WorldWideScience

Sample records for underwater coating approach

  1. 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

  2. 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

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

    Directory of Open Access Journals (Sweden)

    Y.W. Kwon

    1994-01-01

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

  4. Underwater coating repair cuts nuclear maintenance costs

    International Nuclear Information System (INIS)

    Stuart, C.O.

    1993-01-01

    This article discusses the cleaning and recoating/repair of condensate tanks or other vessels in a nuclear power plant. The topics of the article include the safety and regulatory need for this system of repair, a description of the work done on the Brown's Ferry MK-1 suppression chamber, coating failure mechanisms, qualitative inspection, quantitative inspection, quantitative inspection results, spot repairs, and economic considerations

  5. Underwater Coatings Testing for INEEL Fuel Basin Applications

    International Nuclear Information System (INIS)

    Julia L. Tripp

    2004-01-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) is deactivating several fuel storage basins. Airborne contamination is a concern when the sides of the basins are exposed and allowed to dry during water removal. One way of controlling this airborne contamination is to fix the contamination in place while the pool walls are still submerged. There are many underwater coatings available on the market that are used in marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives are easily applied and adhere well to the substrates (pool wall materials) found in INEEL fuel pools. The four pools considered included (1) Test Area North (TAN-607) with epoxy painted concrete walls; (2) Idaho Nuclear Technology and Engineering Center (INTEC) (CPP-603) with bare concrete walls; (3) Materials Test Reactor (MTR) Canal with stainless steel lined concrete walls; and (4) Power Burst Facility (PBF-620) with stainless steel lined concrete walls on the bottom and epoxy painted carbon steel lined walls on the upper portions. Therefore, the four materials chosen for testing included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The typical water temperature of the pools varies from 55 F to 80 F dependent on the pool and the season. These tests were done at room temperature

  6. Underwater Coatings Testing for INEEL Fuel Basin Applications

    Energy Technology Data Exchange (ETDEWEB)

    Julia L. Tripp

    2004-01-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) is deactivating several fuel storage basins. Airborne contamination is a concern when the sides of the basins are exposed and allowed to dry during water removal. One way of controlling this airborne contamination is to fix the contamination in place while the pool walls are still submerged. There are many underwater coatings available on the market that are used in marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives are easily applied and adhere well to the substrates (pool wall materials) found in INEEL fuel pools. The four pools considered included (1) Test Area North (TAN-607) with epoxy painted concrete walls; (2) Idaho Nuclear Technology and Engineering Center (INTEC) (CPP-603) with bare concrete walls; (3) Materials Test Reactor (MTR) Canal with stainless steel lined concrete walls; and (4) Power Burst Facility (PBF-620) with stainless steel lined concrete walls on the bottom and epoxy painted carbon steel lined walls on the upper portions. Therefore, the four materials chosen for testing included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The typical water temperature of the pools varies from 55 F to 80 F dependent on the pool and the season. These tests were done at room temperature.

  7. Underwater 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.

  8. 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

  9. Experimental Research on the Dynamic Response of Floating Structures with Coatings Subjected to Underwater Explosion

    Directory of Open Access Journals (Sweden)

    Feng Xiao

    2014-01-01

    Full Text Available This paper presents an experimental investigation into the dynamic response of three free floating stiffened metal boxes with protective coatings subjected to underwater explosion (UNDEX. One box was kept intact while the other two were, respectively, covered with monolithic coatings and chiral honeycomb coatings. Three groups of live fire tests with different attack angles and stand-off distances were conducted. The acceleration on the stiffener and strain peak on the bottom hull were selected as the major comparative criterions. Test results show that the impulse transmitted to the structure at the initial stage can be reduced, owing to the coating flexibility and fluid-structure interaction mechanism. Consequently, the acceleration peaks induced by both shock wave and bubble pulse were reduced. The shock environment can be more effectively improved by honeycomb coating when compared with monolithic coating. Most of the strain peaks decreased to a certain extent, but some of them were notably manifested, especially for honeycomb coating. The test affirms the fact that soft coating can cause stress concentration on the shell that is in direct contact with the coating due to the impedance mismatch between the interfaces of materials. A softer rubber coating induces a greater magnitude of strain.

  10. Effect of Poisson's loss factor of rubbery material on underwater sound absorption of anechoic coatings

    Science.gov (United States)

    Zhong, Jie; Zhao, Honggang; Yang, Haibin; Yin, Jianfei; Wen, Jihong

    2018-06-01

    Rubbery coatings embedded with air cavities are commonly used on underwater structures to reduce reflection of incoming sound waves. In this paper, the relationships between Poisson's and modulus loss factors of rubbery materials are theoretically derived, the different effects of the tiny Poisson's loss factor on characterizing the loss factors of shear and longitudinal moduli are revealed. Given complex Young's modulus and dynamic Poisson's ratio, it is found that the shear loss factor has almost invisible variation with the Poisson's loss factor and is very close to the loss factor of Young's modulus, while the longitudinal loss factor almost linearly decreases with the increase of Poisson's loss factor. Then, a finite element (FE) model is used to investigate the effect of the tiny Poisson's loss factor, which is generally neglected in some FE models, on the underwater sound absorption of rubbery coatings. Results show that the tiny Poisson's loss factor has a significant effect on the sound absorption of homogeneous coatings within the concerned frequency range, while it has both frequency- and structure-dependent influence on the sound absorption of inhomogeneous coatings with embedded air cavities. Given the material parameters and cavity dimensions, more obvious effect can be observed for the rubbery coating with a larger lattice constant and/or a thicker cover layer.

  11. Tri-component phononic crystals for underwater anechoic coatings

    International Nuclear Information System (INIS)

    Zhao, Honggang; Liu, Yaozong; Wen, Jihong; Yu, Dianlong; Wen, Xisen

    2007-01-01

    Localized resonance in phononic crystal, composed of three-dimensional arrays of composite units, has been discovered recently. The composite unit is a high-density sphere coated by soft silicon rubber. In this Letter, the absorptive properties induced by the localized resonance are systemically investigated. The mode conversions during the Mie scattering of a single coated lead sphere in unbounded epoxy are analyzed by referring the elements of the scattering matrix. Then the anechoic properties of a slab containing a plane of such composite scatterers are investigated with the multiple-scattering method by accounting the effects of the multiple scattering and the viscous dissipation. The results show that the longitudinal to transverse mode conversion nearby the locally resonant region is an effective way to enhance the anechoic performance of the finite slab of phononic crystal. Then, the influences of the viscoelasticity of the silicon rubber and the coating thickness on the acoustic properties of the finite slab are investigated for anechoic optimization. Finally, we synthetically consider the destructive scattering in the finite slab of phononic crystal and the backing, and design an anechoic slab composed of bi-layer coated spheres. The results show that the most of the incident energy is absorbed at the desired frequency band

  12. Flow around an autonomous underwater vehicle with bio-inspired coating

    Science.gov (United States)

    Watkins, Scott; Montoya-Segnini, Jose; Bocanegra Evans, Humberto; Curet, Oscar; Gorumlu, Serdar; Aksak, Burak; Kazemi, Amirkhosro; Chamorro, Leonardo; Castillo, Luciano

    2017-11-01

    Flow separation plays a major factor in the form drag of a moving object. In particular, suppressing or reducing flow separation is critical in the energy expenditure of autonomous underwater vehicles. Previous research suggests that bio-inspired micro-fibrillar structures are capable of reducing the boundary layer separation in a turbulent flow. Here, we present laboratory measurements using PIV near the wall and in the wake of two submersible vessel models; one had a coating composed of ordered fibers, and the other had smooth walls. Flow characterization with planar PIV included the presence or absence of a tail fin at multiple angles of attack of the vessels. Preliminary results reveal changes of the flow in the wake of the vessel with coating resulting in lower or similar velocity deficit in the wake compared to the smooth vessel.

  13. 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.

  14. 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.

  15. Evaluation of Underwater Adhesives and Friction Coatings for In Situ Attachment of Fiber Optic Sensor System for Subsea Applications

    Science.gov (United States)

    Tang, Henry H.; Le, Suy Q.; Orndoff, Evelyne S.; Smith, Frederick D.; Tapia, Alma S.; Brower, David V.

    2012-01-01

    Integrity and performance monitoring of subsea pipelines and structures provides critical information for managing offshore oil and gas production operation and preventing environmentally damaging and costly catastrophic failure. Currently pipeline monitoring devices require ground assembly and installation prior to the underwater deployment of the pipeline. A monitoring device that could be installed in situ on the operating underwater structures could enhance the productivity and improve the safety of current offshore operation. Through a Space Act Agreement (SAA) between the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC) and Astro Technology, Inc. (ATI), JSC provides technical expertise and testing facilities to support the development of fiber optic sensor technologies by ATI. This paper details the first collaboration effort between NASA JSC and ATI in evaluating underwater applicable adhesives and friction coatings for attaching fiber optic sensor system to subsea pipeline. A market survey was conducted to examine different commercial ]off ]the ]shelf (COTS) underwater adhesive systems and to select adhesive candidates for testing and evaluation. Four COTS epoxy based underwater adhesives were selected and evaluated. The adhesives were applied and cured in simulated seawater conditions and then evaluated for application characteristics and adhesive strength. The adhesive that demonstrated the best underwater application characteristics and highest adhesive strength were identified for further evaluation in developing an attachment system that could be deployed in the harsh subsea environment. Various friction coatings were also tested in this study to measure their shear strengths for a mechanical clamping design concept for attaching fiber optic sensor system. A COTS carbide alloy coating was found to increase the shear strength of metal to metal clamping interface by up to 46 percent. This study provides valuable data for

  16. Preparation and characterization of underwater superoleophobic chitosan/poly(vinyl alcohol) coatings for self-cleaning and oil/water separation

    International Nuclear Information System (INIS)

    Wang, Qian; Fu, Youjia; Yan, Xiaoxia; Chang, Yanjiao; Ren, Lili; Zhou, Jiang

    2017-01-01

    Highlights: • Underwater superoleophobic CS/PVA coatings were prepared using a facile method. • Immersion in NaOH solution was crucial to enhance roughness of the coating surface. • Effects of coating composition on wettability of coating surface were investigated. • The CS/PVA coatings possess self-cleaning property. • The CS/PVA coatings can be used for oil/water separation with high efficiency. - Abstract: In this paper, chitosan (CS)/poly(vinyl alcohol) (PVA) coatings cross-linked with glutaraldehyde (GA) were prepared. Effects of the coating composition and NaOH solution treatment on surface morphology and topography were investigated by scanning electron microscope and atomic force microscope. It was found that the process of immersing the CS/PVA coatings into NaOH solution was crucial to enhance rough structure on the coating surface. The rough surface structure and the hydrophilic groups of CS and PVA made the CS/PVA coatings possess underwater superoleophobicity and low adhesion to oil. Oil contact angle of the prepared CS/PVA coatings was up to 161° and slide angle was only 3°. Moreover, the CS/PVA coatings showed stable superoleophobicity in high salt, strong acidic, and alkaline environments as well as underwater self-cleaning property and excellent transparency. The CS/PVA coatings could be used for gravity driven oil/water separation with high efficiency.

  17. Preparation and characterization of underwater superoleophobic chitosan/poly(vinyl alcohol) coatings for self-cleaning and oil/water separation

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Qian; Fu, Youjia; Yan, Xiaoxia; Chang, Yanjiao; Ren, Lili; Zhou, Jiang

    2017-08-01

    Highlights: • Underwater superoleophobic CS/PVA coatings were prepared using a facile method. • Immersion in NaOH solution was crucial to enhance roughness of the coating surface. • Effects of coating composition on wettability of coating surface were investigated. • The CS/PVA coatings possess self-cleaning property. • The CS/PVA coatings can be used for oil/water separation with high efficiency. - Abstract: In this paper, chitosan (CS)/poly(vinyl alcohol) (PVA) coatings cross-linked with glutaraldehyde (GA) were prepared. Effects of the coating composition and NaOH solution treatment on surface morphology and topography were investigated by scanning electron microscope and atomic force microscope. It was found that the process of immersing the CS/PVA coatings into NaOH solution was crucial to enhance rough structure on the coating surface. The rough surface structure and the hydrophilic groups of CS and PVA made the CS/PVA coatings possess underwater superoleophobicity and low adhesion to oil. Oil contact angle of the prepared CS/PVA coatings was up to 161° and slide angle was only 3°. Moreover, the CS/PVA coatings showed stable superoleophobicity in high salt, strong acidic, and alkaline environments as well as underwater self-cleaning property and excellent transparency. The CS/PVA coatings could be used for gravity driven oil/water separation with high efficiency.

  18. 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.

  19. Advanced Nanocomposite Coatings of Fusion Bonded Epoxy Reinforced with Amino-Functionalized Nanoparticles for Applications in Underwater Oil Pipelines

    Directory of Open Access Journals (Sweden)

    Patricia A. Saliba

    2016-01-01

    Full Text Available The performance of fusion-bonded epoxy coatings can be improved through advanced composite coatings reinforced with nanomaterials. Hence, in this study a novel organic-inorganic nanocomposite finish was designed, synthesized, and characterized, achieved by adding γ-aminopropyltriethoxysilane modified silica nanoparticles produced via sol-gel process in epoxy-based powder. After the curing process of the coating reinforced with nanoparticles, the formation of a homogenous novel nanocomposite with the development of interfacial reactions between organic-inorganic and inorganic-inorganic components was observed. These hybrid nanostructures produced better integration between nanoparticles and epoxy matrix and improved mechanical properties that are expected to enhance the overall performance of the system against underwater corrosion.

  20. Doppler-shift estimation of flat underwater channel using data-aided least-square approach

    Directory of Open Access Journals (Sweden)

    Weiqiang Pan

    2015-03-01

    Full Text Available In this paper we proposed a dada-aided Doppler estimation method for underwater acoustic communication. The training sequence is non-dedicate, hence it can be designed for Doppler estimation as well as channel equalization. We assume the channel has been equalized and consider only flat-fading channel. First, based on the training symbols the theoretical received sequence is composed. Next the least square principle is applied to build the objective function, which minimizes the error between the composed and the actual received signal. Then an iterative approach is applied to solve the least square problem. The proposed approach involves an outer loop and inner loop, which resolve the channel gain and Doppler coefficient, respectively. The theoretical performance bound, i.e. the Cramer-Rao Lower Bound (CRLB of estimation is also derived. Computer simulations results show that the proposed algorithm achieves the CRLB in medium to high SNR cases.

