and whether or not special additives are required.

  17. “Diving for dope” : Controlling underwater drug trafficking

    NARCIS (Netherlands)

    Eski, Y.

    2017-01-01

    This paper will offer an ethnographic account of the everyday reality of controlling illegal underwater drug trafficking in the global Port of Rotterdam (PoR). In so doing, it will explore what it means for customs diving officers to do drug inspections under challenging circumstances in order to

  18. 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.

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

    Indian Academy of Sciences (India)

    Jalaja Janardanan Kartha

    2017-09-07

    Sep 7, 2017 ... ditions and providing useful performance indicators prior to network deployment. Keywords. Underwater Sensor Networks .... There exists the possibility of controlling the extent of multi-hop routing that is feasible for ... standard tools; (iii) investigating the performance metrics of the proposed framework; (iv) ...

  20. 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.

  1. 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

  2. Non-line-of-sight underwater optical wireless communication network.

    Science.gov (United States)

    Arnon, Shlomi; Kedar, Debbie

    2009-03-01

    The growing need for ocean observation systems has stimulated considerable interest within the research community in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. Sensors and ad hoc sensor networks are the emerging tools for performing extensive data-gathering operations on land, and solutions in the subsea setting are being sought. Efficient communication from the sensors and within the network is critical, but the underwater environment is extremely challenging. Addressing the special features of underwater wireless communication in sensor networks, we propose a novel non-line-of-sight network concept in which the link is implemented by means of back-reflection of the propagating optic signal at the ocean-air interface and derive a mathematical model of the channel. Point-to-multipoint links can be achieved in an energy efficient manner and broadcast broadband communications, such as video transmissions, can be executed. We show achievable bit error rates as a function of sensor node separation and demonstrate the feasibility of this concept using state-of-the-art silicon photomultiplier detectors.

  3. 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 ...

  4. HullBUG Technology Development for Underwater Hull Cleaning

    Science.gov (United States)

    2015-05-14

    period an effort was also made to estimate the cost of a reasonably simple test device that consists of a motor, bearing support and underwater...planned for use at that facility. FIT Test Vehicle Successful operation of the HullBUG system on the sailing vessel Adele was performed in

  5. Experimental study on variations in Charpy impact energies of low carbon steel, depending on welding and specimen cutting method

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Zhaorui; Kang, Hansaem; Lee, Young Seog [Chung-Ang University, Seoul (Korea, Republic of)

    2016-05-15

    This paper presents an experimental study that examines variations of Charpy impact energy of a welded steel plate, depending upon the welding method and the method for obtaining the Charpy specimens. Flux cored arc welding (FCAW) and Gas tungsten arc welding (GTAW) were employed to weld an SA516 Gr. 70 steel plate. The methods of wire cutting and water-jet cutting were adopted to take samples from the welded plate. The samples were machined according to the recommendations of ASTM SEC. II SA370, in order to fit the specimen dimension that the Charpy impact test requires. An X-ray diffraction (XRD) method was used to measure the as-weld residual stress and its redistribution after the samples were cut. The Charpy impact energy of specimens was considerably dependent on the cutting methods and locations in the welded plate where the specimens were taken. The specimens that were cut by water jet followed by FCAW have the greatest resistance-to-fracture (Charpy impact energy). Regardless of which welding method was used, redistributed transverse residual stress becomes compressive when the specimens are prepared using water-jet cutting. Meanwhile, redistributed transverse residual stress becomes tensile when the specimens are prepared using wire cutting.

  6. Preferences of cut flowers consumers

    OpenAIRE

    Sylwia Kierczyńska

    2010-01-01

    The results of interviews suggest that majority of the cut flowers’ consumers has favourite kind of flower, among which most frequently pointed one was the rose. More than half of the interviewed favour the uniform colour of cut flowers and red colour was the most favourite one. The subtle smell of flowers was the most preferable one but the intensive fragrance was favoured for more consumers than odourless flowers. The data from selected florists’ confirm the information from interviews – in...

  7. Interactive cutting path analysis programs

    Science.gov (United States)

    Weiner, J. M.; Williams, D. S.; Colley, S. R.

    1975-01-01

    The operation of numerically controlled machine tools is interactively simulated. Four programs were developed to graphically display the cutting paths for a Monarch lathe, Cintimatic mill, Strippit sheet metal punch, and the wiring path for a Standard wire wrap machine. These programs are run on a IMLAC PDS-ID graphic display system under the DOS-3 disk operating system. The cutting path analysis programs accept input via both paper tape and disk file.

