Remotely controlled cutting techniques in the field of nuclear decommissioning. Overview of effectively applied thermal cutting methods

International Nuclear Information System (INIS)

Bienia, H.; Klotz, B.

2008-01-01

This article describes 3 thermal cutting technologies that are effectively used in nuclear decommissioning projects: the autonomous flame cutting, the plasma arc cutting and the contact arc metal cutting. The autonomous flame cutting technology is based on a high pressure oxygen jet oxidizing the material in a small kerf. Not all metal types are appropriate for this technology. The plasma arc cutting, in contrast to the previous technology, uses an electronically induced plasma arc to melt a kerf in the material. Inside the plasma arc temperatures up to 30.000 K exist, so in theory, this temperature is sufficient to cut all materials. Contact arc metal cutting is a new thermal cutting technology for under-water cutting works. Here, a carbon blade cuts the components. An electric arc between the cutting blade and component melts a kerf into the material easing the cutting. This technology allows the cutting of complex structures with hollows. The applications in nuclear facility dismantling of these 3 cutting technologies and their limits are reported and their requirements (staff, investment) listed in a table. (A.C.)

Application of YAG laser processing in underwater welding and cutting

Energy Technology Data Exchange (ETDEWEB)

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

2002-09-01

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

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.

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

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... (CONTINUED) OCCUPATIONAL SAFETY AND HEALTH STANDARDS FOR SHIPYARD EMPLOYMENT Welding, Cutting and Heating § 1915.56 Arc welding and cutting. The provisions of this section shall apply to ship repairing...

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 cutting. (a) Manual electrode holders. (1) Only manual electrode holders which are specifically designed...

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

Plasma Arc Cutting Dimensional Accuracy Optimization employing the Parameter Design approach

OpenAIRE

Kechagias John; Petousis Markos; Vidakis Nectarios; Mastorakis Nikos

2017-01-01

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 ...

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.

Influence of arc parameters on plasma cutting efficiency of rails

International Nuclear Information System (INIS)

Dautov, S.S.

2006-01-01

The work shows the impact analysis of different arc areas upon metal cutting. The influence of over-nozzle and intra-metal areas extension of elastic arc on efficiency of real cutting is determined. (author)

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

International Nuclear Information System (INIS)

Drews, P.; Fuchs, K.

1990-01-01

The underwater dismantling of nuclear power plants has to be remotely controlled with simultaneous optical control by underwater cameras. It is this optical control in particular that leads to problems as, for example, abrasive wheel cutting is subjected to a wide range of interferences so that a minimum of contrast and blurred contours of camera images must be accounted for. This paper describes a new image processing system that has been developed in addition to the use of a modified underwater TV camera for optical cutting process control (plasma and abrasive wheel cutting). Workpiece recognition is performed through the comparison of actually measured objects with pre-trained reference patterns allowing the determination of object location and orientation, the data of which are then supplied to the handling controller. A completely satisfactory prototype system has been built, which is capable of performing image analysis (workpiece recognition, workpiece position, etc.) as well as the control of a handling system with an inductive sensor (distance detection, edge recognition and distance control). With an additional camera the operator has the means of visual process observation. The overall functioning of the system has been tested and demonstrated with a four-axes handling system. (author)

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.

Local drying underwater cutting of reactor core internals by CO laser

International Nuclear Information System (INIS)

Beppu, Seiji; Takano, Genta; Matsumoto, Osa; Sugihara, Masaaki; Miya, Kenzo.

1991-01-01

Since the CO laser operates at shorter wavelength than the CO 2 laser, the former has superior ability to cut materials. Its applicability to the cutting of reactor core internals in a nuclear power plant has been studied. In order to use such a laser for cutting actual structures, it would be useful to develop underwater cutting technology for the purpose of minimizing radiation exposure during cutting. However, since the laser beam is absorbed by water, a path needs to be cleared along the laser's line of sight. The authors have developed a nozzle that forms a local dry zone and have demonstrated that CO laser cutting can be carried out under water as it is in air. (author)

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...

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

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...

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

International Nuclear Information System (INIS)

Mancinelli, B. R.; Minotti, F. O.; Kelly, H.; Prevosto, L.

2014-01-01

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 4  A/s.

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

Underwater cutting of reactor core internals by CO laser using local-dry-zone creating nozzle

Energy Technology Data Exchange (ETDEWEB)

Matsumoto, Osa (Mitsubishi Heavy Industries Ltd., Takasago, Hyogo (Japan). Takasago Research and Development Center); Sugihara, Masaaki; Miya, Kenzo

1992-11-01

With a view to practical application of the CO laser to underwater cutting of thick steel plates, a nozzle for creating a local dry zone on the workpiece has been developed and tested. The nozzle directed against the workpiece surface discharges a jet of air, which forms the local dry zone, bounded by a cone of high-speed water jet discharged from a concentric annular outlet. Preliminary tests were performed to optimize the nozzle shape and operating conditions. The resulting nozzle was used with a 5 kW CO laser for actual underwater cutting tests on stainless steel plates: Entirely satisfactory cutting performance was confirmed on various workpiece geometries and working positions. (author).

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

Effect of Cut Quality on Hybrid Laser Arc Welding of Thick Section Steels

Science.gov (United States)

Farrokhi, F.; Nielsen, S. E.; Schmidt, R. H.; Pedersen, S. S.; Kristiansen, M.

From an industrial point of view, in a laser cutting-welding production chain, it is of great importance to know the influence of the attainable laser cut quality on the subsequent hybrid laser arc welding process. Many studies have been carried out in the literature to obtain lower surface roughness values on the laser cut edge. However, in practice, the cost and reliability of the cutting process is crucial and it does not always comply with obtaining the highest surface quality. In this study, a number of experiments on 25 mm steel plates were carried out to evaluate the influence of cut surface quality on the final quality of the subsequent hybrid laser welded joints. The different cut surfaces were obtained by different industrial cutting methods including laser cutting, abrasive water cutting, plasma cutting, and milling. It was found that the mentioned cutting methods could be used as preparation processes for the subsequent hybrid laser arc welding. However, cut quality could determine the choice of process parameters of the following hybrid laser arc welding.

Assessment of the applicability of AWJ technique for dismantling the reactor of Fugen. Performance of underwater-cutting thick plate and testing of sound-based monitoring for underwater-cutting process

International Nuclear Information System (INIS)

Maruyama, Shin-ichiro; Nishio, Shin-ichi

2010-01-01

The reactor of Fugen is characterized by its double-walled pressure tube construction that is composed of pressure tubes and calandria tubes. The reactor dismantlement has been planning on dismantling it under water and the abrasive water jet (AWJ) underwater-cutting method is chosen as an option among simultaneous double tubes cutting technologies. For assessing the applicability of the AWJ cutting technology, a thick plate was cut under water by the small AWJ cutting machine. In addition, since cutting causes muddiness in water, cutting was monitored by the sound-based monitoring system which was adopted as a secondary cutting monitoring method. As a results, it was demonstrated that one-phase cutting was possible under water for a stainless-steel plate with 150mm thickness and that the relationship between cutting depth and capable cutting speed could be predictable. As for the sound-based cutting monitoring, the predictability whether or not cutting would be successful was verified by checking the change of sounds level. (author)

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

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

Energy Technology Data Exchange (ETDEWEB)

Rotundo, F., E-mail: fabio.rotundo@unibo.it [Dept. of Mechanical Engineering (DIEM), Alma Mater Studiorum, Universita di Bologna, Via Saragozza 8, 40123 Bologna (Italy); Martini, C.; Chiavari, C.; Ceschini, L. [Dept. of Metals Science, Electrochemistry and Chemical Techniques (SMETEC), Alma Mater Studiorum, Universita di Bologna, Viale Risorgimento 4, 40136 Bologna (Italy); Concetti, A.; Ghedini, E.; Colombo, V. [Dept. of Mechanical Engineering (DIEM), Alma Mater Studiorum, Universita di Bologna, Via Saragozza 8, 40123 Bologna (Italy); Dallavalle, S. [Cebora S.p.A., Via Andrea Costa 24, 40057 Cadriano di Granarolo (Italy)

2012-06-15

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{sub 2} layer; thermally-modified transition zone with O{sub 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: Black-Right-Pointing-Pointer Hf microstructural modifications in cathodes after plasma arc cutting cycles investigated. Black-Right-Pointing-Pointer 3 zones identified after cutting: HfO{sub 2} layer; remelted zone with O{sub 2}-Hf solid solution; unmodified Hf. Black-Right-Pointing-Pointer Hf-based ejections both in arc-on and arc-off phases; erosion cavity deepens with cutting cycles. Black-Right-Pointing-Pointer Detachment at the Hf/Cu interfaces, worsening heat dissipation and oxidation/erosion phenomena. Black-Right-Pointing-Pointer The use

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

Plasma arc cutting is a popular technique used for size reduction of radioactively contaminated metallic waste such as glove boxes, vessels, and ducts. It is a very aggressive process and is capable of cutting metal objects up to 3 in. thick. The crucial control criteria in plasma cutting is maintaining a open-quotes stand-offclose quotes distance between the plasma torch tip and the material being cut. Manual plasma cutting techniques in radioactive environments require the operator to wear a plastic suit covered by a metallic suit. This is very cumbersome, time-consuming, and also generates additional waste (plastic and metallic suits). Teleoperated remote cutting is preferable to manual cutting, but our experience has shown that remote control of the stand-off distance is particularly difficult because of the brightness of the plasma arc and inadequate viewing angles. Also, the heat generated by the torch causes the sheet metal to deform and warp during plasma cutting, creating a dynamically changing metal surface. The aforementioned factors make it extremely difficult, if not impossible, to perform plasma cuts of waste with a variety of shapes and sizes in a teleoperated fashion with an operator in the loop. Automating the process is clearly desirable

Optimization of Dimensional accuracy in plasma arc cutting process employing parametric modelling approach

Science.gov (United States)

Naik, Deepak kumar; Maity, K. P.

2018-03-01

Plasma arc cutting (PAC) is a high temperature thermal cutting process employed for the cutting of extensively high strength material which are difficult to cut through any other manufacturing process. This process involves high energized plasma arc to cut any conducting material with better dimensional accuracy in lesser time. This research work presents the effect of process parameter on to the dimensional accuracy of PAC process. The input process parameters were selected as arc voltage, standoff distance and cutting speed. A rectangular plate of 304L stainless steel of 10 mm thickness was taken for the experiment as a workpiece. Stainless steel is very extensively used material in manufacturing industries. Linear dimension were measured following Taguchi’s L16 orthogonal array design approach. Three levels were selected to conduct the experiment for each of the process parameter. In all experiments, clockwise cut direction was followed. The result obtained thorough measurement is further analyzed. Analysis of variance (ANOVA) and Analysis of means (ANOM) were performed to evaluate the effect of each process parameter. ANOVA analysis reveals the effect of input process parameter upon leaner dimension in X axis. The results of the work shows that the optimal setting of process parameter values for the leaner dimension on the X axis. The result of the investigations clearly show that the specific range of input process parameter achieved the improved machinability.

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)

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)

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

Development of plasma cutting process at observation of environmental requirements

International Nuclear Information System (INIS)

Czech, J.; Matusiak, J.; Pasek-Siurek, H.

1997-01-01

Plasma cutting is one of the basic methods for thermal cutting of metals. It is characterized by high productivity and quality of the cut surface. However, the plasma cutting process is one of the most harmful processes for environment and human health. It results from many agents being a potential environmental risk The large amount of dust and gases emitted during the process as well as an intensive radiation of electric arc and excessive noise are considered as the most harmful hazards. The existing ventilation and filtration systems are not able to solve all problems resulting from the process. Plasma cutting under water is worthy of notice, especially during an advancement of plasma cutting process, because of human safety and environment protection. Such a solution allows to reduce considerably the emission of dust and gases, as well as to decrease the noise level and ultraviolet radiation. An additional advantage of underwater plasma cutting is a reduction in the width of material heating zone and a decrease in strains of elements being cut. However, the productivity of this process is a little lower what results in an increase in cutting cost. In the paper, it has been presented the results of the investigations made at the Institute of Welding in Gliwice on the area of plasma cutting equipment with energy-saving inverter power supplies used in automated processes of underwater plasma cutting as well as the results of testing of welding environment contamination and safety hazards. (author)

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

International Nuclear Information System (INIS)

Kavka, T; Mašláni, A; Hrabovský, M; Křenek, P; Stehrer, T; Pauser, H

2013-01-01

This paper is devoted to the experimental investigation of arc cutting of mild steel using plasmas generated in gas and liquid media. Due to different chemical compositions, the examined media have different thermophysical properties, which affect the properties of the generated plasma and cutting performance. The experiments are performed on 15 mm mild steel plates using commercial equipment at 60 A to approach real operation conditions in application areas. The studied gases are chosen according to recommendations of the world's leading manufacturers of arc cutting equipment for mild steel. Specific differences between plasma gases are discussed from the point of view of properties of the gas and the generated plasma, amount of removed material, kerf shape and overall energy balance of the cutting process. The paper describes the role of exothermic reaction of iron oxidation for oxygen cutting and explains its neglect for liquid cutting. This paper explains the potential of facilitating the cutting process by modification of the plasma gas chemical composition and flow rate. (paper)

On the influence of the nozzle length on the arc properties in a cutting torch

International Nuclear Information System (INIS)

Prevosto, L; Risso, M; Infante, D; Kelly, H

2009-01-01

In this work, an experimental study on the influence of the nozzle geometry on the physical properties of a cutting arc is reported. Ion current signals collected by an electrostatic probe sweeping across a 30 A oxygen cutting arc at 3.5 mm from the nozzle exit were registered for different nozzle lengths. The temperature and density radial profiles of the arc plasma were found in each case by an inversion procedure of these signals. A comparison between the obtained results shows that the shorter nozzle (R N = 0.50 mm, L N = 4.5 mm operated at 0.7 MPa and 35 Nl/min) produces a thinner and hotter arc than the larger nozzle (R N = 0.50 mm, L N = 9.0 mm operated at 1.1 MPa and 20 Nl/min). This behavior is attributed to the marked difference of gas flow rate due to the clogging effect. A smaller gas mass flow reduces the convective cooling at the arc border and decreases the power dissipation of the arc column, resulting in small axis temperatures.

On the influence of the nozzle length on the arc properties in a cutting torch

Energy Technology Data Exchange (ETDEWEB)

Prevosto, L; Risso, M; Infante, D [Grupo de Descargas Electricas, Departamento Ingenieria Electromecanica, Universidad Tecnologica Nacional, Regional Venado Tuerto, Las Heras 644, Venado Tuerto (2600), Santa Fe (Argentina); Kelly, H, E-mail: prevosto@waycom.com.a [Instituto de FIsica del Plasma (CONICET), Departamento de Fisica, Facultad de Ciencias Exactas y Naturales (UBA) Ciudad Universitaria Pab. I, 1428 Buenos Aires (Argentina)

2009-05-01

In this work, an experimental study on the influence of the nozzle geometry on the physical properties of a cutting arc is reported. Ion current signals collected by an electrostatic probe sweeping across a 30 A oxygen cutting arc at 3.5 mm from the nozzle exit were registered for different nozzle lengths. The temperature and density radial profiles of the arc plasma were found in each case by an inversion procedure of these signals. A comparison between the obtained results shows that the shorter nozzle (R{sub N} = 0.50 mm, L{sub N} = 4.5 mm operated at 0.7 MPa and 35 Nl/min) produces a thinner and hotter arc than the larger nozzle (R{sub N} = 0.50 mm, L{sub N} = 9.0 mm operated at 1.1 MPa and 20 Nl/min). This behavior is attributed to the marked difference of gas flow rate due to the clogging effect. A smaller gas mass flow reduces the convective cooling at the arc border and decreases the power dissipation of the arc column, resulting in small axis temperatures.

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

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.

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.)

Evaluating the SCC resistance of underwater welds in sodium tetrathionate

International Nuclear Information System (INIS)

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

1997-01-01

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

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

Numerical Modeling of the Work Piece Region in the Plasma Arc Cutting Process

Science.gov (United States)

Osterhouse, David

The plasma arc cutting process is widely used for the cutting of metals. The process, however, is not fully understood and further understanding will lead to further improvements. This work aims to elucidate the fundamental physical phenomena in the region where the plasma interacts with the work piece through the use of numerical modeling techniques. This model follows standard computational fluid dynamic methods that have been suitably modified to include plasma effects, assuming either local thermodynamic equilibrium or a slight non-equilibrium captured by the two-temperature assumption. This is implemented in the general purpose, open source CFD package, OpenFOAM. The model is applied to a plasma flow through a geometry that extends from inside the plasma torch to the bottom of the slot cut in the work piece. The shape of the kerf is taken from experimental measurements. The results of this model include the temperature, velocity, and electrical current distribution throughout the plasma. From this, the heat flux to and drag force on the work piece are calculated. The location of the arc attachment in the cut slot is also noted because it is a matter of interest in the published literature as well as significantly effecting the dynamics of the heat flux and drag force. The results of this model show that the LTE formulation is not sufficient to capture the physics present due to unphysical fluid dynamic instabilities and numerical problems with the arc attachment. The two-temperature formulation, however, captures a large part of the physics present. Of particular note, it is found that an additional inelastic collision factor is necessary to describe the increased energy transfer between electrons and diatomic molecules, which is widely neglected in published literature. It is also found that inclusion of the oxygen molecular ion is necessary to accurately describe the plasma flow, which has been neglected in all published two-temperature oxygen calculations

The development of underwater remote cutting method for the disassembling of rotary specimen rack KRR-1 and 2

Energy Technology Data Exchange (ETDEWEB)

Lee, D. K.; Jung, K. H.; Lee, K. W.; Oh, W. J. [KAERI, Taejon (Korea, Republic of); Lee, K. Y. [Korea Institute of Industrial Technology, Kwangju (Korea, Republic of)

2004-07-01

The Rotary Specimen Racks (RSRs) were highly activated and then classified intermediate level radioactive waste for the decommissioning of KRR-1anel2. The RSR can be treated as low level radioactive waste after removing stainless steel parts. To reduce the volume of intermediate level radioactive waste, underwater cutting is required to separate stainless steel parts from RSR because of high radioactivity. In this study, the automatic remote cutting method was developed to disassemble RSR under water. For automatic remote cutting processes, a CAM (Computer Aided Manufacturing) system is employed. A computer inputs NC (Numerical Control) codes to the controller, which are based on CAM model, and the controller instructs the equipment to process according to NC codes automatically. And the cutting force model was improved to cut RSR stably. The automatic cutting was conducted using imitation of RSR and then it was resulted that the developed automatic cutting method can be safely disassemble stainless steel parts of RSR under water.

Underwater welding and repair technologies applied in PWR environment

International Nuclear Information System (INIS)

Scandella, Fabrice; Carpreau, Jean-Michel

2012-01-01

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

Application and development of dismantling technologies for decommissioning of nuclear installations

International Nuclear Information System (INIS)

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

2006-01-01

The decommissioning of nuclear installations poses a challenge to high performance underwater cutting technologies because of complex limiting conditions, like radioactive contamination, accessibility, geometry of work piece, material thickness and composition. For the safe dismantling of the moderator tank and the thermal shield of the Multi-purpose Research Reactor (MZFR) Karlsruhe the development and the use of thermal cutting tools will be demonstrated, in this case the underwater plasma arc cutting and the contact arc metal cutting (CAMC). (orig.)

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

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

Investigation of the Anode Attachment Process in Plasma Arc Cutting

International Nuclear Information System (INIS)

Eichler, Stefan; Schein, Jochen; Hussary, Nakhleh; Siewert, Erwan

2014-01-01

The anode attachment process in plasma arc cutting is still not well understood in spite of decades of industrial use. Previously, several approaches were made to analyze the attachment mechanisms including imaging, discharge current and voltage measurements as well as the use of thermocouples. In this paper a different approach is described to evaluate the attachment position. Six electrically separated water-cooled copper plates arranged in layers are used as an anode emulating a workpiece. The current through each layer is measured individually using current Hall sensors. The thus obtained information about the current distribution across each plate is used to deduce the anode attachment position inside the workpiece. This diagnostics allows a quick determination of the influence of process parameter variations like the cutting current, gas flow rate, cutting speed or the torch distance on the current distribution inside the workpiece. Using this setup, it is observed that no single attachment appears; the current is divided to flow through all anode segments. The torch distance and cutting speed proved to have the biggest influence on the anode current distribution. Comparison between measurements conducted with the new setup and an experiment using steel plates instead of copper plates is provided

Underwater laser cutting of metal structures

Energy Technology Data Exchange (ETDEWEB)

Alfille, J.P.; Prunele, D. de [CEA Centre d`Etudes de Saclay, 91 - Gif-sur-Yvette (France). Direction des Technologies Avancees; Pilot, G. [CEA Centre d`Etudes de Fontenay-aux-Roses, 92 (France). Dept. de Protection de l`Environnement et des Installations; Fredrick, P.; Ramaswami, V.S.; Muys, P. [Radius Engineering, Gent (Belgium)

1994-12-31

Cutting tests were carried out on stainless steel (304L) in air and under 7 meters of water (application to reactor pools), using CO{sub 2} and YAG lasers; results concerned cutting speed, quality of cut, cutting thickness. By-products of sectioning operations using a CO{sub 2} laser were studied: dross, aerosols, suspended particles in water, gas analysis, chemical analysis of the aerosols. Same measurements are currently being taken in the case of the YAG laser with beam transported via optical fiber. (from author). 16 figs., 2 tabs., 3 refs.

Underwater laser cutting of metal structures

International Nuclear Information System (INIS)

Alfille, J.P.; Prunele, D. de

1994-01-01

Cutting tests were carried out on stainless steel (304L) in air and under 7 meters of water (application to reactor pools), using CO 2 and YAG lasers; results concerned cutting speed, quality of cut, cutting thickness. By-products of sectioning operations using a CO 2 laser were studied: dross, aerosols, suspended particles in water, gas analysis, chemical analysis of the aerosols. Same measurements are currently being taken in the case of the YAG laser with beam transported via optical fiber. (from author). 16 figs., 2 tabs., 3 refs

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

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. 10 figures

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

International Nuclear Information System (INIS)

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

2009-01-01

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

Schlieren technique applied to the arc temperature measurement in a high energy density cutting torch

International Nuclear Information System (INIS)

Prevosto, L.; Mancinelli, B.; Artana, G.; Kelly, H.

2010-01-01

Plasma temperature and radial density profiles of the plasma species in a high energy density cutting arc have been obtained by using a quantitative schlieren technique. A Z-type two-mirror schlieren system was used in this research. Due to its great sensibility such technique allows measuring plasma composition and temperature from the arc axis to the surrounding medium by processing the gray-level contrast values of digital schlieren images recorded at the observation plane for a given position of a transverse knife located at the exit focal plane of the system. The technique has provided a good visualization of the plasma flow emerging from the nozzle and its interactions with the surrounding medium and the anode. The obtained temperature values are in good agreement with those values previously obtained by the authors on the same torch using Langmuir probes.

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.

Underwater transporting method and device for incore structure cutting piece

International Nuclear Information System (INIS)

Kurosawa, Koichi; Chiba, Noboru; Chiba, Isao; Takada, Hiroshi; Furukawa, Hideyasu; Chiba, Noboru.

1996-01-01

Cutting pieces are handled by using a pick-up device connected with a wire ropes, a take-up drum, chains and a winch as cutting piece handling means, and moved freely on the water surface by a propulsion machine of a transporting means of the device to transfer them under water to a predetermined position. The pick-up device is lifted by taking-up the rope by the rotation of the take-up drum using chain-driving by way of the winch and the chains. The cut pieces are stored in a cask by lowering them in the cask and releasing the handling. In addition, if the weight of the cut pieces is recognized before cutting, and the load of the weight of the cut pieces is applied to the device previously, the balance of the device and the cut pieces can be kept, and cut pieces can be transported under water always stably. Further, if the cut pieces are supported upon cutting operation, the cut pieces are made stable, and cutting operation with good efficiency can be attained. (N.H.)

Departures from local thermodynamic equilibrium in cutting arc plasmas derived from electron and gas density measurements using a two-wavelength quantitative Schlieren technique

International Nuclear Information System (INIS)

Prevosto, L.; Mancinelli, B.; Artana, G.; Kelly, H.