  1. Doppler-shift estimation of flat underwater channel using data-aided least-square approach

    Science.gov (United States)

    Pan, Weiqiang; Liu, Ping; Chen, Fangjiong; Ji, Fei; Feng, Jing

    2015-06-01

    In this paper we proposed a dada-aided Doppler estimation method for underwater acoustic communication. The training sequence is non-dedicate, hence it can be designed for Doppler estimation as well as channel equalization. We assume the channel has been equalized and consider only flat-fading channel. First, based on the training symbols the theoretical received sequence is composed. Next the least square principle is applied to build the objective function, which minimizes the error between the composed and the actual received signal. Then an iterative approach is applied to solve the least square problem. The proposed approach involves an outer loop and inner loop, which resolve the channel gain and Doppler coefficient, respectively. The theoretical performance bound, i.e. the Cramer-Rao Lower Bound (CRLB) of estimation is also derived. Computer simulations results show that the proposed algorithm achieves the CRLB in medium to high SNR cases.

  2. Mathematical approach in galvanized steel sheet coatings

    International Nuclear Information System (INIS)

    Perez, A.; Andres, L.J.; Gonzalez, I.; Fernandez, B.; Puente, J.M.

    1998-01-01

    A short review of the kinetics models for the formation of Fe-Zn alloy phases in the galvannealing process is presented. It will focus on the continuous process which is often used by the automotive industry. A first mathematical approach of the kinetics growth of the δ phase has been done using a continuous hot-dipping process simulator which resembles the conditions of the galvannealing process in production lines. Hold time and the galvannealing temperature as well as the weight of the coating were varied. The preliminary results of the iron content and proportion of δ phase in the coating are in agreement with the results obtained by other authors. (Author) 16 refs

  3. 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.

  4. A Bayesian approach for predicting risk of autonomous underwater vehicle loss during their missions

    International Nuclear Information System (INIS)

    Brito, Mario; Griffiths, Gwyn

    2016-01-01

    Autonomous Underwater Vehicles (AUVs) are effective platforms for science research and monitoring, and for military and commercial data-gathering purposes. However, there is an inevitable risk of loss during any mission. Quantifying the risk of loss is complex, due to the combination of vehicle reliability and environmental factors, and cannot be determined through analytical means alone. An alternative approach – formal expert judgment – is a time-consuming process; consequently a method is needed to broaden the applicability of judgments beyond the narrow confines of an elicitation for a defined environment. We propose and explore a solution founded on a Bayesian Belief Network (BBN), where the results of the expert judgment elicitation are taken as the initial prior probability of loss due to failure. The network topology captures the causal effects of the environment separately on the vehicle and on the support platform, and combines these to produce an updated probability of loss due to failure. An extended version of the Kaplan–Meier estimator is then used to update the mission risk profile with travelled distance. Sensitivity analysis of the BBN is presented and a case study of Autosub3 AUV deployment in the Amundsen Sea is discussed in detail. - Highlights: • Novel method to estimate risk of autonomous vehicle loss in uncertain environments. • A framework to integrate frequentist and subjective probability modelling. • A Bayesian belief updating method for capturing variation in operating environment. • Graphical approach for sensitivity analysis, applicable to any BBN model validation. • Pragmatic case studies showing the application of the proposed framework.

  5. Functional coatings: the sol-gel approach

    International Nuclear Information System (INIS)

    Belleville, Ph.

    2010-01-01

    CEA's sol-gel laboratory is specialized in the development of innovative sol-gel optical coatings and has extended its application field to membrane materials and coatings for energy conversion, to electric coatings for microelectronics devices and to thin films for gas sensing. This article describes, by way of examples, the laboratory's research on sol-gel functional coatings, including nano-material synthesis, organic-inorganic hybrid-based solution preparation as well as deposition process development and prototyping. (author)

  6. Design of underwater superoleophobic TiO{sub 2} coatings with additional photo-induced self-cleaning properties by one-step route bio-inspired from fish scales

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Hao [Ministry-of-Education Key Laboratory for the Green Preparation and Application of Functional Materials and Hubei Collaborative Innovation Centre for Advanced Organic Chemical Materials, Hubei University, Wuhan 430062 (China); Guo, Zhiguang, E-mail: zguo@licp.cas.cn [Ministry-of-Education Key Laboratory for the Green Preparation and Application of Functional Materials and Hubei Collaborative Innovation Centre for Advanced Organic Chemical Materials, Hubei University, Wuhan 430062 (China); State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou 730000 (China)

    2014-05-05

    Self-cleaning properties inspired by the structures and functions of some creatures are of great interest since the late 20th century. In this paper, TiO{sub 2} coatings with hierarchical rutile TiO{sub 2} flowers on fluorine-doped tin oxide substrate are fabricated through a simple one-step hydrothermal method. The flower-like coatings exhibit superhydrophilicity in air and superoleophobicity underwater with a contact angle as high as 157°, presenting good underwater self-cleaning performance. In addition, when contaminated by oleic acid, the as-prepared TiO{sub 2} coatings also exhibit excellent photocatalytic capability under ultraviolet irradiation, which demonstrated self-cleaning properties in a different way. This self-cleaning film provides a good strategy for some industrial and ocean applications.

  7. Mission Planning and Decision Support for Underwater Glider Networks: A Sampling on-Demand Approach

    Science.gov (United States)

    Ferri, Gabriele; Cococcioni, Marco; Alvarez, Alberto

    2015-01-01

    This paper describes an optimal sampling approach to support glider fleet operators and marine scientists during the complex task of planning the missions of fleets of underwater gliders. Optimal sampling, which has gained considerable attention in the last decade, consists in planning the paths of gliders to minimize a specific criterion pertinent to the phenomenon under investigation. Different criteria (e.g., A, G, or E optimality), used in geosciences to obtain an optimum design, lead to different sampling strategies. In particular, the A criterion produces paths for the gliders that minimize the overall level of uncertainty over the area of interest. However, there are commonly operative situations in which the marine scientists may prefer not to minimize the overall uncertainty of a certain area, but instead they may be interested in achieving an acceptable uncertainty sufficient for the scientific or operational needs of the mission. We propose and discuss here an approach named sampling on-demand that explicitly addresses this need. In our approach the user provides an objective map, setting both the amount and the geographic distribution of the uncertainty to be achieved after assimilating the information gathered by the fleet. A novel optimality criterion, called Aη, is proposed and the resulting minimization problem is solved by using a Simulated Annealing based optimizer that takes into account the constraints imposed by the glider navigation features, the desired geometry of the paths and the problems of reachability caused by ocean currents. This planning strategy has been implemented in a Matlab toolbox called SoDDS (Sampling on-Demand and Decision Support). The tool is able to automatically download the ocean fields data from MyOcean repository and also provides graphical user interfaces to ease the input process of mission parameters and targets. The results obtained by running SoDDS on three different scenarios are provided and show that So

  8. Mission Planning and Decision Support for Underwater Glider Networks: A Sampling on-Demand Approach.

    Science.gov (United States)

    Ferri, Gabriele; Cococcioni, Marco; Alvarez, Alberto

    2015-12-26

    This paper describes an optimal sampling approach to support glider fleet operators and marine scientists during the complex task of planning the missions of fleets of underwater gliders. Optimal sampling, which has gained considerable attention in the last decade, consists in planning the paths of gliders to minimize a specific criterion pertinent to the phenomenon under investigation. Different criteria (e.g., A, G, or E optimality), used in geosciences to obtain an optimum design, lead to different sampling strategies. In particular, the A criterion produces paths for the gliders that minimize the overall level of uncertainty over the area of interest. However, there are commonly operative situations in which the marine scientists may prefer not to minimize the overall uncertainty of a certain area, but instead they may be interested in achieving an acceptable uncertainty sufficient for the scientific or operational needs of the mission. We propose and discuss here an approach named sampling on-demand that explicitly addresses this need. In our approach the user provides an objective map, setting both the amount and the geographic distribution of the uncertainty to be achieved after assimilating the information gathered by the fleet. A novel optimality criterion, called A η , is proposed and the resulting minimization problem is solved by using a Simulated Annealing based optimizer that takes into account the constraints imposed by the glider navigation features, the desired geometry of the paths and the problems of reachability caused by ocean currents. This planning strategy has been implemented in a Matlab toolbox called SoDDS (Sampling on-Demand and Decision Support). The tool is able to automatically download the ocean fields data from MyOcean repository and also provides graphical user interfaces to ease the input process of mission parameters and targets. The results obtained by running SoDDS on three different scenarios are provided and show that So

  9. Mission Planning and Decision Support for Underwater Glider Networks: A Sampling on-Demand Approach

    Directory of Open Access Journals (Sweden)

    Gabriele Ferri

    2015-12-01

    Full Text Available This paper describes an optimal sampling approach to support glider fleet operators and marine scientists during the complex task of planning the missions of fleets of underwater gliders. Optimal sampling, which has gained considerable attention in the last decade, consists in planning the paths of gliders to minimize a specific criterion pertinent to the phenomenon under investigation. Different criteria (e.g., A, G, or E optimality, used in geosciences to obtain an optimum design, lead to different sampling strategies. In particular, the A criterion produces paths for the gliders that minimize the overall level of uncertainty over the area of interest. However, there are commonly operative situations in which the marine scientists may prefer not to minimize the overall uncertainty of a certain area, but instead they may be interested in achieving an acceptable uncertainty sufficient for the scientific or operational needs of the mission. We propose and discuss here an approach named sampling on-demand that explicitly addresses this need. In our approach the user provides an objective map, setting both the amount and the geographic distribution of the uncertainty to be achieved after assimilating the information gathered by the fleet. A novel optimality criterion, called A η , is proposed and the resulting minimization problem is solved by using a Simulated Annealing based optimizer that takes into account the constraints imposed by the glider navigation features, the desired geometry of the paths and the problems of reachability caused by ocean currents. This planning strategy has been implemented in a Matlab toolbox called SoDDS (Sampling on-Demand and Decision Support. The tool is able to automatically download the ocean fields data from MyOcean repository and also provides graphical user interfaces to ease the input process of mission parameters and targets. The results obtained by running SoDDS on three different scenarios are provided

  10. 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.       

  11. Advanced Nanocomposite Coatings of Fusion Bonded Epoxy Reinforced with Amino-Functionalized Nanoparticles for Applications in Underwater Oil Pipelines

    OpenAIRE

    Patricia A. Saliba; Alexandra A. P. Mansur; Herman S. Mansur

    2016-01-01

    The performance of fusion-bonded epoxy coatings can be improved through advanced composite coatings reinforced with nanomaterials. Hence, in this study a novel organic-inorganic nanocomposite finish was designed, synthesized, and characterized, achieved by adding γ-aminopropyltriethoxysilane modified silica nanoparticles produced via sol-gel process in epoxy-based powder. After the curing process of the coating reinforced with nanoparticles, the formation of a homogenous novel nanocomposite w...

  12. Ontogenetic investigation of underwater hearing capabilities in loggerhead sea turtles (Caretta caretta) using a dual testing approach.

    Science.gov (United States)

    Lavender, Ashley L; Bartol, Soraya M; Bartol, Ian K

    2014-07-15

    Sea turtles reside in different acoustic environments with each life history stage and may have different hearing capacity throughout ontogeny. For this study, two independent yet complementary techniques for hearing assessment, i.e. behavioral and electrophysiological audiometry, were employed to (1) measure hearing in post-hatchling and juvenile loggerhead sea turtles Caretta caretta (19-62 cm straight carapace length) to determine whether these migratory turtles exhibit an ontogenetic shift in underwater auditory detection and (2) evaluate whether hearing frequency range and threshold sensitivity are consistent in behavioral and electrophysiological tests. Behavioral trials first required training turtles to respond to known frequencies, a multi-stage, time-intensive process, and then recording their behavior when they were presented with sound stimuli from an underwater speaker using a two-response forced-choice paradigm. Electrophysiological experiments involved submerging restrained, fully conscious turtles just below the air-water interface and recording auditory evoked potentials (AEPs) when sound stimuli were presented using an underwater speaker. No significant differences in behavior-derived auditory thresholds or AEP-derived auditory thresholds were detected between post-hatchling and juvenile sea turtles. While hearing frequency range (50-1000/1100 Hz) and highest sensitivity (100-400 Hz) were consistent in audiograms pooled by size class for both behavior and AEP experiments, both post-hatchlings and juveniles had significantly higher AEP-derived than behavior-derived auditory thresholds, indicating that behavioral assessment is a more sensitive testing approach. The results from this study suggest that post-hatchling and juvenile loggerhead sea turtles are low-frequency specialists, exhibiting little differences in threshold sensitivity and frequency bandwidth despite residence in acoustically distinct environments throughout ontogeny. © 2014

  13. CFD approach to modelling, hydrodynamic analysis and motion characteristics of a laboratory underwater glider with experimental results

    Directory of Open Access Journals (Sweden)

    Yogang Singh

    2017-06-01

    Full Text Available Underwater gliders are buoyancy propelled vehicle which make use of buoyancy for vertical movement and wings to propel the glider in forward direction. Autonomous underwater gliders are a patented technology and are manufactured and marketed by corporations. In this study, we validate the experimental lift and drag characteristics of a glider from the literature using Computational fluid dynamics (CFD approach. This approach is then used for the assessment of the steady state characteristics of a laboratory glider designed at Indian Institute of Technology (IIT Madras. Flow behaviour and lift and drag force distribution at different angles of attack are studied for Reynolds numbers varying from 105 to 106 for NACA0012 wing configurations. The state variables of the glider are the velocity, gliding angle and angle of attack which are simulated by making use of the hydrodynamic drag and lift coefficients obtained from CFD. The effect of the variable buoyancy is examined in terms of the gliding angle, velocity and angle of attack. Laboratory model of glider is developed from the final design asserted by CFD. This model is used for determination of static and dynamic properties of an underwater glider which were validated against an equivalent CAD model and simulation results obtained from equations of motion of glider in vertical plane respectively. In the literature, only empirical approach has been adopted to estimate the hydrodynamic coefficients of the AUG that are required for its trajectory simulation. In this work, a CFD approach has been proposed to estimate the hydrodynamic coefficients and validated with experimental data. A two-mass variable buoyancy engine has been designed and implemented. The equations of motion for this two-mass engine have been obtained by modifying the single mass version of the equations described in the literature. The objectives of the present study are to understand the glider dynamics adopting a CFD approach

  14. 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.

  15. Understanding cracking failures of coatings: A fracture mechanics approach

    Science.gov (United States)

    Kim, Sung-Ryong

    were found upon impact loading. This analysis provides a basis for a quantitative approach to measuring coating toughness. coating systems. &With these results the cracking behavior of baked coatings can be used to predict the durability or long time cracking behavior of those coatings.