  8. Economic technology of laser cutting

    Science.gov (United States)

    Fedin, Alexander V.; Shilov, Igor V.; Vassiliev, Vladimir V.; Malov, Dmitri V.; Peskov, Vladimir N.

    2000-02-01

    The laser cutting of color metals and alloys by a thickness more than 2 mm has significant difficulties due to high reflective ability and large thermal conduction. We made it possible to raise energy efficiency and quality of laser cutting by using a laser processing system (LPS) consisting both of the YAG:Nd laser with passive Q-switching on base of LiF:F2- crystals and the CO2 laser. A distinctive feature of the LPS is that the radiation of different lasers incorporated in a coaxial beam has simultaneously high level of peak power (more than 400 kW in a TEM00 mode) and significant level of average power (up to 800 W in a TEM01 mode of the CO2 laser). The application of combined radiation for cutting of an aluminum alloy of D16 type made it possible to decrease the cutting energy threshold in 1.7 times, to increase depth of treatment from 2 up to 4 mm, and velocity from 0.015 up to 0.7 m/min, and also to eliminate application of absorptive coatings. At cutting of steels the velocity of treatment was doubled, and also an oxygen flow was eliminated from the technological process and replaced by the air. The obtained raise of energy efficiency and quality of cutting is explained by an essential size reducing of a formed penetration channel and by the shifting of a thermal cutting mode from melting to evaporation. The evaluation of interaction efficiency of a combined radiation was produced on the basis of non-stationary thermal-hydrodynamic model of a heating source moving as in the cutting direction, and also into the depth of material.

  9. Analysis of results obtained with different cutting techniques and associated filtration systems for the dismantling of radioactive metallic components

    International Nuclear Information System (INIS)

    Bach, F.W.; Steiner, H.; Schreck, G.

    1993-01-01

    The present joint study performed by the Commissariat a l'energie atomique and the Universitaet Hannover and coordinated by the Commission of the European Communities was intended to analyse the results generated in a number of research contracts concerned with cutting tests in air and underwater, with consideration of the prevailing working conditions. The analysis has led to a large database, giving broadly-assessed information for the dismantling of radioactive components. The range of study was enlarged, where possible, to include recently obtained results outside the present research programme, consideration also being given to supplementary cutting tools and filtration systems not covered by the present programme. Data was concentrated in structured information packages on practical experience available for a series of cutting tools and filters. These were introduced into a computerized user-friendly databank, to be considered as a first-stage development, which should be continuously updated and possibly oriented in the future to an expert system

  10. OceanVideoLab: A Tool for Exploring Underwater Video

    Science.gov (United States)

    Ferrini, V. L.; Morton, J. J.; Wiener, C.

    2016-02-01

    Video imagery acquired with underwater vehicles is an essential tool for characterizing seafloor ecosystems and seafloor geology. It is a fundamental component of ocean exploration that facilitates real-time operations, augments multidisciplinary scientific research, and holds tremendous potential for public outreach and engagement. Acquiring, documenting, managing, preserving and providing access to large volumes of video acquired with underwater vehicles presents a variety of data stewardship challenges to the oceanographic community. As a result, only a fraction of underwater video content collected with research submersibles is documented, discoverable and/or viewable online. With more than 1 billion users, YouTube offers infrastructure that can be leveraged to help address some of the challenges associated with sharing underwater video with a broad global audience. Anyone can post content to YouTube, and some oceanographic organizations, such as the Schmidt Ocean Institute, have begun live-streaming video directly from underwater vehicles. OceanVideoLab (oceanvideolab.org) was developed to help improve access to underwater video through simple annotation, browse functionality, and integration with related environmental data. Any underwater video that is publicly accessible on YouTube can be registered with OceanVideoLab by simply providing a URL. It is strongly recommended that a navigational file also be supplied to enable geo-referencing of observations. Once a video is registered, it can be viewed and annotated using a simple user interface that integrates observations with vehicle navigation data if provided. This interface includes an interactive map and a list of previous annotations that allows users to jump to times of specific observations in the video. Future enhancements to OceanVideoLab will include the deployment of a search interface, the development of an application program interface (API) that will drive the search and enable querying of

  11. ATLAS DDM integration in ARC

    DEFF Research Database (Denmark)