2011-01-01

A two-wavelength quantitative Schlieren technique that allows inferring the electron and gas densities of axisymmetric arc plasmas without imposing any assumption regarding statistical equilibrium models is reported. This technique was applied to the study of local thermodynamic equilibrium (LTE) departures within the core of a 30 A high-energy density cutting arc. In order to derive the electron and heavy particle temperatures from the inferred density profiles, a generalized two-temperature Saha equation together with the plasma equation of state and the quasineutrality condition were employed. Factors such as arc fluctuations that influence the accuracy of the measurements and the validity of the assumptions used to derive the plasma species temperature were considered. Significant deviations from chemical equilibrium as well as kinetic equilibrium were found at elevated electron temperatures and gas densities toward the arc core edge. An electron temperature profile nearly constant through the arc core with a value of about 14000-15000 K, well decoupled from the heavy particle temperature of about 1500 K at the arc core edge, was inferred.

An underwater shear compactor

International Nuclear Information System (INIS)

Biver, E.; Sims, J.

1997-01-01

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

Using minimal cuts to evaluate the system reliability of a stochastic-flow network with failures at nodes and arcs

International Nuclear Information System (INIS)

Lin, Y.-K.

2002-01-01

This paper deals with a stochastic-flow network in which each node and arc has a designated capacity, which will have different lower levels due to various partial and complete failures. We try to evaluate the system reliability that the maximum flow of the network is not less than a demand (d+1). A simple algorithm in terms of minimal cuts is first proposed to generate all upper boundary points for d, and then the system reliability can be calculated in terms of such points. The upper boundary point for d is a maximal vector, which represents the capacity of each component (arc or node), such that the maximum flow of the network is d. A computer example is shown to illustrate the solution procedure

Plasma Processes of Cutting and Welding

Science.gov (United States)

1976-02-01

TIG process. 2.2.2 Keyhole Welding In plasma arc welding , the term...Cutting 3 3 4 4 4 2.2 Plasma Arc Welding 5 2.2.1 Needle Arc Welding 2.2.2 Keyhole Welding 5 6 3. Applications 8 93.1 Economics 4. Environmental Aspects of...Arc Lengths III. Needle Arc Welding Conditions IV. Keyhole Welding Conditions v. Chemical Analyses of Plates Used - vii - 1. 2. 3. 4. 5. 6. 7. 8.

Development of cutting machine for disposal of highly activated equipments

International Nuclear Information System (INIS)

Iimura, Katumichi; Kitajima, Toshio; Hosokawa, Jinsaku; Abe, Shinichi; Takahashi, Kiyoshi; Ogawa, Mituhiro; Iwai, Takashi

1994-01-01

JMTR (Japan Materials Testing Reactor) Project has developed a cutting machine which can cut a highly activated in-pile tube under water and its performance and safety have been confirmed. This machine is for the purpose of cutting a multiplet structure pipe and made possible to cut it under water by adopting under-water discharge method. Furthermore, contamination of canal water and atmosphere is prevented by combining a filter with this machine. This report describes the outline and performance of the developed cutting machine and also results of cutting highly activated in-pile tubes. (author)

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

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

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)

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

Remote disassembly of radioactively contaminated vessels by means of an arc saw

International Nuclear Information System (INIS)

Beitel, G.A.

1977-01-01

The arc saw, a newly developed tool, is a toothless circular saw which cuts by means of an electric arc. Cutting speeds between 20 to 30 cm 2 /S and depths up to 45 cm are possible. There is no mechanical contact between blade and work piece, no binding, and no blade breakage. The arc saw will be applied to the rapid and remote disassembly of multiple ton, contaminated stainless steel vessels

Crustal growth of the Izu-Ogasawara arc estimated from structural characteristics of Oligocene arc

Science.gov (United States)

Takahashi, N.; Yamashita, M.; Kodaira, S.; Miura, S.; Sato, T.; No, T.; Tatsumi, Y.

2011-12-01

is covered with thick sediments with the age of Oligocene and that half graben structures are much identified between the Oligocene arc and the current volcanic front. This may suggest that the Oligocene arc in current fore-arc basin is cut off from the current volcanic arc. Therefore, the Oligocene arc in the fore-arc may still keep structural characteristics inside the body since Oligocene age, which are before cutting off from the current volcanic front.

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

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.

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.       

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.

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

New pulsed YAG laser performances in cutting thick metallic materials for nuclear applications

International Nuclear Information System (INIS)

Alfille, J.P.; Prunele, D. de; Pilot, G.

1996-01-01

The purpose of this study was to evaluate the capacities of the pulsed YAG laser thick cutting on metallic material and to compare with the CO 2 laser capacities. Stainless steel (304L) cutting tests were made in air and underwater using CO 2 and YAG lasers. A performance assessment was made for each laser and the wastes produced in the cutting operation were measured and the gases and the aerosols analyzed. The results show that the pulsed YAG laser is high performance tool for thick cutting and particularly attractive for nuclear applications

Arc damage characteristics of inter-anode insulators in MHD generator

International Nuclear Information System (INIS)

Kato, Ken; Takano, Kiyonami

1990-01-01

The inter-anode arc caused by a Hall field is driven by a magnetic field into the anode-wall in an MHD generator, which limits the lifetime and performance of the generator. The arc damage to inter-anode insulators of an MHD generator has been studied experimentally, in order to obtain basic data for the design of the inter-anode insulation. The experiment was conducted using a pair of electrodes with an insulator between them. Arc currents was supplied from a DC power source and magnetic field was applied perpendicular to the arc current. Experimental parameters are the insulator thickness, arc current, magnetic field and insulator materials. Quartz glass, boron nitride, magnesia, alumina, silicon carbide, silicon nitride etc. were tested and evaluated. The following conclusions are evident from the experiments. Boron nitride and quartz glass are the most promising inter-anode insulators. Boron nitride has a higher arc voltage and longer cutting time than quartz glass, and it is the best material. Cutting time is approximately proportional to the -0.4 th power of the magnetic field. Loss of insulator is approximately proportional to the 0.7 th power of the arc current. The arc voltage increases linearly with the inter anode gap length. It also increases with magnetic field, but decreases with increase of arc current. An equation which approximates to such relations of arc voltage versus inter-anode gap length, arc current and magnetic field has been obtained. The standard deviation of the error of this equation is 12 % for boron nitride and 15 % for quartz glass. (author)

Parametric studies of cutting zircaloy-2 sheets with a laser beam

International Nuclear Information System (INIS)

Ghosh, S.; Badgujar, B.P.; Goswami, G.L.

1996-01-01

The highly reactive and pyrophoric nature of zirconium alloys limits the use of conventional thermal sources (e.g., plasma arc cutting, oxygen flame cutting, etc.) for the cutting and drilling of these alloys. In this context, a highly coherent laser beam provides a good alternative for the cutting and drilling. In the present paper, laser beam cutting of zircaloy-2 sheets of 1.1 mm and 0.74 mm thickness is performed using a 300 W average power pulsed Nd:YAG laser. Pulse energy, pulse repetition rate, nozzle gap, gas pressure and cutting speed were varied to give different laser cutting conditions. Metallographic study of the cut surfaces showed the presence of transformed beta phase in the heat affected zone (HAZ) near the cut surface. The microhardness value across the cut surface was also measured. It showed a gradual increase in microhardness from the base metal (160 VHN) towards the HAZ having a maximum value of 365 VHN. The results of parametric studies of the cutting indicated that, with proper selection of process parameters, very narrow cuts can be easily made in zircaloy-2 using a pulsed Nd:YAG laser with a saving in material and at a much faster rate than alternative processes such as plasma arc cutting and oxygen flame cutting

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

Directory of Open Access Journals (Sweden)

Xin Liu

2018-01-01

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

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.

Demonstrating diamond wire cutting of the TFTR

International Nuclear Information System (INIS)

Rule, K.; Perry, E.; Larson, S.; Viola, M.

2000-01-01

The Tokamak Fusion Test Reactor (TFTR) ceased operation in April 1997 and decommissioning commenced in October 1999. The deuterium-tritium fusion experiments resulted in contaminating the vacuum vessel with tritium and activating the materials with 14 Mev neutrons. The total tritium content within the vessel is in excess of 7,000 Curies while dose rates approach 50 mRem/hr. These radiological hazards along with the size of the Tokamak (100 cubic meters) present a unique and challenging task for dismantling. Plasma arc cutting is the current baseline technology for the dismantlement of fission reactors. This technology is typically used because of its faster cutting times. Alternatively, an innovative approach for dismantlement of the TFTR is the use of diamond wire cutting technology. Recent improvements in diamond wire technology have allowed the cutting of carbon steel components such as pipe, plate, and tube bundles in heat exchangers. Some expected benefits of this technology include: significantly reduction in airborne contaminates, reduced personnel exposure, a reduced risk of spread of tritium contamination, and reduced overall costs as compared to using plasma arc cutting. This paper will provide detailed results of the diamond wire cutting demonstration that was completed in September of 1999, on a mock-up of this complex reactor. The results will identify cost, safety, industrial and engineering parameters, and the related performance of each situation

Demonstrating diamond wire cutting of the TFTR

Energy Technology Data Exchange (ETDEWEB)

Rule, K.; Perry, E.; Larson, S.; Viola, M. [and others

2000-02-24

The Tokamak Fusion Test Reactor (TFTR) ceased operation in April 1997 and decommissioning commenced in October 1999. The deuterium-tritium fusion experiments resulted in contaminating the vacuum vessel with tritium and activating the materials with 14 Mev neutrons. The total tritium content within the vessel is in excess of 7,000 Curies while dose rates approach 50 mRem/hr. These radiological hazards along with the size of the Tokamak (100 cubic meters) present a unique and challenging task for dismantling. Plasma arc cutting is the current baseline technology for the dismantlement of fission reactors. This technology is typically used because of its faster cutting times. Alternatively, an innovative approach for dismantlement of the TFTR is the use of diamond wire cutting technology. Recent improvements in diamond wire technology have allowed the cutting of carbon steel components such as pipe, plate, and tube bundles in heat exchangers. Some expected benefits of this technology include: significantly reduction in airborne contaminates, reduced personnel exposure, a reduced risk of spread of tritium contamination, and reduced overall costs as compared to using plasma arc cutting. This paper will provide detailed results of the diamond wire cutting demonstration that was completed in September of 1999, on a mock-up of this complex reactor. The results will identify cost, safety, industrial and engineering parameters, and the related performance of each situation.

An overview of reactor vessel internals segmentation for nuclear plant decommissioning

International Nuclear Information System (INIS)

Litka, T.J.

1994-01-01

Several nuclear plants have undergone reactor vessel (RV) internals segmentation as part of or in preparation for decommissioning the plant. In addition, several other nuclear facilities are planning for similar work efforts. The primary technology used for segmentation of RV internals, whether in-air or underwater is Plasma Arc Cutting (PAC). Metal Disintegration Machining (MDM) is also used for difficult to make cuts. PAC and MDM are deployed by various means including Long Handled Tools (LHTs), fixtures, tracks, and multi-axis manipulators. These enable remote cutting due to the radiation and/or underwater environment. A Boiling Water Reactor (BWR), a Pressurized Water Reactor (PWR), and a High Temperature Gas Reactor (HTGR) have had their internals removed and segmented using PAC and MDM. The cutting technology used for each component, location of cut, cut geometry and environment had to be determined well before the actual cutting operations. This allowed for the design, fabrication, and testing of the delivery systems. The technologies, selection process, and methodology for RV internals segmentation will be discussed in this paper

Plasma hot machining for difficult-to-cut materials, 1

International Nuclear Information System (INIS)

Kitagawa, Takeaki; Maekawa, Katsuhiro; Kubo, Akihiko

1987-01-01

Machinability of difficult-to-cut materials has been a great concern to manufacturing engineers since demands for new materials in the aerospace and nuclear industries are more and more increasing. The purpose of this study is to develop a hot machining to improve machinability of high hardness materials. A plasma arc is used for heating materials cut. The surface just after being heated is removed as a chip by tungsten carbide tools. The turning experiments of high hardness steels with aid of plasma arc heating show not only the decrease in cutting forces but also the following effectiveness: (1) The application of the plasma hot machining to the condition, under which a built-up edge (BUE) appears in turning 0.46%C steel, makes the BUE disappeared, bringing less flank wear. (2) In the case of 18%Mn steel cutting, deep groove wear on the end-cutting edge diminishes, and roughness of the machined surface is improved by the prevention from chatter. (3) Although the chilled cast iron has high hardness of above HB = 350, the plasma hot machining makes it possible to cut it with tungsten carbide tools having less chipping and flank wear. (author)

Submerged cutting of steel by abrasive water jets

International Nuclear Information System (INIS)

Haferkamp, H.; Louis, H.; Meier, G.

1990-01-01

A special cutting head for underwater use was designed and built. Tests were carried out to find out useful parameters for submerged cutting. With regard to the production of secondary waste the abrasive flow rate had to be minimized. This was achieved by using a small water jet nozzle (up to 0.4 mm diameter) and a high pressure (up to 4000 bar) with an optimal abrasive flow rate of about 5 g/s. In the case of a higher ambient pressure a decrease of the cutting performance was measured. But this decrease is not important regarding decommissioning because the ambient pressure is less than 2 bar. An air mantle nozzle was adapted to the cutting head to improve the working distance under water. The air mantle surrounding the abrasive jet lowers the friction between jet and surrounding water and increases the cutting efficiency in the case of greater working distances. (author)

Computing energy-optimal trajectories for an autonomous underwater vehicle using direct shooting

Directory of Open Access Journals (Sweden)

Inge Spangelo

1992-07-01

Full Text Available Energy-optimal trajectories for an autonomous underwater vehicle can be computed using a numerical solution of the optimal control problem. The vehicle is modeled with the six dimensional nonlinear and coupled equations of motion, controlled with DC-motors in all degrees of freedom. The actuators are modeled and controlled with velocity loops. The dissipated energy is expressed in terms of the control variables as a nonquadratic function. Direct shooting methods, including control vector parameterization (CVP arc used in this study. Numerical calculations are performed and good results are achieved.

Development of cutting technique of reactor core internals by CO laser

International Nuclear Information System (INIS)

Takano, G.; Beppu, S.; Matsumoto, O.; Sakamoto, N.; Onozawa, T.; Sugihara, M.; Miya, K.

1995-01-01

The CO laser is superior in the absorption characteristic to materials to the CO 2 laser due to its shorter wavelength. In consideration of this characteristic Nuclear Power Engineering Corporation is studying this applicability sponsored by the Ministry of International Trade Industry of Japan to cutting of reactor core internals of commercial nuclear power plant. In decommissioning of reactor core internals it is necessary to cut stainless steel plates of 305 mm thick. The authors cut stainless steel plates of up to 310mm thick in air and those of up to 150 mm thick underwater with a 20kW class laser. Further, models simulating key structural elements of PWR core internals were cut and secondary products to clarify the applicability of the CO laser cutting to reactor core internals were evaluated. (author)

Etching Effect of an Atmospheric DC Arc Plasmatron

International Nuclear Information System (INIS)

Chun, Se Min; Kim, Ji Hun; Kang, In Je; Lee, Heon Ju

2010-01-01

Thermal plasmas (especially arc plasma) were extensively industrialized, principally by aeronautic sector. Cold plasma technologies have been developed in the microelectronics but their vacuum equipment limits their implantation. Plasmas used in dry etching, thin film deposition and surface treatment for display or semiconductor industries are operating at low pressures in very costly due to the use of vacuum equipment and vacuum components. Use of DC arc plasmatrons in welding, soldering, and cutting of metals is well known. A DC-arc plasmatron with high durability was reported to be a suitable device for etching silicon and photo-resist surfaces

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)

Design of underwater work systems

International Nuclear Information System (INIS)

Lovelace, R.B.

1980-01-01

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

Decommissioning: dismantling of thickwalled steel structures using the contact-arc-metal-drilling technique. Final report

International Nuclear Information System (INIS)

Bach, F.W.; Lindemaier, J.; Philipp, E.

1998-01-01

1. Status of the technology: Today austenitic steel components with a material thickness of more than 200 mm cannot be cut surely by using conventional thermal cutting techniques. A reduction of the wall thickness, by using an effective cutting technique with low restoring forces, is necessary but not available, now. 2. Objectives: Target of the project was the qualification of the thermal contact-arc-metal-drilling technique, based on the contact-arc-metal-cutting technique for the reduction of the wall thickness of steel components in preparation for other cutting techniques to finish the dismantling task if necessary. 3. Methode: Development of the contact-arc-metal-drilling technique for the production of deep (>200 mm) blind holes with non-circular cross sections. Optimization of the drilling parameters and quantification of the released emissions under a radiological aspect. Development of a monitoring system for the electrode wear and a device for changing weared electrodes automatically. 4. Result: The contact-arc-metal-drilling technique was qualified by producing blind holes with a depth of 230 mm. The aerosols, hydrosols and gas emissions of the process were quantified and various monitoring techniques for the wear of the electrode were tested. A pneumatically aided clamping and changing device for electrodes was designed and tested. 5. Applications: The designed clamping device with its integrated pneumatically aided electrode release can be adapted directly to a tool guiding machine. Using this cutting technique steel components with a material thickness of 230 mm can be reduced to a remaining wall thickness and the released emissions can be estimated. (orig.) [de

Taiwan's underwater cultural heritage documentation management

Science.gov (United States)

Tung, Y.-Y.

2015-09-01

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

Blind equalization for underwater communications

NARCIS (Netherlands)

Blom, K.C.H.

2014-01-01

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

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

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.

Underwater wireless communication system

International Nuclear Information System (INIS)

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

2009-01-01

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

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…

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…

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

Science.gov (United States)

2017-06-01

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

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

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.

Some Windscale experience of the underwater examination of water reactor fuel assemblies

International Nuclear Information System (INIS)

Banks, D.A.; Prestwood, J.; Stuttard, A.

1981-01-01

Windscale Nuclear Laboratories have been involved in the underwater post irradiation examination of irradiated water reactor fuel since the early 1970's. Since the work of the laboratories covers a wide range of fuel types, the equipment has had to be capable of handling any design, long or short, circular or square. There has so far been no element of routine work in the tasks performed at Windscale, for in this period fuel assemblies from 9 LWR's and WSGHWR have been examined successfully. Individual jobs have ranged from visual examination which may be carried out at several magnifications, to the complete breakdown of a PWR assembly to its separate rods and grids. Between these limits rod bow and rod diameter have been measured, rod withdrawal forces determined, and eddy current test methods devised. Cutting equipment has been used for a variety of dismantling tasks, and underwater cameras have been employed for monochrome and colour photography, using standard and macro lenses. The equipment is described. (author)

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...

Remotely controlled inspection and handling systems for decommissioning tasks in nuclear facilities

International Nuclear Information System (INIS)

Schreck, G.; Bach, W.; Haferkamp, H.

1993-01-01

The Institut fur Werkstoffkunde at the University of Hanover has recently developed three remotely controlled systems for different underwater inspection and dismantling tasks. ODIN I is a tool guiding device, particularly being designed for the dismantling of the steam dryer housing of the KRB A power plant at Gundremmingen, Germany. After being approved by the licencing organization TUEV Bayern, hot operation started in November 1992. The seven axes remotely controlled handling system ZEUS, consisting of a three translatory axes guiding machine and a tool handling device with four rotatory axes, has been developed for the demonstration of underwater plasma arc cutting of spherical metallic components with great wall thicknesses. A specially designed twin sensor system and a modular torch, exchanged by means of a remote controlled tool changing device, will be used for different complex cutting tasks. FAUST, an autonomous, freediving underwater vehicle, was designed for complex inspection, maintenance and dismantling tasks. It is equipped with two video cameras, an ultrasonic and a radiologic sensor and a small plasma torch. A gripper and a subsidiary vehicle for inspection may be attached. (author)

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

A branch-and-cut-and-price algorithm for the mixed capacitated general routing problem

DEFF Research Database (Denmark)

Bach, Lukas; Wøhlk, Sanne; Lysgaard, Jens

2016-01-01

In this paper, we consider the Mixed Capacitated General Routing Problem which is a combination of the Capacitated Vehicle Routing Problem and the Capacitated Arc Routing Problem. The problem is also known as the Node, Edge, and Arc Routing Problem. We propose a Branch-and-Cut-and-Price algorithm...

Ag-catalysed cutting of multi-walled carbon nanotubes

International Nuclear Information System (INIS)

La Torre, A; Rance, G A; Miners, S A; Lucas, C Herreros; Smith, E F; Giménez-López, M C; Khlobystov, A N; Fay, M W; Brown, P D; Zoberbier, T; Kaiser, U

2016-01-01

In this work, the cutting of carbon nanotubes is investigated using silver nanoparticles deposited on arc discharge multi-walled carbon nanotubes. The composite is subsequently heated in air to fabricate shortened multi-walled nanotubes. Complementary transmission electron microscopy and spectroscopy techniques shed light on the cutting mechanism. The nanotube cutting is catalysed by the fundamental mechanism based on the coordination of the silver atoms to the π-bonds of carbon nanotubes. As a result of the metal coordination, the strength of the carbon–carbon bond is reduced, promoting the oxidation of carbon at lower temperature when heated in air, or lowering the activation energy required for the removal of carbon atoms by electron beam irradiation, assuring in both cases the cutting of the nanotubes. (paper)

ROV Based Underwater Blurred Image Restoration

Institute of Scientific and Technical Information of China (English)

LIU Zhishen; DING Tianfu; WANG Gang

2003-01-01

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

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.

Dictionary: Welding, cutting and allied processes. Pt. 2. German/English. Fachwoerterbuch: Schweissen, Schneiden und verwandte Verfahren. Bd. 2. Deutsch/Englisch

Energy Technology Data Exchange (ETDEWEB)

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.

Underwater welding of steel

International Nuclear Information System (INIS)

Ibarra, S.; Olson, D.L.

1992-01-01

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

Colour reconstruction of underwater images

OpenAIRE

Hoth, Julian; Kowalczyk, Wojciech

2017-01-01

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

Quantum imaging for underwater arctic navigation

Science.gov (United States)

Lanzagorta, Marco

2017-05-01

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

Predicting carcass cut yield by carcass weight and visual ...

African Journals Online (AJOL)

Strydom

Predicting yields of high priced trimmed beef cuts by means of carcass weight and visual assessments ... E-mail: pstrydom@arc.agric.za ... The lack of consensus in the scientific literature about the effect of conformation or shape of the carcass ...

An evaluation of alternative reactor vessel cutting technologies for the decommissioning of the experimental boiling water reactor at Argonne National Laboratory

International Nuclear Information System (INIS)

Boing, L.E.; Henley, D.R.; Manion, W.J.; Gordon, J.W.

1991-01-01

This paper will detail (1) a brief overview of the current status of the EBWR D ampersand D Project, and (2) the results of a study performed to evaluate the metal cutting technologies available to size reduce the EBWR reactor vessel. The techniques evaluated were: Plasma arc, Arc saw, Oxyacetylene, Electric arc gouging, Mechanical cladding removal/flame cutting, Exothermic reaction, Diamond wire, Water jet, Laser, Mechanical milling, Controlled explosives, and Electrical discharge. After a detailed review of these 12 techniques, the decision was made by ANL that the most appropriate method for segmenting the EBWR reactor vessel would be to rift the vessel from the vessel cavity and use an abrasive water jet positioned on the main floor to perform the cutting of the reactor vessel

Autonomous Underwater Gliders

OpenAIRE

Wood,; Stephen,

2009-01-01

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

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.)

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

International Nuclear Information System (INIS)

Zhu, Jiajian; Sun, Zhiwei; Li, Zhongshan; Ehn, Andreas; Aldén, Marcus; Salewski, Mirko; Leipold, Frank; Kusano, Yukihiro

2014-01-01

We demonstrate a plasma discharge which is generated between two diverging electrodes and extended into a gliding arc in non-equilibrium condition by an air flow at atmospheric pressure. Effects of the air flow rates on the dynamics, ground-state OH distributions and spectral characterization of UV 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 occur more frequently at higher flow rates. The anchor points of the gliding arc are mostly steady at the top of the electrodes at lower flow rates whereas at higher flow rates they glide up along the electrodes most of the time. The afterglow of fully developed gliding arcs is observed to decay over 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-state OH were investigated using planar laser-induced fluorescence. The results show that the shape, height, intensity and thickness of ground-state OH distribution vary significantly with air flow rates. Finally, UV emission of the gliding arc is measured using optical emission spectroscopy and it is found that the emission intensity of NO γ (A-X), OH (A-X) and N 2 (C-B) increase with the flow rates showing more characteristics of spark-type arcs. The observed phenomena indicate the significance of the interaction between local turbulence and the gliding arc. (paper)

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

Science.gov (United States)

Zhu, Jiajian; Sun, Zhiwei; Li, Zhongshan; Ehn, Andreas; Aldén, Marcus; Salewski, Mirko; Leipold, Frank; Kusano, Yukihiro

2014-07-01

We demonstrate a plasma discharge which is generated between two diverging electrodes and extended into a gliding arc in non-equilibrium condition by an air flow at atmospheric pressure. Effects of the air flow rates on the dynamics, ground-state OH distributions and spectral characterization of UV 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 occur more frequently at higher flow rates. The anchor points of the gliding arc are mostly steady at the top of the electrodes at lower flow rates whereas at higher flow rates they glide up along the electrodes most of the time. The afterglow of fully developed gliding arcs is observed to decay over 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-state OH were investigated using planar laser-induced fluorescence. The results show that the shape, height, intensity and thickness of ground-state OH distribution vary significantly with air flow rates. Finally, UV emission of the gliding arc is measured using optical emission spectroscopy and it is found that the emission intensity of NO γ (A-X), OH (A-X) and N2 (C-B) increase with the flow rates showing more characteristics of spark-type arcs. The observed phenomena indicate the significance of the interaction between local turbulence and the gliding arc.