  16. Electrostatic powder coatings of pristine graphene: A new approach for coating of granular and fibril substrates

    Science.gov (United States)

    Nine, Md J.; Kabiri, Shervin; Tung, Tran Thanh; Tran, Diana N. H.; Losic, Dusan

    2018-05-01

    The use of pristine graphene (pG) based on solution processed coating technologies is often limited by their poor dispersibility in water and organic solvents which prevents to achieve the best performing properties of pG in coating applications. To address these limitations, we developed a dispersant-free coating approach of pG based on their intrinsic solid-lubricity and interlayer electrostatic interactions. The "rotating drum" method was established to provide suitable conditions for electrostatic deposition of pG-powder which is demonstrated on two model substrates with granular and fibril morphologies (urea and acrylic fibers) to improve their physical and electrical properties. The results showed that the pG coating enables to minimize moisture induced caking tendency of commercial urea prills at a relative humidity (RH) of 85% (higher than critical humidity) exhibiting greater moisture rejection ability (∼2 times higher than uncoated urea) and to improve their anti-abrasive properties. The pG-powder coating applied on nonconductive acrylic fibers provides a stable conductive layer (∼0.8 ± 0.1 kΩ/sq) which made them suitable for using in wearable electronics, sensors and electromagnetic interference (EMI) shielding. The developed coating method for pG-powder based on "rotating drum" is generic, simple, eco-friendly, low-cost, and scalable for broad range of coating applications.

  17. Evaluation of an Efficient Approach for Target Tracking from Acoustic Imagery for the Perception System of an Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Sebastián A. Villar

    2014-02-01

    Full Text Available This article describes the core algorithms of the perception system to be included within an autonomous underwater vehicle (AUV. This perception system is based on the acoustic data acquired from side scan sonar (SSS. These data should be processed in an efficient time, so that the perception system is able to detect and recognize a predefined target. This detection and recognition outcome is therefore an important piece of knowledge for the AUVs dynamic mission planner (DMP. Effectively, the DMP should propose different trajectories, navigation depths and other parameters that will change the robot's behaviour according to the perception system output. Hence, the time in which to make a decision is critical in order to assure safe robot operation and to acquire good quality data; consequently, the efficiency of the on-line image processing from acoustic data is a key issue. Current techniques for acoustic data processing are time and computationally intensive. Hence, it was decided to process data coming from a SSS using a technique that is used for radars, due to its efficiency and its amenability to on-line processing. The engineering problem to solve in this case was underwater pipeline tracking for routine inspections in the off-shore industry. Then, an automatic oil pipeline detection system was developed borrowing techniques from the processing of radar measurements. The radar technique is known as Cell Average – Constant False Alarm Rate (CA – CFAR. With a slight variation of the algorithms underlying this radar technique, which consisted of the previous accumulation of partial sums, a great improvement in computing time and effort was achieved. Finally, a comparison with previous approaches over images acquired with a SSS from a vessel in the Salvador de Bahia bay in Brazil showed the feasibility of using this on-board technique for AUV perception.

  18. A modelling approach to designing microstructures in thermal barrier coatings

    International Nuclear Information System (INIS)

    Gupta, M.; Nylen, P.; Wigren, J.

    2013-01-01

    Thermomechanical properties of Thermal Barrier Coatings (TBCs) are strongly influenced by coating defects, such as delaminations and pores, thus making it essential to have a fundamental understanding of microstructure-property relationships in TBCs to produce a desired coating. Object-Oriented Finite element analysis (OOF) has been shown previously as an effective tool for evaluating thermal and mechanical material behaviour, as this method is capable of incorporating the inherent material microstructure as input to the model. In this work, OOF was used to predict the thermal conductivity and effective Young's modulus of TBC topcoats. A Design of Experiments (DoE) was conducted by varying selected parameters for spraying Yttria-Stabilised Zirconia (YSZ) topcoat. The microstructure was assessed with SEM, and image analysis was used to characterize the porosity content. The relationships between microstructural features and properties predicted by modelling are discussed. The microstructural features having the most beneficial effect on properties were sprayed with a different spray gun so as to verify the results obtained from modelling. Characterisation of the coatings included microstructure evaluation, thermal conductivity and lifetime measurements. The modelling approach in combination with experiments undertaken in this study was shown to be an effective way to achieve coatings with optimised thermo-mechanical properties.

  19. 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....

  20. Latency-Optimized and Energy-Efficient MAC Protocol for Underwater Acoustic Sensor Networks: A Cross-Layer Approach

    Directory of Open Access Journals (Sweden)

    Cheng Xiuzhen

    2010-01-01

    Full Text Available Considering the energy constraint for fixed sensor nodes and the unacceptable long propagation delay, especially for latency sensitive applications of underwater acoustic sensor networks, we propose a MAC protocol that is latency-optimized and energy-efficient scheme and combines the physical layer and the MAC layer to shorten transmission delay. On physical layer, we apply convolution coding and interleaver for transmitted information. Moreover, dynamic code rate is exploited at the receiver side to accelerate data reception rate. On MAC layer, unfixed frame length scheme is applied to reduce transmission delay, and to ensure the data successful transmission rate at the same time. Furthermore, we propose a network topology: an underwater acoustic sensor network with mobile agent. Through fully utilizing the supper capabilities on computation and mobility of autonomous underwater vehicles, the energy consumption for fixed sensor nodes can be extremely reduced, so that the lifetime of networks is extended.

  1. Underwater adhesion: The barnacle way

    Digital Repository Service at National Institute of Oceanography (India)

    Khandeparker, L.; Anil, A.C.

    . Understanding of the molecular mechanisms of adhesion, that is bioadhesive bond formation and curing, is essential to develop a more rational approach in designing fouling- release coatings. Silicone biofouling release coatings have been shown...

  2. Refractory metal carbide coatings for LMFBR applications: a systems approach

    International Nuclear Information System (INIS)

    Gotschall, H.L.; Ople, F.S.; Riccardella, P.C.

    1975-01-01

    The selection, testing and improvement of high density, tightly bonded plasma and detonation gun coatings designed to meet LMFBR core component criteria are described. The process descriptions include a review of the important developments in substrate surface preparation which were required to ensure strong bonding and to minimize interface contamination. Coating finishing techniques which were developed to optimize friction behavior are also described

  3. 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

  4. 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.)

  5. 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…

  6. 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.

  7. 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

  8. Ion Diffusion-Directed Assembly Approach to Ultrafast Coating of Graphene Oxide Thick Multilayers.

    Science.gov (United States)

    Zhao, Xiaoli; Gao, Weiwei; Yao, Weiquan; Jiang, Yanqiu; Xu, Zhen; Gao, Chao

    2017-10-24

    The layer-by-layer (LbL) assembly approach has been widely used to fabricate multilayer coatings on substrates with multiple cycles, whereas it is hard to access thick films efficiently. Here, we developed an ion diffusion-directed assembly (IDDA) strategy to rapidly make multilayer thick coatings in one step on arbitrary substrates. To achieve multifunctional coatings, graphene oxide (GO) and metallic ions were selected as the typical building blocks and diffusion director in IDDA, respectively. With diffusion of metallic ions from substrate to negatively charged GO dispersion spontaneously (i.e., from high-concentration region to low-concentration region), GO was assembled onto the substrate sheet-by-sheet via sol-gel transformation. Because metallic ions with size of subnanometers can diffuse directionally and freely in the aqueous dispersion, GO was coated on the substrate efficiently, giving rise to films with desired thickness up to 10 μm per cycle. The IDDA approach shows three main merits: (1) high efficiency with a μm-scale coating rate; (2) controllability over thickness and evenness; and (3) generality for substrates of plastics, metals and ceramics with any shapes and morphologies. With these merits, IDDA strategy was utilized in the efficient fabrication of functional graphene coatings that exhibit outstanding performance as supercapacitors, electromagnetic interference shielding textiles, and anticorrosion coatings. This IDDA approach can be extended to other building blocks including polymers and colloidal nanoparticles, promising for the scalable production and application of multifunctional coatings.

  9. 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

  10. 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.

  11. 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.

  12. 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.

  13. 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)

  14. 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...

  15. 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 ...

  16. A novel combinatorial approach for the realization of advanced cBN composite coating

    International Nuclear Information System (INIS)

    Russell, W.C.; Yedave, S.N.; Sundaram, N.; Brown, W.D.; Malshe, A.P.

    2001-01-01

    The paper reports a novel coating process for the synthesis of hard material composite coatings. It consists of electrostatic spray coating (ESC) of powder particles (of micron-nanometer size) followed by chemical vapor infiltration (CVI) of a suitable binder phase. This novel approach enables fabrication of unique compositions such as cubic boron nitride (cBN) and titanium nitride (TiN) in a coating form. Recently, we have demonstrated the success of this technology by first coating a uniform over-layer (in excess of ∼ 10 μm) of cBN particles an carbide cutting tool inserts using ESC, followed by infiltration of particulate cBN matrix with TiN from its vapor phase using CVI to synthesize cBN-TiN a composite coating. The composite has shown excellent cBN-to-TiN and composite coating-to-carbide substrate adhesion. One of the main emphases of the paper is to discuss optimization and scale up of the ESC technology to achieve the desired microstructure and tailor the thickness across the cutting tool for better performance. Further, the cutting tools have been successfully tested for advanced machining applications. (author)

  17. 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…

  18. Report of the Workshop on International Harmonisation of Approaches to Define Underwater Noise Exposure Criteria (Budapest, Hungary 17th August 2013)

    NARCIS (Netherlands)

    Lucke, K.; Winter, H.V.; Lam, F.P.; Scowcroft, G.; Hawkins, A.; Popper, A.N.

    2013-01-01

    The potential negative effects of high levels of underwater noise on marine life have been identified and acknowledged, and this issue has been incorporated into various international agreements over the past decade. Several countries have already issued regulations to limit the incidence and level

  19. 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...

  20. Computational Design and Discovery of Ni-Based Alloys and Coatings: Thermodynamic Approaches Validated by Experiments

    Energy Technology Data Exchange (ETDEWEB)

    Liu, Zi-Kui [Pennsylvania State University; Gleeson, Brian [University of Pittsburgh; Shang, Shunli [Pennsylvania State University; Gheno, Thomas [University of Pittsburgh; Lindwall, Greta [Pennsylvania State University; Zhou, Bi-Cheng [Pennsylvania State University; Liu, Xuan [Pennsylvania State University; Ross, Austin [Pennsylvania State University

    2018-04-23

    This project developed computational tools that can complement and support experimental efforts in order to enable discovery and more efficient development of Ni-base structural materials and coatings. The project goal was reached through an integrated computation-predictive and experimental-validation approach, including first-principles calculations, thermodynamic CALPHAD (CALculation of PHAse Diagram), and experimental investigations on compositions relevant to Ni-base superalloys and coatings in terms of oxide layer growth and microstructure stabilities. The developed description included composition ranges typical for coating alloys and, hence, allow for prediction of thermodynamic properties for these material systems. The calculation of phase compositions, phase fraction, and phase stabilities, which are directly related to properties such as ductility and strength, was a valuable contribution, along with the collection of computational tools that are required to meet the increasing demands for strong, ductile and environmentally-protective coatings. Specifically, a suitable thermodynamic description for the Ni-Al-Cr-Co-Si-Hf-Y system was developed for bulk alloy and coating compositions. Experiments were performed to validate and refine the thermodynamics from the CALPHAD modeling approach. Additionally, alloys produced using predictions from the current computational models were studied in terms of their oxidation performance. Finally, results obtained from experiments aided in the development of a thermodynamic modeling automation tool called ESPEI/pycalphad - for more rapid discovery and development of new materials.

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

    Directory of Open Access Journals (Sweden)

    Kun Xie

    2018-03-01

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

  2. 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.

  3. 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.

  4. Enzyme-based antifouling coatings: a review

    DEFF Research Database (Denmark)

    Olsen, Stefan Møller; Pedersen, Leif Toudal; Laursen, M.H.

    2007-01-01

    A systematic overview is presented of the literature that reports the antifouling (AF) protection of underwater structures via the action of enzymes. The overall aim of this review is to assess the state of the art of enzymatic AF technology, and to highlight the obstacles that have to be overcome...... for successful development of enzymatic AF coatings. The approaches described in the literature are divided into direct and indirect enzymatic AF, depending on the intended action of the enzymes. Direct antifouling is used when the enzymes themselves are active antifoulants. Indirect antifouling refers...

  5. 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.

  6. 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

  7. A Robot Trajectory Optimization Approach for Thermal Barrier Coatings Used for Free-Form Components

    Science.gov (United States)

    Cai, Zhenhua; Qi, Beichun; Tao, Chongyuan; Luo, Jie; Chen, Yuepeng; Xie, Changjun

    2017-10-01

    This paper is concerned with a robot trajectory optimization approach for thermal barrier coatings. As the requirements of high reproducibility of complex workpieces increase, an optimal thermal spraying trajectory should not only guarantee an accurate control of spray parameters defined by users (e.g., scanning speed, spray distance, scanning step, etc.) to achieve coating thickness homogeneity but also help to homogenize the heat transfer distribution on the coating surface. A mesh-based trajectory generation approach is introduced in this work to generate path curves on a free-form component. Then, two types of meander trajectories are generated by performing a different connection method. Additionally, this paper presents a research approach for introducing the heat transfer analysis into the trajectory planning process. Combining heat transfer analysis with trajectory planning overcomes the defects of traditional trajectory planning methods (e.g., local over-heating), which helps form the uniform temperature field by optimizing the time sequence of path curves. The influence of two different robot trajectories on the process of heat transfer is estimated by coupled FEM models which demonstrates the effectiveness of the presented optimization approach.

  8. Abrasive wear response of TIG-melted TiC composite coating: Taguchi approach

    Science.gov (United States)

    Maleque, M. A.; Bello, K. A.; Adebisi, A. A.; Dube, A.

    2017-03-01

    In this study, Taguchi design of experiment approach has been applied to assess wear behaviour of TiC composite coatings deposited on AISI 4340 steel substrates by novel powder preplacement and TIG torch melting processes. To study the abrasive wear behaviour of these coatings against alumina ball at 600° C, a Taguchi’s orthogonal array is used to acquire the wear test data for determining optimal parameters that lead to the minimization of wear rate. Composite coatings are developed based on Taguchi’s L-16 orthogonal array experiment with three process parameters (welding current, welding speed, welding voltage and shielding gas flow rate) at four levels. In this technique, mean response and signal-to-noise ratio are used to evaluate the influence of the TIG process parameters on the wear rate performance of the composite coated surfaces. The results reveal that welding voltage is the most significant control parameter for minimizing wear rate while the current presents the least contribution to the wear rate reduction. The study also shows the best optimal condition has been arrived at A3 (90 A), B4 (2.5 mm/s), C3 (30 V) and D3 (20 L/min), which gives minimum wear rate in TiC embedded coatings. Finally, a confirmatory experiment has been conducted to verify the optimized result and shows that the error between the predicted values and the experimental observation at the optimal condition lies within the limit of 4.7 %. Thus, the validity of the optimum condition for the coatings is established.

  9. 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...

  10. 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...

  11. 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.

  12. 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.

  13. 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.

  14. Optimization of tribological performance of SiC embedded composite coating via Taguchi analysis approach

    Science.gov (United States)

    Maleque, M. A.; Bello, K. A.; Adebisi, A. A.; Akma, N.