    Behrmann, Gerd; Cameron, David; Ellert, Mattias

    2008-01-01

    The Nordic Data Grid Facility (NDGF) consists of Grid resources running ARC middleware in Denmark, Finland, Norway and Sweden. These resources serve many virtual organisations and contribute a large fraction of total worldwide resources for the ATLAS experiment, whose data is distributed and mana......The Nordic Data Grid Facility (NDGF) consists of Grid resources running ARC middleware in Denmark, Finland, Norway and Sweden. These resources serve many virtual organisations and contribute a large fraction of total worldwide resources for the ATLAS experiment, whose data is distributed...... and managed by the DQ2 software. Managing ATLAS data within NDGF and between NDGF and other Grids used by ATLAS (the Enabling Grids for E-sciencE Grid and the Open Science Grid) presents a unique challenge for several reasons. Firstly, the entry point for data, the Tier 1 centre, is physically distributed...... outside the worker node environment. Also, the service used for cataloging the location of data files is different from otherGrids but must still be useable by DQ2 and ATLAS users to locate data within NDGF. This paper presents in detail how we solve these issues to allow seamless access worldwide to data...

  12. Underwater and surface strategies of 200 m world level swimmers.

    Science.gov (United States)

    Veiga, Santiago; Roig, Andreu

    2016-01-01

    Pacing strategies of elite swimmers have been consistently characterised from the average lap velocities. In the present study, we examined the racing strategies of 200 m world class-level swimmers with regard to their underwater and surface lap components. The finals and semi-finals of the 200 m races at the 2013 World Swimming Championships (Barcelona, Spain) were analysed by an innovative image-processing system (InThePool® 2.0). Free swimming velocities of elite swimmers typically decreased throughout the 200 m race laps (-0.12 m · s(-1), 95% CI -0.11 to -0.14 m · s(-1), P = 0.001, η(2) = 0.81), whereas underwater velocities, which were faster than free swimming, were not meaningfully affected by the race progress (0.02 m · s(-1), -0.01 to 0.04 m · s(-1), P = 0.01, η(2) = 0.04). When swimming underwater, elite swimmers typically travelled less distance (-0.66 m, -0.83 to -0.49 m, P = 0.001, η(2) = 0.34) from the first to the third turn of the race, although underwater distances were maintained on the backstroke and butterfly races. These strategies allowed swimmers to maintain their average velocity in the last lap despite a decrease in the free swimming velocity. Elite coaches and swimmers are advised to model their racing strategies by considering both underwater and surface race components.

  13. Twice cutting method reduces tibial cutting error in unicompartmental knee arthroplasty.

    Science.gov (United States)

    Inui, Hiroshi; Taketomi, Shuji; Yamagami, Ryota; Sanada, Takaki; Tanaka, Sakae

    2016-01-01

    Bone cutting error can be one of the causes of malalignment in unicompartmental knee arthroplasty (UKA). The amount of cutting error in total knee arthroplasty has been reported. However, none have investigated cutting error in UKA. The purpose of this study was to reveal the amount of cutting error in UKA when open cutting guide was used and clarify whether cutting the tibia horizontally twice using the same cutting guide reduced the cutting errors in UKA. We measured the alignment of the tibial cutting guides, the first-cut cutting surfaces and the second cut cutting surfaces using the navigation system in 50 UKAs. Cutting error was defined as the angular difference between the cutting guide and cutting surface. The mean absolute first-cut cutting error was 1.9° (1.1° varus) in the coronal plane and 1.1° (0.6° anterior slope) in the sagittal plane, whereas the mean absolute second-cut cutting error was 1.1° (0.6° varus) in the coronal plane and 1.1° (0.4° anterior slope) in the sagittal plane. Cutting the tibia horizontally twice reduced the cutting errors in the coronal plane significantly (Pcutting the tibia horizontally twice using the same cutting guide reduced cutting error in the coronal plane. Copyright © 2014 Elsevier B.V. All rights reserved.

  14. Plasma Arc Augmented CO2 laser welding

    DEFF Research Database (Denmark)

    Bagger, Claus; Andersen, Mikkel; Frederiksen, Niels

    2001-01-01

    In order to reduce the hardness of laser beam welded 2.13 mm medium strength steel CMn 250, a plasma arc has been used simultaneously with a 2.6 kW CO2 laser source. In a number of systematic laboratory tests, the plasma arc current, plasma gas flow and distance to the laser source were varied...