Plasma flow in a pressure pulsed argon cascade arc

NARCIS (Netherlands)

de Haas, J.C.M.; Bol, L.; Kroesen, G.M.W.; Timmermans, C.J.; Timmermans, C.J.

1985-01-01

Flowing thermal plasmas are frequently used e . g. in welding, cutting, plasma deposition and testing materials at high temperatures . In most of the applications the geometry is complex . In the cascade arc the argon plasma flows through a straight circular channel with a constant area. The study

Underwater Acoustic Networking Techniques

CERN Document Server

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

2012-01-01

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

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

Underwater Acoustic Tracer System

Science.gov (United States)

2009-03-13

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

Cutting technique for reactor internals by laser beam

International Nuclear Information System (INIS)

Matsumoto, O.; Sugihara, M.; Matsuda, K.; Miya, K.

1990-01-01

At present in Japan the verification tests on the commercial nuclear power reactor decommissioning technology are being conducted as the project of The Ministry of International Trade and Industry by Nuclear Power Engineering Test Center. This paper summarizes the interim results of the verification test for the reactor core internals decommissioning technology, which is being conducted from 1986 as a theme of the above project. All core internals to be studied here are made of stainless steel, and the maximum wall thickness is about 500mm (the maximum one to be cut is about 300mm) for the PWR's, and about 100mm for the BWR's. Though the plasma cutting, arc saw cutting method, etc. have been studied u p to now as the cutting technology for decommissioning these core internals, the authors are carrying out the development and verification test of the cutting technology with the laser beam, which is expected to increase its power in future and can be applied to various materials

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

Science.gov (United States)

2011-03-01

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

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

Determining spherical lens correction for astronaut training underwater.

Science.gov (United States)

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

2011-09-01

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

Dynamics and Control of Underwater Gliders I: Steady Motions

OpenAIRE

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

2007-01-01

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

Development of thick wall welding and cutting tools for ITER

International Nuclear Information System (INIS)

Nakahira, Masataka; Takahashi, Hiroyuki; Akou, Kentaro; Koizumi, Koichi

1998-01-01

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)

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)

Human Injury Criteria for Underwater Blasts.

Directory of Open Access Journals (Sweden)

Rachel M Lance

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

Underwater Gliders by Dr. Kevin Smith [video

OpenAIRE

Naval Postgraduate School Physics

2015-01-01

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

Underwater Ranging

OpenAIRE

S. P. Gaba

1984-01-01

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

UNDERWATER COATINGS FOR CONTAMINATION CONTROL

International Nuclear Information System (INIS)

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

2004-01-01

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

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.

Method of center localization for objects containing concentric arcs

Science.gov (United States)

Kuznetsova, Elena G.; Shvets, Evgeny A.; Nikolaev, Dmitry P.

2015-02-01

This paper proposes a method for automatic center location of objects containing concentric arcs. The method utilizes structure tensor analysis and voting scheme optimized with Fast Hough Transform. Two applications of the proposed method are considered: (i) wheel tracking in video-based system for automatic vehicle classification and (ii) tree growth rings analysis on a tree cross cut image.

Underwater Gliders: A Review

OpenAIRE

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

2014-01-01

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

Manipulator and materials handling systems for reactor decommissioning -Cooperation between the university and the plant operator

International Nuclear Information System (INIS)

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

1995-01-01

Nuclear reactor dismantling requires suitable handling systems for tools and disassembled components, as well as qualified and reliable disassembly and cutting techniques. From the angle of radiation protection, remote-controlled handling techniques and underwater techniques are the methods of choice, the latter particularly in continuation of plant operating conditions, and this all the more the more disassembly work proceeds towards the reactor core. With the experience accumulated for 20 years now by the Institut fuer Werkstoffkunde (materials science) of Hannover University by basic research and application-oriented development work in the field of thermal cutting technology, especially plasma arc cutting techniques, as well as development work in the field of remote-controlled materials handling systems, the institute is the cut-out partner for disassembly tasks in reactor decommissioning. (Orig./DG) [de

Underwater Calibration of Dome Port Pressure Housings

Science.gov (United States)

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

2016-03-01

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

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.

Underwater 3D filming

OpenAIRE

Rinaldi, Roberto

2014-01-01

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

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

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.

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.

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.

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

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.

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.

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.

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...

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

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.

3D Laser Scanner for Underwater Manipulation.

Science.gov (United States)

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

2018-04-04

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

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.

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...

Langmuir probe measurements in a time-fluctuating-highly ionized non-equilibrium cutting arc: Analysis of the electron retarding part of the time-averaged current-voltage characteristic of the probe

Energy Technology Data Exchange (ETDEWEB)

Prevosto, L.; Mancinelli, B. [Grupo de Descargas Eléctricas, Departamento Ing. Electromecánica, Facultad Regional Venado Tuerto (UTN), Laprida 651, Venado Tuerto (2600) Santa Fe (Argentina); Kelly, H. [Grupo de Descargas Eléctricas, Departamento Ing. Electromecánica, Facultad Regional Venado Tuerto (UTN), Laprida 651, Venado Tuerto (2600) 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)

2013-12-15

This work describes the application of Langmuir probe diagnostics to the measurement of the electron temperature in a time-fluctuating-highly ionized, non-equilibrium cutting arc. The electron retarding part of the time-averaged current-voltage characteristic of the probe was analysed, assuming that the standard exponential expression describing the electron current to the probe in collision-free plasmas can be applied under the investigated conditions. A procedure is described which allows the determination of the errors introduced in time-averaged probe data due to small-amplitude plasma fluctuations. It was found that the experimental points can be gathered into two well defined groups allowing defining two quite different averaged electron temperature values. In the low-current region the averaged characteristic was not significantly disturbed by the fluctuations and can reliably be used to obtain the actual value of the averaged electron temperature. In particular, an averaged electron temperature of 0.98 ± 0.07 eV (= 11400 ± 800 K) was found for the central core of the arc (30 A) at 3.5 mm downstream from the nozzle exit. This average included not only a time-average over the time fluctuations but also a spatial-average along the probe collecting length. The fitting of the high-current region of the characteristic using such electron temperature value together with the corrections given by the fluctuation analysis showed a relevant departure of local thermal equilibrium in the arc core.

Langmuir probe measurements in a time-fluctuating-highly ionized non-equilibrium cutting arc: Analysis of the electron retarding part of the time-averaged current-voltage characteristic of the probe

International Nuclear Information System (INIS)

Prevosto, L.; Mancinelli, B.; Kelly, H.

2013-01-01

This work describes the application of Langmuir probe diagnostics to the measurement of the electron temperature in a time-fluctuating-highly ionized, non-equilibrium cutting arc. The electron retarding part of the time-averaged current-voltage characteristic of the probe was analysed, assuming that the standard exponential expression describing the electron current to the probe in collision-free plasmas can be applied under the investigated conditions. A procedure is described which allows the determination of the errors introduced in time-averaged probe data due to small-amplitude plasma fluctuations. It was found that the experimental points can be gathered into two well defined groups allowing defining two quite different averaged electron temperature values. In the low-current region the averaged characteristic was not significantly disturbed by the fluctuations and can reliably be used to obtain the actual value of the averaged electron temperature. In particular, an averaged electron temperature of 0.98 ± 0.07 eV (= 11400 ± 800 K) was found for the central core of the arc (30 A) at 3.5 mm downstream from the nozzle exit. This average included not only a time-average over the time fluctuations but also a spatial-average along the probe collecting length. The fitting of the high-current region of the characteristic using such electron temperature value together with the corrections given by the fluctuation analysis showed a relevant departure of local thermal equilibrium in the arc core

Langmuir probe measurements in a time-fluctuating-highly ionized non-equilibrium cutting arc: analysis of the electron retarding part of the time-averaged current-voltage characteristic of the probe.

Science.gov (United States)

Prevosto, L; Kelly, H; Mancinelli, B

2013-12-01

This work describes the application of Langmuir probe diagnostics to the measurement of the electron temperature in a time-fluctuating-highly ionized, non-equilibrium cutting arc. The electron retarding part of the time-averaged current-voltage characteristic of the probe was analysed, assuming that the standard exponential expression describing the electron current to the probe in collision-free plasmas can be applied under the investigated conditions. A procedure is described which allows the determination of the errors introduced in time-averaged probe data due to small-amplitude plasma fluctuations. It was found that the experimental points can be gathered into two well defined groups allowing defining two quite different averaged electron temperature values. In the low-current region the averaged characteristic was not significantly disturbed by the fluctuations and can reliably be used to obtain the actual value of the averaged electron temperature. In particular, an averaged electron temperature of 0.98 ± 0.07 eV (= 11400 ± 800 K) was found for the central core of the arc (30 A) at 3.5 mm downstream from the nozzle exit. This average included not only a time-average over the time fluctuations but also a spatial-average along the probe collecting length. The fitting of the high-current region of the characteristic using such electron temperature value together with the corrections given by the fluctuation analysis showed a relevant departure of local thermal equilibrium in the arc core.

Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle

Directory of Open Access Journals (Sweden)

Francisco García-Córdova

2013-04-01

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

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.

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.)

3D Laser Scanner for Underwater Manipulation

Directory of Open Access Journals (Sweden)

Albert Palomer

2018-04-01

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

Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

DEFF Research Database (Denmark)

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

2015-01-01

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

Nanašanje trdih zaščitnih prevlek s katodnim lokom: Cathodic arc plasma deposition of hard protective coatings:

OpenAIRE

Panjan, Peter

2002-01-01

The cathodic arc evaporation process is based upon the vacuum arc, the physics of which is still under investigation. This method is using almost exclusively for the deposition of wear-resistant coatings onto cutting and forming tools. The method is fast, effective, and relatively cost efficient. This paper reviews the arc evaporation process. Naparevanje s katodnim lokom temelji na plazemskem loku, ki ga prižegmo v vakuumu. Postopek se uporablja skoraj izključno za pripravo trdih zaščitni...

Equipment and appliances for underwater operations. Pt. 2

International Nuclear Information System (INIS)

Krueger, P.

1976-01-01

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

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...

Underwater image mosaicking and visual odometry

Science.gov (United States)

Sadjadi, Firooz; Tangirala, Sekhar; Sorber, Scott

2017-05-01

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

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.

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.

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.

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.

The influence of underwater turbulence on optical phase measurements

Science.gov (United States)

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

2016-05-01

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

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)

Optimal Node Placement in Underwater Wireless Sensor Networks

KAUST Repository

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

2013-01-01

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

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

Development and verification test on remote plasma cutting of large metallic waste

International Nuclear Information System (INIS)

Ozawa, Tamotsu; Yamada, Kunitaka; Abe, Tadashi

1979-01-01

Plasma cutting is the cutting method to melt and scatter cut objects by generating arc between an electrode in a nozzle and the cut objects and making working gas fed to surround it into high temperature, high speed plasma jet. In case of remote plasma cutting, a torch for the plasma cutting is operated remotely with a manipulator from the outside of a cell. At the time of planning the method of breaking up solid wastes, the type of cutting machines and the method of remote operation of the cutting machines and cut objects were examined. It was decided to adopt plasma cutting machines, because their cutting capability such as materials, thickness and cutting speed is excellent, and the construction and handling are simple. The form of the solid wastes to be cut is not uniform, accordingly the method of manipulator operation was adopted to respond to various forms flexibly. Cut objects are placed on a turntable to change the position successively. In case of remote plasma cutting, the controls of torch speed and gap must be made with a manipulator. The use of light-shielding glasses reduces largely the watchability of cut objects and becomes hindrance in the operation. As for the safety aspect, the suitable gas for cutting, which does not contain hydrogen, must be selected. The tests carried out for two years since November, 1977, are reported in this paper, and most of the problems have been solved. (Kako, I.)

Operational experience in underwater photogrammetry

Science.gov (United States)

Leatherdale, John D.; John Turner, D.

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

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.

Metal halide arc discharge lamp having short arc length

Science.gov (United States)

Muzeroll, Martin E. (Inventor)

1994-01-01

A metal halide arc discharge lamp includes a sealed light-transmissive outer jacket, a light-transmissive shroud located within the outer jacket and an arc tube assembly located within the shroud. The arc tube assembly includes an arc tube, electrodes mounted within the arc tube and a fill material for supporting an arc discharge. The electrodes have a spacing such that an electric field in a range of about 60 to 95 volts per centimeter is established between the electrodes. The diameter of the arc tube and the spacing of the electrodes are selected to provide an arc having an arc diameter to arc length ratio in a range of about 1.6 to 1.8. The fill material includes mercury, sodium iodide, scandium tri-iodide and a rare gas, and may include lithium iodide. The lamp exhibits a high color rendering index, high lumen output and high color temperature.

Determination of plasma velocity from light fluctuations in a cutting torch

International Nuclear Information System (INIS)

Prevosto, L.; Mancinelli, B.; Kelly, H.

2009-01-01

Measurements of plasma velocities in a 30 A high energy density cutting torch are reported. The velocity diagnostic is based on the analysis of the light fluctuations emitted by the arc which are assumed to propagate with the flow velocity. These light fluctuations originate from plasma temperature and plasma density fluctuations mainly due to hydrodynamic instabilities. Fast photodiodes are employed as the light sensors. The arc core velocity was obtained from spectrally filtered light fluctuations measurements using a band-pass filter to detect light emission fluctuations emitted only from the arc axis. Maximum plasma jet velocities of 5000 m s -1 close to the nozzle exit and about 2000 m s -1 close to the anode were found. The obtained velocity values are in good agreement with those values predicted by a numerical code for a similar torch to that employed in this work.

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.

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.

FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES

Directory of Open Access Journals (Sweden)

R. Rinaldi

2015-04-01

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

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.

Low-contrast underwater living fish recognition using PCANet

Science.gov (United States)

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

2018-04-01

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

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.

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

Robust Branch-Cut-and-Price for the Capacitated Minimum Spanning Tree Problem over a Large Extended Formulation

DEFF Research Database (Denmark)

Uchoa, Eduardo; Fukasawa, Ricardo; Lysgaard, Jens

This paper presents a robust branch-cut-and-price algorithm for the Capacitated Minimum Spanning Tree Problem (CMST). The variables are associated to q-arbs, a structure that arises from a relaxation of the capacitated prize-collecting arborescence problem in order to make it solvable in pseudo......-polynomial time. Traditional inequalities over the arc formulation, like Capacity Cuts, are also used. Moreover, a novel feature is introduced in such kind of algorithms. Powerful new cuts expressed over a very large set of variables could be added, without increasing the complexity of the pricing subproblem...

Growth and mass wasting of volcanic centers in the northern South Sandwich arc, South Atlantic, revealed by new multibeam mapping

OpenAIRE

Leat, Philip T.; Tate, Alex J.; Tappin, David R.; Day, Simon J.; Owen, Matthew J.

2010-01-01

New multibeam (swath) bathymetric sonar data acquired using an EM120 system on the RRS James Clark Ross, supplemented by sub-bottom profiling, reveals the underwater morphology of a not, vert, similar 12,000 km2 area in the northern part of the mainly submarine South Sandwich volcanic arc. The new data extend between 55° 45′S and 57° 20′S and include Protector Shoal and the areas around Zavodovski, Visokoi and the Candlemas islands groups. Each of these areas is a discrete volcanic center. T...

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

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.

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.

Design and Evaluation Methods for Underwater Control Systems

Energy Technology Data Exchange (ETDEWEB)

Chi, Lin

1997-12-31

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

Construction Method of the Topographical Features Model for Underwater Terrain Navigation

Directory of Open Access Journals (Sweden)

Wang Lihui

2015-09-01

Full Text Available Terrain database is the reference basic for autonomous underwater vehicle (AUV to implement underwater terrain navigation (UTN functions, and is the important part of building topographical features model for UTN. To investigate the feasibility and correlation of a variety of terrain parameters as terrain navigation information metrics, this paper described and analyzed the underwater terrain features and topography parameters calculation method. Proposing a comprehensive evaluation method for terrain navigation information, and constructing an underwater navigation information analysis model, which is associated with topographic features. Simulation results show that the underwater terrain features, are associated with UTN information directly or indirectly, also affect the terrain matching capture probability and the positioning accuracy directly.

Arc Shape Characteristics with Ultra-High-Frequency Pulsed Arc Welding

Directory of Open Access Journals (Sweden)

Mingxuan Yang

2017-01-01

Full Text Available Arc plasma possesses a constriction phenomenon with a pulsed current. The constriction is created by the Lorentz force, the radial electromagnetic force during arc welding, which determines the energy distribution of the arc plasma. Welding experiments were carried out with ultra-high-frequency pulsed arc welding (UHFP-AW. Ultra-high-speed camera observations were produced for arc surveillance. Hue-saturation-intensity (HSI image analysis was used to distinguish the regions of the arc plasma that represented the heat energy distribution. The measurement of arc regions indicated that, with an ultra-high-frequency pulsed arc, the constriction was not only within the decreased arc geometry, but also within the constricted arc core region. This can be checked by the ratio of the core region to the total area. The arc core region expanded significantly at 40 kHz at 60 A. A current level of 80 A caused a decrease in the total region of the arc. Meanwhile, the ratio of the core region to the total increased. It can be concluded that arc constriction depends on the increased area of the core region with the pulsed current (>20 kHz.

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

Directory of Open Access Journals (Sweden)

A. GÖKDENİZ

2013-03-01

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

Blue-light digital communication in underwater environments utilizing orbital angular momentum

Science.gov (United States)

Baghdady, Joshua; Miller, Keith; Osler, Sean; Morgan, Kaitlyn; Li, Wenzhe; Johnson, Eric; Cochenour, Brandon

2016-05-01

Underwater optical communication has recently become the topic of much investigation as the demands for underwater data transmission have rapidly grown in recent years. The need for reliable, high-speed, secure underwater communication has turned increasingly to blue-light optical solutions. The blue-green visible wavelength window provides an attractive solution to the problem of underwater data transmission thanks to its low attenuation, where traditional RF solutions used in free-space communications collapse. Beginning with GaN laser diodes as the optical source, this work explores the encoding and transmission of digital data across underwater environments of varying turbidities. Given the challenges present in an underwater environment, such as the mechanical and optical turbulences that make proper alignment difficult to maintain, it is desirable to achieve extremely high data rates in order to allow the time window of alignment between the transmitter and receiver to be as small as possible. In this paper, work is done to increase underwater data rates through the use of orbital angular momentum. Results are shown for a range of data rates across a variety of channel types ranging in turbidity from that of a clear ocean to a dirty harbor.

Underwater 3D Surface Measurement Using Fringe Projection Based Scanning Devices.

Science.gov (United States)

Bräuer-Burchardt, Christian; Heinze, Matthias; Schmidt, Ingo; Kühmstedt, Peter; Notni, Gunther

2015-12-23

In this work we show the principle of optical 3D surface measurements based on the fringe projection technique for underwater applications. The challenges of underwater use of this technique are shown and discussed in comparison with the classical application. We describe an extended camera model which takes refraction effects into account as well as a proposal of an effective, low-effort calibration procedure for underwater optical stereo scanners. This calibration technique combines a classical air calibration based on the pinhole model with ray-based modeling and requires only a few underwater recordings of an object of known length and a planar surface. We demonstrate a new underwater 3D scanning device based on the fringe projection technique. It has a weight of about 10 kg and the maximal water depth for application of the scanner is 40 m. It covers an underwater measurement volume of 250 mm × 200 mm × 120 mm. The surface of the measurement objects is captured with a lateral resolution of 150 μm in a third of a second. Calibration evaluation results are presented and examples of first underwater measurements are given.

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.

Study of archaeological underwater finds: deterioration and conservation

Science.gov (United States)

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

2010-09-01

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

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

KAUST Repository

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

2017-01-01

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

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.

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.

WODA Technical Guidance on Underwater Sound from Dredging.

Science.gov (United States)

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

2016-01-01

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

Communication and cooperation in underwater acoustic networks

Science.gov (United States)

Yerramalli, Srinivas

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

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.

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

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.

Optimization of an Intelligent Controller for an Unmanned Underwater Vehicle

Directory of Open Access Journals (Sweden)

M. Fauzi Nor Shah

2011-08-01

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

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.

Underwater Shock Wave Research Applied to Therapeutic Device Developments

Science.gov (United States)

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

2013-07-01

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

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

Science.gov (United States)

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

2017-10-01

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

Skin Cut Construction

DEFF Research Database (Denmark)

2017-01-01

projects - among others - from ARC are included: Soft Structures builds upon of a series of experimental use of EPS hot wire cutting, where the EPS eventually act as formwork for concrete casting. The processing of the EPS is distinct and delimited by the behaviour and form of both the robot and tool...... of steel and concrete makes it a reliable approach to many challenges in the realisation of buildings. Rebar Inside Out attempts to rethink the possibilities of the reinforced concrete composite starting from its inside. This means starting with the reinforcing steel, the production and shaping of this......, and then through that process build a workflow for the production of the concrete composite. It also means letting the steel out of the concrete, thereby positioning the two materials in a transnational relationship between steel construction and concrete composite....

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.)

OPTICAL correlation identification technology applied in underwater laser imaging target identification

Science.gov (United States)

Yao, Guang-tao; Zhang, Xiao-hui; Ge, Wei-long

2012-01-01

The underwater laser imaging detection is an effective method of detecting short distance target underwater as an important complement of sonar detection. With the development of underwater laser imaging technology and underwater vehicle technology, the underwater automatic target identification has gotten more and more attention, and is a research difficulty in the area of underwater optical imaging information processing. Today, underwater automatic target identification based on optical imaging is usually realized with the method of digital circuit software programming. The algorithm realization and control of this method is very flexible. However, the optical imaging information is 2D image even 3D image, the amount of imaging processing information is abundant, so the electronic hardware with pure digital algorithm will need long identification time and is hard to meet the demands of real-time identification. If adopt computer parallel processing, the identification speed can be improved, but it will increase complexity, size and power consumption. This paper attempts to apply optical correlation identification technology to realize underwater automatic target identification. The optics correlation identification technology utilizes the Fourier transform characteristic of Fourier lens which can accomplish Fourier transform of image information in the level of nanosecond, and optical space interconnection calculation has the features of parallel, high speed, large capacity and high resolution, combines the flexibility of calculation and control of digital circuit method to realize optoelectronic hybrid identification mode. We reduce theoretical formulation of correlation identification and analyze the principle of optical correlation identification, and write MATLAB simulation program. We adopt single frame image obtained in underwater range gating laser imaging to identify, and through identifying and locating the different positions of target, we can improve

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.

Dismantling of Evaporators by Laser Cutting Measurement of Secondary Emissions

International Nuclear Information System (INIS)

Pilot, Guy; Fauvel, Sylvain; Gosse, Xavier; De Dinechin, Guillaume

2006-01-01

in the experiments with a filtration efficiency greater than 85% and the acoustic de-clogging system was very useful, compared to other cutting tools already tested in similar conditions (reciprocating saw, 50 A plasma torch, 200 A plasma torch, grinder, 1 kW laser without assistant gas, arc-air and arc saw), the 4 kW laser produced less secondary emissions than all other tools and less aerosols than the other thermal tools. (authors)

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.