    2017-03-01

    Tungsten inert gas (TIG) torch is one of the most recently used heat source for surface modification of engineering parts, giving similar results to the more expensive high power laser technique. In this study, ceramic-based embedded composite coating has been produced by precoated silicon carbide (SiC) powders on the AISI 4340 low alloy steel substrate using TIG welding torch process. A design of experiment based on Taguchi approach has been adopted to optimize the TIG cladding process parameters. The L9 orthogonal array and the signal-to-noise was used to study the effect of TIG welding parameters such as arc current, travelling speed, welding voltage and argon flow rate on tribological response behaviour (wear rate, surface roughness and wear track width). The objective of the study was to identify optimal design parameter that significantly minimizes each of the surface quality characteristics. The analysis of the experimental results revealed that the argon flow rate was found to be the most influential factor contributing to the minimum wear and surface roughness of the modified coating surface. On the other hand, the key factor in reducing wear scar is the welding voltage. Finally, a convenient and economical Taguchi approach used in this study was efficient to find out optimal factor settings for obtaining minimum wear rate, wear scar and surface roughness responses in TIG-coated surfaces.

  15. A Scale-up Approach for Film Coating Process Based on Surface Roughness as the Critical Quality Attribute.

    Science.gov (United States)

    Yoshino, Hiroyuki; Hara, Yuko; Dohi, Masafumi; Yamashita, Kazunari; Hakomori, Tadashi; Kimura, Shin-Ichiro; Iwao, Yasunori; Itai, Shigeru

    2018-04-01

    Scale-up approaches for film coating process have been established for each type of film coating equipment from thermodynamic and mechanical analyses for several decades. The objective of the present study was to establish a versatile scale-up approach for film coating process applicable to commercial production that is based on critical quality attribute (CQA) using the Quality by Design (QbD) approach and is independent of the equipment used. Experiments on a pilot scale using the Design of Experiment (DoE) approach were performed to find a suitable CQA from surface roughness, contact angle, color difference, and coating film properties by terahertz spectroscopy. Surface roughness was determined to be a suitable CQA from a quantitative appearance evaluation. When surface roughness was fixed as the CQA, the water content of the film-coated tablets was determined to be the critical material attribute (CMA), a parameter that does not depend on scale or equipment. Finally, to verify the scale-up approach determined from the pilot scale, experiments on a commercial scale were performed. The good correlation between the surface roughness (CQA) and the water content (CMA) identified at the pilot scale was also retained at the commercial scale, indicating that our proposed method should be useful as a scale-up approach for film coating process.

  16. 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

  17. 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.)

  18. A Multi-Step Approach to Assessing LIGO Test Mass Coatings

    Science.gov (United States)

    Glover, Lamar; Goff, Michael; Linker, Seth; Neilson, Joshua; Patel, Jignesh; Pinto, Innocenzo; Principe, Maria; Villarama, Ethan; Arriaga, Eddy; Barragan, Erik; Chao, Shiuh; Daneshgaran, Lara; DeSalvo, Riccardo; Do, Eric; Fajardo, Cameron

    2018-02-01

    Photographs of the LIGO Gravitational Wave detector mirrors illuminated by the standing beam were analyzed with an astronomical software tool designed to identify stars within images, which extracted hundreds of thousands of point-like scatterers uniformly distributed across the mirror surface, likely distributed through the depth of the coating layers. The sheer number of the observed scatterers implies a fundamental, thermodynamic origin during deposition or processing. If identified as crystallites, these scatterers would be a possible source of the mirror dissipation and thermal noise, which limit the sensitivity of observatories to Gravitational Waves. In order to learn more about the composition and location of the detected scatterers, a feasibility study is underway to develop a method that determines the location of the scatterers by producing a complete mapping of scatterers within test samples, including their depth distribution, optical amplitude distribution, and lateral distribution. Also, research is underway to accurately identify future materials and/or coating methods that possess the largest possible mechanical quality factor (Q). Current efforts propose a new experimental approach that will more precisely measure the Q of coatings by depositing them onto 100 nm Silicon Nitride membranes.

  19. OFDM for underwater acoustic communications

    CERN Document Server

    Zhou, Shengli

    2014-01-01

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

  20. 77 FR 38236 - Special Local Regulation, Underwater Music Festival, Carr Inlet, Cutts Island, WA

    Science.gov (United States)

    2012-06-27

    ...-AA08 Special Local Regulation, Underwater Music Festival, Carr Inlet, Cutts Island, WA AGENCY: Coast... ensure the safety of the maritime public during the Underwater Music Festival and would do so by... Music Festival is an event which includes musical performances from a barge. Spectators approach the...

  1. Underwater plasma arc cutting

    International Nuclear Information System (INIS)

    Leautier, R.; Pilot, G.

    1991-01-01

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

  2. Safety aspects for underwater vehicles

    Digital Repository Service at National Institute of Oceanography (India)

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

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

  3. Two feasible approaches to enhance the wear behaviors of NiCrBSi coating in atmosphere and aqueous environments

    Science.gov (United States)

    Ye, Yuwei; Wang, Chunting; Zheng, Wenru; Xiong, Wei; Wang, Yongxin; Li, Xiaogang

    2017-09-01

    NiCrBSi coating was deposited successfully on the surface of 316 stainless steel substrate by means of plasma spraying. The microstructures and mechanical property were analyzed by scanning electron microscopy, x-ray diffraction, and a Vickers hardness tester. The wear performances of the coatings sliding against the GCr15 ball under ambient air and water conditions were investigated, and two feasible approaches (tungsten carbide (WC)-doping and heat treatment) were used to improve the tribological performance. Results showed that the hardness of the NiCrBSi coating increased by 12.5% and 28.5% and the porosity decreased by 26.1% and 47.8%, respectively, after WC-doping and heat treatment. During dry friction, the friction coefficient and wear rate of the NiCrBSi coating were about 0.47 and 1.4  ×  10-5 mm3 N-1 m-1, respectively. These values were higher than those obtained on other coatings. In water conditions, all coatings showed a lower friction and wear rate than that in ambient air, which was as a result of the lubrication effect of water. Significantly, with WC-doping and heat treatment, the friction coefficients of both coatings were about 18.5% and 36.7%, respectively, lower than that of the NiCrBSi coating. Furthermore, the wear rates of both coatings were about 20% and 70%, respectively, lower than that of the NiCrBSi coating.

  4. ASYMPTOTICAL CALCULATION OF ELECTROMAGNETIC WAVES SCATTERED FROM A DIELECTRIC COATED CYLINDRICAL SURFACE WITH PHYSICAL OPTICS APPROACH

    Directory of Open Access Journals (Sweden)

    Uğur YALÇIN

    2004-02-01

    Full Text Available In this study, quasi-optical scattering of finite source electromagnetic waves from a dielectric coated cylindrical surface is analysed with Physical Optics (PO approach. A linear electrical current source is chosen as the finite source. Reflection coefficient of the cylindrical surface is derived by using Geometrical Theory of Diffraction (GTD. Then, with the help of this coefficient, fields scattered from the surface are obtained. These field expressions are used in PO approach and surface scattering integral is determined. Evaluating this integral asymptotically, fields reflected from the surface and surface divergence coefficient are calculated. Finally, results obtained in this study are evaluated numerically and effects of the surface impedance to scattered fields are analysed. The time factor is taken as j te? in this study.

  5. Anti-wetting Cu/Cr coating with micro-posts array structure fabricated by electrochemical approaches

    International Nuclear Information System (INIS)

    Zhou, Yufeng; Hang, Tao; Li, Feng; Li, Ming

    2013-01-01

    Microposts structured Cu/Cr multilayer coating was prepared by a simple two-step approach combining electroless and electro deposition. Surface morphologies of the as-prepared Cu/Cr multilayer coating characterized by field emission scanning electron microscopy show that this multilayer coating exhibits micro-posts arrayed structure with a layer of Cr uniformly covering the circular conical surface of Cu micro-cones array. The wettability test shows that the contact angle of Cu/Cr multilayer surface with water drop can be greater than 140° by optimizing the electrodeposition time of Cr. The mechanism of hydrophobicity of both the micro-cones arrayed and micro-posts arrayed structures was briefly discussed by comparing two different wetting modes. Due to its good anti-wetting property and unique structure, the micro-posts arrayed Cu/Cr multilayer coating is expected for extensive practical applications.

  6. Novel sensing approach for LPG leakage detection: Part II: Effects of particle size, composition and coating layer thickness

    KAUST Repository

    Mukhopadhyay, Subhas

    2015-10-30

    Prominent research has been going on to develop a low-cost, efficient gas sensing system. The paper presents a continuation of our earlier research work done to develop a new sensing approach for gas detection at ambient conditions. The work exhibits the optimization of the response time of the sensor by inhabiting characteristic changes like variation in the concentration of the dispersion medium, thickness of the coating and the size of the dispersed medium. Different concentrations of the dispersion medium in the coated suspension were tested to determine the optimal composition required to achieve the highest sensitivity of the tin oxide (SnO2) layer towards the tested gas. The control over adsorption and desorption of the gas molecules in the coated layer was achieved by investigating the particle size of the dispersed medium. The response time of the coated sensor was encouraging and owns a promising potential to the development of a more efficient gas sensing system.

  7. Test validation of environmental barrier coating (EBC) durability and damage tolerance modeling approach

    Science.gov (United States)

    Abdul-Aziz, Ali; Najafi, Ali; Abdi, Frank; Bhatt, Ramakrishna T.; Grady, Joseph E.

    2014-03-01

    Protection of Ceramic Matrix Composites (CMCs) is rather an important element for the engine manufacturers and aerospace companies to help improve the durability of their hot engine components. The CMC's are typically porous materials which permits some desirable infiltration that lead to strength enhancements. However, they experience various durability issues such as degradation due to coating oxidation. These concerns are being addressed by introducing a high temperature protective system, Environmental Barrier Coating (EBC) that can operate at temperature applications1, 3 In this paper, linear elastic progressive failure analyses are performed to evaluate conditions that would cause crack initiation in the EBC. The analysis is to determine the overall failure sequence under tensile loading conditions on different layers of material including the EBC and CMC in an attempt to develop a life/failure model. A 3D finite element model of a dogbone specimen is constructed for the analyses. Damage initiation, propagation and final failure is captured using a progressive failure model considering tensile loading conditions at room temperature. It is expected that this study will establish a process for using a computational approach, validated at a specimen level, to predict reliably in the future component level performance without resorting to extensive testing.

  8. 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.

  9. Navigation System Fault Diagnosis for Underwater Vehicle

    DEFF Research Database (Denmark)

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

    2014-01-01

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

  10. Estimating Hull Coating Thickness Distributions Using the EM Algorithm

    National Research Council Canada - National Science Library

    Corriere, Michael

    2000-01-01

    The underwater hull coating system on surface ships is comprised anti-corrosive (AC) and anti-fouling (AF) paint The AF layers are designed to wear away, continuously leaching cuprous oxide to inhibit marine growth...

  11. A novel approach using powder metallurgy for strengthened RABiTS composite substrates for coated superconductors

    International Nuclear Information System (INIS)

    Suo Hongli; Zhao Yue; Liu Min; Ye Shuai; Zhu YongHua; He Dong; Ma Lingji; Ji Yuan; Zhou Meiling

    2008-01-01

    We report on the development of mechanically strengthened, highly textured Ni-5 at.%W/Ni-12 at.%W composite materials prepared by a powder metallurgical approach as promising weakly magnetic substrates for coated superconductors. The key configuration of this composite substrate consists of a thin, sharp cubic textured Ni-5 at.%W layer on a Ni-12 at.%W alloy core, thus providing a mechanical reinforcement while decreasing the saturation magnetization of the whole substrate. The composite substrates have a sharp cubic texture at the top Ni-5 at.%W outer layer and their yield strength reaches 272 MPa, exceeding that of the commercially used Ni5W substrates by a factor of 1.6. The saturation magnetization of the composite substrate Ni5W/Ni12W/Ni5W is substantially reduced when compared to that of pure Ni and Ni-5 at.%W substrates, respectively

  12. Underwater radiation measuring device

    International Nuclear Information System (INIS)

    Seki, Noriyuki; Suzuki, Yasuo

    1998-01-01

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

  13. 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)

  14. Underwater cutting techniques developments

    International Nuclear Information System (INIS)

    Bach, F.-W.

    1990-01-01

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

  15. Development of underwater laser cutting technology

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  16. Nacre biomimetic design—A possible approach to prepare low infrared emissivity composite coatings

    International Nuclear Information System (INIS)

    Zhang, Weigang; Xu, Guoyue; Ding, Ruya; Duan, Kaige; Qiao, Jialiang

    2013-01-01

    Mimicking the highly organized brick-and-mortar structure of nacre, a kind of nacre-like organic–inorganic composite material of polyurethane (PU)/flaky bronze composite coatings with low infrared emissivity was successfully designed and prepared by using PU and flaky bronze powders as adhesives and pigments, respectively. The infrared emissivity and microstructure of the coatings were systematically investigated by infrared emissometer and scanning electron microscopy, respectively, and the cause of low infrared emissivity of the coatings was discussed by using the theories of one-dimensional photonic structure. The results show that the infrared emissivity of the nacre-like PU/flaky bronze composite coatings can be as low as 0.206 at the bronze content of 60 wt. %, and it is significantly lower than the value of PU/sphere bronze composite coatings. Microstructure observation illustrated that the nacre-like PU/flaky bronze composite coatings have similar one-dimensional photonic structural characteristics. The low infrared emissivity of PU/flaky bronze composite coatings is derived from the similar one-dimensional photonic structure in the coatings. Highlights: ► Nacre-like composite coatings with low infrared emissivity were prepared. ► Infrared emissivity of PU/flaky bronze composite coatings can be as low as 0.206. ► One-dimensional photonic structure is the cause for low emissivity of the coatings.

  17. 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...

  18. Implementation of quality by design approach in manufacturing process optimization of dry granulated, immediate release, coated tablets - a case study.

    Science.gov (United States)

    Teżyk, Michał; Jakubowska, Emilia; Milanowski, Bartłomiej; Lulek, Janina

    2017-10-01

    The aim of this study was to optimize the process of tablets compression and identification of film-coating critical process parameters (CPPs) affecting critical quality attributes (CQAs) using quality by design (QbD) approach. Design of experiment (DOE) and regression methods were employed to investigate hardness, disintegration time, and thickness of uncoated tablets depending on slugging and tableting compression force (CPPs). Plackett-Burman experimental design was applied to identify critical coating process parameters among selected ones that is: drying and preheating time, atomization air pressure, spray rate, air volume, inlet air temperature, and drum pressure that may influence the hardness and disintegration time of coated tablets. As a result of the research, design space was established to facilitate an in-depth understanding of existing relationship between CPPs and CQAs of intermediate product (uncoated tablets). Screening revealed that spray rate and inlet air temperature are two most important factors that affect the hardness of coated tablets. Simultaneously, none of the tested coating factors have influence on disintegration time. The observation was confirmed by conducting film coating of pilot size batches.