  15. The kinematical structure of gravitationally lensed arcs

    NARCIS (Netherlands)

    Moller, O; Noordermeer, E

    2006-01-01

    In this paper, the expected properties of the velocity fields of strongly lensed arcs behind galaxy clusters are investigated. The velocity profile along typical lensed arcs is determined by ray-tracing light rays from a model source galaxy through parametric cluster toy models consisting of

  16. The structure and singularities of arc complexes

    DEFF Research Database (Denmark)

    Penner, Robert

    A classical combinatorial fact is that the simplicial complex consisting of disjointly embedded chords in a convex planar polygon is a sphere. For any surface F with non-empty boundary, there is an analogous complex Arc(F) consisting of suitable equivalence classes of arcs in F connecting its bou...

  17. ArcForm - A multimodal notation

    DEFF Research Database (Denmark)

    Allsopp, Benjamin Brink

    ArcForm (AF) is a visual notation based on a new graph-like network structure. It supports a unique approach to labeling arcs and nodes to allow diverse and grammatically normal English (or other natural language) sentences to be embedded in the network (Allsopp, 2013). In doing this AF combines ...

  18. Feature extraction of arc tracking phenomenon

    Science.gov (United States)

    Attia, John Okyere

    1995-01-01

    This document outlines arc tracking signals -- both the data acquisition and signal processing. The objective is to obtain the salient features of the arc tracking phenomenon. As part of the signal processing, the power spectral density is obtained and used in a MATLAB program.

  19. The next-generation ARC middleware

    DEFF Research Database (Denmark)

    Appleton, O.; Cameron, D.; Cernak, J.

    2010-01-01

    The Advanced Resource Connector (ARC) is a light-weight, non-intrusive, simple yet powerful Grid middleware capable of connecting highly heterogeneous computing and storage resources. ARC aims at providing general purpose, flexible, collaborative computing environments suitable for a range of uses...

  20. The Arc of cognition: Signaling cascades regulating Arc and implications for cognitive function and disease.

    Science.gov (United States)

    Epstein, Irina; Finkbeiner, Steven

    2018-05-01

    The activity-regulated cytoskeletal (Arc) gene is implicated in numerous synaptic plasticity paradigms, including long-term potentiation and depression and homeostatic plasticity, and is critical for consolidating memory. How Arc facilitates these forms of plasticity is not fully understood. Unlike other neuronal immediate-early genes, Arc encodes a protein that shuttles between the somatodendritic and nuclear compartments to regulate synaptic plasticity. Little attention has been paid to Arc's role in the nucleus. Here, we highlight the regulatory elements and signaling cascades required to induce Arc transcription and discuss the significance of Arc nuclear localization for synaptic plasticity and scaling. We integrate these findings into the context of cognitive function and disease and propose a model in which Arc mediates an effect on memory as a "chaser" of synaptic activity through homeostatic scaling. Copyright © 2017 Elsevier Ltd. All rights reserved.

  1. Sensor Control of Robot Arc Welding

    Science.gov (United States)

    Sias, F. R., Jr.

    1983-01-01

    The potential for using computer vision as sensory feedback for robot gas-tungsten arc welding is investigated. The basic parameters that must be controlled while directing the movement of an arc welding torch are defined. The actions of a human welder are examined to aid in determining the sensory information that would permit a robot to make reproducible high strength welds. Special constraints imposed by both robot hardware and software are considered. Several sensory modalities that would potentially improve weld quality are examined. Special emphasis is directed to the use of computer vision for controlling gas-tungsten arc welding. Vendors of available automated seam tracking arc welding systems and of computer vision systems are surveyed. An assessment is made of the state of the art and the problems that must be solved in order to apply computer vision to robot controlled arc welding on the Space Shuttle Main Engine.

  2. Modification of tungsten layers by arcing

    International Nuclear Information System (INIS)

    Laux, M.; Schneider, W.; Juettner, B.; Lindig, S.; Mayer, M.; Balden, M.; Beilis, I.; Djakov, B.