Restoration and Enhancement of Underwater Images Based on Bright Channel Prior

Directory of Open Access Journals (Sweden)

Yakun Gao

2016-01-01

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

Underwater inverse LIBS (iLIBS) for marine archaeology

Science.gov (United States)

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

2013-05-01

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

Fundamentals studies of a magnetically steered vacuum arc

Science.gov (United States)

Walke, Paul

In recent years demand from production industry for high performance cutting tools, aero and automobile engine parts has prompted research into both existing and novel methods of laying down hard, low friction coatings . A key process for the production of such coatings has been Physical Vapour Deposition (PVD) which has proved to be a consistent and reliable tool for industry. For this technique to continue to be improved and more advanced coatings to be produced, research at the fundamental level is required. This thesis describes research investigating the behaviour of the steered arc cathode spot and methods of improving existing steered arc coating technology.The majority of existing steered arc systems use either permanent magnets or a combination of permanent and electromagnets to steer the arc. Described here is a novel system which employs a pair of electromagnetic coils of cylindrical geometry which enable the arc to be positioned on a circular orbit through a range of continuously variable radii. In addition to this the coils are capable of controlling the transverse and normal magnetic field profiles independently of the steering radius selected. This enables the behaviour of the arc spot to be investigated under a range of magnetic field conditions thus allowing the comparison of measured arc behaviour with a new model of arc motion. Care has described the motion of the arc spot as a biased random walk and has derived an analytical solution to describe the time dependent, probability density function for the arc position in two dimensions. Two distributions are proposed (one in each dimension); the first describes the probability density for the arc position in the direction of driven motion, the second the probability density in the direction of arc confinement. The shape of these distributions is dependent upon the transverse and normal components of the applied magnetic field.A series of experiments are described here that measure the shape of these

Remarks on the observability of single beacon underwater navigation

DEFF Research Database (Denmark)

Jouffroy, Jerome; Ross, Andrew

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

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.

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.

Underwater Acoustic Target Tracking: A Review

Science.gov (United States)

Han, Ying; Fan, Liying

2018-01-01

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

Afocal viewport optics for underwater imaging

Science.gov (United States)

Slater, Dan

2014-09-01

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

Underwater running device

International Nuclear Information System (INIS)

Kogure, Sumio; Matsuo, Takashiro; Yoshida, Yoji

1996-01-01

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

On arc efficiency in gas tungsten arc welding

Directory of Open Access Journals (Sweden)

Nils Stenbacka

2013-12-01

Full Text Available The aim of this study was to review the literature on published arc efficiency values for GTAW and, if possible, propose a narrower band. Articles between the years 1955 - 2011 have been found. Published arc efficiency values for GTAW DCEN show to lie on a wide range, between 0.36 to 0.90. Only a few studies covered DCEP - direct current electrode positive and AC current. Specific information about the reproducibility in calorimetric studies as well as in modeling and simulation studies (considering that both random and systematic errors are small was scarce. An estimate of the average arc efficiency value for GTAW DCEN indicates that it should be about 0.77. It indicates anyway that the GTAW process with DCEN is an efficient welding method. The arc efficiency is reduced when the arc length is increased. On the other hand, there are conflicting results in the literature as to the influence of arc current and travel speed.

Smelling and Tasting Underwater.

Science.gov (United States)

Atema, Jelle

1980-01-01

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

Polarization Calculation and Underwater Target Detection Inspired by Biological Visual Imaging

Directory of Open Access Journals (Sweden)

Jie Shen

2014-04-01

Full Text Available In challenging underwater environments, the polarization parameter maps calculated by the Stokes model are characterized by the high noise and error, harassing the underwater target detection tasks. In order to solve this problem, this paper proposes a novel bionic polarization calculation and underwater target detection method by modeling the visual system of mantis shrimps. This system includes many operators including a polarization-opposition calculation, a factor optimization and a visual neural network model. A calibration learning method is proposed to search the optimal value of the factors in the linear subtraction model. Finally, a six-channel visual neural network model is proposed to detect the underwater targets. Experimental results proved that the maps produced by the polarization-opposition parameter is more accurate and have lower noise than that produced by the Stokes parameter, achieving better performance in underwater target detection tasks.

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

Application of underwater radon measurements in geology

Energy Technology Data Exchange (ETDEWEB)

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

1988-01-01

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

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.

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

DE-Sync: A Doppler-Enhanced Time Synchronization for Mobile Underwater Sensor Networks.

Science.gov (United States)

Zhou, Feng; Wang, Qi; Nie, DongHu; Qiao, Gang

2018-05-25

Time synchronization is the foundation of cooperative work among nodes of underwater sensor networks; it takes a critical role in the research and application of underwater sensor networks. Although numerous time synchronization protocols have been proposed for terrestrial wireless sensor networks, they cannot be directly applied to underwater sensor networks. This is because most of them typically assume that the propagation delay among sensor nodes is negligible, which is not the case in underwater sensor networks. Time synchronization is mainly affected by a long propagation delay among sensor nodes due to the low propagation speed of acoustic signals. Furthermore, sensor nodes in underwater tend to experience some degree of mobility due to wind or ocean current, or some other nodes are on self-propelled vehicles, such as autonomous underwater vehicles (AUVs). In this paper, we propose a Doppler-enhanced time synchronization scheme for mobile underwater sensor networks, called DE-Sync. Our new scheme considers the effect of the clock skew during the process of estimating the Doppler scale factor and directly substitutes the Doppler scale factor into linear regression to achieve the estimation of the clock skew and offset. Simulation results show that DE-Sync outperforms existing time synchronization protocols in both accuracy and energy efficiency.

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

OpenAIRE

Kia, Chua; Arshad, Mohd Rizal

2006-01-01

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

A review of underwater bio-mimetic propulsion: cruise and fast-start

Science.gov (United States)

Chao, Li-Ming; Cao, Yong-Hui; Pan, Guang

2017-08-01

This paper reviews recent developments in the understanding of underwater bio-mimetic propulsion. Two impressive models of underwater propulsion are considered: cruise and fast-start. First, we introduce the progression of bio-mimetic propulsion, especially underwater propulsion, where some primary conceptions are touched upon. Second, the understanding of flapping foils, considered as one of the most efficient cruise styles of aquatic animals, is introduced, where the effect of kinematics and the shape and flexibility of foils on generating thrust are elucidated respectively. Fast-start propulsion is always exhibited when predator behaviour occurs, and we provide an explicit introduction of corresponding zoological experiments and numerical simulations. We also provide some predictions about underwater bio-mimetic propulsion.

A review of underwater bio-mimetic propulsion: cruise and fast-start

Energy Technology Data Exchange (ETDEWEB)

Chao, Li-Ming; Cao, Yong-Hui; Pan, Guang, E-mail: PanGuang_010@163.com [School of Marine Science and Technology, Northwestern Polytechnical University, Xian 710072 (China)

2017-08-15

This paper reviews recent developments in the understanding of underwater bio-mimetic propulsion. Two impressive models of underwater propulsion are considered: cruise and fast-start. First, we introduce the progression of bio-mimetic propulsion, especially underwater propulsion, where some primary conceptions are touched upon. Second, the understanding of flapping foils, considered as one of the most efficient cruise styles of aquatic animals, is introduced, where the effect of kinematics and the shape and flexibility of foils on generating thrust are elucidated respectively. Fast-start propulsion is always exhibited when predator behaviour occurs, and we provide an explicit introduction of corresponding zoological experiments and numerical simulations. We also provide some predictions about underwater bio-mimetic propulsion. (review)

Cardiovascular response during submaximal underwater treadmill exercise in stroke patients.

Science.gov (United States)

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

2014-10-01

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

Channel coding for underwater acoustic single-carrier CDMA communication system

Science.gov (United States)

Liu, Lanjun; Zhang, Yonglei; Zhang, Pengcheng; Zhou, Lin; Niu, Jiong

2017-01-01

CDMA is an effective multiple access protocol for underwater acoustic networks, and channel coding can effectively reduce the bit error rate (BER) of the underwater acoustic communication system. For the requirements of underwater acoustic mobile networks based on CDMA, an underwater acoustic single-carrier CDMA communication system (UWA/SCCDMA) based on the direct-sequence spread spectrum is proposed, and its channel coding scheme is studied based on convolution, RA, Turbo and LDPC coding respectively. The implementation steps of the Viterbi algorithm of convolutional coding, BP and minimum sum algorithms of RA coding, Log-MAP and SOVA algorithms of Turbo coding, and sum-product algorithm of LDPC coding are given. An UWA/SCCDMA simulation system based on Matlab is designed. Simulation results show that the UWA/SCCDMA based on RA, Turbo and LDPC coding have good performance such that the communication BER is all less than 10-6 in the underwater acoustic channel with low signal to noise ratio (SNR) from -12 dB to -10dB, which is about 2 orders of magnitude lower than that of the convolutional coding. The system based on Turbo coding with Log-MAP algorithm has the best performance.

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.

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.

Initial Testing for the Recommendation of Improved Gas Metal Arc Welding Procedures for HY-80 Steel Plate Butt Joints at Norfolk Naval Shipyard

Science.gov (United States)

2015-12-01

17  Figure 11.  IRMS versus VRMS Comparison with Different Ar/CO2 Gas Mixtures Using GMAW-P...21  Figure 13.  IRMS versus VRMS Comparison with Miller and Lincoln Welding Machines in the Horizontal and Vertical Positions Using GMAW-P...Gas Metal Arc Welding Pulsed Spray Transfer GMAW-S Gas Metal Arc Welding Spray Transfer HAZ Heat Affected Zone HC#1 Hull Cut #1 IRMS Current Root

State-of-the-Art System Solutions for Unmanned Underwater Vehicles

Directory of Open Access Journals (Sweden)

A. E. Yilmaz

2009-12-01

Full Text Available Unmanned Underwater Vehicles (UUVs have gained popularity for the last decades, especially for the purpose of not risking human life in dangerous operations. On the other hand, underwater environment introduces numerous challenges in navigation, control and communication of such vehicles. Certainly, this fact makes the development of these vehicles more interesting and engineering-wise more attractive. In this paper, we first revisit the existing technology and methodology for the solution of aforementioned problems, then we try to come up with a system solution of a generic unmanned underwater vehicles.

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

DEFF Research Database (Denmark)

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

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

Collective Modular Underwater Robotic System for Long-Term Autonomous Operation

DEFF Research Database (Denmark)

Christensen, David Johan; Andersen, Jens Christian; Blanke, Mogens

This paper provides a brief overview of an underwater robotic system for autonomous inspection in confined offshore underwater structures. The system, which is currently in development, consist of heterogeneous modular robots able to physically dock and communicate with other robots, transport...

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

Underwater methods for study of salmonids in the Intermountain West

Science.gov (United States)

Russell F. Thurow

1994-01-01

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

Clustering of arc volcanoes caused by temperature perturbations in the back-arc mantle.

Science.gov (United States)

Lee, Changyeol; Wada, Ikuko

2017-06-29

Clustering of arc volcanoes in subduction zones indicates along-arc variation in the physical condition of the underlying mantle where majority of arc magmas are generated. The sub-arc mantle is brought in from the back-arc largely by slab-driven mantle wedge flow. Dynamic processes in the back-arc, such as small-scale mantle convection, are likely to cause lateral variations in the back-arc mantle temperature. Here we use a simple three-dimensional numerical model to quantify the effects of back-arc temperature perturbations on the mantle wedge flow pattern and sub-arc mantle temperature. Our model calculations show that relatively small temperature perturbations in the back-arc result in vigorous inflow of hotter mantle and subdued inflow of colder mantle beneath the arc due to the temperature dependence of the mantle viscosity. This causes a three-dimensional mantle flow pattern that amplifies the along-arc variations in the sub-arc mantle temperature, providing a simple mechanism for volcano clustering.

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.

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.

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...

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.

Underwater laser cladding and seal welding for INCONEL 52

International Nuclear Information System (INIS)

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

2007-01-01

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

Safety aspects for underwater vehicles

Digital Repository Service at National Institute of Oceanography (India)

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

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

Critical Length Criterion and the Arc Chain Model for Calculating the Arcing Time of the Secondary Arc Related to AC Transmission Lines

International Nuclear Information System (INIS)

Cong Haoxi; Li Qingmin; Xing Jinyuan; Li Jinsong; Chen Qiang

2015-01-01

The prompt extinction of the secondary arc is critical to the single-phase reclosing of AC transmission lines, including half-wavelength power transmission lines. In this paper, a low-voltage physical experimental platform was established and the motion process of the secondary arc was recorded by a high-speed camera. It was found that the arcing time of the secondary arc rendered a close relationship with its arc length. Through the input and output power energy analysis of the secondary arc, a new critical length criterion for the arcing time was proposed. The arc chain model was then adopted to calculate the arcing time with both the traditional and the proposed critical length criteria, and the simulation results were compared with the experimental data. The study showed that the arcing time calculated from the new critical length criterion gave more accurate results, which can provide a reliable criterion in term of arcing time for modeling and simulation of the secondary arc related with power transmission lines. (paper)

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

Defect detectability of eddy current testing for underwater laser beam welding

International Nuclear Information System (INIS)

Ueno, Souichi; Kobayashi, Noriyasu; Ochiai, Makoto; Kasuya, Takashi; Yuguchi, Yasuhiro

2011-01-01

We clarified defect detectability of eddy current testing (ECT) as a surface inspection technique for underwater laser beam welding works of dissimilar metal welding (DMW) of reactor vessel nozzle. The underwater laser beam welding procedure includes groove caving as a preparation, laser beam welding in the grooves and welded surface grinding as a post treatment. Therefore groove and welded surface inspections are required in the underwater condition. The ECT is a major candidate as this inspection technique because a penetrant testing is difficult to perform in the underwater condition. Several kinds of experiments were curried out using a cross coil an ECT probe and ECT data acquisition system in order to demonstrate the ECT defect detectability. We used specimens, simulating groove and DMW materials at an RV nozzle, with electro-discharge machining (EDM) slits over it. Additionally, we performed a detection test for artificial stress corrosion cracking (SCC) defects. From these experimental results, we confirmed that an ECT was possible to detect EDM slits 0.3 mm or more in depth and artificial SCC defects 0.02 mm to 0.48 mm in depth on machined surface. Furthermore, the underwater ECT defect detectability is equivalent to that in air. We clarified an ECT is sufficiently usable as a surface inspection technique for underwater laser beam welding works. (author)

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

OpenAIRE

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

2015-01-01

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

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.

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

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

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)

Applicability evaluation of eddy current testing for underwater laser beam welding

International Nuclear Information System (INIS)

Kobayashi, Noriyasu; Kasuya, Takashi; Ueno, Souichi; Ochiai, Makoto; Yuguchi, Yasuhiro

2010-01-01

We clarified a defect detecting capability of eddy current testing (ECT) as a surface inspection technique for underwater laser beam welding. An underwater laser beam welding procedure includes groove caving as a preparation, laser beam welding in groove and welding surface grinding as a post treatment. Therefore groove and grinded welding surface inspections are required underwater. We curried out defect detection tests using three kinds of specimens simulated a groove, reactor vessel nozzle dissimilar metal welding materials and a laser beam welding material with a cross coil ECT probe. From experimental results, we confirmed that it is possible to detect 0.3 mm or more depth electro-discharge machining slits on machining surfaces in all specimens and an ECT has possibility as a surface inspection technique for underwater laser beam welding. (author)

Across-arc versus along-arc Sr-Nd-Pb isotope variations in the Ecuadorian volcanic arc

Science.gov (United States)

Ancellin, Marie-Anne; Samaniego, Pablo; Vlastélic, Ivan; Nauret, François; Gannoun, Adbelmouhcine; Hidalgo, Silvana

2017-03-01

Previous studies of the Ecuadorian arc (1°N-2°S) have revealed across-arc geochemical trends that are consistent with a decrease in mantle melting and slab dehydration away from the trench. The aim of this work is to evaluate how these processes vary along the arc in response to small-scale changes in the age of the subducted plate, subduction angle, and continental crustal basement. We use an extensive database of 1437 samples containing 71 new analyses, of major and trace elements as well as Sr-Nd-Pb isotopes from Ecuadorian and South Colombian volcanic centers. Large geochemical variations are found to occur along the Ecuadorian arc, in particular along the front arc, which encompasses 99% and 71% of the total variations in 206Pb/204Pb and 87Sr/86Sr ratios of Quaternary Ecuadorian volcanics, respectively. The front arc volcanoes also show two major latitudinal trends: (1) the southward increase of 207Pb/204Pb and decrease of 143Nd/144Nd reflect more extensive crustal contamination of magma in the southern part (up to 14%); and (2) the increase of 206Pb/204Pb and decrease of Ba/Th away from ˜0.5°S result from the changing nature of metasomatism in the subarc mantle wedge with the aqueous fluid/siliceous slab melt ratio decreasing away from 0.5°S. Subduction of a younger and warmer oceanic crust in the Northern part of the arc might promote slab melting. Conversely, the subduction of a colder oceanic crust south of the Grijalva Fracture Zone and higher crustal assimilation lead to the reduction of slab contribution in southern part of the arc.

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

Directory of Open Access Journals (Sweden)

Muhammad Khalid

2017-01-01

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

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.

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.

Hydrodynamic design of an underwater hull cleaning robot and its evaluation

Directory of Open Access Journals (Sweden)

Man Hyung Lee

2012-12-01

Full Text Available An underwater hull cleaning robot can be a desirable choice for the cleaning of large ships. It can make the cleaning process safe and economical. This paper presents a hydrodynamic design of an underwater cleaning robot and its evaluation for an underwater ship hull cleaning robot. The hydrodynamic design process of the robot body is described in detail. Optimal body design process with compromises among conflicting design requirements is given. Experimental results on the hydrodynamic performance of the robot are given.

Monterey Bay ambient noise profiles using underwater gliders

OpenAIRE

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

2013-01-01

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

Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization

Directory of Open Access Journals (Sweden)

Nasir Saeed

2017-12-01

Full Text Available Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB is derived for localization accuracy of the proposed technique.

Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization.

Science.gov (United States)

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

2017-12-26

Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs) is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS) based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB) is derived for localization accuracy of the proposed technique.

Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization

KAUST Repository

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

2017-01-01

Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs) is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS) based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB) is derived for localization accuracy of the proposed technique.

Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization

KAUST Repository

Saeed, Nasir

2017-12-26

Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs) is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS) based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB) is derived for localization accuracy of the proposed technique.

Cutting performances with new industrial continuous wave ND:YAG high power lasers

International Nuclear Information System (INIS)

Chagnot, C.; Dinechin, G. de; Canneau, G.

2010-01-01

Dismantling is a great challenge for nuclear companies which are facing with the cleaning of former nuclear sites. Among the available cutting processes is the multi-kilowatts laser whose power is transmitted through optical fibers. Unlike other cutting processes such as the plasma arc cutting process or the oxy-cutting process, the laser process can be easily implemented by robotic equipments. The mechanised robotic arm carries a laser cutting head to perform, with remote-controlled equipments, the cutting operation. The present study deals with the performances which can be reached with high power continuous wave ND:YAG lasers. The cutting tests were carried out up to 8 kW. The laser power was delivered through a specific power supply chain: a 0.4 mm fiber was transporting the power from the laser to a first interface (coupler) then a second 0.6 mm fiber was bringing the laser power to the cutting head. This solution allowed a power delivery chain whose length could be as high as 100 + 20/50 m. Another advantage of this kind of power supply is that the first fiber can be set in a non-contaminated environment whereas the second fiber lies in the contaminated area. The cutting head used for these tests was a specific tool developed for this laser dismantling work: it is a laser cutting head cooled by pressurized air. This tool was developed with the requirement to be able to sustain a laser power of 14 kW. The pressurized air used to cool the head is also used as cutting gas. The cutting capability was about 10 mm by kW. At the power of 8 kW, austenitic steel plates of thickness 100 mm were cut. These performances were reached with the cut started on the plate's edge. If the cut started in the middle of the plate, the cutting performances were not so high: 8 kW became the power to drill and to cut plates of thickness 40 mm.

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.

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

KAUST Repository

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

2018-01-01

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

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.

A thermal engine for underwater glider driven by ocean thermal energy

International Nuclear Information System (INIS)

Yang, Yanan; Wang, Yanhui; Ma, Zhesong; Wang, Shuxin

2016-01-01

Highlights: • Thermal engine with a double-tube structure is developed for underwater glider. • Isostatic pressing technology is effective to increase volumetric change rate. • Actual volumetric change rate reaches 89.2% of the theoretical value. • Long term sailing of 677 km and 27 days is achieved by thermal underwater glider. - Graphical Abstract: - Abstract: Underwater glider is one of the most popular platforms for long term ocean observation. Underwater glider driven by ocean thermal energy extends the duration and range of underwater glider powered by battery. Thermal engine is the core device of underwater glider to harvest ocean thermal energy. In this paper, (1) model of thermal engine was raised by thermodynamics method and the performance of thermal engine was investigated, (2) thermal engine with a double-tube structure was developed and isostatic pressing technology was applied to improve the performance for buoyancy driven, referencing powder pressing theory, (3) wall thickness of thermal engine was optimized to reduce the overall weight of thermal engine, (4) material selection and dimension determination were discussed for a faster heat transfer design, by thermal resistance analysis, (5) laboratory test and long term sea trail were carried out to test the performance of thermal engine. The study shows that volumetric change rate is the most important indicator to evaluating buoyancy-driven performance of a thermal engine, isostatic pressing technology is effective to improve volumetric change rate, actual volumetric change rate can reach 89.2% of the theoretical value and the average power is about 124 W in a typical diving profile. Thermal engine developed by Tianjin University is a superior thermal energy conversion device for underwater glider. Additionally, application of thermal engine provides a new solution for miniaturization of ocean thermal energy conversion.

Summary of the guideline on underwater laser beam repair welding

International Nuclear Information System (INIS)

Ichikawa, Hiroya; Yoda, Masaki; Motora, Yuichi

2013-01-01

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

ROV-based Underwater Vision System for Intelligent Fish Ethology Research

Directory of Open Access Journals (Sweden)

Rui Nian

2013-09-01

Full Text Available Fish ethology is a prospective discipline for ocean surveys. In this paper, one ROV-based system is established to perform underwater visual tasks with customized optical sensors installed. One image quality enhancement method is first presented in the context of creating underwater imaging models combined with homomorphic filtering and wavelet decomposition. The underwater vision system can further detect and track swimming fish from the resulting images with the strategies developed using curve evolution and particular filtering, in order to obtain a deeper understanding of fish behaviours. The simulation results have shown the excellent performance of the developed scheme, in regard to both robustness and effectiveness.

Experience and Applications Up-date: Automation of Arc-Welding Operations Using Robot-Technology

International Nuclear Information System (INIS)

Teubel, G.

1996-01-01

In a short introduction, the important criteria for the correct choice of a robot cell, taking into account the given application, are highlighted. Furthermore, important hints are listed in terms of management decisions. The second chapter shows the main features of a welding robot cell in line with the present state of the art and describes some new developments with the aim of extending the arc-welding system to new applications such as flame cutting and beveling. The third chapter as centre piece gives an overall view of a brand new network control with many outstanding features for the users of arc-welding robots. the fourth and last chapter shows a recent realisation of a highly sophisticated F.M.S. system for welding, in random sequence, different large and heavy components. (Author) 1 ref

Optimum LED wavelength for underwater optical wireless communication at turbid water

Science.gov (United States)

Rosenkrantz, Etai; Arnon, Shlomi

2014-10-01

Underwater optical wireless communication is an emerging technology, which can provide high data rate. High data rate communication is required for applications such as underwater imaging, networks of sensors and swarms of underwater vehicles. These applications pursue an affordable light source, which can be obtained by light emitting diodes (LED). LEDs offer solutions characterized by low cost, high efficiency, reliability and compactness based on off-the-shelf components such as blue and green light emitting diodes. In this paper we present our recent theoretical and experimental results in this field.

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...

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)

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

The dual-electrode DC arc furnace-modelling brush arc conditions

OpenAIRE

Reynolds, Q.G.

2012-01-01

The dual-electrode DC arc furnace, an alternative design using an anode and cathode electrode instead of a hearth anode, was studied at small scale using computational modelling methods. Particular attention was paid to the effect of two key design variables, the arc length and the electrode separation, on the furnace behaviour. It was found that reducing the arc length to brush arc conditions was a valid means of overcoming several of the limitations of the dual-electrode design, namely high...

FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES

OpenAIRE

R. Rinaldi; H. Hordosch

2015-01-01

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

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 2-in. x 4-in. 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 L/min (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 2-, 3- and 4-in. dia schedule 40, 80 and 180 type 304L stainless steel pipe. Basic studies were done on uncontaminated pipe. Four-inch-diameter sections of schedule 180 type 304L stainless steel pipe with radioactively contaminated internal surfaces were also cut. The experiments controlled important variables including tools, cutting technique, and type and thickness of material. 15 references, 4 figures, 2 tables

Development of underwater and hyperbaric medicine in Malaysia.