  19. 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.

  20. 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.

  1. Underwater Ship Husbandry Discharges

    Science.gov (United States)

    2011-11-01

    which entered into force in September of 2008, prohibits the use of harmful organotins such as tributyltin ( TBT ) in AFCs used on international...States. The use of TBT AFCs is explicitly prohibited under the VGP, and vessels must remove such coatings or paint over them to prevent toxic ...to hull husbandry include (1) the discharge of toxic chemicals used as biocides in AFCs and (2) biofouling as a vector for aquatic nuisance species

  2. Advanced fabrication method for the preparation of MOF thin films: Liquid-phase epitaxy approach meets spin coating method.

    KAUST Repository

    Chernikova, Valeriya; Shekhah, Osama; Eddaoudi, Mohamed

    2016-01-01

    Here we report a new and advanced method for the fabrication of highly oriented/polycrystalline metal-organic framework (MOF) thin films. Building on the attractive features of the liquid-phase epitaxy (LPE) approach, a facile spin coating method

  3. 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.

  4. 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.

  5. Approaches to investigate delamination and interfacial toughness in coated systems: an overview

    International Nuclear Information System (INIS)

    Chen Jinju; Bull, S J

    2011-01-01

    The fundamental property which often dictates the performance of a coating is its adhesion to the substrate and thus there are many techniques to measure adhesion. The choice of methods is dependent on many factors such as the mechanical properties of the coating and substrate, the interface properties, the microstructure of the coating/substrate system, residual stress, coating thickness and the intended application. Most tests aim to introduce a stable interfacial crack and make it propagate under controlled conditions and model this process to determine adhesion. The corresponding models are either stress analysis-based or energy-based. With the advent of miniature systems and very thin functional coatings, there is a need for characterization of adhesion at small length scales and some specific tests have been developed which are not appropriate for thicker coatings. Among these, indentation and scratch methods have the widest range of applicability but it is necessary to analyse the failure mechanisms before choosing an appropriate model to extract adhesion parameters. This paper reviews the main quantitative adhesion tests for coatings and highlights the tests which can be used to assess submicrometre coatings and thin films. The paper also highlights the modelling and analysis methods necessary to extract reliable adhesion properties illustrating this with examples for submicrometre coatings on silicon and architectural glass.

  6. 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...

  7. 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)

  8. 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…

  9. Survey and Recording Technologies in Italian Underwater Cultural Heritage: Research and Public Access Within the Framework of the 2001 UNESCO Convention

    Science.gov (United States)

    Secci, Massimiliano

    2017-08-01

    The 2001 UNESCO Convention on the Protection of the Underwater Cultural Heritage is slowly but peremptorily becoming a standard reference tool for underwater archaeology and underwater cultural heritage management. The many provisions included within the Convention touch on many aspects that are key to an effective protection and promotion of the underwater cultural heritage. Within the web of these provisions many aspects are gaining consideration and driving research in underwater archaeology worldwide. These provisions, when seen within a wider frame of social, economical and technological dynamics, pinpoint many aspects requiring further scrutiny from the disciplinary circle. In the framework of the 2001 UNESCO Convention, this article will analyze the path traveled in technological acquisition in the practice of Italian underwater archaeology and how this has affected the approach to underwater cultural heritage management, particularly highlighting how this process has been further influenced by the adoption in 2001 of the Convention and Italy's ratification of it in 2010.

  10. Modelling cavitating flow around underwater missiles

    Directory of Open Access Journals (Sweden)

    Fabien Petitpas

    2011-12-01

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

  11. An algebraic perspective to single-transponder underwater navigation

    DEFF Research Database (Denmark)

    Jouffroy, Jerome; Reger, Johann

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

  12. Airborne Nanoparticle Release and Toxicological Risk from Metal-Oxide-Coated Textiles: Toward a Multiscale Safe-by-Design Approach.

    Science.gov (United States)

    Mantecca, Paride; Kasemets, Kaja; Deokar, Archana; Perelshtein, Ilana; Gedanken, Aharon; Bahk, Yeon Kyoung; Kianfar, Baharh; Wang, Jing

    2017-08-15

    Nano metal oxides have been proposed as alternatives to silver (Ag) nanoparticles (NPs) for antibacterial coatings. Here, cotton and polyester-cotton fabrics were sonochemically coated with zinc oxide (ZnO) and copper oxide (CuO) NPs. By varying the reaction solvent (water or ethanol), NPs with different sizes and shapes were synthesized. The cytotoxic and pro-inflammatory effects of studied NPs were investigated in vitro in human alveolar epithelial A549 and macrophage-like THP1 cells. To understand the potential respiratory impact of the NPs, the coated textiles were subjected to the abrasion tests, and the released airborne particles were measured. A very small amount of the studied metal oxides NPs was released from abrasion of the textiles coated by the ethanol-based sonochemical process. The release from the water-based coating was comparably higher. Lung and immune cells viability decreased after 24 h of exposure only at the highest studied NPs concentration (100 μg/mL). Different from the ZnO NPs, both formulations of CuO NPs induced IL-8 release in the lung epithelial cells already at subtoxic concentrations (1-10 μg/mL) but not in immune cells. All of the studied NPs did not induce IL-6 release by the lung and immune cells. Calculations revealed that the exposures of the NPs to human lung due to the abrasion of the textiles were lower or comparable to the minimum doses in the cell viability tests (0.1 μg/mL), at which acute cytotoxicity was not observed. The results alleviate the concerns regarding the potential risk of these metal oxide NPs in their applications for the textile coating and provide insight for the safe-by-design approach.

  13. 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.

  14. 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.

  15. Facile approach in the development of icephobic hierarchically textured coatings as corrosion barrier

    Energy Technology Data Exchange (ETDEWEB)

    Momen, G., E-mail: gmomen@uqac.ca; Farzaneh, M.

    2014-04-01

    Highlights: • A superhydrophobic coating is developed via a simple environmental-friendly method. • This coating can be used on the surface of various metals such as copper, magnesium. • The superhydrophobic aluminum surface showed the excellent corrosion resistance. • The fabricated surface revealed a drastically reduction of ice adhesion strength. • Such surfaces can advantageously be used in cold climate regions. - Abstract: An anti-corrosion superhydrophobic film with water contact angle greater than 160° on aluminum alloy 6061 substrate was fabricated simply through the spin-coating method applied to Al{sub 2}O{sub 3} nanoparticles doped in silicone rubber solution. The as-obtained sample was characterized by scanning electron microscopy (SEM) and water contact angle/surface energy measurement. The corrosion behaviour of such coating in the NaCl solutions was investigated using the potentiodynamic polarization. The results show that the corrosion resistance of the developed superhydrophobic surface is improved greatly due to the composite wetting states or interfaces with numerous air pockets between its surface and the NaCl solution. This superhydrophobic coating could serve as an effective barrier against aggressive medium. Ice adhesion strength of the as-prepared superhydrophobic coating was also evaluated by measuring its ice adhesion force which was found to have reduced by 4.8 times compared to that of aluminum substrate as reference test.

  16. Microwave-induced biomimetic approach for hydroxyapatite coatings of chitosan scaffolds.

    Science.gov (United States)

    Kaynak Bayrak, Gökçe; Demirtaş, T Tolga; Gümüşderelioğlu, Menemşe

    2017-02-10

    Simulated body fluid (SBF) can form calcium phosphates on osteoinductive materials, so it is widely used for coating of bone scaffolds to mimic natural extracellular matrix (ECM). However, difficulties of bulk coating in 3D scaffolds and the necessity of long process times are the common problems for coating with SBF. In the present study, a microwave-assisted process was developed for rapid and internal coating of chitosan scaffolds. The scaffolds were fabricated as superporous hydrogel (SPH) by combining microwave irradiation and gas foaming methods. Then, they were immersed into 10x  SBF-like solution and homogenous bone-like hydroxyapatite (HA) coating was achieved by microwave treatment at 600W without the need of any nucleating agent. Cell culture studies with MC3T3-E1 preosteoblasts showed that microwave-assisted biomimetic HA coating process could be evaluated as an efficient and rapid method to obtain composite scaffolds for bone tissue engineering. Copyright © 2016 Elsevier Ltd. All rights reserved.

  17. 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...

  18. 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, ...

  19. Cutting method and device underwater

    International Nuclear Information System (INIS)

    Takano, Genta; Kamei, Hiromasa; Beppu, Seiji

    1998-01-01

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

  20. Controlled Distribution and Clustering of Silver in Ag-DLC Nanocomposite Coatings Using a Hybrid Plasma Approach.

    Science.gov (United States)

    Cloutier, M; Turgeon, S; Busby, Y; Tatoulian, M; Pireaux, J-J; Mantovani, D

    2016-08-17

    Incorporation of selected metallic elements into diamond-like carbon (DLC) has emerged as an innovative approach to add unique functional properties to DLC coatings, thus opening up a range of new potential applications in fields as diverse as sensors, tribology, and biomaterials. However, deposition by plasma techniques of metal-containing DLC coatings with well-defined structural properties and metal distribution is currently hindered by the limited understanding of their growth mechanisms. We report here a silver-incorporated diamond-like carbon coating (Ag-DLC) prepared in a hybrid plasma reactor which allowed independent control of the metal content and the carbon film structure and morphology. Morphological and chemical analyses of Ag-DLC films were performed by atomic force microscopy, scanning electron microscopy, and X-ray photoelectron spectroscopy. The vertical distribution of silver from the surface toward the coating bulk was found to be highly inhomogeneous due to top surface segregation and clustering of silver nanoparticles. Two plasma parameters, the sputtered Ag flux and ion energy, were shown to influence the spatial distribution of silver particles. On the basis of these findings, a mechanism for Ag-DLC growth by plasma was proposed.

  1. 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.

  2. Underwater inverse LIBS (iLIBS) for marine archaeology

    Science.gov (United States)

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

    2013-05-01

    laser irradiation and spectral detection at the complementary angle so as to view emission from behind the shockwave. Targets of silver, gold, and copper have been studied. It is found that this approach enables LIBS detection in water both in emission and in absorption. It appears that underwater inverse LIBS may be especially useful in underwater archaeology.

  3. 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.

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

    Directory of Open Access Journals (Sweden)

    Juan David Hernández

    2016-07-01

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

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

    Directory of Open Access Journals (Sweden)

    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.

  6. Magnesium diboride coated bulk niobium: a new approach to higher acceleration gradient

    Science.gov (United States)

    Civale, Leonardo; Tan, Teng; Wolak, M.; Xi, Xiaoxing; Tajima, Tsuyoshi

    Bulk niobium Superconducting Radio-Frequency cavities are a leading accelerator technology. Their performance is limited by the cavity loss and maximum acceleration gradient, which are negatively affected by vortex penetration into the superconductor when the peak magnetic field at the cavity wall surface exceeds the vortex penetration field (Hvp). It has been proposed that coating the inner wall of an SRF cavity with superconducting thin films increases Hvp. In this work, we utilized Nb ellipsoids to simulate an inverse SRF cavity and investigate the effect of coating it with magnesium diboride layer on the vortex penetration field. A significant enhancement of Hvp was observed. At 2.8 K, Hvp increased from 2100 Oe for an uncoated Nb ellipsoid to 2700 Oe for a Nb ellipsoid coated with 200 nm thick MgB2 thin film. This finding creates a new route towards achieving higher acceleration gradient in SRF cavity accelerator beyond the theoretical limit of bulk Nb.

  7. Facile approach in fabricating superhydrophobic ZnO/polystyrene nanocomposite coating

    Science.gov (United States)

    Qing, Yongquan; Zheng, Yansheng; Hu, Chuanbo; Wang, Yong; He, Yi; Gong, Yong; Mo, Qian

    2013-11-01

    In this paper, we report a simple and inexpensive method for fabricating modified-ZnO/polystyrene superhydrophobic surface on the cotton textiles. The surface wettability and topology of coating were characterized by contact angle measurement, Scanning electron microscope and Fourier transform infrared spectrometry. The results showed that the hydrophobic CH3 and CF2 group was introduced into ZnO particles via modification, the ZnO nanoparticles were modified from hydrophilic to hydrophobic. When the weight ratio of modified-ZnO to polystyrene was 7:3, the ZnO/polystyrene composite coating contact angle was 158°, coating surface with hierarchical micro/nano structures. Furthermore, the superhydrophobic cotton texiles have a very extensive application prospect in water-oil separation.

  8. Thin-coating as an alternative approach to improve flow properties of ibuprofen powder

    DEFF Research Database (Denmark)

    Genina, Natalja; Räikkönen, Heikki; Ehlers, Henrik

    2010-01-01

    In the present study, thin-coating as a potential method for improving flow properties of cohesive ibuprofen powder was introduced. Briefly, the technique was based on the successive deposition of ultrasound-assisted fine polymer mist onto the surface of the powdered active pharmaceutical...... ingredient (API), producing individual particles with a hydrophilic thin-coat. A 0.15% m/V aqueous solution of hydroxypropyl methylcellulose (HPMC) was used. Particle size and surface analysis revealed a decrease in the cohesiveness of ibuprofen powder and an increase in the homogeneity of particle surfaces...

  9. Underwater Animal Monitoring Magnetic Sensor System

    KAUST Repository

    Kaidarova, Altynay

    2017-10-01

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

  10. Underwater Sediment Sampling Research

    Science.gov (United States)

    2017-01-01

    impacted sediments was found to be directly related to the concentration of crude oil detected in the sediment pore waters . Applying this mathematical...Kurt.A.Hansen@uscg.mil. 16. Abstract (MAXIMUM 200 WORDS ) The USCG R&D Center sought to develop a bench top system to determine the amount of total...scattered. The approach here is to sample the interstitial water between the grains of sand and attempt to determine the amount of oil in and on

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

    Directory of Open Access Journals (Sweden)

    Xin Liu

    2018-01-01

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

  12. Simulation of microstructure evolution in fused-coating additive manufacturing based on phase field approach

    Directory of Open Access Journals (Sweden)

    Ru-wei Geng

    2017-11-01

    Full Text Available The mechanical properties of metal components are determined by the solidification behaviour and microstructure. A quantitative phase field model is used to investigate the microstructure evolution of fused-coating additive manufacturing, by which to improve the quality of deposition. During the fused-coating process, the molten metal in a crucible flows out of a nozzle and then reaches the substrate. The solidification happens at the moment when the molten metal comes into contact with substrate moving in three-dimensional space. The macroscopic heat transfer model of fused-coating is established to get the temperature field considered as the initial temperature boundary conditions in the phase field model. The numerical and experimental results show that the morphology of grains varies with different solidification environments. Columnar grains are observed during the early period at the bottom of fused-coating layer and the equiaxed grains appear subsequently ahead of the columnar grains. Columnar dendrites phase field simulations about the grains morphology and solute distribution are conducted considering the solidification environments. The simulation results are in good agreement with experimental results.