    2005-01-01

    Numerous traces of arcs have been found on W-covered graphite tiles of ASDEX Upgrade after exposure. The distributions of number density, lengths and orientation are calculated and compared to pure graphite tiles at comparable locations. It was established that arcs perforate a 1 μm tungsten layer down to the carbon substrate. The amount of removal should rise with arc current, but a surface fraction of about 8% is eroded at 10 A already. At tiles of the divertor baffle the layer is continuously removed along the entire track pointing to higher currents. The carbon of the stripped parts is subject to subsequent erosion processes. The distribution of materials in and around arc tracks was investigated by sputter depth profiling (SIMS and AES) and the characteristic geometry was studied using an electron microscope. Observations are interpreted using results from laboratory vacuum arcs on the same material

  3. Neogene displacements in the Solomon Islands Arc

    Science.gov (United States)

    Ridgway, J.

    1987-02-01

    The geology and present configuration of the Solomon Island arc can be explained in terms of the Neogene displacement of a single linear chain of islands. The central part of an original arc consisting of Bougainville, Choiseul, Santa Ysabel, Guadalcanal and San Cristobal was displaced to the northeast as a consequence of the attempted subduction of the Woodlark spreading system. Malaita arose on the northeastern side of the arc as a result of interaction between the arc and the Pacific Ocean floor and the volcanic islands of the New Georgia group formed to the southwest in response to the subduction of a spreading ridge, thus giving rise to the present double chain structure of the arc.

  4. Laser assisted arc welding for aluminum alloys

    Energy Technology Data Exchange (ETDEWEB)

    Fuerschbach, P.W.

    2000-01-01

    Experiments have been performed using a coaxial end-effector to combine a focused laser beam and a plasma arc. The device employs a hollow tungsten electrode, a focusing lens, and conventional plasma arc torch nozzles to co-locate the focused beam and arc on the workpiece. Plasma arc nozzles were selected to protect the electrode from laser generated metal vapor. The project goal is to develop an improved fusion welding process that exhibits both absorption robustness and deep penetration for small scale (<1.5 mm thickness) applications. On aluminum alloys 6061 and 6111, the hybrid process has been shown to eliminate hot cracking in the fusion zone. Fusion zone dimensions for both stainless steel and aluminum were found to be wider than characteristic laser welds, and deeper than characteristic plasma arc welds.

  5. Role of arc mode in laser-metal active gas arc hybrid welding of mild steel

    International Nuclear Information System (INIS)

    Li, Geng; Zhang, Chen; Gao, Ming; Zeng, Xiaoyan

    2014-01-01

    Highlights: • Pulsed arc is more effective to improve the stability of laser-arc hybrid welding. • LCHW has the highest fraction of acicular ferrite and high-angle grain boundaries. • Grain refinement depends on effective current of the arc. • LSHW has the most apparent vestige of texture components. • The microstructure and microtexture formation mechanisms were summarized. - Abstract: Arc mode plays an important role in joint characterizations of arc welding, but it has been seldom considered in laser-arc hybrid welding. This paper investigated the role of arc mode on laser-metal active gas (MAG) arc hybrid welding of mild steel. Three arc modes were employed, which were cold metal transfer (CMT), pulsed spray arc and standard short circuiting arc. Microtexture of the joints were observed and measured via electron back scattering diffraction (EBSD) system to reveal the effect of arc mode on microstructure. Mechanical properties of the joints were evaluated by tensile and Charpy V-notch impact tests. It was found that both the stability and mechanical properties of laser-CMT hybrid welding (LCHW) is the best, while those of laser-standard short circuiting arc welding (LSHW) is the worst. OM and EBSD results showed that the fraction of acicular ferrite and high-angle grain boundaries in fusion zone decreases gradually in the sequence of LCHW, laser-pulsed spray arc welding and LSHW, while the mean grain size increases gradually. Finally, the microstructure formation mechanisms and the relationship between microstructure and mechanical properties were summarized by the loss of alloying element and the stirring effect in molten pool

  6. Towards Enhanced Underwater Lidar Detection via Source Separation

    Science.gov (United States)

    Illig, David W.