Science.gov (United States)

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

2006-12-01

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

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.

Actuated Recoil Absorbing Mounting System for use with an Underwater Gun

Science.gov (United States)

1998-03-31

fire supercavitating bullets, requires that 20 the new projectile launchers be tested. The firing of projectile 21 launchers involving a high...of projectile launcher 12 includes an underwater gun 15 that fires supercavitating bullets underwater and has a high 16 discharge energy. However

Strong underwater adhesives made by self-assembling multi-protein nanofibres.

Science.gov (United States)

Zhong, Chao; Gurry, Thomas; Cheng, Allen A; Downey, Jordan; Deng, Zhengtao; Stultz, Collin M; Lu, Timothy K

2014-10-01

Many natural underwater adhesives harness hierarchically assembled amyloid nanostructures to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Despite recent advances, our understanding of the molecular design, self-assembly and structure-function relationships of these natural amyloid fibres remains limited. Thus, designing biomimetic amyloid-based adhesives remains challenging. Here, we report strong and multi-functional underwater adhesives obtained from fusing mussel foot proteins (Mfps) of Mytilus galloprovincialis with CsgA proteins, the major subunit of Escherichia coli amyloid curli fibres. These hybrid molecular materials hierarchically self-assemble into higher-order structures, in which, according to molecular dynamics simulations, disordered adhesive Mfp domains are exposed on the exterior of amyloid cores formed by CsgA. Our fibres have an underwater adhesion energy approaching 20.9 mJ m(-2), which is 1.5 times greater than the maximum of bio-inspired and bio-derived protein-based underwater adhesives reported thus far. Moreover, they outperform Mfps or curli fibres taken on their own and exhibit better tolerance to auto-oxidation than Mfps at pH ≥ 7.0.

On the Performance of the Underwater Acoustic Sensor Networks

Science.gov (United States)

2015-05-01

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

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, ...

A novel underwater dam crack detection and classification approach based on sonar images.

Science.gov (United States)

Shi, Pengfei; Fan, Xinnan; Ni, Jianjun; Khan, Zubair; Li, Min

2017-01-01

Underwater dam crack detection and classification based on sonar images is a challenging task because underwater environments are complex and because cracks are quite random and diverse in nature. Furthermore, obtainable sonar images are of low resolution. To address these problems, a novel underwater dam crack detection and classification approach based on sonar imagery is proposed. First, the sonar images are divided into image blocks. Second, a clustering analysis of a 3-D feature space is used to obtain the crack fragments. Third, the crack fragments are connected using an improved tensor voting method. Fourth, a minimum spanning tree is used to obtain the crack curve. Finally, an improved evidence theory combined with fuzzy rule reasoning is proposed to classify the cracks. Experimental results show that the proposed approach is able to detect underwater dam cracks and classify them accurately and effectively under complex underwater environments.

A novel underwater dam crack detection and classification approach based on sonar images.

Directory of Open Access Journals (Sweden)

Pengfei Shi

Full Text Available Underwater dam crack detection and classification based on sonar images is a challenging task because underwater environments are complex and because cracks are quite random and diverse in nature. Furthermore, obtainable sonar images are of low resolution. To address these problems, a novel underwater dam crack detection and classification approach based on sonar imagery is proposed. First, the sonar images are divided into image blocks. Second, a clustering analysis of a 3-D feature space is used to obtain the crack fragments. Third, the crack fragments are connected using an improved tensor voting method. Fourth, a minimum spanning tree is used to obtain the crack curve. Finally, an improved evidence theory combined with fuzzy rule reasoning is proposed to classify the cracks. Experimental results show that the proposed approach is able to detect underwater dam cracks and classify them accurately and effectively under complex underwater environments.

Underwater electric field detection system based on weakly electric fish

Science.gov (United States)

Xue, Wei; Wang, Tianyu; Wang, Qi

2018-04-01

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

Airborne lidar detection of an underwater thermal vent

Science.gov (United States)

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

2017-07-01

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

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.

Theory of flux cutting and flux transport at the critical current of a type-II superconducting cylindrical wire

International Nuclear Information System (INIS)

Clem, John R.

2011-01-01

I introduce a critical-state theory incorporating both flux cutting and flux transport to calculate the magnetic-field and current-density distributions inside a type-II superconducting cylinder at its critical current in a longitudinal applied magnetic field. The theory is an extension of the elliptic critical-state model introduced by Romero-Salazar and Perez-Rodriguez. The vortex dynamics depend in detail on two nonlinear effective resistivities for flux cutting (ρ(parallel)) and flux flow (ρ(perpendicular)), and their ratio r = ρ(parallel)/ρ(perpendicular). When r c (φ) that makes the vortex arc unstable.

THE REDSHIFT DISTRIBUTION OF GIANT ARCS IN THE SLOAN GIANT ARCS SURVEY

International Nuclear Information System (INIS)

Bayliss, Matthew B.; Gladders, Michael D.; Koester, Benjamin P.; Oguri, Masamune; Hennawi, Joseph F.; Sharon, Keren; Dahle, Haakon

2011-01-01

We measure the redshift distribution of a sample of 28 giant arcs discovered as a part of the Sloan Giant Arcs Survey. Gemini/GMOS-North spectroscopy provides precise redshifts for 24 arcs, and 'redshift desert' constrains for the remaining 4 arcs. This is a direct measurement of the redshift distribution of a uniformly selected sample of bright giant arcs, which is an observable that can be used to inform efforts to predict giant arc statistics. Our primary giant arc sample has a median redshift z = 1.821 and nearly two-thirds of the arcs, 64%, are sources at z ∼> 1.4, indicating that the population of background sources that are strongly lensed into bright giant arcs resides primarily at high redshift. We also analyze the distribution of redshifts for 19 secondary strongly lensed background sources that are not visually apparent in Sloan Digital Sky Survey imaging, but were identified in deeper follow-up imaging of the lensing cluster fields. Our redshift sample for the secondary sources is not spectroscopically complete, but combining it with our primary giant arc sample suggests that a large fraction of all background galaxies that are strongly lensed by foreground clusters reside at z ∼> 1.4. Kolmogorov-Smirnov tests indicate that our well-selected, spectroscopically complete primary giant arc redshift sample can be reproduced with a model distribution that is constructed from a combination of results from studies of strong-lensing clusters in numerical simulations and observational constraints on the galaxy luminosity function.

Reconstruction Accuracy Assessment of Surface and Underwater 3D Motion Analysis: A New Approach

Directory of Open Access Journals (Sweden)

Kelly de Jesus

2015-01-01

Full Text Available This study assessed accuracy of surface and underwater 3D reconstruction of a calibration volume with and without homography. A calibration volume (6000 × 2000 × 2500 mm with 236 markers (64 above and 88 underwater control points—with 8 common points at water surface—and 92 validation points was positioned on a 25 m swimming pool and recorded with two surface and four underwater cameras. Planar homography estimation for each calibration plane was computed to perform image rectification. Direct linear transformation algorithm for 3D reconstruction was applied, using 1600000 different combinations of 32 and 44 points out of the 64 and 88 control points for surface and underwater markers (resp.. Root Mean Square (RMS error with homography of control and validations points was lower than without it for surface and underwater cameras (P≤0.03. With homography, RMS errors of control and validation points were similar between surface and underwater cameras (P≥0.47. Without homography, RMS error of control points was greater for underwater than surface cameras (P≤0.04 and the opposite was observed for validation points (P≤0.04. It is recommended that future studies using 3D reconstruction should include homography to improve swimming movement analysis accuracy.

An energy-harvesting power supply for underwater bridge scour monitoring sensors

Science.gov (United States)

Wang, Yuli; Li, Yingjie; He, Longzhuang; Shamsi, Pourya; Zheng, Yahong R.

2018-03-01

The natural force of scouring has become one of the most critical risk endangering the endurance of bridges, thus leading to the necessity of deploying underwater monitoring sensors to actively detect potential scour holes under bridges. Due to the difficulty in re-charging batteries for underwater sensors, super capacitors with energy harvesting (EH) means are exploited to prolong the sustainability of underwater sensors. In this paper, an energy harvesting power supply based on a helical turbine is proposed to power underwater monitoring sensors. A small helical turbine is designed to convert water flow energy to electrical energy with favorable environmental robustness. A 3-inch diameter, 2.5-inch length and 3-bladed helical turbine was designed with two types of waterproof coupling with the sensor housing. Both designs were prototyped and tested under different flow conditions and we get valid voltage around 0.91 V which is enough to power monitoring sensor. The alternating current (AC) electrical energy generated by the helical turbine is then rectified and boosted to drive a DC charger for efficiently charging one super capacitor. The charging circuit was designed, prototyped and tested thoroughly with the helical turbine harvester. The results were promising, that the overall power supply can power an underwater sensor node with wireless transceivers for long-term operations

Robust branch-cut-and-price for the Capacitated Minimum Spanning Tree problem over a large extended formulation

DEFF Research Database (Denmark)

Uchoa, Eduardo; Fukasawa, Ricardo; Lysgaard, Jens

2008-01-01

-polynomial time. Traditional inequalities over the arc formulation, like Capacity Cuts, are also used. Moreover, a novel feature is introduced in such kind of algorithms: powerful new cuts expressed over a very large set of variables are added, without increasing the complexity of the pricing subproblem......This paper presents a robust branch-cut-and-price algorithm for the Capacitated Minimum Spanning Tree Problem (CMST). The variables are associated to q-arbs, a structure that arises from a relaxation of the capacitated prize-collecting arborescence problem in order to make it solvable in pseudo...... or the size of the LPs that are actually solved. Computational results on benchmark instances from the OR-Library show very significant improvements over previous algorithms. Several open instances could be solved to optimality....

The Basic Research for Pulverization of Rice Using Underwater Shock Wave by Electric Discharge

Directory of Open Access Journals (Sweden)

M Ide

2016-09-01

Full Text Available In recent years, the food self-support rate of Japan is 40%, and this value is the lowest level in major developed countries. This reason includes decreasing of diverting rice consumption in Japan and increasing abandonment of cultivation. Therefore, these problems are solved by using rice powder instead of expensive flour, and we manage to increase the food selfsupport rate. Previously, the rice powder is manufactured by two methods. One is dry type, and the other is wet type. The former is the method getting rice powder by running dried rice to rotating metal, and has a problem which that starch is damaged by heat when processing was performed. The latter is performed same method against wet rice, and has a problem which a large quantity of water is used. As a method to solve these problems, an underwater shock wave is used. Shock wave is the pressure wave which is over speed of sound by discharging high energy in short time. Propagating shock wave in water is underwater shock wave. The characters of underwater shock wave are long duration of shock wave because water density is uniform, water is low price and easy to get and not heat processing. Thinking of industrialization, the electric discharge is used as the generating source of underwater shock wave in the experiment. As the results, the efficiency of obtaining enough grain size, 100ìm, of rice powder was too bad only using the simple processing using underwater shock wave. Therefore, in Okinawa National College of Technology collaborating with us, obtaining rice powder with higher efficiency by using converged underwater shock wave is the goal of this research. In this research, the underwater shock wave with equal energy of the experimental device of underwater shock wave is measured by the optical observation. In addition, the appearance converging underwater shock wave is simulated by numerical analysis, and the pressure appreciation rate between the first wave and converged

Asymmetric-cut variable-incident-angle monochromator.

Science.gov (United States)

Smither, R K; Graber, T J; Fernandez, P B; Mills, D M

2012-03-01

A novel asymmetric-cut variable-incident-angle monochromator was constructed and tested in 1997 at the Advanced Photon Source of Argonne National Laboratory. The monochromator was originally designed as a high heat load monochromator capable of handling 5-10 kW beams from a wiggler source. This was accomplished by spreading the x-ray beam out on the surface an asymmetric-cut crystal and by using liquid metal cooling of the first crystal. The monochromator turned out to be a highly versatile monochromator that could perform many different types of experiments. The monochromator consisted of two 18° asymmetrically cut Si crystals that could be rotated about 3 independent axes. The first stage (Φ) rotates the crystal around an axis perpendicular to the diffraction plane. This rotation changes the angle of the incident beam with the surface of the crystal without changing the Bragg angle. The second rotation (Ψ) is perpendicular to the first and is used to control the shape of the beam footprint on the crystal. The third rotation (Θ) controls the Bragg angle. Besides the high heat load application, the use of asymmetrically cut crystals allows one to increase or decrease the acceptance angle for crystal diffraction of a monochromatic x-ray beam and allows one to increase or decrease the wavelength bandwidth of the diffraction of a continuum source like a bending-magnet beam or a normal x-ray-tube source. When the monochromator is used in the doubly expanding mode, it is possible to expand the vertical size of the double-diffracted beam by a factor of 10-15. When this was combined with a bending magnet source, it was possible to generate an 8 keV area beam, 16 mm wide by 26 mm high with a uniform intensity and parallel to 1.2 arc sec that could be applied in imaging experiments.

The Theseus Autonomous Underwater Vehicle: A Canadian Success Story

Science.gov (United States)

1997-04-01

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

Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection

Directory of Open Access Journals (Sweden)

Xianbo Xiang

2010-02-01

Full Text Available This paper addresses the control problem of inspecting underwater pipeline on the seabed, with coordinated multiple autonomous underwater vehicles in a formation. Based on the leader-follower strategy, the dedicated nonlinear path following controller is rigorously built on Lyapunov-based design, driving a fleet of vehicles onto assigned parallel paths elevated and offset from the underwater pipeline, while keeping a triangle formation to capture complete 3D images for inspection. Due to the spatial-temporal decoupling characteristics of individual path following controller, the velocities of the followers can be adapted in the coordinated control level, only relying on the information of generalized along-path length from the leader, in order to build the desired formation. Thus, the communication variable broadcast from the leader is kept to a minimum, which is feasible under the severely constraints of acoustic communication bandwidth. Simulation results illustrate the efficiency of coordinated formation controller proposed for underwater pipeline inspection.

Underwater Welding Techniques

OpenAIRE

Esam F. Alajmi; Ahmad A. Alqenaei

2017-01-01

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

Tracking the position of the underwater robot for nuclear reactor inspection

International Nuclear Information System (INIS)

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

2003-01-01

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

Plan quality comparison between 4-arc and 6-arc noncoplanar volumetric modulated arc stereotactic radiotherapy for the treatment of multiple brain metastases.

Science.gov (United States)

Yoshio, Kotaro; Mitsuhashi, Toshiharu; Wakita, Akihisa; Kitayama, Takahiro; Hisazumi, Kento; Inoue, Daisaku; Shiode, Tsuyoki; Akaki, Shiro; Kanazawa, Susumu

2018-01-04

To compare the plans of 4-arc and 6-arc noncoplanar volumetric modulated arc stereotactic radiotherapy (VMA-SRT) for multiple brain metastases and to investigate the cutoff value for the tumor number and volume for 6-arc rather than 4-arc VMA-SRT. We identified 24 consecutive multiple-target cases (3 to 19 targets in each case) with 189 total targets. We constructed plans using both 4- and 6-arc noncoplanar VMA-SRT. The prescribed dose was 36 Gy/6 fr, and it was delivered to 95% of the planning target volume (PTV). The plans were evaluated for the dose conformity using the Radiation Therapy Oncology Group and Paddick conformity indices (RCI and PCI), fall-off (Paddick gradient index [PGI]), and the normal brain dose. The median (range) RCI, PCI, and PGI was 0.94 (0.92 to 0.99), 0.89 (0.77 to 0.94), and 3.75 (2.24 to 6.54) for the 4-arc plan and 0.94 (0.91 to 0.98), 0.89 (0.76 to 0.94), and 3.65 (2.24 to 6.5) for the 6-arc plan, respectively. The median (range) of the normal brain dose was 910.3 cGy (381.4 to 1268.9) for the 4-arc plan and 898.8 cGy (377 to 1252.9) for the 6-arc plan. The PGI of the 6-arc plan was significantly superior to that of the 4-arc plan (p = 0.0076), and the optimal cutoff values for the tumor number and volume indicative of 6-arc (and not 4-arc) VMA-SRT were cases with ≥ 5 metastases and a PTV of ≥ 12.9 mL, respectively. The PCI values, however, showed no significant difference between the 2 plans. We believe these results will help in considering the use of 6-arc VMA-SRT for multiple brain metastases. Copyright © 2017 American Association of Medical Dosimetrists. Published by Elsevier Inc. All rights reserved.

Studies of steered arc motion and macroparticle production in PVD processing

International Nuclear Information System (INIS)

Craven, A.L.

2000-03-01

During the past decade the production industry has constantly strived to improve performance and cut costs, this has been aided by the development of high performance tools. The advancement of these tools has been accomplished by the application of hard wearing, low friction, coatings. A key process in the production of such coatings is Physical Vapour Deposition (PVD). Interest in such thin films has led to much research effort, both academic and industrial, being devoted to the area. In order that these advancements in technology continue, research into the fundamental aspects of PVD is required. This thesis describes research and experimental studies which have been performed to study the effect of 'steering' an electric arc on various aspects of its behaviour. 'Steering' of the arc is achieved by applying external magnetic fields which allow the guidance of the path of the arc. Work by earlier authors has aimed to control the arc more fully. The research presented here is based of a novel electromagnetic three coil steering array of cylindrical geometry. With such coils it is possible to vary the field profiles to a greater degree than has been previously achieved, permitting a greater range of steering arrangements/fields to be applied. The research presented is divided into two distinct areas: Firstly a number of experiments were performed to assess the effectiveness of the new steering coils on the motion of the arc. A personal computer was used here along with new arc motion monitoring electronics. This enabled the simultaneous measurement of the orbital transit times and also the degree of travel perpendicular to the steered direction of motion of the arc, as it traversed the surface of the cathode. Such information was then used to produce values for standard deviation of the arc from its steered path, velocity of the arc and a diffusion constant related to the motion of the are. Such values then allowed evaluation of the stochastic model of arc motion

Arc dynamics of a pulsed DC nitrogen rotating gliding arc discharge

Science.gov (United States)

Zhu, Fengsen; Zhang, Hao; Li, Xiaodong; Wu, Angjian; Yan, Jianhua; Ni, Mingjiang; Tu, Xin

2018-03-01

In this study, a novel pulsed direct current (DC) rotating gliding arc (RGA) plasma reactor co-driven by an external magnetic field and a tangential gas flow has been developed. The dynamic characteristics of the rotating gliding arc have been investigated by means of numerical simulation and experiment. The simulation results show that a highly turbulent vortex flow can be generated at the bottom of the RGA reactor to accelerate the arc rotation after arc ignition, whereas the magnitude of gas velocity declined significantly along the axial direction of the RGA reactor. The calculated arc rotation frequency (14.4 Hz) is reasonably close to the experimental result (18.5 Hz) at a gas flow rate of 10 l min-1. In the presence of an external magnet, the arc rotation frequency is around five times higher than that of the RGA reactor without using a magnet, which suggests that the external magnetic field plays a dominant role in the maintenance of the arc rotation in the upper zone of the RGA reactor. In addition, when the magnet is placed outside the reactor reversely to form a reverse external magnetic field, the arc can be stabilized at a fixed position in the inner wall of the outer electrode at a critical gas flow rate of 16 l min-1.

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

KAUST Repository

Lu, Yimeng

2018-01-01

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

The key kinematic determinants of undulatory underwater swimming at maximal velocity.

Science.gov (United States)

Connaboy, Chris; Naemi, Roozbeh; Brown, Susan; Psycharakis, Stelios; McCabe, Carla; Coleman, Simon; Sanders, Ross

2016-01-01

The optimisation of undulatory underwater swimming is highly important in competitive swimming performance. Nineteen kinematic variables were identified from previous research undertaken to assess undulatory underwater swimming performance. The purpose of the present study was to determine which kinematic variables were key to the production of maximal undulatory underwater swimming velocity. Kinematic data at maximal undulatory underwater swimming velocity were collected from 17 skilled swimmers. A series of separate backward-elimination analysis of covariance models was produced with cycle frequency and cycle length as dependent variables (DVs) and participant as a fixed factor, as including cycle frequency and cycle length would explain 100% of the maximal swimming velocity variance. The covariates identified in the cycle-frequency and cycle-length models were used to form the saturated model for maximal swimming velocity. The final parsimonious model identified three covariates (maximal knee joint angular velocity, maximal ankle angular velocity and knee range of movement) as determinants of the variance in maximal swimming velocity (adjusted-r2 = 0.929). However, when participant was removed as a fixed factor there was a large reduction in explained variance (adjusted r2 = 0.397) and only maximal knee joint angular velocity continued to contribute significantly, highlighting its importance to the production of maximal swimming velocity. The reduction in explained variance suggests an emphasis on inter-individual differences in undulatory underwater swimming technique and/or anthropometry. Future research should examine the efficacy of other anthropometric, kinematic and coordination variables to better understand the production of maximal swimming velocity and consider the importance of individual undulatory underwater swimming techniques when interpreting the data.

Experimental Measurements of Temporal Dispersion for Underwater Laser Communications and Imaging

Science.gov (United States)

Cochenour, Brandon Michael

The challenge in implementing optical sensors underwater lies in the high variability of the ocean environment where propagation of light in the ocean is complicated by absorption and scattering. Most underwater optical sensors operate in the blue/green portion of the electromagnetic spectrum where seawater exhibits an absorption minimum. Mitigating scattering however is a greater challenge. In particular, scattering causes both spatial distortion (beam spreading) and temporal dispersion (pulse spreading or distortion). Each of type of dispersion decreases sensor performance (operating range, image resolution, data bandwidth, etc.). While spatial dispersion has received a great deal of attention in previous decades, technological limitations of sensor hardware have made experimental measurements of temporal dispersion underwater difficult until now. The main contribution of this thesis are experimental measurements of temporal dispersion of optical beams in turbid water, made with a high sensitivity/high dynamic range experimental technique. Measurements are performed as a function of water clarity (0-20 attenuation lengths), transmitter/receiver alignment (0-30 degrees, half angle), receiver field of view (1-7 degrees, full angle), and transmitter beam divergence (collimated and diffuse). Special attention is paid to the interdependency between spatial and temporal dispersion. This work provides severable notable contributions: 1. While experimental characterization of spatial dispersion has received significant attention underwater, there has been a lack of measurements characterizing temporal dispersion underwater. This work provides the most comprehensive set of experimental measurements to date regarding the temporal dispersion of optical beams underwater. 2. An experimental analysis of the influence of scattering phase function on temporal dispersion. Coarse estimates of the scattering phase function are used to determine the ranges (or attenuation lengths

arcControlTower: the System for Atlas Production and Analysis on ARC

International Nuclear Information System (INIS)

Filipcic, Andrej

2011-01-01

PanDA, the Atlas management and distribution system for production and analysis jobs on EGEE and OSG clusters, is based on pilot jobs to increase the throughput and stability of the job execution on grid. The ARC middleware uses a specific approach which tightly connects the job requirements with cluster capabilities like resource usage, software availability and caching of input files. The pilot concept renders the ARC features useless. The arcControlTower is the job submission system which merges the pilot benefits and ARC advantages. It takes the pilot payload from the panda server and submits the jobs to the Nordugrid ARC clusters as regular jobs, with all the job resources known in advance. All the pilot communication with the PanDA server is done by the arcControlTower, so it plays the role of a pilot factory and the pilot itself. There are several advantages to this approach: no grid middleware is needed on the worker nodes, the fair-share between the production and user jobs is tuned with the arcControlTower load parameters, the jobs can be controlled by ARC client tools. The system could be extended to other submission systems using central distribution.