  13. Advanced fabrication method for the preparation of MOF thin films: Liquid-phase epitaxy approach meets spin coating method.

    KAUST Repository

    Chernikova, Valeriya

    2016-07-14

    Here we report a new and advanced method for the fabrication of highly oriented/polycrystalline metal-organic framework (MOF) thin films. Building on the attractive features of the liquid-phase epitaxy (LPE) approach, a facile spin coating method was implemented to generate MOF thin films in a high-throughput fashion. Advantageously, this approach offers a great prospective to cost-effectively construct thin-films with a significantly shortened preparation time and a lessened chemicals and solvents consumption, as compared to the conventional LPE-process. Certainly, this new spin-coating approach has been implemented successfully to construct various MOF thin films, ranging in thickness from a few micrometers down to the nanometer scale, spanning 2-D and 3-D benchmark MOF materials including Cu2(bdc)2•xH2O, Zn2(bdc)2•xH2O, HKUST-1 and ZIF-8. This method was appraised and proved effective on a variety of substrates comprising functionalized gold, silicon, glass, porous stainless steel and aluminum oxide. The facile, high-throughput and cost-effective nature of this approach, coupled with the successful thin film growth and substrate versatility, represents the next generation of methods for MOF thin film fabrication. Thereby paving the way for these unique MOF materials to address a wide range of challenges in the areas of sensing devices and membrane technology.

  14. Effect of surface coating with magnesium stearate via mechanical dry powder coating approach on the aerosol performance of micronized drug powders from dry powder inhalers.

    Science.gov (United States)

    Zhou, Qi Tony; Qu, Li; Gengenbach, Thomas; Larson, Ian; Stewart, Peter J; Morton, David A V

    2013-03-01

    The objective of this study was to investigate the effect of particle surface coating with magnesium stearate on the aerosolization of dry powder inhaler formulations. Micronized salbutamol sulphate as a model drug was dry coated with magnesium stearate using a mechanofusion technique. The coating quality was characterized by X-ray photoelectron spectroscopy. Powder bulk and flow properties were assessed by bulk densities and shear cell measurements. The aerosol performance was studied by laser diffraction and supported by a twin-stage impinger. High degrees of coating coverage were achieved after mechanofusion, as measured by X-ray photoelectron spectroscopy. Concomitant significant increases occurred in powder bulk densities and in aerosol performance after coating. The apparent optimum performance corresponded with using 2% w/w magnesium stearate. In contrast, traditional blending resulted in no significant changes in either bulk or aerosolization behaviour compared to the untreated sample. It is believed that conventional low-shear blending provides insufficient energy levels to expose host micronized particle surfaces from agglomerates and to distribute guest coating material effectively for coating. A simple ultra-high-shear mechanical dry powder coating step was shown as highly effective in producing ultra-thin coatings on micronized powders and to substantially improve the powder aerosolization efficiency.

  15. 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.

  16. 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.

  17. A multi-step approach for testing non-toxic amphiphilic antifouling coatings against marine microfouling at different levels of biological complexity.

    Science.gov (United States)

    Zecher, Karsten; Aitha, Vishwa Prasad; Heuer, Kirsten; Ahlers, Herbert; Roland, Katrin; Fiedel, Michael; Philipp, Bodo

    2018-03-01

    Marine biofouling on artificial surfaces such as ship hulls or fish farming nets causes enormous economic damage. The time for the developmental process of antifouling coatings can be shortened by reliable laboratory assays. For designing such test systems, it is important that toxic effects can be excluded, that multiple parameters can be addressed simultaneously and that mechanistic aspects can be included. In this study, a multi-step approach for testing antifouling coatings was established employing photoautotrophic biofilm formation of marine microorganisms in micro- and mesoscoms. Degree and pattern of biofilm formation was determined by quantification of chlorophyll fluorescence. For the microcosms, co-cultures of diatoms and a heterotrophic bacterium were exposed to fouling-release coatings. For the mesocosms, a novel device was developed that permits parallel quantification of a multitude of coatings under defined conditions with varying degrees of shear stress. Additionally, the antifouling coatings were tested for leaching of potential compounds and finally tested in sea trials. This multistep-approach revealed that the individual steps led to consistent results regarding antifouling activity of the coatings. Furthermore, the novel mesocosm system can be employed for advanced antifouling analysis including metagenomic approaches for determination of microbial diversity attaching to different coatings under changing shear forces. Copyright © 2018 Elsevier B.V. All rights reserved.

  18. An investigation on mechanical properties of steel fibre reinforced for underwater welded joint

    Science.gov (United States)

    Navin, K.; Zakaria, M. S.; Zairi, S.

    2017-09-01

    Underwater pipelines are always exposed to water and have a high tendency to have corrosion especially on the welded joint. This research is about using fiber glass as steel fiber to coat the welded joint to determine the effectiveness in corrosion prevention of the welded joint. Number of coating is varied to determine the better number coating to coat the pipeline. Few samples were left without immersion in salt water and few samples are immersed into salt water with same salinity as sea water. The material sample is prepared in dog bone shape to enable to be used in Universal Tensile Machine (UTM). The material prepared is left immersed for recommended time and tested in Universal Tensile Machine. Upon analyzing the result, the result is used to determine the breakage point whether broken on the welded joint or different place and also the suitable number of coating to be used.

  19. LAKE BAIKAL: Underwater neutrino detector

    International Nuclear Information System (INIS)

    Anon.

    1991-01-01

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

  20. 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.

  1. 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.

  2. 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

  3. Investigations of phosphate coatings of galvanized steel sheets by a surface-analytical multi-method approach

    International Nuclear Information System (INIS)

    Bubert, H.; Garten, R.; Klockenkaemper, R.; Puderbach, H.

    1983-01-01

    Corrosion protective coatings on galvanized steel sheets have been studied by a combination of SEM, EDX, AES, ISS and SIMS. Analytical statements concerning such rough, poly-crystalline and contaminated surfaces of technical samples are quite difficult to obtain. The use of a surface-analytical multi-method approach overcomes, the intrinsic limitations of the individual method applied, thus resulting in a consistent picture of those technical surfaces. Such results can be used to examine technical faults and to optimize the technical process. (Author)

  4. Simulation and experimental approach to CVD-FBR aluminide coatings on ferritic steels under steam oxidation

    International Nuclear Information System (INIS)

    Leal, J.; Alcala, G.; Bolivar, F.J.; Sanchez, L.; Hierro, M.P.; Perez, F.J.

    2008-01-01

    The ferritic steels used to produce structural components for steam turbines are susceptible to strong corrosion and creep damage due to the extreme working conditions pushed to increase the process efficiency and to reduce pollutants release. The response of aluminide coatings on the P-92 ferritic steel, deposited by CVD-FBR, during oxidation in a simulated steam environment was studied. The analyses were performed at 650 deg. C in order to simulate the working conditions of a steam turbine, and 800 deg. C in order to produce a critical accelerated oxidation test. The Thermo-Calc software was used to predict the different solid phases that could be generated during the oxidation process, in both, coated and uncoated samples. In order to validate the thermodynamic results, the oxides scales produced during steam tests were characterized by different techniques such as XRD, SEM and EDS. The preliminary results obtained are discussed in the present work

  5. Pendulum Underwater - An Approach for Quantifying Viscosity

    Science.gov (United States)

    Leme, José Costa; Oliveira, Agostinho

    2017-12-01

    The purpose of the experiment presented in this paper is to quantify the viscosity of a liquid. Viscous effects are important in the flow of fluids in pipes, in the bloodstream, in the lubrication of engine parts, and in many other situations. In the present paper, the authors explore the oscillations of a physical pendulum in the form of a long and lightweight wire that carries a ball at its lower end, which is totally immersed in water, so as to determine the water viscosity. The system used represents a viscous damped pendulum and we tried different theoretical models to describe it. The experimental part of the present paper is based on a very simple and low-cost image capturing apparatus that can easily be replicated in a physics classroom. Data on the pendulum's amplitude as a function of time were acquired using digital video analysis with the open source software Tracker.

  6. 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

  7. Sustainable design and manufacturing of multifunctional polymer nanocomposite coatings: A multiscale systems approach

    Science.gov (United States)

    Xiao, Jie

    Polymer nanocomposites have a great potential to be a dominant coating material in a wide range of applications in the automotive, aerospace, ship-making, construction, and pharmaceutical industries. However, how to realize design sustainability of this type of nanostructured materials and how to ensure the true optimality of the product quality and process performance in coating manufacturing remain as a mountaintop area. The major challenges arise from the intrinsic multiscale nature of the material-process-product system and the need to manipulate the high levels of complexity and uncertainty in design and manufacturing processes. This research centers on the development of a comprehensive multiscale computational methodology and a computer-aided tool set that can facilitate multifunctional nanocoating design and application from novel function envisioning and idea refinement, to knowledge discovery and design solution derivation, and further to performance testing in industrial applications and life cycle analysis. The principal idea is to achieve exceptional system performance through concurrent characterization and optimization of materials, product and associated manufacturing processes covering a wide range of length and time scales. Multiscale modeling and simulation techniques ranging from microscopic molecular modeling to classical continuum modeling are seamlessly coupled. The tight integration of different methods and theories at individual scales allows the prediction of macroscopic coating performance from the fundamental molecular behavior. Goal-oriented design is also pursued by integrating additional methods for bio-inspired dynamic optimization and computational task management that can be implemented in a hierarchical computing architecture. Furthermore, multiscale systems methodologies are developed to achieve the best possible material application towards sustainable manufacturing. Automotive coating manufacturing, that involves paint spay and

  8. 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...

  9. 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.

  10. A novel multivariate approach using science-based calibration for direct coating thickness determination in real-time NIR process monitoring.

    Science.gov (United States)

    Möltgen, C-V; Herdling, T; Reich, G

    2013-11-01

    This study demonstrates an approach, using science-based calibration (SBC), for direct coating thickness determination on heart-shaped tablets in real-time. Near-Infrared (NIR) spectra were collected during four full industrial pan coating operations. The tablets were coated with a thin hydroxypropyl methylcellulose (HPMC) film up to a film thickness of 28 μm. The application of SBC permits the calibration of the NIR spectral data without using costly determined reference values. This is due to the fact that SBC combines classical methods to estimate the coating signal and statistical methods for the noise estimation. The approach enabled the use of NIR for the measurement of the film thickness increase from around 8 to 28 μm of four independent batches in real-time. The developed model provided a spectroscopic limit of detection for the coating thickness of 0.64 ± 0.03 μm root-mean square (RMS). In the commonly used statistical methods for calibration, such as Partial Least Squares (PLS), sufficiently varying reference values are needed for calibration. For thin non-functional coatings this is a challenge because the quality of the model depends on the accuracy of the selected calibration standards. The obvious and simple approach of SBC eliminates many of the problems associated with the conventional statistical methods and offers an alternative for multivariate calibration. Copyright © 2013 Elsevier B.V. All rights reserved.

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

    Directory of Open Access Journals (Sweden)

    Shiqiu Liu

    2015-12-01

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

  12. 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.

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

    KAUST Repository

    Saeed, Nasir

    2017-12-20

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

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

    Directory of Open Access Journals (Sweden)

    Gara Quintana-Díaz

    2017-01-01

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

  15. Swarm Underwater Acoustic 3D Localization: Kalman vs Monte Carlo

    Directory of Open Access Journals (Sweden)

    Sergio Taraglio

    2015-07-01

    Full Text Available Two three-dimensional localization algorithms for a swarm of underwater vehicles are presented. The first is grounded on an extended Kalman filter (EKF scheme used to fuse some proprioceptive data such as the vessel's speed and some exteroceptive measurements such as the time of flight (TOF sonar distance of the companion vessels. The second is a Monte Carlo particle filter localization processing the same sensory data suite. The results of several simulations using the two approaches are presented, with comparison. The case of a supporting surface vessel is also considered. An analysis of the robustness of the two approaches against some system parameters is given.

  16. Metal-coated microfluidic channels: An approach to eliminate streaming potential effects in nano biosensors.

    Science.gov (United States)

    Lee, Jieun; Wipf, Mathias; Mu, Luye; Adams, Chris; Hannant, Jennifer; Reed, Mark A

    2017-01-15

    We report a method to suppress streaming potential using an Ag-coated microfluidic channel on a p-type silicon nanowire (SiNW) array measured by a multiplexed electrical readout. The metal layer sets a constant electrical potential along the microfluidic channel for a given reference electrode voltage regardless of the flow velocity. Without the Ag layer, the magnitude and sign of the surface potential change on the SiNW depends on the flow velocity, width of the microfluidic channel and the device's location inside the microfluidic channel with respect to the reference electrode. Noise analysis of the SiNW array with and without the Ag coating in the fluidic channel shows that noise frequency peaks, resulting from the operation of a piezoelectric micropump, are eliminated using the Ag layer with two reference electrodes located at inlet and outlet. This strategy presents a simple platform to eliminate the streaming potential and can become a powerful tool for nanoscale potentiometric biosensors. Copyright © 2016 Elsevier B.V. All rights reserved.

  17. 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.

  18. 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

  19. 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.)

  20. X-ray analysis of residual stress gradients in TiN coatings by a Laplace space approach and cross-sectional nanodiffraction: a critical comparison.

    Science.gov (United States)

    Stefenelli, Mario; Todt, Juraj; Riedl, Angelika; Ecker, Werner; Müller, Thomas; Daniel, Rostislav; Burghammer, Manfred; Keckes, Jozef

    2013-10-01

    Novel scanning synchrotron cross-sectional nanobeam and conventional laboratory as well as synchrotron Laplace X-ray diffraction methods are used to characterize residual stresses in exemplary 11.5 µm-thick TiN coatings. Both real and Laplace space approaches reveal a homogeneous tensile stress state and a very pronounced compressive stress gradient in as-deposited and blasted coatings, respectively. The unique capabilities of the cross-sectional approach operating with a beam size of 100 nm in diameter allow the analysis of stress variation with sub-micrometre resolution at arbitrary depths and the correlation of the stress evolution with the local coating microstructure. Finally, advantages and disadvantages of both approaches are extensively discussed.

  1. Monitoring Coral Growth - the Dichotomy Between Underwater Photogrammetry and Geodetic Control Network

    Science.gov (United States)

    Neyer, F.; Nocerino, E.; Gruen, A.

    2018-05-01

    Creating 3-dimensional (3D) models of underwater scenes has become a common approach for monitoring coral reef changes and its structural complexity. Also in underwater archeology, 3D models are often created using underwater optical imagery. In this paper, we focus on the aspect of detecting small changes in the coral reef using a multi-temporal photogrammetric modelling approach, which requires a high quality control network. We show that the quality of a good geodetic network limits the direct change detection, i.e., without any further registration process. As the photogrammetric accuracy is expected to exceed the geodetic network accuracy by at least one order of magnitude, we suggest to do a fine registration based on a number of signalized points. This work is part of the Moorea Island Digital Ecosystem Avatar (IDEA) project that has been initiated in 2013 by a group of international researchers (https://mooreaidea.ethz.ch/).