    Interest in underwater optical sensors has grown as technologies enabling autonomous underwater vehicles have been developed. Propagation of light through water is complicated by the dual challenges of absorption and scattering. While absorption can be reduced by operating in the blue-green region of the visible spectrum, reducing scattering is a more significant challenge. Collection of scattered light negatively impacts underwater optical ranging, imaging, and communications applications. This thesis concentrates on the ranging application, where scattering reduces operating range as well as range accuracy. The focus of this thesis is on the problem of backscatter, which can create a "clutter" return that may obscure submerged target(s) of interest. The main contributions of this thesis are explorations of signal processing approaches to increase the separation between the target and backscatter returns. Increasing this separation allows detection of weak targets in the presence of strong scatter, increasing both operating range and range accuracy. Simulation and experimental results will be presented for a variety of approaches as functions of water clarity and target position. This work provides several novel contributions to the underwater lidar field: 1. Quantification of temporal separation approaches: While temporal separation has been studied extensively, this work provides a quantitative assessment of the extent to which both high frequency modulation and spatial filter approaches improve the separation between target and backscatter. 2. Development and assessment of frequency separation: This work includes the first frequency-based separation approach for underwater lidar, in which the channel frequency response is measured with a wideband waveform. Transforming to the time-domain gives a channel impulse response, in which target and backscatter returns may appear in unique range bins and thus be separated. 3. Development and assessment of statistical

  7. Extensions of cutting problems: setups

    Directory of Open Access Journals (Sweden)

    Sebastian Henn

    2013-08-01

    Full Text Available Even though the body of literature in the area of cutting and packing is growing rapidly, research seems to focus on standard problems in the first place, while practical aspects are less frequently dealt with. This is particularly true for setup processes which arise in industrial cutting processes whenever a new cutting pattern is started (i.e. a pattern is different from its predecessor and the cutting equipment has to be prepared in order to meet the technological requirements of the new pattern. Setups involve the consumption of resources and the loss of production time capacity. Therefore, consequences of this kind must explicitly be taken into account for the planning and control of industrial cutting processes. This results in extensions to traditional models which will be reviewed here. We show how setups can be represented in such models, and we report on the algorithms which have been suggested for the determination of solutions of the respective models. We discuss the value of these approaches and finally point out potential directions of future research.

  8. Cutting inlays with a laser

    Science.gov (United States)

    Swaczyna, Irena; Grabczewski, Zbigniew

    1995-03-01

    To cut inlay from a stack of glued veneer a CO2 HEBAR-1A laser was used. For setting optimal working parameters of the set used in industrial production of inlay the following elements were defined: the shape and dimensions of the cutting fissure, the dependence between the width of the cutting fissure and the speed with which the laser beam moves and the total thickness of the stack of veneer sheets, the application of the laser for cutting various patterns. Computer aided designing and computer steering of the laser beam enables fast and precise production of large numbers of inlay elements not only from wood but also from other materials like glass, stone, metal, etc. Taking into consideration the high running cost of such a laser set and its very big production only few factories or even one factory in the given area could produce inlay ready for gluing. Further investigation should be carried out on this field particularly considering the lowering of costs not only in inlay production but generally where cutting of wood is concerned.

  9. Analysis of arc emission spectra of stainless steel electric arc furnace slag affected by fluctuating arc voltage.

    Science.gov (United States)

    Aula, Matti; Mäkinen, Ari; Fabritius, Timo

    2014-01-01

    Control of chromium oxidation in the electric arc furnace (EAF) is a significant problem in stainless steel production due to variations of the chemical compositions in the EAF charge. One potential method to control chromium oxidation is to analyze the emission spectrum of the electric arc in order to find indicators of rising chromium content in slag. The purpose of this study was to determine if slag composition can be gained by utilizing electric arc emission spectra in the laboratory environment, despite electric arc voltage fluctuations and varying slag composition. The purpose of inducing voltage fluctuation was to simulate changes in the industrial EAF process. The slag samples were obtained from Outokumpu Stainless Oy Tornio Works, and three different arc currents were used. The correlation analysis showed that the emission spectra offer numerous peak ratios with high correlations to the X-ray fluorescence-measured slag CrO(x)/FeO(x) and MnO/SiO2 ratios. These ratios are useful in determining if the reduction agents have been depleted in the EAF. The results suggest that analysis of laboratory-scale electric arc emission spectra is suitable for indicating the high CrO(x) or MnO content of the slag despite the arc fluctuations. Reliable analysis of other slag components was not successful.