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

OpenAIRE

Li, Chongyi; Guo, Jichang; Guo, Chunle

2017-01-01

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

Homogenized blocked arcs for multicriteria optimization of radiotherapy: Analytical and numerical solutions

International Nuclear Information System (INIS)

Fenwick, John D.; Pardo-Montero, Juan

2010-01-01

Purpose: Homogenized blocked arcs are intuitively appealing as basis functions for multicriteria optimization of rotational radiotherapy. Such arcs avoid an organ-at-risk (OAR), spread dose out well over the rest-of-body (ROB), and deliver homogeneous doses to a planning target volume (PTV) using intensity modulated fluence profiles, obtainable either from closed-form solutions or iterative numerical calculations. Here, the analytic and iterative arcs are compared. Methods: Dose-distributions have been calculated for nondivergent beams, both including and excluding scatter, beam penumbra, and attenuation effects, which are left out of the derivation of the analytic arcs. The most straightforward analytic arc is created by truncating the well-known Brahme, Roos, and Lax (BRL) solution, cutting its uniform dose region down from an annulus to a smaller nonconcave region lying beyond the OAR. However, the truncation leaves behind high dose hot-spots immediately on either side of the OAR, generated by very high BRL fluence levels just beyond the OAR. These hot-spots can be eliminated using alternative analytical solutions ''C'' and ''L,'' which, respectively, deliver constant and linearly rising fluences in the gap region between the OAR and PTV (before truncation). Results: Measured in terms of PTV dose homogeneity, ROB dose-spread, and OAR avoidance, C solutions generate better arc dose-distributions than L when scatter, penumbra, and attenuation are left out of the dose modeling. Including these factors, L becomes the best analytical solution. However, the iterative approach generates better dose-distributions than any of the analytical solutions because it can account and compensate for penumbra and scatter effects. Using the analytical solutions as starting points for the iterative methodology, dose-distributions almost as good as those obtained using the conventional iterative approach can be calculated very rapidly. Conclusions: The iterative methodology is

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

Directory of Open Access Journals (Sweden)

Fabio Menna

2016-01-01

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

A flexible liquid crystal polymer MEMS pressure sensor array for fish-like underwater sensing

International Nuclear Information System (INIS)

Kottapalli, A G P; Asadnia, M; Miao, J M; Barbastathis, G; Triantafyllou, M S

2012-01-01

In order to perform underwater surveillance, autonomous underwater vehicles (AUVs) require flexible, light-weight, reliable and robust sensing systems that are capable of flow sensing and detecting underwater objects. Underwater animals like fish perform a similar task using an efficient and ubiquitous sensory system called a lateral-line constituting of an array of pressure-gradient sensors. We demonstrate here the development of arrays of polymer microelectromechanical systems (MEMS) pressure sensors which are flexible and can be readily mounted on curved surfaces of AUV bodies. An array of ten sensors with a footprint of 60 (L) mm × 25 (W) mm × 0.4 (H) mm is fabricated using liquid crystal polymer (LCP) as the sensing membrane material. The flow sensing and object detection capabilities of the array are illustrated with proof-of-concept experiments conducted in a water tunnel. The sensors demonstrate a pressure sensitivity of 14.3 μV Pa −1 . A high resolution of 25 mm s −1 is achieved in water flow sensing. The sensors can passively sense underwater objects by transducing the pressure variations generated underwater by the movement of objects. The experimental results demonstrate the array’s ability to detect the velocity of underwater objects towed past by with high accuracy, and an average error of only 2.5%. (paper)

Multi-layer protective armour for underwater shock wave mitigation

OpenAIRE

Ahmed Hawass; Hosam Mostafa; Ahmed Elbeih

2015-01-01

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

Physically based arc-circuit interaction

International Nuclear Information System (INIS)

Zhong-Lie, L.

1984-01-01

An integral arc model is extended to study the interaction of the gas blast arc with the test circuit in this paper. The deformation in the waveshapes of arc current and voltage around the current zero has been formulated to first approximation by using a simple model of arc voltage based on the arc core energy conservation. By supplementing with the time scale for the radiation, the time rates of arc processes were amended. Both the contributions of various arc processes and the influence of circuit parameters to the arc-circuit interaction have been estimated by this theory. Analysis generated a new method of calculating test circuit parameters which improves the accurate simulation of arc-circuit interaction. The new method agrees with the published experimental results

Underwater noise due to precipitation

DEFF Research Database (Denmark)

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

1989-01-01

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

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)

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

Directory of Open Access Journals (Sweden)

Chua Kia

2005-09-01

Full Text Available This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system for the analysis of the terrain. The vision system developed is capable of interpreting underwater scene by extracting subjective uncertainties of the object of interest. Subjective uncertainties are further processed as multiple inputs of a fuzzy inference system that is capable of making crisp decisions concerning where to navigate. The important part of the image analysis is morphological filtering. The applications focus on binary images with the extension of gray-level concepts. An open-loop fuzzy control system is developed for classifying the traverse of terrain. The great achievement is the system's capability to recognize and perform target tracking of the object of interest (pipeline in perspective view based on perceived condition. The effectiveness of this approach is demonstrated by computer and prototype simulations. This work is originated from the desire to develop robotics vision system with the ability to mimic the human expert's judgement and reasoning when maneuvering ROV in the traverse of the underwater terrain.

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

Directory of Open Access Journals (Sweden)

Chua Kia

2008-11-01

Full Text Available This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system for the analysis of the terrain. The vision system developed is capable of interpreting underwater scene by extracting subjective uncertainties of the object of interest. Subjective uncertainties are further processed as multiple inputs of a fuzzy inference system that is capable of making crisp decisions concerning where to navigate. The important part of the image analysis is morphological filtering. The applications focus on binary images with the extension of gray-level concepts. An open-loop fuzzy control system is developed for classifying the traverse of terrain. The great achievement is the system's capability to recognize and perform target tracking of the object of interest (pipeline in perspective view based on perceived condition. The effectiveness of this approach is demonstrated by computer and prototype simulations. This work is originated from the desire to develop robotics vision system with the ability to mimic the human expert's judgement and reasoning when maneuvering ROV in the traverse of the underwater terrain.

A Survey on Underwater Wireless Sensor Networks: Progresses, Applications, and Challenges

Directory of Open Access Journals (Sweden)

Premalatha J.

2016-01-01

Full Text Available The endangered underwater species always drew the attention of the scientific society since their disappearance would cause irreplaceable loss. Asia is home to some of the most diverse habitats in the earth, but it is estimated that more than one in four species are endangered. In Underwater, a lot of factors are putting marine life under immense pressure. Extreme population pressure is leading to pollution, over-fishing and the devastation of crucial habitats. Consequently, the numbers of almost all fish are declining and many are already endangered. To help these species to survive, their habitat should be strictly protected. This can be achieved by strictly monitoring them. During this course, several parameters, constraints about the species and its environments are focused. Now, advances in sensor technology facilitate the monitoring of species and their habitat with less expenditure. Indeed, the increasing sophistication of underwater wireless sensors offers chances that enable new challenges in a lot of areas, like surveillance one. This paper endorses the use of sensors for monitoring underwater species endangered in their habitat. This paper further examines the key approaches and challenges in the design and implementation of underwater wireless sensor networks. We summarize major applications and the main phenomena related to acoustic propagation, and discuss how they affect the design and operation of communication systems and networking protocols at various layers.

PC-based arc ignition and arc length control system for gas tungsten arc welding

International Nuclear Information System (INIS)

Liu, Y.; Cook, G.E.; Barnett, R.J.; Springfield, J.F.

1992-01-01

In this paper, a PC-based digital control system for gas tungsten arc welding (GTAW) is presented. This system controls the arc ignition process, the arc length, and the process of welding termination. A DT2818 made by Data Translation is used for interface and A/D and D/A conversions. The digital I/O ports of the DT2818 are used for control of wirefeed, shield gas, cooling water, welding power supply, etc. The DT2818 is housed in a PC. The welding signals and status are displayed on the screen for in-process monitoring. A user can control the welding process by the keyboard

Strong tracking adaptive Kalman filters for underwater vehicle dead reckoning

Institute of Scientific and Technical Information of China (English)

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

2007-01-01

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

Microcontroller-based underwater acoustic ECG telemetry system.

Science.gov (United States)

Istepanian, R S; Woodward, B

1997-06-01

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

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.

Sheath and arc-column voltages in high-pressure arc discharges

International Nuclear Information System (INIS)

Benilov, M S; Benilova, L G; Li Heping; Wu Guiqing

2012-01-01

Electrical characteristics of a 1 cm-long free-burning atmospheric-pressure argon arc are calculated by means of a model taking into account the existence of a near-cathode space-charge sheath and the discrepancy between the electron and heavy-particle temperatures in the arc column. The computed arc voltage exhibits a variation with the arc current I similar to the one revealed by the experiment and exceeds experimental values by no more than approximately 2 V in the current range 20-175 A. The sheath contributes about two-thirds or more of the arc voltage. The LTE model predicts a different variation of the arc voltage with I and underestimates the experimental values appreciably for low currents but by no more than approximately 2 V for I ≳ 120 A. However, the latter can hardly be considered as a proof of unimportance of the space-charge sheath at high currents: the LTE model overestimates both the resistance of the bulk of the arc column and the resistance of the part of the column that is adjacent to the cathode, and this overestimation to a certain extent compensates for the neglect of the voltage drop in the sheath. Furthermore, if the latter resistance were evaluated in the framework of the LTE model in an accurate way, then the overestimation would be still much stronger and the obtained voltage would significantly exceed those observed in the experiment.

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

Directory of Open Access Journals (Sweden)

Gu Wenbin

2015-01-01

Full Text Available Due to the lack of proper instrumentations and the difficulties in underwater measurements, the studies about water bottom vibration induced by underwater drilling blasting are seldom reported. In order to investigate the propagation and attenuation laws of blasting induced water bottom vibration, a water bottom vibration monitor was developed with consideration of the difficulties in underwater measurements. By means of this equipment, the actual water bottom vibration induced by underwater drilling blasting was measured in a field experiment. It shows that the water bottom vibration monitor could collect vibration signals quite effectively in underwater environments. The followed signal analysis shows that the characteristics of water bottom vibration and land ground vibration induced by the same underwater drilling blasting are quite different due to the different geological environments. The amplitude and frequency band of water bottom vibration both exceed those of land ground vibration. Water bottom vibration is mainly in low-frequency band that induced by blasting impact directly acts on rock. Besides the low-frequency component, land vibration contains another higher frequency band component that induced by followed water hammer wave acts on bank slope.

Short-Range Sensor for Underwater Robot Navigation using Line-lasers and Vision

DEFF Research Database (Denmark)

Hansen, Peter Nicholas; Nielsen, Mikkel Cornelius; Christensen, David Johan

2015-01-01

This paper investigates a minimalistic laser-based range sensor, used for underwater inspection by Autonomous Underwater Vehicles (AUV). This range detection system system comprise two lasers projecting vertical lines, parallel to a camera’s viewing axis, into the environment. Using both lasers...

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.

Natural and bio-inspired underwater adhesives: Current progress and new perspectives

Science.gov (United States)

Cui, Mengkui; Ren, Susu; Wei, Shicao; Sun, Chengjun; Zhong, Chao

2017-11-01

Many marine organisms harness diverse protein molecules as underwater adhesives to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Natural underwater adhesion phenomena thus provide inspiration for engineering adhesive materials that can perform in water or high-moisture settings for biomedical and industrial applications. Here we review examples of biological adhesives to show the molecular features of natural adhesives and discuss how such knowledge serves as a heuristic guideline for the rational design of biologically inspired underwater adhesives. In view of future bio-inspired research, we propose several potential opportunities, either in improving upon current L-3, 4-dihydroxyphenylalanine-based and coacervates-enabled adhesives with new features or engineering conceptually new types of adhesives that recapitulate important characteristics of biological adhesives. We underline the importance of viewing natural adhesives as dynamic materials, which owe their outstanding performance to the cellular coordination of protein expression, delivery, deposition, assembly, and curing of corresponding components with spatiotemporal control. We envision that the emerging synthetic biology techniques will provide great opportunities for advancing both fundamental and application aspects of underwater adhesives.

Natural and bio-inspired underwater adhesives: Current progress and new perspectives

Directory of Open Access Journals (Sweden)

Mengkui Cui

2017-11-01

Full Text Available Many marine organisms harness diverse protein molecules as underwater adhesives to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Natural underwater adhesion phenomena thus provide inspiration for engineering adhesive materials that can perform in water or high-moisture settings for biomedical and industrial applications. Here we review examples of biological adhesives to show the molecular features of natural adhesives and discuss how such knowledge serves as a heuristic guideline for the rational design of biologically inspired underwater adhesives. In view of future bio-inspired research, we propose several potential opportunities, either in improving upon current L-3, 4-dihydroxyphenylalanine-based and coacervates-enabled adhesives with new features or engineering conceptually new types of adhesives that recapitulate important characteristics of biological adhesives. We underline the importance of viewing natural adhesives as dynamic materials, which owe their outstanding performance to the cellular coordination of protein expression, delivery, deposition, assembly, and curing of corresponding components with spatiotemporal control. We envision that the emerging synthetic biology techniques will provide great opportunities for advancing both fundamental and application aspects of underwater adhesives.

Cluster protocols in Underwater Sensor Networks: a Research Review

Directory of Open Access Journals (Sweden)

K. Ovaliadis

2014-07-01

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

Automated gravity gradient tensor inversion for underwater object detection

International Nuclear Information System (INIS)

Wu, Lin; Tian, Jinwen

2010-01-01

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

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…

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

KAUST Repository

Lu, Yimeng

2018-05-01

This thesis explores a game-theoretical approach for underwater environmental monitoring applications. We first apply game-theoretical algorithm to multi-agent resource coverage problem in drifting environments. Furthermore, existing utility design and learning process of the algorithm are modified to fit specific constraints of underwater exploration/monitoring tasks. The revised approach can take the real scenario of underwater monitoring applications such as the effect of sea current, previous knowledge of the resource and occasional communications between agents into account, and adapt to them to reach better performance. As the motivation of this thesis is from real applications, in this work we emphasize highly on implementation phase. A ROS-Gazebo simulation environment was created for preparation of actual tests. The algorithms are implemented in simulating both the dynamics of vehicles and the environment. After that, a multi-agent underwater autonomous robotic system was developed for hardware test in real settings with local controllers to make their own decisions. These systems are used for testing above mentioned algorithms and future development of other underwater projects. After that, other works related to robotics during this thesis will be briefly mentioned, including contributions in MBZIRC robotics competition and distributed control of UAVs in an adversarial environment.

Nonuniform Illumination Correction Algorithm for Underwater Images Using Maximum Likelihood Estimation Method

Directory of Open Access Journals (Sweden)

Sonali Sachin Sankpal

2016-01-01

Full Text Available Scattering and absorption of light is main reason for limited visibility in water. The suspended particles and dissolved chemical compounds in water are also responsible for scattering and absorption of light in water. The limited visibility in water results in degradation of underwater images. The visibility can be increased by using artificial light source in underwater imaging system. But the artificial light illuminates the scene in a nonuniform fashion. It produces bright spot at the center with the dark region at surroundings. In some cases imaging system itself creates dark region in the image by producing shadow on the objects. The problem of nonuniform illumination is neglected by the researchers in most of the image enhancement techniques of underwater images. Also very few methods are discussed showing the results on color images. This paper suggests a method for nonuniform illumination correction for underwater images. The method assumes that natural underwater images are Rayleigh distributed. This paper used maximum likelihood estimation of scale parameter to map distribution of image to Rayleigh distribution. The method is compared with traditional methods for nonuniform illumination correction using no-reference image quality metrics like average luminance, average information entropy, normalized neighborhood function, average contrast, and comprehensive assessment function.

Single-Arc IMRT?

International Nuclear Information System (INIS)

Bortfeld, Thomas; Webb, Steve

2009-01-01

The idea of delivering intensity-modulated radiation therapy (IMRT) with a multileaf collimator in a continuous dynamic mode during a single rotation of the gantry has recently gained momentum both in research and industry. In this note we investigate the potential of this Single-Arc IMRT technique at a conceptual level. We consider the original theoretical example case from Brahme et al that got the field of IMRT started. Using analytical methods, we derive deliverable intensity 'landscapes' for Single-Arc as well as standard IMRT and Tomotherapy. We find that Tomotherapy provides the greatest flexibility in shaping intensity landscapes and that it allows one to deliver IMRT in a way that comes close to the ideal case in the transverse plane. Single-Arc and standard IMRT make compromises in different areas. Only in relatively simple cases that do not require substantial intensity modulation will Single-Arc be dosimetrically comparable to Tomotherapy. Compared with standard IMRT, Single-Arc could be dosimetrically superior in certain cases if one is willing to accept the spreading of low dose values over large volumes of normal tissue. In terms of treatment planning, Single-Arc poses a more challenging optimization problem than Tomotherapy or standard IMRT. We conclude that Single-Arc holds potential as an efficient IMRT technique especially for relatively simple cases. In very complex cases, Single-Arc may unduly compromise the quality of the dose distribution, if one tries to keep the treatment time below 2 min or so. As with all IMRT techniques, it is important to explore the tradeoff between plan quality and the efficiency of its delivery carefully for each individual case. (note)

Self-Assembling Multi-Component Nanofibers for Strong Bioinspired Underwater Adhesives

Science.gov (United States)

Zhong, Chao; Gurry, Thomas; Cheng, Allen A; Downey, Jordan; Deng, Zhengtao; Stultz, Collin M.; Lu, Timothy K

2014-01-01

Many natural underwater adhesives harness hierarchically assembled amyloid nanostructures to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Despite recent advances, our understanding of the molecular design, self-assembly, and structure-function relationship of those natural amyloid fibers remains limited. Thus, designing biomimetic amyloid-based adhesives remains challenging. Here, we report strong and multi-functional underwater adhesives obtained from fusing mussel foot proteins (Mfps) of Mytilus galloprovincialis with CsgA proteins, the major subunit of Escherichia coli amyloid curli fibers. These hybrid molecular materials hierarchically self-assemble into higher-order structures, in which, according to molecular dynamics simulations, disordered adhesive Mfp domains are exposed on the exterior of amyloid cores formed by CsgA. Our fibers have an underwater adhesion energy approaching 20.9 mJ/m2, which is 1.5 times greater than the maximum of bio-inspired and bio-derived protein-based underwater adhesives reported thus far. Moreover, they outperform Mfps or curli fibers taken on their own at all pHs and exhibit better tolerance to auto-oxidation than Mfps at pH ≥7.0. This work establishes a platform for engineering multi-component self-assembling materials inspired by nature. PMID:25240674

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.

Experimental study on underwater electrical explosion of a copper wire

International Nuclear Information System (INIS)

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

2010-01-01

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

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.

Self-flowing underwater concrete mixtures for high rise structures

International Nuclear Information System (INIS)

Yousri, K.M.

2005-01-01

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

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.

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

OpenAIRE

Young, Kenneth K.

1994-01-01

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

Nitrogen Fixation by Gliding Arc Plasma: Better Insight by Chemical Kinetics Modelling.

Science.gov (United States)

Wang, Weizong; Patil, Bhaskar; Heijkers, Stjin; Hessel, Volker; Bogaerts, Annemie

2017-05-22

The conversion of atmospheric nitrogen into valuable compounds, that is, so-called nitrogen fixation, is gaining increased interest, owing to the essential role in the nitrogen cycle of the biosphere. Plasma technology, and more specifically gliding arc plasma, has great potential in this area, but little is known about the underlying mechanisms. Therefore, we developed a detailed chemical kinetics model for a pulsed-power gliding-arc reactor operating at atmospheric pressure for nitrogen oxide synthesis. Experiments are performed to validate the model and reasonable agreement is reached between the calculated and measured NO and NO 2 yields and the corresponding energy efficiency for NO x formation for different N 2 /O 2 ratios, indicating that the model can provide a realistic picture of the plasma chemistry. Therefore, we can use the model to investigate the reaction pathways for the formation and loss of NO x . The results indicate that vibrational excitation of N 2 in the gliding arc contributes significantly to activating the N 2 molecules, and leads to an energy efficient way of NO x production, compared to the thermal process. Based on the underlying chemistry, the model allows us to propose solutions on how to further improve the NO x formation by gliding arc technology. Although the energy efficiency of the gliding-arc-based nitrogen fixation process at the present stage is not comparable to the world-scale Haber-Bosch process, we believe our study helps us to come up with more realistic scenarios of entering a cutting-edge innovation in new business cases for the decentralised production of fertilisers for agriculture, in which low-temperature plasma technology might play an important role. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

A Probabilistic and Highly Efficient Topology Control Algorithm for Underwater Cooperating AUV Networks.

Science.gov (United States)

Li, Ning; Cürüklü, Baran; Bastos, Joaquim; Sucasas, Victor; Fernandez, Jose Antonio Sanchez; Rodriguez, Jonathan

2017-05-04

The aim of the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) project is to make autonomous underwater vehicles (AUVs), remote operated vehicles (ROVs) and unmanned surface vehicles (USVs) more accessible and useful. To achieve cooperation and communication between different AUVs, these must be able to exchange messages, so an efficient and reliable communication network is necessary for SWARMs. In order to provide an efficient and reliable communication network for mission execution, one of the important and necessary issues is the topology control of the network of AUVs that are cooperating underwater. However, due to the specific properties of an underwater AUV cooperation network, such as the high mobility of AUVs, large transmission delays, low bandwidth, etc., the traditional topology control algorithms primarily designed for terrestrial wireless sensor networks cannot be used directly in the underwater environment. Moreover, these algorithms, in which the nodes adjust their transmission power once the current transmission power does not equal an optimal one, are costly in an underwater cooperating AUV network. Considering these facts, in this paper, we propose a Probabilistic Topology Control (PTC) algorithm for an underwater cooperating AUV network. In PTC, when the transmission power of an AUV is not equal to the optimal transmission power, then whether the transmission power needs to be adjusted or not will be determined based on the AUV's parameters. Each AUV determines their own transmission power adjustment probability based on the parameter deviations. The larger the deviation, the higher the transmission power adjustment probability is, and vice versa. For evaluating the performance of PTC, we combine the PTC algorithm with the Fuzzy logic Topology Control (FTC) algorithm and compare the performance of these two algorithms. The simulation results have demonstrated that the PTC is efficient at reducing the transmission power

A Probabilistic and Highly Efficient Topology Control Algorithm for Underwater Cooperating AUV Networks

Directory of Open Access Journals (Sweden)

Ning Li

2017-05-01

Full Text Available The aim of the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs project is to make autonomous underwater vehicles (AUVs, remote operated vehicles (ROVs and unmanned surface vehicles (USVs more accessible and useful. To achieve cooperation and communication between different AUVs, these must be able to exchange messages, so an efficient and reliable communication network is necessary for SWARMs. In order to provide an efficient and reliable communication network for mission execution, one of the important and necessary issues is the topology control of the network of AUVs that are cooperating underwater. However, due to the specific properties of an underwater AUV cooperation network, such as the high mobility of AUVs, large transmission delays, low bandwidth, etc., the traditional topology control algorithms primarily designed for terrestrial wireless sensor networks cannot be used directly in the underwater environment. Moreover, these algorithms, in which the nodes adjust their transmission power once the current transmission power does not equal an optimal one, are costly in an underwater cooperating AUV network. Considering these facts, in this paper, we propose a Probabilistic Topology Control (PTC algorithm for an underwater cooperating AUV network. In PTC, when the transmission power of an AUV is not equal to the optimal transmission power, then whether the transmission power needs to be adjusted or not will be determined based on the AUV’s parameters. Each AUV determines their own transmission power adjustment probability based on the parameter deviations. The larger the deviation, the higher the transmission power adjustment probability is, and vice versa. For evaluating the performance of PTC, we combine the PTC algorithm with the Fuzzy logic Topology Control (FTC algorithm and compare the performance of these two algorithms. The simulation results have demonstrated that the PTC is efficient at reducing the

Evaluation of volumetric modulated arc therapy for cranial radiosurgery using multiple noncoplanar arcs

International Nuclear Information System (INIS)

Audet, Chantal; Poffenbarger, Brett A.; Chang, Pauling; Jackson, Paul S.; Lundahl, Robert E.; Ryu, Stephen I.; Ray, Gordon R.