  2. 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.

  3. 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.

  4. A biomimetic approach to enhancing interfacial interactions: polydopamine-coated clay as reinforcement for epoxy resin.

    Science.gov (United States)

    Yang, Liping; Phua, Si Lei; Teo, Jun Kai Herman; Toh, Cher Ling; Lau, Soo Khim; Ma, Jan; Lu, Xuehong

    2011-08-01

    A facile biomimetic method was developed to enhance the interfacial interaction in polymer-layered silicate nanocomposites. By mimicking mussel adhesive proteins, a monolayer of polydopamine was constructed on clay surface by a controllable coating method. The modified clay (D-clay) was incorporated into an epoxy resin, it is found that the strong interfacial interactions brought by the polydopamine benefits not only the dispersion of the D-clay in the epoxy but also the effective interfacial stress transfer, leading to greatly improved thermomechanical properties at very low inorganic loadings. Rheological and infrared spectroscopic studies show that the interfacial interactions between the D-clay and epoxy are dominated by the hydrogen bonds between the catechol-enriched polydopamine and the epoxy.

  5. Computational Tools and Approaches for Design and Control of Coating and Composite Color, Appearance, and Electromagnetic Signature

    Directory of Open Access Journals (Sweden)

    Erik D. Sapper

    2013-04-01

    Full Text Available The transport behavior of electromagnetic radiation through a polymeric coating or composite is the basis for the material color, appearance, and overall electromagnetic signature. As multifunctional materials become more advanced and next generation in-service applications become more demanding, a need for predictive design of electromagnetic signature is desired. This paper presents various components developed and used in a computational suite for the study and design of electromagnetic radiation transport properties in polymeric coatings and composites. Focus is given to the treatment of the forward or direct scattering problem on surfaces and in bulk matrices of polymeric materials. The suite consists of surface and bulk light scattering simulation modules that may be coupled together to produce a multiscale model for predicting the electromagnetic signature of various material systems. Geometric optics ray tracing is used to predict surface scattering behavior of realistically rough surfaces, while a coupled ray tracing-finite element approach is used to predict bulk scattering behavior of material matrices consisting of microscale and nanoscale fillers, pigments, fibers, air voids, and other inclusions. Extension of the suite to color change and appearance metamerism is addressed, as well as the differences between discrete versus statistical material modeling.

  6. 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

  7. Using the combination refraction-reflection solid to design omni-directional light source used in underwater wireless optical communication

    Science.gov (United States)

    Rao, Jionghui; Yao, Wenming; Wen, Linqiang

    2015-10-01

    Underwater wireless optical communication is a communication technology which uses laser as an information carrier and transmits data through water. Underwater wireless optical communication has some good features such as broader bandwidth, high transmission rate, better security, anti—interference performance. Therefore, it is promising to be widely used in the civil and military communication domains. It is also suitable for high-speed, short-range communication between underwater mobile vehicles. This paper presents a design approach of omni-directional light source used in underwater wireless optical communication, using TRACEPRO simulation tool to help design a combination solid composed of the lens, conical reflector and parabolic reflector, and using the modulated DPSS green laser in the transmitter module to output the laser beam in small divergence angles, after expanded by the combination refraction-reflection solid, the angle turns into a space divergence angle of 2π, achieving the omni-directional light source of hemisphere space, and test in the air and underwater, the result shows that the effect is fine. This paper analyzes the experimental test in the air and water, in order to make further improvement of the uniformity of light distribution, we optimize the reflector surface parameters of combination refraction-reflection solid and test in the air and water. The result shows that omni-directional light source used in underwater wireless optical communication optimized could achieve the uniformity of light distribution of underwater space divergence angle of 2π. Omni-directional light source used in underwater wireless optical communication designed in this paper has the characteristics of small size and uniformity of light distribution, it is suitable for application between UUVs, AUVs, Swimmer Delivery Vehicles (SDVs) and other underwater vehicle fleet, it realizes point-to-multipoint communications.

  8. 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.

  9. 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.

  10. 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.

  11. 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.

  12. A Novel Approach for Dry Powder Coating of Pellets with Ethylcellulose. Part II: Evaluation of Caffeine Release.

    Science.gov (United States)

    Albertini, Beatrice; Melegari, Cecilia; Bertoni, Serena; Dolci, Luisa Stella; Passerini, Nadia

    2018-04-01

    The objective of this study was to assess the efficacy and the capability of a novel ethylcellulose-based dry-coating system to obtain prolonged and stable release profiles of caffeine-loaded pellets. Lauric and oleic acids at a suitable proportion were used to plasticize ethylcellulose. The effect of coating level, percentage of drug loading, inert core particle size, and composition of the coating formulation including the anti-sticking agent on the drug release profile were fully investigated. A coating level of 15% w/w was the maximum layered amount which could modify the drug release. The best controlled drug release was obtained by atomizing talc (2.5% w/w) together with the solid plasticizer during the dry powder-coating process. SEM pictures revealed a substantial drug re-crystallization on the pellet surface, and the release studies evidenced that caffeine diffused through the plasticized polymer acting as pore former. Therefore, the phenomenon of caffeine migration across the coating layer had a strong influence on the permeability of the coating membrane. Comparing dry powder-coated pellets to aqueous film-coated ones, drug migration happened during storage, though more sustained release profiles were obtained. The developed dry powder-coating process enabled the production of stable caffeine sustained release pellets. Surprisingly, the release properties of the dry-coated pellets were mainly influenced by the way of addition of talc into the dry powder-coating blend and by the drug nature and affinity to the coating components. It would be interesting to study the efficacy of novel coating system using a different API.

  13. Acoustic and Vibration Control for an Underwater Structure under Mechanical Excitation

    Directory of Open Access Journals (Sweden)

    Shi-Jian Zhu

    2014-01-01

    Full Text Available Acoustic and vibration control for an underwater structure under mechanical excitation has been investigated by using negative feedback control algorithm. The underwater structure is modeled with cylindrical shells, conical shells, and circular bulkheads, of which the motion equations are built with the variational approach, respectively. Acoustic property is analyzed by the Helmholtz integration formulation with boundary element method. Based on negative feedback control algorithm, a control loop with a coupling use of piezoelectric sensor and actuator is built, and accordingly some numerical examples are carried out on active control of structural vibration and acoustic response. Effects of geometrical and material parameters on acoustic and vibration properties are investigated and discussed.

  14. 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

  15. 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

  16. Fault-Tolerant Region-Based Control of an Underwater Vehicle with Kinematically Redundant Thrusters

    Directory of Open Access Journals (Sweden)

    Zool H. Ismail

    2014-01-01

    Full Text Available This paper presents a new control approach for an underwater vehicle with a kinematically redundant thruster system. This control scheme is derived based on a fault-tolerant decomposition for thruster force allocation and a region control scheme for the tracking objective. Given a redundant thruster system, that is, six or more pairs of thrusters are used, the proposed redundancy resolution and region control scheme determine the number of thruster faults, as well as providing the reference thruster forces in order to keep the underwater vehicle within the desired region. The stability of the presented control law is proven in the sense of a Lyapunov function. Numerical simulations are performed with an omnidirectional underwater vehicle and the results of the proposed scheme illustrate the effectiveness in terms of optimizing the thruster forces.

  17. 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.

  18. 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.

  19. A self-cleaning underwater superoleophobic mesh for oil-water separation

    KAUST Repository

    Zhang, Lianbin; Zhong, Yujiang; Cha, Dong Kyu; Wang, Peng

    2013-01-01

    and inexpensive approaches for the cleaning-up of the oily pollution in water system. In this study, a self-cleaning underwater superoleophobic mesh that can be used for oil-water separation is prepared by the layer-by-layer (LbL) assembly of sodium silicate

  20. Real-time underwater object detection based on an electrically scanned high-resolution sonar

    DEFF Research Database (Denmark)

    Henriksen, Lars

    1994-01-01

    The paper describes an approach to real time detection and tracking of underwater objects, using image sequences from an electrically scanned high-resolution sonar. The use of a high resolution sonar provides a good estimate of the location of the objects, but strains the computers on board, beca...

  1. Trajectory-Based Visual Localization in Underwater Surveying Missions

    Directory of Open Access Journals (Sweden)

    Antoni Burguera

    2015-01-01

    Full Text Available We present a new vision-based localization system applied to an autonomous underwater vehicle (AUV with limited sensing and computation capabilities. The traditional EKF-SLAM approaches are usually expensive in terms of execution time; the approach presented in this paper strengthens this method by adopting a trajectory-based schema that reduces the computational requirements. The pose of the vehicle is estimated using an extended Kalman filter (EKF, which predicts the vehicle motion by means of a visual odometer and corrects these predictions using the data associations (loop closures between the current frame and the previous ones. One of the most important steps in this procedure is the image registration method, as it reinforces the data association and, thus, makes it possible to close loops reliably. Since the use of standard EKFs entail linearization errors that can distort the vehicle pose estimations, the approach has also been tested using an iterated Kalman filter (IEKF. Experiments have been conducted using a real underwater vehicle in controlled scenarios and in shallow sea waters, showing an excellent performance with very small errors, both in the vehicle pose and in the overall trajectory estimates.

  2. Trajectory-Based Visual Localization in Underwater Surveying Missions

    Science.gov (United States)

    Burguera, Antoni; Bonin-Font, Francisco; Oliver, Gabriel

    2015-01-01

    We present a new vision-based localization system applied to an autonomous underwater vehicle (AUV) with limited sensing and computation capabilities. The traditional EKF-SLAM approaches are usually expensive in terms of execution time; the approach presented in this paper strengthens this method by adopting a trajectory-based schema that reduces the computational requirements. The pose of the vehicle is estimated using an extended Kalman filter (EKF), which predicts the vehicle motion by means of a visual odometer and corrects these predictions using the data associations (loop closures) between the current frame and the previous ones. One of the most important steps in this procedure is the image registration method, as it reinforces the data association and, thus, makes it possible to close loops reliably. Since the use of standard EKFs entail linearization errors that can distort the vehicle pose estimations, the approach has also been tested using an iterated Kalman filter (IEKF). Experiments have been conducted using a real underwater vehicle in controlled scenarios and in shallow sea waters, showing an excellent performance with very small errors, both in the vehicle pose and in the overall trajectory estimates. PMID:25594602

  3. Silver nanoparticles as a medical device in healthcare settings: a five-step approach for candidate screening of coating agents

    Science.gov (United States)

    Marassi, Valentina; Di Cristo, Luisana; Smith, Stephen G. J.; Ortelli, Simona; Blosi, Magda; Costa, Anna L.; Reschiglian, Pierluigi; Volkov, Yuri; Prina-Mello, Adriele

    2018-01-01

    Silver nanoparticle-based antimicrobials can promote a long lasting bactericidal effect without detrimental toxic side effects. However, there is not a clear and complete protocol to define and relate the properties of the particles (size, shape, surface charge, ionic content) with their specific activity. In this paper, we propose an effective multi-step approach for the identification of a `purpose-specific active applicability window' to maximize the antimicrobial activity of medical devices containing silver nanoparticles (Ag NPs) (such as surface coaters), minimizing any consequent risk for human health (safety by design strategy). The antimicrobial activity and the cellular toxicity of four types of Ag NPs, differing in their coating composition and concentration have been quantified. Through the implementation of flow-field flow fractionation, Ag NPs have been characterized in terms of metal release, size and shape. The particles are fractionated in the process while being left unmodified, allowing for the identification of biological particle-specific contribution. Toxicity and inflammatory response in vitro have been assessed on human skin models, while antimicrobial activity has been monitored with both non-pathogenic and pathogenic Escherichia coli. The main benefit associated with such approach is the comprehensive assessment of the maximal effectiveness of candidate nanomaterials, while simultaneously indexing their properties against their safety.

  4. 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.

  5. 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

  6. 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).

  7. Underwater laser cutting of metallic structures

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  8. Enabling Persistent Autonomy for Underwater Gliders with Ocean Model Predictions and Terrain Based Navigation

    Directory of Open Access Journals (Sweden)

    Andrew eStuntz

    2016-04-01

    Full Text Available Effective study of ocean processes requires sampling over the duration of long (weeks to months oscillation patterns. Such sampling requires persistent, autonomous underwater vehicles, that have a similarly long deployment duration. The spatiotemporal dynamics of the ocean environment, coupled with limited communication capabilities, make navigation and localization difficult, especially in coastal regions where the majority of interesting phenomena occur. In this paper, we consider the combination of two methods for reducing navigation and localization error; a predictive approach based on ocean model predictions and a prior information approach derived from terrain-based navigation. The motivation for this work is not only for real-time state estimation, but also for accurately reconstructing the actual path that the vehicle traversed to contextualize the gathered data, with respect to the science question at hand. We present an application for the practical use of priors and predictions for large-scale ocean sampling. This combined approach builds upon previous works by the authors, and accurately localizes the traversed path of an underwater glider over long-duration, ocean deployments. The proposed method takes advantage of the reliable, short-term predictions of an ocean model, and the utility of priors used in terrain-based navigation over areas of significant bathymetric relief to bound uncertainty error in dead-reckoning navigation. This method improves upon our previously published works by 1 demonstrating the utility of our terrain-based navigation method with multiple field trials, and 2 presenting a hybrid algorithm that combines both approaches to bound navigational error and uncertainty for long-term deployments of underwater vehicles. We demonstrate the approach by examining data from actual field trials with autonomous underwater gliders, and demonstrate an ability to estimate geographical location of an underwater glider to 2

  9. 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

  10. 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

  11. 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

  12. Efficient Modelling Methodology for Reconfigurable Underwater Robots

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  13. Underwater Adhesives Retrofit Pipelines with Advanced Sensors

    Science.gov (United States)

    2015-01-01

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

  14. MOSES, development of an Underwater Warfare Testbed

    NARCIS (Netherlands)

    Lentze, S.G.

    2001-01-01

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

  15. Human Injury Criteria for Underwater Blasts

    Science.gov (United States)

    2014-09-08

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

  16. Impacts of underwater noise on marine vertebrates

    NARCIS (Netherlands)

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

    2016-01-01

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

  17. An approach to determination of phenolic compounds in seawater using SPME-GC-MS based on SWCNTs coating

    Science.gov (United States)

    Zhu, Jia; Wang, Ying; Zeng, Lin

    2016-08-01

    Phenolic compounds have become one kind of the important pollutants of the marine environment. Single-walled Carbon nanotubes, as one-dimensional nano materials, have light weight and perfect hexagonal structure of connections, with many unusual mechanical, chemical and electrical properties. In recent years, with the research of carbon nanotubes and other nano materials, the application prospect is also constantly discussed. In this paper, homemade single-walled carbon nanotubes (SWCNTs) coating was used for establishing an analytical approach to the determination of five kinds of phenolic compounds in seawater using SPME-GC-MS. Optimal conditions: After saturation was conducted with NaCl, and pH was adjusted to 2.0 with H2SO4, the extract was immersed in a water bath at 40°C for GC-MS determination through 40-min agitating extraction at 500 rmin-1 and 3-min desorption at 280°C. The liniearities ranged between 0.01-100 μg L-1, and the determination limits ranged between 1.5-10 ng L-1. The relative standard deviation (RSD, n = 5) was less than 6.5%. For the phenolic compounds obtained from the spiked recovery test for actual seawater samples, the rates of recovery were 87.5%-101.7%, and the RSDs were less than 8.8%, which met the requirements of determination. Due to its simplicity, high efficiency and low consumption, this approach is suitable for the analysis of trace amounts of phenolic compounds in marine waters.