  10. ATLAS DDM integration in ARC

    DEFF Research Database (Denmark)

    Behrmann, Gerd; Cameron, David; Ellert, Mattias

    The Nordic Data Grid Facility (NDGF) consists of Grid resources running ARC middleware in Scandinavia and other countries. These resources serve many virtual organisations and contribute a large fraction of total worldwide resources for the ATLAS experiment, whose data is distributed and managed...... by the DQ2 software. Managing ATLAS data within NDGF and between NDGF and other Grids used by ATLAS (the LHC Computing Grid and the Open Science Grid) presents a unique challenge for several reasons. Firstly, the entry point for data, the Tier 1 centre, is physically distributed among heterogeneous...... environment. Also, the service used for cataloging the location of data files is different from other Grids but must still be useable by DQ2 and ATLAS users to locate data within NDGF. This paper presents in detail how we solve these issues to allow seamless access worldwide to data within NDGF....

  11. 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

  12. 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)].

  13. The Cutting Process, Chips and Cutting Forces in Machining CFRP

    DEFF Research Database (Denmark)

    Koplev, A.; Lystrup, Aage; Vorm, T.

    1983-01-01

    The cutting of unidirectional CFRP, perpendicular as well as parallel to the fibre orientation, is examined. Shaping experiments, ‘quick-stop’ experiments, and a new chip preparation technique are used for the investigation. The formation of the chips, and the quality of the machined surface...

  14. Investigation of fracture in pressurized gas metal arc welded beryllium

    International Nuclear Information System (INIS)

    Heiple, C.R.; Merlini, R.J.; Adams, R.O.

    1976-01-01

    Premature failures during proof testing of pressurized-gas-metal-arc (PGMA) welded beryllium assemblies were investigated. The failures were almost entirely within the beryllium (a forming grade, similar to HP-10 or S-240), close to and parallel to the weld interface. The aluminum-silicon weld filler metal deposit was not centered in the weld groove in the failed assemblies, and failure occurred on the side of the weld opposite the bias in the weld deposit. Tensile tests of welded samples demonstrated that the failures were unrelated to residual machining damage from cutting the weld groove, and indicated small lack-of-fusion areas near the weld start to be the most likely origin of the failures. Acoustic emission was monitored during tensile tests of the welds. The majority of acoustic emission was probably from crack propagation through the weld filler metal. Tensile bars cut from the region of the weld start behaved differently; they failed at lower loads and exhibited an acoustic emission behavior believed to be from cracking in the weld metal-beryllium interface. Improvement in the quality of these and similar beryllium welds can therefore most likely be made by centering the weld deposit and reducing the size of the weld start defect. 21 fig

  15. Equilibrium Analysis in Cake Cutting

    DEFF Research Database (Denmark)

    Branzei, Simina; Miltersen, Peter Bro

    2013-01-01

    Cake cutting is a fundamental model in fair division; it represents the problem of fairly allocating a heterogeneous divisible good among agents with different preferences. The central criteria of fairness are proportionality and envy-freeness, and many of the existing protocols are designed...... of the simplest and most elegant continuous algorithms -- the Dubins-Spanier procedure, which guarantees a proportional allocation of the cake -- and study its equilibria when the agents use simple threshold strategies. We show that given a cake cutting instance with strictly positive value density functions...

  16. Tribological properties of fish scale inspired underwater superoleophobic hierarchical structure in aqueous environment

    Science.gov (United States)

    Lian, Zhongxu; Xu, Jinkai; Wan, Yanling; Li, Yiquan; Yu, Zhanjiang; Liu, Qimeng; Yu, Huadong

    2017-10-01

    Underwater superoleophobic surfaces are becoming increasingly important in regard to self-cleaning, anti-fouling, oil droplet transportation and water/oil separation. Although a great number of underwater superoleophobic surfaces have been demonstrated, their tribological properties remain impractical for the purposes of real-life applications. Herein, a two-step method of high speed wire electrical discharge machining and boiling water treatment was adopted to fabricate fish scale inspired underwater oil repellent hierarchical structure on an aluminum (Al) alloy 5083 surface. The hierarchical roughness and hydroxyl groups were obtained on the surface, and the surface exhibited the ability to prevent contact with organic fluids when submerged in water. Moreover, the tribological properties of underwater superoleophobic Al surfaces in aqueous environments were analyzed. The average friction coefficient of underwater superoleophobic surfaces was decreased compared with the polished Al surface. We believe that this research will contribute to the engineering application of underwater superoleophobic surfaces in the future.

  17. A review of arcing phenomena in vacuum and in the transition to atmospheric pressure arcs

    International Nuclear Information System (INIS)

    Kimblin, C.W.