2011-01-01

Purpose: To evaluate a commercial volumetric modulated arc therapy (VMAT), using multiple noncoplanar arcs, for linac-based cranial radiosurgery, as well as evaluate the combined accuracy of the VMAT dose calculations and delivery. Methods: Twelve patients with cranial lesions of variable size (0.1-29 cc) and two multiple metastases patients were planned (Eclipse RapidArc AAA algorithm, v8.6.15) using VMAT (1-6 noncoplanar arcs), dynamic conformal arc (DCA, ∼4 arcs), and IMRT (nine static fields). All plans were evaluated according to a conformity index (CI), healthy brain tissue doses and volumes, and the dose to organs at risk. A 2D dose distribution was measured (Varian Novalis Tx, HD120 MLC, 1000 MU/min, 6 MV beam) for the ∼4 arc VMAT treatment plans using calibrated film dosimetry. Results: The CI (0-1 best) average for all plans was best for ∼4 noncoplanar arc VMAT at 0.86 compared with ∼0.78 for IMRT and a single arc VMAT and 0.68 for DCA. The volumes of healthy brain receiving 50% of the prescribed target coverage dose or more (V 50% ) were lowest for the four arc VMAT [RA(4)] and DCA plans. The average ratio of the V 50% for the other plans to the RA(4) V 50% were 1.9 for a single noncoplanar arc VMAT [RA(1nc)], 1.4 for single full coplanar arc VMAT [RA(1f)] and 1.3 for IMRT. The V 50% improved significantly for single isocenter multiple metastases plan when two noncoplanar VMAT arcs were added to a full single coplanar one. The maximum dose to 5 cc of the outer 1 cm rim of healthy brain which one may want to keep below nonconsequential doses of 300-400 cGy, was 2-3 times greater for IMRT, RA(1nc) and RA(1f) plans compared with the multiple noncoplanar arc DCA and RA(4) techniques. Organs at risk near (0-4 mm) to targets were best spared by (i) single noncoplanar arcs when the targets are lateral to the organ at risk and (ii) by skewed nonvertical planes of IMRT fields when the targets are not lateral to the organ at risk. The highest dose gradient

Hybrid laser-arc welding

DEFF Research Database (Denmark)

Hybrid laser-arc welding (HLAW) is a combination of laser welding with arc welding that overcomes many of the shortfalls of both processes. This important book gives a comprehensive account of hybrid laser-arc welding technology and applications. The first part of the book reviews...... the characteristics of the process, including the properties of joints produced by hybrid laser-arc welding and ways of assessing weld quality. Part II discusses applications of the process to such metals as magnesium alloys, aluminium and steel as well as the use of hybrid laser-arc welding in such sectors as ship...... 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...

Research on the underwater target imaging based on the streak tube laser lidar

Science.gov (United States)

Cui, Zihao; Tian, Zhaoshuo; Zhang, Yanchao; Bi, Zongjie; Yang, Gang; Gu, Erdan

2018-03-01

A high frame rate streak tube imaging lidar (STIL) for real-time 3D imaging of underwater targets is presented in this paper. The system uses 532nm pulse laser as the light source, the maximum repetition rate is 120Hz, and the pulse width is 8ns. LabVIEW platform is used in the system, the system control, synchronous image acquisition, 3D data processing and display are realized through PC. 3D imaging experiment of underwater target is carried out in a flume with attenuation coefficient of 0.2, and the images of different depth and different material targets are obtained, the imaging frame rate is 100Hz, and the maximum detection depth is 31m. For an underwater target with a distance of 22m, the high resolution 3D image real-time acquisition is realized with range resolution of 1cm and space resolution of 0.3cm, the spatial relationship of the targets can be clearly identified by the image. The experimental results show that STIL has a good application prospect in underwater terrain detection, underwater search and rescue, and other fields.

Development of underwater camera using high-definition camera

International Nuclear Information System (INIS)

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

2012-01-01

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

Time-of-flight range imaging for underwater applications

Science.gov (United States)

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

2018-02-01

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

Reduced Attitude Control of a Robotic Underwater Vehicle

Directory of Open Access Journals (Sweden)

Bláha Lukáš

2017-01-01

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

Study of underwater laser propulsion using different target materials.

Science.gov (United States)

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

2014-07-14

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

Environmental effects on underwater optical transmission

Science.gov (United States)

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

2017-05-01

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

A Data Link Layer in Support of Swarming of Autonomous Underwater Vehicles

Science.gov (United States)

Jabba Molinares, Daladier

2009-01-01

Communication underwater is challenging because of the inherent characteristics of the media. First, common radio frequency (RF) signals utilized in wireless communications cannot be used under water. RF signals are attenuated in such as way that RF communication underwater is restricted to very few meters. As a result, acoustic-based…

A field guide to valuable underwater aquatic plants of the Great Lakes

Science.gov (United States)

Schloesser, Donald W.

1986-01-01

Underwater plants are a valuable part of the Great Lakes ecosystem, providing food and shelter for aquatic animals. Aquatic plants also help stabilize sediments, thereby reducing shoreline erosion. Annual fall die-offs of underwater plants provide food and shelter for overwintering small aquatic animals such as insects, snails, and freshwater shrimp.

Electric Arc Furnace Modeling with Artificial Neural Networks and Arc Length with Variable Voltage Gradient

Directory of Open Access Journals (Sweden)

Raul Garcia-Segura

2017-09-01

Full Text Available Electric arc furnaces (EAFs contribute to almost one third of the global steel production. Arc furnaces use a large amount of electrical energy to process scrap or reduced iron and are relevant to study because small improvements in their efficiency account for significant energy savings. Optimal controllers need to be designed and proposed to enhance both process performance and energy consumption. Due to the random and chaotic nature of the electric arcs, neural networks and other soft computing techniques have been used for modeling EAFs. This study proposes a methodology for modeling EAFs that considers the time varying arc length as a relevant input parameter to the arc furnace model. Based on actual voltages and current measurements taken from an arc furnace, it was possible to estimate an arc length suitable for modeling the arc furnace using neural networks. The obtained results show that the model reproduces not only the stable arc conditions but also the unstable arc conditions, which are difficult to identify in a real heat process. The presented model can be applied for the development and testing of control systems to improve furnace energy efficiency and productivity.

Game Theory-Based Cooperation for Underwater Acoustic Sensor Networks: Taxonomy, Review, Research Challenges and Directions.

Science.gov (United States)

Muhammed, Dalhatu; Anisi, Mohammad Hossein; Zareei, Mahdi; Vargas-Rosales, Cesar; Khan, Anwar

2018-02-01

Exploring and monitoring the underwater world using underwater sensors is drawing a lot of attention these days. In this field cooperation between acoustic sensor nodes has been a critical problem due to the challenging features such as acoustic channel failure (sound signal), long propagation delay of acoustic signal, limited bandwidth and loss of connectivity. There are several proposed methods to improve cooperation between the nodes by incorporating information/game theory in the node's cooperation. However, there is a need to classify the existing works and demonstrate their performance in addressing the cooperation issue. In this paper, we have conducted a review to investigate various factors affecting cooperation in underwater acoustic sensor networks. We study various cooperation techniques used for underwater acoustic sensor networks from different perspectives, with a concentration on communication reliability, energy consumption, and security and present a taxonomy for underwater cooperation. Moreover, we further review how the game theory can be applied to make the nodes cooperate with each other. We further analyze different cooperative game methods, where their performance on different metrics is compared. Finally, open issues and future research direction in underwater acoustic sensor networks are highlighted.

Game Theory-Based Cooperation for Underwater Acoustic Sensor Networks: Taxonomy, Review, Research Challenges and Directions

Directory of Open Access Journals (Sweden)

Dalhatu Muhammed

2018-02-01

Full Text Available Exploring and monitoring the underwater world using underwater sensors is drawing a lot of attention these days. In this field cooperation between acoustic sensor nodes has been a critical problem due to the challenging features such as acoustic channel failure (sound signal, long propagation delay of acoustic signal, limited bandwidth and loss of connectivity. There are several proposed methods to improve cooperation between the nodes by incorporating information/game theory in the node’s cooperation. However, there is a need to classify the existing works and demonstrate their performance in addressing the cooperation issue. In this paper, we have conducted a review to investigate various factors affecting cooperation in underwater acoustic sensor networks. We study various cooperation techniques used for underwater acoustic sensor networks from different perspectives, with a concentration on communication reliability, energy consumption, and security and present a taxonomy for underwater cooperation. Moreover, we further review how the game theory can be applied to make the nodes cooperate with each other. We further analyze different cooperative game methods, where their performance on different metrics is compared. Finally, open issues and future research direction in underwater acoustic sensor networks are highlighted.

Game Theory-Based Cooperation for Underwater Acoustic Sensor Networks: Taxonomy, Review, Research Challenges and Directions

Science.gov (United States)

Muhammed, Dalhatu; Anisi, Mohammad Hossein; Vargas-Rosales, Cesar; Khan, Anwar

2018-01-01

Exploring and monitoring the underwater world using underwater sensors is drawing a lot of attention these days. In this field cooperation between acoustic sensor nodes has been a critical problem due to the challenging features such as acoustic channel failure (sound signal), long propagation delay of acoustic signal, limited bandwidth and loss of connectivity. There are several proposed methods to improve cooperation between the nodes by incorporating information/game theory in the node’s cooperation. However, there is a need to classify the existing works and demonstrate their performance in addressing the cooperation issue. In this paper, we have conducted a review to investigate various factors affecting cooperation in underwater acoustic sensor networks. We study various cooperation techniques used for underwater acoustic sensor networks from different perspectives, with a concentration on communication reliability, energy consumption, and security and present a taxonomy for underwater cooperation. Moreover, we further review how the game theory can be applied to make the nodes cooperate with each other. We further analyze different cooperative game methods, where their performance on different metrics is compared. Finally, open issues and future research direction in underwater acoustic sensor networks are highlighted. PMID:29389874

Influences on particle shape in underwater pelletizing processes

Energy Technology Data Exchange (ETDEWEB)

Kast, O., E-mail: oliver.kast@ikt.uni-stuttgart.de, E-mail: matthias.musialek@ikt.uni-stuttgart.de, E-mail: kalman.geiger@ikt.uni-stuttgart.de, E-mail: christian.bonten@ikt.uni-stuttgart.de; Musialek, M., E-mail: oliver.kast@ikt.uni-stuttgart.de, E-mail: matthias.musialek@ikt.uni-stuttgart.de, E-mail: kalman.geiger@ikt.uni-stuttgart.de, E-mail: christian.bonten@ikt.uni-stuttgart.de; Geiger, K., E-mail: oliver.kast@ikt.uni-stuttgart.de, E-mail: matthias.musialek@ikt.uni-stuttgart.de, E-mail: kalman.geiger@ikt.uni-stuttgart.de, E-mail: christian.bonten@ikt.uni-stuttgart.de; Bonten, C., E-mail: oliver.kast@ikt.uni-stuttgart.de, E-mail: matthias.musialek@ikt.uni-stuttgart.de, E-mail: kalman.geiger@ikt.uni-stuttgart.de, E-mail: christian.bonten@ikt.uni-stuttgart.de [Institut für Kunststofftechnik, University of Stuttgart (Germany)

2014-05-15

Underwater pelletizing has gained high importance within the last years among the different pelletizing technologies, due to its advantages in terms of throughput, automation, pellet quality and applicability to a large variety of thermoplastics. The resulting shape and quality of pellets, however, differ widely, depending on material characteristics and effects not fully understood yet. In an experimental set-up, pellets of different volumes and shapes were produced and the medium pellet mass, the pellet surface and the bulk density were analyzed in order to identify the influence of material properties and process parameters. Additionally, the shaping kinetics at the die opening were watched with a specially developed camera system. It was found that rheological material properties correlate with process parameters and resulting particle form in a complex way. Higher cutting speeds were shown to have a deforming influence on the pellets, leading to less spherical s and lower bulk densities. More viscous materials, however, showed a better resistance against this. Generally, the viscous properties of polypropylene proofed to be dominant over the elastic ones in regard to their influence on pellet shape. It was also shown that the shapes filmed at the die opening and the actual form of the pellets after a cooling track do not always correlate, indicating a significant influence of thermodynamic properties during the cooling.

CFD Based Added Mass Prediction in Cruise Condition of Underwater Vehicle Dynamic

Science.gov (United States)

Agoes Moelyadi, Mochammad; Bambang Riswandi, Bagus

2018-04-01

One of the unsteady flow behavior on the hydrodynamic characteristics of underwater vehicle is the presence of added mass. In cruising conditions, the underwater vehicle may require the addition of speed or experience the disturbance in the form of unsteady flow so that cause the hydrodynamic interaction between the surface of the vehicle with the surrounding fluid. This leads to the rise of local velocity of flow and the great changes of hydrodynamic forces which are very influential on the stability of the underwater vehicle. One of the result is an additional force called added mass. It is very useful parameter to control underwater vehicle dynamic.This paper reports the research on the added mass coefficient of underwater vehicles obtained through the Computational Fluid Dynmaic (CFD) simulation method using CFX software. Added mass coefficient is calculated by performing an unsteady simulation or known as transient simulation. Computational simulations are based on the Reynold Average Navier- Stokes (RANS) equation solution. The simulated vehicle moves forward and backward according to the sinus function, with a frequency of 0.25 Hz, a 2 m amplitude, a cruising depth of 10 m below sea level, and Vcruise 1.54 m / s (Re = 9.000.000). Simulation result data includes velocity contour, variation of force and acceleration to frequency, and added mass coefficient.

Method to reduce arc blow during DC arc welding of pipelines

Energy Technology Data Exchange (ETDEWEB)

Espina-Hernandez, J. H.; Rueda-Morales, G.L.; Caleyo, F.; Hallen, J. M. [Instituto Politecnico Nacional, Mexico, (Mexico); Lopez-Montenegro, A.; Perz-Baruch, E. [Pemex Exploracion y Produccion, Tabasco, (Mexico)

2010-07-01

Steel pipelines are huge ferromagnetic structures and can be easily subjected to arc blow during the DC arc welding process. The development of methods to avoid arc blow during pipeline DC arc welding is a major objective in the pipeline industry. This study developed a simple procedure to compensate the residual magnetic field in the groove during DC arc welding. A Gaussmeter was used to perform magnetic flux density measurements in pipelines in southern Mexico. These data were used to perform magnetic finite element simulations using FEMM. Different variables were studied such as the residual magnetic field in the groove or the position of the coil with respect to the groove. An empirical predictive equation was developed from these trials to compensate for the residual magnetic field. A new method of compensating for the residual magnetic field in the groove by selecting the number of coil turns and the position of the coil with respect to the groove was established.

Priority Determination of Underwater Tourism Site Development in Gorontalo Province using Analytical Hierarchy Process (AHP)

Science.gov (United States)

Rohandi, M.; Tuloli, M. Y.; Jassin, R. T.

2018-02-01

This research aims to determine the development of priority of underwater tourism in Gorontalo province using the Analytical Hierarchy Process (AHP) method which is one of DSS methods applying Multi-Attribute Decision Making (MADM). This method used 5 criteria and 28 alternatives to determine the best priority of underwater tourism site development in Gorontalo province. Based on the AHP calculation it appeared that the best priority development of underwater tourism site is Pulau Cinta whose total AHP score is 0.489 or 48.9%. This DSS produced a reliable result, faster solution, time-saving, and low cost for the decision makers to obtain the best underwater tourism site to be developed.

SEATURTLE: Sustained Engagement Autonomous Tracking of Underwater RepTiLEs

OpenAIRE

Budd, Johnathan

2015-01-01

While oceans cover the majority of our planet, these vast expanses remain relatively unexplored. Among the most interesting parts of the ocean are the shallow reef systems, which contain a huge amount of the planet’s biodiversity. The Sustained Engagement Autonomous Tracking of Underwater RepTiLEs or SEATURTLE is a low cost Autonomous Underwater Vehicle designed to carry out missions in these shallow environments. Its small displacement and precise movement make it ideal for navigating tight ...

A Wide Area Risk Assessment Framework for Underwater Military Munitions Response

Science.gov (United States)

Holland, K. T.; Calantoni, J.

2017-12-01

Our objective was to develop a prototype statistical framework supporting Wide Area Assessment and Remedial Investigation decisions relating to the risk of unexploded ordnance and other military munitions concentrated in underwater environments. Decision making involving underwater munitions is inherently complex due to the high degree of uncertainty in the environmental conditions that force munitions responses (burial, decay, migration, etc.) and associated risks to the public. The prototype framework provides a consistent approach to accurately delineating contaminated areas at underwater munitions sites through the estimation of most probable concentrations. We adapted existing deterministic models and environmental data services for use within statistical modules that allowed the estimation of munition concentration given historic site information and environmental attributes. Ultimately this risk surface can be used to evaluate costs associated with various remediation approaches (e.g. removal, monitoring, etc.). Unfortunately, evaluation of the assessment framework was limited due to the lack of enduser data services from munition site managers. Of the 450 U.S. sites identified as having potential contamination with underwater munitions, assessment of available munitions information (including historic firing or disposal records, and recent ground-truth munitions samples) indicated very limited information in the databases. Example data types include the most probable munition types, approximate firing / disposal dates and locations, and any supportive munition survey or sampling results. However the overall technical goal to integrate trained statistical belief networks with detailed geophysical knowledge of sites, of sensors and of the underwater environment was demonstrated and should allow probabilistic estimates of the most likely outcomes and tradeoffs while managing uncertainty associated with military munitions response.

Cutting

Science.gov (United States)

... Staying Safe Videos for Educators Search English Español Cutting KidsHealth / For Teens / Cutting What's in this article? ... Getting Help Print en español Cortarse What Is Cutting? Emma's mom first noticed the cuts when Emma ...

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)

Validation of Underwater Sensor Package Using Feature Based SLAM

Directory of Open Access Journals (Sweden)

Christopher Cain

2016-03-01

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

Validation of Underwater Sensor Package Using Feature Based SLAM

Science.gov (United States)

Cain, Christopher; Leonessa, Alexander

2016-01-01

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

L2-LBMT: A Layered Load Balance Routing Protocol for underwater multimedia data transmission

Science.gov (United States)

Lv, Ze; Tang, Ruichun; Tao, Ye; Sun, Xin; Xu, Xiaowei

2017-12-01

Providing highly efficient underwater transmission of mass multimedia data is challenging due to the particularities of the underwater environment. Although there are many schemes proposed to optimize the underwater acoustic network communication protocols, from physical layer, data link layer, network layer to transport layer, the existing routing protocols for underwater wireless sensor network (UWSN) still cannot well deal with the problems in transmitting multimedia data because of the difficulties involved in high energy consumption, low transmission reliability or high transmission delay. It prevents us from applying underwater multimedia data to real-time monitoring of marine environment in practical application, especially in emergency search, rescue operation and military field. Therefore, the inefficient transmission of marine multimedia data has become a serious problem that needs to be solved urgently. In this paper, A Layered Load Balance Routing Protocol (L2-LBMT) is proposed for underwater multimedia data transmission. In L2-LBMT, we use layered and load-balance Ad Hoc Network to transmit data, and adopt segmented data reliable transfer (SDRT) protocol to improve the data transport reliability. And a 3-node variant of tornado (3-VT) code is also combined with the Ad Hoc Network to transmit little emergency data more quickly. The simulation results show that the proposed protocol can balance energy consumption of each node, effectively prolong the network lifetime and reduce transmission delay of marine multimedia data.

Interactions between laser and arc plasma during laser-arc hybrid welding of magnesium alloy

Science.gov (United States)

Liu, Liming; Chen, Minghua

2011-09-01

This paper presents the results of the investigation on the interactions between laser and arc plasma during laser-arc hybrid welding on magnesium alloy AZ31B using the spectral diagnose technique. By comparably analyzing the variation in plasma information (the shape, the electron temperature and density) of single tungsten inert gas (TIG) welding with the laser-arc hybrid welding, it is found that the laser affects the arc plasma through the keyhole forming on the workpiece. Depending on the welding parameters there are three kinds of interactions taking place between laser and arc plasma.

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

International Nuclear Information System (INIS)

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

1982-01-01

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

Stress Analysis and Model Test of Rock Breaking by Arc Blade Wedged Hob

Directory of Open Access Journals (Sweden)

Ying-chao Liu

2016-07-01

Full Text Available Based on rock compression-shear damage theory, the mechanical characteristics of an arc blade wedged hob were analyzed to study the rock fragmentation mechanism of hob during excavation, and rock fragmentation forecasting model of the arc blade wedged hob was improved. A spoke type cutter model which is similar to the tunnel boring machine (TBM cutter head was designed to study the rock fragmentation efficiency in different cutter spacing by adjusting the bearing sleeve size to obtain different distances between the hobs. The results show that the hob-breaking rock force mainly comes from three directions. The vertical force along the direction of the tunnel excavation, which is associated with uniaxial compressive strength of rock mass, plays a key role in the process of rock fragmentation. Field project data shows that the prediction model’s results of rock fragmentation in this paper are closer to the measured results than the results of the traditional linear cutting model. The optimal cutter spacing exists among different cutter spacings to get higher rock fragmentation rate and lower energy consumption during rock fragmentation. It is of great reference significance to design the arc blade wedged hob and enhance the efficiency of rock fragmentation in rock strata.

Arc-to-arc mini-sling 1999: a critical analysis of concept and technology

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Paulo Palma

2011-04-01

Full Text Available PURPOSE: The aim of this study was to critically review the Arc-to-Arc mini-sling (Palma's technique a less invasive mid-urethral sling using bovine pericardium as the sling material. MATERIALS AND METHODS: The Arc-to-Arc mini-sling, using bovine pericardium, was the first published report of a mini-sling, in 1999. The technique was identical to the "tension-free tape" operation, midline incision and dissection of the urethra. The ATFP (white line was identified by blunt dissection, and the mini-sling was sutured to the tendinous arc on both sides with 2 polypropylene 00 sutures. RESULTS: The initial results were encouraging, with 9/10 patients cured at the 6 weeks post-operative visit. However, infection and extrusion of the mini-sling resulted in sling extrusion and removal, with 5 patients remaining cured at 12 months. CONCLUSION: The Arc-to-Arc mini-sling was a good concept, but failed because of the poor technology available at that time. Further research using new materials and better technology has led to new and safer alternatives for the management of stress urinary incontinence.

System and Method for Automated Rendezvous, Docking and Capture of Autonomous Underwater Vehicles

Science.gov (United States)

Stone, William C. (Inventor); Clark, Evan (Inventor); Richmond, Kristof (Inventor); Paulus, Jeremy (Inventor); Kapit, Jason (Inventor); Scully, Mark (Inventor); Kimball, Peter (Inventor)

2018-01-01

A system for automated rendezvous, docking, and capture of autonomous underwater vehicles at the conclusion of a mission comprising of comprised of a docking rod having lighted, pulsating (in both frequency and light intensity) series of LED light strips thereon, with the LEDs at a known spacing, and the autonomous underwater vehicle specially designed to detect and capture the docking rod and then be lifted structurally by a spherical end strop about which the vehicle can be pivoted and hoisted up (e.g., onto a ship). The method of recovery allows for very routine and reliable automated recovery of an unmanned underwater asset.

Ireland and the UNESCO Convention on the Protection of the Underwater Cultural Heritage

Science.gov (United States)

Kirwan, Seán

2010-12-01

Ratification by Ireland of the 2001 UNESCO Convention on the Protection of the Underwater Cultural Heritage will not be able to take place until after enactment of additional domestic legislation. The reasons for this are examined in the context of Ireland's legal system. Since 1987 Ireland has had extensive legal protection for underwater cultural heritage, but the jurisdictional aspects of the Convention are key to understanding why additional legislation is necessary. Issues relating to salvage law are also considered. The 2001 Convention is placed in the context of development of Irish policy on underwater cultural heritage.

H∞ control of a remotely operated underwater vehicle

International Nuclear Information System (INIS)

Conte, G.; Serrani, A.

1994-01-01

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

Effect of arc behaviour on the temperature fluctuation of carbon electrode in DC arc discharge

International Nuclear Information System (INIS)

Liang, F; Tanaka, M; Choi, S; Watanabe, T

2014-01-01

Diffuse and multiple arc-anode attachment modes were observed in a DC arc discharge with a carbon electrode. During the arc discharge, the surface temperature of the electrode was successfully measured by two-colour pyrometry combined with a high-speed camera which employs appropriate band-pass filters. The relationship between the arc-anode attachment mode and the temperature fluctuation of electrode surface was investigated. The diffuse arc-anode attachment mode leads to relatively large temperature fluctuation on anode surface due to the rotation of the arc spot. In the case of diffuse mode, the purity of synthesized multi-wall carbon nanotube was deteriorated with temperature fluctuation

Simulation of the behavior of pressurized underwater concrete

Directory of Open Access Journals (Sweden)

Ashraf Mohamed Heniegal

2015-06-01

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

Cognitive Routing in Software-Defined Underwater Acoustic Networks

Directory of Open Access Journals (Sweden)

Huma Ghafoor

2017-12-01

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

Multibeam 3D Underwater SLAM with Probabilistic Registration

Directory of Open Access Journals (Sweden)

Albert Palomer

2016-04-01

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

Underwater Electromagnetic Sensor Networks—Part I: Link Characterization

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Gara Quintana-Díaz

2017-01-01

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

The Research of Optical Turbulence Model in Underwater Imaging System

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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.

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.

Underwater Image Enhancement by Adaptive Gray World and Differential Gray-Levels Histogram Equalization

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WONG, S.-L.