    1982-01-01

    This paper reviews vacuum-arc phenomena, and the effect of low-pressure gaseous ambients on electrode phenomena in the transition to atmospheric pressure arcs. The 5 main areas addressed are cathode-spot phenomena, anode-spot phenomena, the properties of the interelectrode plasma for both diffuse arcs and columnar arcs, the interaction of vacuum arcs with axial and transverse magnetic fields, and finally, the transition to atmospheric pressure arcs. The current levels range from 50 A to 50 kA. For each of these 5 main areas, features of the vacuum arc which can be reasonably established from the literature are first described, followed by a discussion of parameters requiring additional experimental and theoretical study. For example, the current densities, microstructure, and theoretical description of the cathode spot remain the subject of much debate. There is also a need for additional experimental observations of the anode ion flux and ion energies in order to clarify the overall anode-spot mechanism. With respect to high-current columnar arcs, here there is uncertainty concerning the pressure in the arc column and the mechanism of the grossly evaporating cathode spot. It is firmly established that these high-current columnar arcs can be avoided by applying an axial magnetic field parallel to the arcing axis, but a detailed understanding of the magnetic field/arc interaction remains to be established. The review concludes with a discussion of experimental investigations of electrode phenomena in the presence of low ambient gas pressures. Here the overall objective is to relate the theoretical and experimental descriptions of vacuum-arc cathode-spot phenomena to the more commonly encountered electrode phenomena at atmospheric pressure

  18. Ultrasound in arc welding: a review.

    Science.gov (United States)

    da Cunha, Tiago Vieira; Bohórquez, Carlos Enrique Niño

    2015-02-01

    During the last decade, the introduction of ultrasound techniques in arc welding with the intention of improving the operational performance and technical characteristics of the welding processes have been studied intensively. In this work is presented a broad review of the literature surrounding the utilization of this technique. Firstly, we discuss the use of traditional mechanical transducers to generate ultrasound in arc welding. Furthermore, we describe the various methods and their application in arc-welding processes. After, is presented a recent method of introducing ultrasonic energy in arc welding, which forms a potential alternative to the use of traditional mechanical type transducers. This method was originally developed in the late 1990s and is called arc with ultrasonic excitation of current. Here, the arc acts not only as a thermal source but also as an emission mechanism for ultrasound, acting directly on the weld pool. We presented and discussed various innovative concepts based on this method, which allows the introduction of ultrasonic energy in the arc welding without the need of any auxiliary device of welding. In addition, we also presented the variations of this method reported in the literature. Finally, we have described the respective effects attributed to the use of this method in the welding of different materials using various welding processes. Copyright © 2014 Elsevier B.V. All rights reserved.

  19. Cutting temperature measurement and material machinability

    Directory of Open Access Journals (Sweden)

    Nedić Bogdan P.

    2014-01-01

    Full Text Available Cutting temperature is very important parameter of cutting process. Around 90% of heat generated during cutting process is then away by sawdust, and the rest is transferred to the tool and workpiece. In this research cutting temperature was measured with artificial thermocouples and question of investigation of metal machinability from aspect of cutting temperature was analyzed. For investigation of material machinability during turning artificial thermocouple was placed just below the cutting top of insert, and for drilling thermocouples were placed through screw holes on the face surface. In this way was obtained simple, reliable, economic and accurate method for investigation of cutting machinability.

  20. Research Reactor MZFR, Karlsruhe, Germany Under Water Thermal Cutting of the Moderator Vessel and of the Thermal Shield

    International Nuclear Information System (INIS)

    Loeb, A.; Eisenmann, B.; Prechtl, E.

    2006-01-01

    This paper presents the segmentation of the moderator vessel and of the thermal shield of the MZFR research reactor by means of under water plasma and contact arc metal cutting. The moderator vessel and the thermal shield are the most essential parts of the reactor vessel internals. These components have been segmented in 2005 by means of remotely controlled under water cutting utilizing a special manipulator system, a plasma torch and CAMC (Contact Arc Metal Cutting) as cutting tools. The engineered equipment used is a highly advanced design developed in a two years R and D program. It was qualified to cut through steel walls of more than 100 mm thickness in 8 meters water depth. Both the moderator vessel and the thermal shield had to be cut into such size that the segments could afterwards be packed into shielded waste containers each with a volume of roughly 1 m 3 . Segmentation of the moderator vessel and of the thermal shield was performed within 15 months. (authors)