2018-05-01

Full Text Available Most underwater images tend to be dominated by a single color cast. This paper presents a solution to remove the color cast and improve the contrast in underwater images. However, after the removal of the color cast using Gray World (GW method, the resultant image is not visually pleasing. Hence, we propose an integrated approach using Adaptive GW (AGW and Differential Gray-Levels Histogram Equalization (DHE that operate in parallel. The AGW is applied to remove the color cast while DHE is used to improve the contrast of the underwater image. The outputs of both chromaticity components of AGW and intensity components of DHE are combined to form the enhanced image. The results of the proposed method are compared with three existing methods using qualitative and quantitative measures. The proposed method increased the visibility of underwater images and in most cases produces better quantitative scores when compared to the three existing methods.

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

Science.gov (United States)

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

2017-03-01

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

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

Science.gov (United States)

2005-07-18

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

Unzipping of the volcano arc, Japan

Science.gov (United States)

Stern, R.J.; Smoot, N.C.; Rubin, M.

1984-01-01

A working hypothesis for the recent evolution of the southern Volcano Arc, Japan, is presented which calls upon a northward-progressing sundering of the arc in response to a northward-propagating back-arc basin extensional regime. This model appears to explain several localized and recent changes in the tectonic and magrnatic evolution of the Volcano Arc. Most important among these changes is the unusual composition of Iwo Jima volcanic rocks. This contrasts with normal arc tholeiites typical of the rest of the Izu-Volcano-Mariana and other primitive arcs in having alkaline tendencies, high concentrations of light REE and other incompatible elements, and relatively high silica contents. In spite of such fractionated characteristics, these lavas appear to be very early manifestations of a new volcanic and tectonic cycle in the southern Volcano Arc. These alkaline characteristics and indications of strong regional uplift are consistent with the recent development of an early stage of inter-arc basin rifting in the southern Volcano Arc. New bathymetric data are presented in support of this model which indicate: 1. (1) structural elements of the Mariana Trough extend north to the southern Volcano Arc. 2. (2) both the Mariana Trough and frontal arc shoal rapidly northwards as the Volcano Arc is approached. 3. (3) rugged bathymetry associated with the rifted Mariana Trough is replaced just south of Iwo Jima by the development of a huge dome (50-75 km diameter) centered around Iwo Jima. Such uplifted domes are the immediate precursors of rifts in other environments, and it appears that a similar situation may now exist in the southern Volcano Arc. The present distribution of unrifted Volcano Arc to the north and rifted Mariana Arc to the south is interpreted not as a stable tectonic configuration but as representing a tectonic "snapshot" of an arc in the process of being rifted to form a back-arc basin. ?? 1984.

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

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.

Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network

Directory of Open Access Journals (Sweden)

Gianluca Dini

2012-02-01

Full Text Available Methodologies and algorithms are presented for the secure cooperation of a team of autonomous mobile underwater sensors, connected through an acoustic communication network, within surveillance and patrolling applications. In particular, the work proposes a cooperative algorithm in which the mobile underwater sensors (installed on Autonomous Underwater Vehicles—AUVs respond to simple local rules based on the available information to perform the mission and maintain the communication link with the network (behavioral approach. The algorithm is intrinsically robust: with loss of communication among the vehicles the coverage performance (i.e., the mission goal is degraded but not lost. The ensuing form of graceful degradation provides also a reactive measure against Denial of Service. The cooperative algorithm relies on the fact that the available information from the other sensors, though not necessarily complete, is trustworthy. To ensure trustworthiness, a security suite has been designed, specifically oriented to the underwater scenario, and in particular with the goal of reducing the communication overhead introduced by security in terms of number and size of messages. The paper gives implementation details on the integration between the security suite and the cooperative algorithm and provides statistics on the performance of the system as collected during the UAN project sea trial held in Trondheim, Norway, in May 2011.

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...

Validation of multi-body modelling methodology for reconfigurable underwater robots

DEFF Research Database (Denmark)

Nielsen, M.C.; Eidsvik, O. A.; Blanke, Mogens

2016-01-01

This paper investigates the problem of employing reconfigurable robots in an underwater setting. The main results presented is the experimental validation of a modelling methodology for a system consisting of N dynamically connected robots with heterogeneous dynamics. Two distinct types...... of experiments are performed, a series of hydrostatic free-decay tests and a series of open-loop trajectory tests. The results are compared to a simulation based on the modelling methodology. The modelling methodology shows promising results for usage with systems composed of reconfigurable underwater modules...

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)

A Comprehensive Study on the Internet of Underwater Things: Applications, Challenges, and Channel Models.

Science.gov (United States)

Kao, Chien-Chi; Lin, Yi-Shan; Wu, Geng-De; Huang, Chun-Ju

2017-06-22

The Internet of Underwater Things (IoUT) is a novel class of Internet of Things (IoT), and is defined as the network of smart interconnected underwater objects. IoUT is expected to enable various practical applications, such as environmental monitoring, underwater exploration, and disaster prevention. With these applications, IoUT is regarded as one of the potential technologies toward developing smart cities. To support the concept of IoUT, Underwater Wireless Sensor Networks (UWSNs) have emerged as a promising network system. UWSNs are different from the traditional Territorial Wireless Sensor Networks (TWSNs), and have several unique properties, such as long propagation delay, narrow bandwidth, and low reliability. These unique properties would be great challenges for IoUT. In this paper, we provide a comprehensive study of IoUT, and the main contributions of this paper are threefold: (1) we introduce and classify the practical underwater applications that can highlight the importance of IoUT; (2) we point out the differences between UWSNs and traditional TWSNs, and these differences are the main challenges for IoUT; and (3) we investigate and evaluate the channel models, which are the technical core for designing reliable communication protocols on IoUT.

Mechanically durable underwater superoleophobic surfaces based on hydrophilic bulk metals for oil/water separation

Science.gov (United States)

Yu, Huadong; Lian, Zhongxu; Xu, Jinkai; Wan, Yanling; Wang, Zuobin; Li, Yiquan; Yu, Zhanjiang; Weng, Zhankun

2018-04-01

Despite the success of previous methods for fabricating underwater superoleophobic surfaces, most of the surfaces based on soft materials are prone to collapse and deformation due to their mechanically fragile nature, and they fail to perform their designed functions after the surface materials are damaged in water. In this work, the nanosecond laser-induced oxide coatings on hydrophilic bulk metals are reported which overcomes the limitation and shows the robust underwater superoleophobicity to a mechanical challenge encountered by surfaces deployed in water environment. The results show that the surface materials have the advantage that the underwater superoleophobicity is still preserved after the surfaces are scratched by knife or sandpaper and even completely destroyed because of the hydrophilic property of damaged materials in water. It is important that the results provide a guide for the design of durable underwater superoleophobic surfaces, and the development of superoleophobic materials in many potential applications such as the oil-repellent and the oil/water separation. Additionally, the nanosecond laser technology is simple, cost-effective and suitable for the large-area and mass fabrication of mechanically durable underwater superoleophobic metal materials.

Tracking Controller Design for Diving Behavior of an Unmanned Underwater Vehicle

Directory of Open Access Journals (Sweden)

Yi-Hsiang Tseng

2013-01-01

Full Text Available The study has investigated the almost disturbance decoupling problem of nonlinear uncertain control systems via the fuzzy feedback linearization approach. The significant dedication of this paper is to organize a control algorithm such that the closed-loop system is active for given initial condition and bounded tracking trajectory with the input-to-state stability and almost disturbance decoupling performance. This study presents a feedback linearization controller for diving control of an unmanned underwater vehicle. Unmanned underwater vehicle proposes difficult control subject due to its nonlinear dynamics, uncertain models, and the existence of disturbances that are difficult to measure. In general, while investigating the diving dynamics of an unmanned underwater vehicle, the pitch angle is always assumed to be small. This assumption is a strong restricting constraint in many interesting practical applications and will be relaxed in this study.

An Environment-Friendly Multipath Routing Protocol for Underwater Acoustic Sensor Network

Directory of Open Access Journals (Sweden)

Yun Li

2017-01-01

Full Text Available Underwater Acoustic Sensor Network (UASN is a promising technique by facilitating a wide range of aquatic applications. However, routing scheme in UASN is a challenging task because of the characteristics of the nodes mobility, interruption of link, and interference caused by other underwater acoustic systems such as marine mammals. In order to achieve reliable data delivery in UASN, in this work, we present a disjoint multipath disruption-tolerant routing protocol for UASN (ENMR, which incorporates the Hue, Saturation, and Value color space (HSV model to establish routing paths to greedily forward data packets to sink nodes. ENMR applies the mechanism to maintain the network topology. Simulation results show that, compared with the classic underwater routing protocols named PVBF, ENMR can improve packet delivery ratio and reduce network latency while avoiding introducing additional energy consumption.

Determination of cut front position in laser cutting

Science.gov (United States)

Pereira, M.; Thombansen, U.

2016-07-01

Laser cutting has a huge importance to manufacturing industry. Laser cutting machines operate with fixed technological parameters and this does not guarantee the best productivity. The adjustment of the cutting parameters during operation can improve the machine performance. Based on a coaxial measuring device it is possible to identify the cut front position during the cutting process. This paper describes the data analysis approach used to determine the cut front position for different feed rates. The cut front position was determined with good resolution, but improvements are needed to make the whole process more stable.

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

Measurement and Analysis of the Diffusible Hydrogen in Underwater Wet Welding Joint

Directory of Open Access Journals (Sweden)

Kong Xiangfeng

2016-01-01

Full Text Available The diffusible hydrogen in steel weldments is one of the main reasons that led to hydrogen assisted cracking. In this paper, the results of literatures survey and preliminary tests of the diffusible hydrogen in underwater wet welding joint were presented. A fluid-discharge method of for measuring the diffusible hydrogen in weldment was introduced in detail. Two kinds of underwater welding electrode diffusible hydrogen are 26.5 mL/100g and 35.5 mL/100g by fluid-discharge method, which are high levels. The diffusible hydrogen of underwater welding is higher than atmospheric welding, and the result is closely related to welding material. The best way to control the diffusible hydrogen is adjusting welding material and improving fluidity of slag.

Metal-doped diamond-like carbon films synthesized by filter-arc deposition

International Nuclear Information System (INIS)

Weng, K.-W.; Chen, Y.-C.; Lin, T.-N.; Wang, D.-Y.

2006-01-01

Diamond-like carbon (DLC) thin films are extensively utilized in the semiconductor, electric and cutting machine industries owing to their high hardness, high elastic modulus, low friction coefficients and high chemical stability. DLC films are prepared by ion beam-assisted deposition (BAD), sputter deposition, plasma-enhanced chemical vapor deposition (PECVD), cathodic arc evaporation (CAE), and filter arc deposition (FAD). The major drawbacks of these methods are the degraded hardness associated with the low sp 3 /sp 2 bonding ratio, the rough surface and poor adhesion caused by the presence of particles. In this study, a self-developed filter arc deposition (FAD) system was employed to prepare metal-containing DLC films with a low particle density. The relationships between the DLC film properties, such as film structure, surface morphology and mechanical behavior, with variation of substrate bias and target current, are examined. Experimental results demonstrate that FAD-DLC films have a lower ratio, suggesting that FAD-DLC films have a greater sp 3 bonding than the CAE-DLC films. FAD-DLC films also exhibit a low friction coefficient of 0.14 and half of the number of surface particles as in the CAE-DLC films. Introducing a CrN interfacial layer between the substrate and the DLC films enables the magnetic field strength of the filter to be controlled to improve the adhesion and effectively eliminate the contaminating particles. Accordingly, the FAD system improves the tribological properties of the DLC films

MICRO-ARC DIELECTRIC COATINGS ON ALUMINUM ALLOYS OF GRINDING WHEEL FRAMEWORKS

Directory of Open Access Journals (Sweden)

Yury GUTSALENKO

2018-05-01

Full Text Available It is presented the development of local electrically insulating coatings for tool of the technologies of high-efficient processing with the introduction the energy of electrical discharges into the cutting zone to maintain a working capacity of grinding wheels with diamond-metal composition of the working part. Development is an alternative to the electrical insulation upgrade of spindle units of universal grinding machines. The dielectric properties of micro-arc oxide coatings on deformable aluminum alloys formed on an alternating current in the regime of an arbitrarily falling power in alkali-silicate solutions have been studied. Information about the features of practical implementation of development is given.

Underwater navigation using diffusion-based trajectory observers

DEFF Research Database (Denmark)

Jouffroy, Jerome; Opderbecke, Jan

2007-01-01

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

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...

Determination of cut front position in laser cutting

International Nuclear Information System (INIS)

Pereira, M; Thombansen, U

2016-01-01

Laser cutting has a huge importance to manufacturing industry. Laser cutting machines operate with fixed technological parameters and this does not guarantee the best productivity. The adjustment of the cutting parameters during operation can improve the machine performance. Based on a coaxial measuring device it is possible to identify the cut front position during the cutting process. This paper describes the data analysis approach used to determine the cut front position for different feed rates. The cut front position was determined with good resolution, but improvements are needed to make the whole process more stable. (paper)

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...... and transitions among the different types of discharges, were investigated using simultaneously optical and electrical diagnostics. The glow-type discharge shows sinusoidal-like voltage and current waveforms with a peak current of hundreds of milliamperes. The frequency of the emission intensity variation...... of the glow-type discharge is the same as that of the electronic power dissipated in the plasma column. The glow-type discharge can transfer into a spark discharge characterized by a sharp peak current of several amperes and a sudden increase of the brightness in the plasma column. Transitions can also...

Development of a highly maneuverable unmanned underwater vehicle on the basis of quad-copter dynamics

Science.gov (United States)

Amin, Osman Md; Karim, Md. Arshadul; Saad, Abdullah His

2017-12-01

At present, research on unmanned underwater vehicle (UUV) has become a significant & familiar topic for researchers from various engineering fields. UUV is of mainly two types - AUV (Autonomous Underwater vehicle) & ROV (Remotely Operated Vehicle). There exist a significant number of published research papers on UUV, where very few researchers emphasize on the ease of maneuvering and control of UUV. Maneuvering is important for underwater vehicle in avoiding obstacles, installing underwater piping system, searching undersea resources, underwater mine disposal operations, oceanographic surveys etc. A team from Dept. of Naval Architecture & Marine Engineering of MIST has taken a project to design a highly maneuverable unmanned underwater vehicle on the basis of quad-copter dynamics. The main objective of the research is to develop a control system for UUV which would be able to maneuver the vehicle in six DOF (Degrees of Freedom) with great ease. For this purpose we are not only focusing on controllability but also designing an efficient hull with minimal drag force & optimized propeller using CFD technique. Motors were selected on the basis of the simulated thrust generated by propellers in ANSYS Fluent software module. Settings for control parameters to carry out different types of maneuvering such as hovering, spiral, one point rotation about its centroid, gliding, rolling, drifting and zigzag motions were explained in short at the end.

3D MODELING FOR UNDERWATER ARCHAEOLOGICAL DOCUMENTATION: METRIC VERIFICATIONS

Directory of Open Access Journals (Sweden)

S. D’Amelio

2015-04-01

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

Pressure vessel made by free forming using underwater explosion

Directory of Open Access Journals (Sweden)

H Iyama

2016-03-01

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

Arc-weld pool interactions

International Nuclear Information System (INIS)

Glickstein, S.S.

1978-08-01

The mechanisms involved in arc-weld pool interactions are extremely complex and no complete theory is presently available to describe much of the phenomena observed during welding. For the past several years, experimental and analytical studies have been undertaken at the Bettis Atomic Power Laboratory to increase basic understanding of the gas tungsten arc welding process. These studies have included experimental spectral analysis of the arc in order to determine arc temperature and analytical modeling of the arc and weld puddle. The investigations have been directed toward determining the cause and effects of variations in the energy distribution incident upon the weldment. In addition, the effect of weld puddle distortion on weld penetration was investigated, and experimental and analytical studies of weld process variables have been undertaken to determine the effects of the variables upon weld penetration and configuration. A review of the results and analysis of these studies are presented

Localization of an Underwater Control Network Based on Quasi-Stable Adjustment

Science.gov (United States)

Chen, Xinhua; Zhang, Hongmei; Feng, Jie

2018-01-01

There exists a common problem in the localization of underwater control networks that the precision of the absolute coordinates of known points obtained by marine absolute measurement is poor, and it seriously affects the precision of the whole network in traditional constraint adjustment. Therefore, considering that the precision of underwater baselines is good, we use it to carry out quasi-stable adjustment to amend known points before constraint adjustment so that the points fit the network shape better. In addition, we add unconstrained adjustment for quality control of underwater baselines, the observations of quasi-stable adjustment and constrained adjustment, to eliminate the unqualified baselines and improve the results’ accuracy of the two adjustments. Finally, the modified method is applied to a practical LBL (Long Baseline) experiment and obtains a mean point location precision of 0.08 m, which improves by 38% compared with the traditional method. PMID:29570627

Volcanism in slab tear faults is larger than in island-arcs and back-arcs.

Science.gov (United States)

Cocchi, Luca; Passaro, Salvatore; Tontini, Fabio Caratori; Ventura, Guido

2017-11-13

Subduction-transform edge propagators are lithospheric tears bounding slabs and back-arc basins. The volcanism at these edges is enigmatic because it is lacking comprehensive geological and geophysical data. Here we present bathymetric, potential-field data, and direct observations of the seafloor on the 90 km long Palinuro volcanic chain overlapping the E-W striking tear of the roll-backing Ionian slab in Southern Tyrrhenian Sea. The volcanic chain includes arc-type central volcanoes and fissural, spreading-type centers emplaced along second-order shears. The volume of the volcanic chain is larger than that of the neighbor island-arc edifices and back-arc spreading center. Such large volume of magma is associated to an upwelling of the isotherms due to mantle melts upraising from the rear of the slab along the tear fault. The subduction-transform edge volcanism focuses localized spreading processes and its magnitude is underestimated. This volcanism characterizes the subduction settings associated to volcanic arcs and back-arc spreading centers.

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)

On the Accuracy Potential in Underwater/Multimedia Photogrammetry.

Science.gov (United States)

Maas, Hans-Gerd

2015-07-24

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

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

Science.gov (United States)

2010-10-01

... 46 Shipping 4 2010-10-01 2010-10-01 false Alternative Hull Examination (AHE) Program options... MORE THAN 49 PASSENGERS INSPECTION AND CERTIFICATION Hull and Tailshaft Examinations § 115.650 Alternative Hull Examination (AHE) Program options: Divers or underwater ROV. To complete your underwater...

Experimental study on scale removal from special-shaped conduits through underwater electrical discharge

International Nuclear Information System (INIS)

Cao, Y; Wang, Z Q; Li, G F; Wu, Y; Zhou, J J

2013-01-01

Underwater electrical discharge technology is an innovative technique that can be used to enhance the stress intensity of water and improve the load addition. The technique enlarges the section area and compresses the surrounding water using a high-powered shock wave, which is induced by an underwater electrical discharge. This paper investigates the effectiveness of scale removal for special-shaped conduits employing underwater electrical discharge. Experimental results show that the pressure wave generated by underwater electrical discharge is capable of eliminating scale in special-shaped conduits. The data indicates that when the capacitance of the parallel-pulsed capacitors was 4 μF, the high pulsed power voltage was 33 kV and the primary discharge gap was 48 mm, the result of scale removal was remarkable. In laboratory tests, the scale of special equipment was removed to a great extent by this method. Because of its effectiveness and low cost, this method improves the practice and extends the lifetime of such equipment, and thus has potential application and economic value.

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.

Underwater explosive compaction-sintering of tungsten-copper coating on a copper surface

Science.gov (United States)

Chen, Xiang; Li, Xiaojie; Yan, Honghao; Wang, Xiaohong; Chen, Saiwei

2018-01-01

This study investigated underwater explosive compaction-sintering for coating a high-density tungsten-copper composite on a copper surface. First, 50% W-50% Cu tungsten-copper composite powder was prepared by mechanical alloying. The composite powder was pre-compacted and sintered by hydrogen. Underwater explosive compaction was carried out. Finally, a high-density tungsten-copper coating was obtained by diffusion sintering of the specimen after explosive compaction. A simulation of the underwater explosive compaction process showed that the peak value of the pressure in the coating was between 3.0 and 4.8 GPa. The hardness values of the tungsten-copper layer and the copper substrate were in the range of 87-133 and 49 HV, respectively. The bonding strength between the coating and the substrate was approximately 100-105 MPa.

A Comprehensive Study on the Internet of Underwater Things: Applications, Challenges, and Channel Models

Directory of Open Access Journals (Sweden)

Chien-Chi Kao

2017-06-01

Full Text Available The Internet of Underwater Things (IoUT is a novel class of Internet of Things (IoT, and is defined as the network of smart interconnected underwater objects. IoUT is expected to enable various practical applications, such as environmental monitoring, underwater exploration, and disaster prevention. With these applications, IoUT is regarded as one of the potential technologies toward developing smart cities. To support the concept of IoUT, Underwater Wireless Sensor Networks (UWSNs have emerged as a promising network system. UWSNs are different from the traditional Territorial Wireless Sensor Networks (TWSNs, and have several unique properties, such as long propagation delay, narrow bandwidth, and low reliability. These unique properties would be great challenges for IoUT. In this paper, we provide a comprehensive study of IoUT, and the main contributions of this paper are threefold: (1 we introduce and classify the practical underwater applications that can highlight the importance of IoUT; (2 we point out the differences between UWSNs and traditional TWSNs, and these differences are the main challenges for IoUT; and (3 we investigate and evaluate the channel models, which are the technical core for designing reliable communication protocols on IoUT.

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

Indian Academy of Sciences (India)

Jalaja Janardanan Kartha

2017-09-07

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

Investigation of the relevant kinetic processes in the initial stage of a double-arcing instability in oxygen plasmas

Science.gov (United States)

Mancinelli, B.; Prevosto, L.; Chamorro, J. C.; Minotti, F. O.; Kelly, H.

2018-05-01

A numerical investigation of the kinetic processes in the initial (nanosecond range) stage of the double-arcing instability was developed. The plasma-sheath boundary region of an oxygen-operated cutting torch was considered. The energy balance and chemistry processes in the discharge were described. It is shown that the double-arcing instability is a sudden transition from a diffuse (glow-like) discharge to a constricted (arc-like) discharge in the plasma-sheath boundary region arising from a field-emission instability. A critical electric field value of ˜107 V/m was found at the cathodic part of the nozzle wall under the conditions considered. The field-emission instability drives in turn a fast electronic-to-translational energy relaxation mechanism, giving rise to a very fast gas heating rate of at least ˜109 K/s, mainly due to reactions of preliminary dissociation of oxygen molecules via the highly excited electronic state O2(B3Σu-) populated by electron impact. It is expected that this fast oxygen heating rate further stimulates the discharge contraction through the thermal instability mechanism.

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

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Yang Yu

2016-01-01

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

Acquisition and tracking for underwater optical communications

Science.gov (United States)

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

2017-10-01

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

Cascading Multi-Hop Reservation and Transmission in Underwater Acoustic Sensor Networks

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Jae-Won Lee

2014-10-01

Full Text Available The long propagation delay in an underwater acoustic channel makes designing an underwater media access control (MAC protocol more challenging. In particular, handshaking-based MAC protocols widely used in terrestrial radio channels have been known to be inappropriate in underwater acoustic channels, because of the inordinately large latency involved in exchanging control packets. Furthermore, in the case of multi-hop relaying in a hop-by-hop handshaking manner, the end-to-end delay significantly increases. In this paper, we propose a new MAC protocol named cascading multi-hop reservation and transmission (CMRT. In CMRT, intermediate nodes between a source and a destination may start handshaking in advance for the next-hop relaying before handshaking for the previous node is completed. By this concurrent relaying, control packet exchange and data delivery cascade down to the destination. In addition, to improve channel utilization, CMRT adopts a packet-train method where multiple data packets are sent together by handshaking once. Thus, CMRT reduces the time taken for control packet exchange and accordingly increases the throughput. The performance of CMRT is evaluated and compared with that of two conventional MAC protocols (multiple-access collision avoidance for underwater (MACA-U and MACA-U with packet trains (MACA-UPT. The results show that CMRT outperforms other MAC protocols in terms of both throughput and end-to-end delay.

Measurement and Modeling of Narrowband Channels for Ultrasonic Underwater Communications

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Francisco J. Cañete

2016-02-01

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

Multiuser chirp modulation for underwater acoustic channel based on VTRM

Directory of Open Access Journals (Sweden)

Fei Yuan

2017-05-01

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

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.

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