  18. 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

  19. Studying fish near ocean energy devices using underwater video

    Energy Technology Data Exchange (ETDEWEB)

    Matzner, Shari; Hull, Ryan E.; Harker-Klimes, Genevra EL; Cullinan, Valerie I.

    2017-09-18

    The effects of energy devices on fish populations are not well-understood, and studying the interactions of fish with tidal and instream turbines is challenging. To address this problem, we have evaluated algorithms to automatically detect fish in underwater video and propose a semi-automated method for ocean and river energy device ecological monitoring. The key contributions of this work are the demonstration of a background subtraction algorithm (ViBE) that detected 87% of human-identified fish events and is suitable for use in a real-time system to reduce data volume, and the demonstration of a statistical model to classify detections as fish or not fish that achieved a correct classification rate of 85% overall and 92% for detections larger than 5 pixels. Specific recommendations for underwater video acquisition to better facilitate automated processing are given. The recommendations will help energy developers put effective monitoring systems in place, and could lead to a standard approach that simplifies the monitoring effort and advances the scientific understanding of the ecological impacts of ocean and river energy devices.

  20. Novel sensing approach for LPG leakage detection: Part II: Effects of particle size, composition and coating layer thickness

    KAUST Repository

    Mukhopadhyay, Subhas; Nag, Anindya; Zia, Asif; Li, Xie; Kosel, Jü rgen

    2015-01-01

    exhibits the optimization of the response time of the sensor by inhabiting characteristic changes like variation in the concentration of the dispersion medium, thickness of the coating and the size of the dispersed medium. Different concentrations

  1. Multiple Approaches for Testing Novel Coatings in the Laboratory and in Pearl Harbor, Hawaii with Emphasis on the Global, Problem-Fouling Invertebrates

    Science.gov (United States)

    2015-09-25

    Multiple Approaches for Testing Novel Coatings in the Laboratory and in Pearl Harbor, Hawaii with Emphasis on the Global, Problem-Fouling Invertebrates 5a...on the Global, Problem-Fouling Invertebrates ONR AWARD NUMBER: N00014-11-1-0167 PRINCIPLE INVESTIGATOR: Michael G. Hadfield, Ph.D...luteoviolacea a phage tail-like component that is capable of inducing the metamorphosis of a marine invertebrate . However, our continued studies in the

  2. 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.

  3. Spin-coating: A new approach for improving dispersion of cellulose nanocrystals and mechanical properties of poly (lactic acid) composites.

    Science.gov (United States)

    Shojaeiarani, Jamileh; Bajwa, Dilpreet S; Stark, Nicole M

    2018-06-15

    This study systematically evaluated the influence of masterbatch preparation techniques, solvent casting and spin-coating methods, on composite properties. Composites were manufactured by combining CNCs masterbatches and PLA resin using twin screw extruder followed by injection molding. Different microscopy techniques were used to investigate the dispersion of CNCs in masterbatches and composites. Thermal, thermomechanical, and mechanical properties of composites were evaluated. Scanning electron microscopy (SEM) images showed superior dispersion of CNCs in spin-coated masterbatches compared to solvent cast masterbatches. At lower CNCs concentrations, both SEM and optical microscope images confirmed more uniform CNCs dispersion in spin-coated composites than solvent cast samples. Degree of crystallinity of PLA exhibited a major enhancement by 147% and 380% in solvent cast and spin-coated composites, respectively. Spin-coated composites with lower CNCs concentration exhibited a noticeable improvement in mechanical properties. However, lower thermal characteristics in spin-coated composites were observed, which could be attributed to the residual solvents in masterbatches. Copyright © 2018 Elsevier Ltd. All rights reserved.

  4. 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.

  5. 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

  6. 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.

  7. 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.

  8. Protein-based underwater adhesives and the prospects for their biotechnological production.

    Science.gov (United States)

    Stewart, Russell J

    2011-01-01

    Biotechnological approaches to practical production of biological protein-based adhesives have had limited success over the last several decades. Broader efforts to produce recombinant adhesive proteins may have been limited by early disappointments. More recent synthetic polymer approaches have successfully replicated some aspects of natural underwater adhesives. For example, synthetic polymers, inspired by mussels, containing the catecholic functional group of 3,4-L-dihydroxyphenylalanine adhere strongly to wet metal oxide surfaces. Synthetic complex coacervates inspired by the Sandcastle worm are water-borne adhesives that can be delivered underwater without dispersing. Synthetic approaches offer several advantages, including versatile chemistries and scalable production. In the future, more sophisticated mimetic adhesives may combine synthetic copolymers with recombinant or agriculture-derived proteins to better replicate the structural and functional organization of natural adhesives.

  9. A Fully Automated Method to Detect and Segment a Manufactured Object in an Underwater Color Image

    Science.gov (United States)

    Barat, Christian; Phlypo, Ronald

    2010-12-01

    We propose a fully automated active contours-based method for the detection and the segmentation of a moored manufactured object in an underwater image. Detection of objects in underwater images is difficult due to the variable lighting conditions and shadows on the object. The proposed technique is based on the information contained in the color maps and uses the visual attention method, combined with a statistical approach for the detection and an active contour for the segmentation of the object to overcome the above problems. In the classical active contour method the region descriptor is fixed and the convergence of the method depends on the initialization. With our approach, this dependence is overcome with an initialization using the visual attention results and a criterion to select the best region descriptor. This approach improves the convergence and the processing time while providing the advantages of a fully automated method.

  10. Hierarchical Micro-Nano Coatings by Painting

    Science.gov (United States)

    Kirveslahti, Anna; Korhonen, Tuulia; Suvanto, Mika; Pakkanen, Tapani A.

    2016-03-01

    In this paper, the wettability properties of coatings with hierarchical surface structures and low surface energy were studied. Hierarchically structured coatings were produced by using hydrophobic fumed silica nanoparticles and polytetrafluoroethylene (PTFE) microparticles as additives in polyester (PES) and polyvinyldifluoride (PVDF). These particles created hierarchical micro-nano structures on the paint surfaces and lowered or supported the already low surface energy of the paint. Two standard application techniques for paint application were employed and the presented coatings are suitable for mass production and use in large surface areas. By regulating the particle concentrations, it was possible to modify wettability properties gradually. Highly hydrophobic surfaces were achieved with the highest contact angle of 165∘. Dynamic contact angle measurements were carried out for a set of selected samples and low hysteresis was obtained. Produced coatings possessed long lasting durability in the air and in underwater conditions.

  11. Substrate-Versatile Approach to Robust Antireflective and Superhydrophobic Coatings with Excellent Self-Cleaning Property in Varied Environments.

    Science.gov (United States)

    Ren, Tingting; He, Junhui

    2017-10-04

    Robust antireflective and superhydrophobic coatings are highly desired in wide applications, such as optical devices, solar cell panels, architectural and automotive glasses, lab-on chip systems, and windows for electronic devices. Meanwhile, simple, low-cost, and substrate-versatile fabrication is also essential toward real applications of such coatings. Herein, we developed a substrate-versatile strategy to fabricate robust antireflective and superhydrophobic coatings with excellent self-cleaning property in varied environments, including air and oil and after oil contamination. A mixed ethanol suspension, which consists of 1H,1H,2H,2H-perfluorooctyltriethoxysilane modified dual-sized silica nanoparticles and acid-catalyzed silica precursor, was first synthesized. The acid-catalyzed silica precursor could help to form a highly cross-linked silica network by connecting the silica nanoparticles, thus significantly enhancing the robustness of coatings. The as-prepared coatings were able to withstand a water drop impact test, sand abrasion test, tape adhesion test, and knife and pencil scratching tests. More importantly, it was also found that the wettability and self-cleaning property of coatings after oil contamination were surprisingly different from those in air and oil. These observations are explainable by the alteration of interface; i.e., the alteration of interface has significant effects on the functional properties of coatings. Additionally, the mixed suspension could be sprayed onto various hard and soft substrates including glass, polyethylene terephthalate (PET), polycarbonate (PC), and poly(methyl methacrylate) (PMMA), opening up a feasible route toward varied practical applications in solar cell panels, optical devices, architectural and automotive glasses, droplet manipulators, and fluid control.

  12. 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.

  13. 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.

  14. 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

  15. 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...

  16. 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)

  17. Cymbal and BB underwater transducers and arrays

    Energy Technology Data Exchange (ETDEWEB)

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

    2002-09-01

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

  18. Underwater noise modelling for environmental impact assessment

    Energy Technology Data Exchange (ETDEWEB)

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

    2016-02-15

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

  19. Underwater noise modelling for environmental impact assessment

    International Nuclear Information System (INIS)

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

    2016-01-01

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

  20. 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.

  1. 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

  2. MEDITERRANEAN: Underwater neutrinos get off the ground

    International Nuclear Information System (INIS)

    Anon.

    1992-01-01

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

  3. Inspecting the inside of underwater hull

    Science.gov (United States)

    Valkovic, Vladivoj; Sudac, Davorin

    2009-05-01

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

  4. Underwater bipedal locomotion by octopuses in disguise.

    Science.gov (United States)

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

    2005-03-25

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

  5. Role of Confined Water in Underwater Adhesion

    Science.gov (United States)

    Dhinojwala, Ali

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

  6. Application of Precipitate Free Zone Growth Kinetics to the β-Phase Depletion Behavior in a CoNiCrAlY Coating Alloy: An Analytical Approach

    Science.gov (United States)

    Chen, H.

    2018-06-01

    This paper concerns the β-phase depletion kinetics of a thermally sprayed free-standing CoNiCrAlY (Co-31.7 pct Ni-20.8 pct Cr-8.1 pct Al-0.5 pct Y, all in wt pct) coating alloy. An analytical β-phase depletion model based on the precipitate free zone growth kinetics was developed to calculate the β-phase depletion kinetics during isothermal oxidation. This approach, which accounts for the molar volume of the alloy, the interfacial energy of the γ/ β interface, and the Al concentration at γ/ γ + β boundary, requires the Al concentrations in the β-phase depletion zone as the input rather than the oxidation kinetics at the oxide/coating interface. The calculated β-phase depletion zones derived from the current model were compared with experimental results. It is shown that the calculated β-phase depletion zones using the current model are in reasonable agreement with those obtained experimentally. The constant compositional terms used in the model are likely to cause the discrepancies between the model predictions and experimental results. This analytical approach, which shows a reasonable correlation with experimental results, demonstrates a good reliability in the fast evaluation on lifetime prediction of MCrAlY coatings.

  7. Application of Precipitate Free Zone Growth Kinetics to the β-Phase Depletion Behavior in a CoNiCrAlY Coating Alloy: An Analytical Approach

    Science.gov (United States)

    Chen, H.

    2018-03-01

    This paper concerns the β-phase depletion kinetics of a thermally sprayed free-standing CoNiCrAlY (Co-31.7 pct Ni-20.8 pct Cr-8.1 pct Al-0.5 pct Y, all in wt pct) coating alloy. An analytical β-phase depletion model based on the precipitate free zone growth kinetics was developed to calculate the β-phase depletion kinetics during isothermal oxidation. This approach, which accounts for the molar volume of the alloy, the interfacial energy of the γ/β interface, and the Al concentration at γ/γ + β boundary, requires the Al concentrations in the β-phase depletion zone as the input rather than the oxidation kinetics at the oxide/coating interface. The calculated β-phase depletion zones derived from the current model were compared with experimental results. It is shown that the calculated β-phase depletion zones using the current model are in reasonable agreement with those obtained experimentally. The constant compositional terms used in the model are likely to cause the discrepancies between the model predictions and experimental results. This analytical approach, which shows a reasonable correlation with experimental results, demonstrates a good reliability in the fast evaluation on lifetime prediction of MCrAlY coatings.

  8. Whiter, brighter, and more stable cellulose paper coated with TiO2 /SiO2 core/shell nanoparticles using a layer-by-layer approach.

    Science.gov (United States)

    Cheng, Fei; Lorch, Mark; Sajedin, Seyed Mani; Kelly, Stephen M; Kornherr, Andreas

    2013-08-01

    To inhibit the photocatalytic degradation of organic material supports induced by small titania (TiO2 ) nanoparticles, four kinds of TiO2 nanoparticles, that is, commercial P25-TiO2 , commercial rutile phase TiO2 , rutile TiO2 nanorods and rutile TiO2 spheres, prepared from TiCl4 , were coated with a thin, but dense, coating of silica (SiO2 ) using a conventional sol-gel technique to form TiO2 /SiO2 core/shell nanoparticles. These core/shell particles were deposited and fixed as a very thin coating onto the surface of cellulose paper samples by a wet-chemistry polyelectrolyte layer-by-layer approach. The TiO2 /SiO2 nanocoated paper samples exhibit higher whiteness and brightness and greater stability to UV-bleaching than comparable samples of blank paper. There are many potential applications for this green chemistry approach to protect cellulosic fibres from UV-bleaching in sunlight and to improve their whiteness and brightness. Copyright © 2013 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  9. Study on underwater plasma arc cutting technology

    International Nuclear Information System (INIS)

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

    1980-01-01

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

  10. 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

  11. 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.

  12. 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.

  13. Modeling and Control of Underwater Robotic Systems

    Energy Technology Data Exchange (ETDEWEB)

    Schjoelberg, I:

    1996-12-31

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

  14. 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.

  15. 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

  16. 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...

  17. Contour Tracking Control for the REMUS Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Van Reet, Alan R

    2005-01-01

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

  18. Autopilot Using Differential Thrust for ARIES Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Sarton, Christopher

    2003-01-01

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

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

    National Research Council Canada - National Science Library

    Fratantoni, David M

    2007-01-01

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

  20. Composite Membrane with Underwater-Oleophobic Surface for Anti-Oil-Fouling Membrane Distillation.

    Science.gov (United States)

    Wang, Zhangxin; Hou, Deyin; Lin, Shihong

    2016-04-05

    In this study, we fabricated a composite membrane for membrane distillation (MD) by modifying a commercial hydrophobic polyvinylidene fluoride (PVDF) membrane with a nanocomposite coating comprising silica nanoparticles, chitosan hydrogel and fluoro-polymer. The composite membrane exhibits asymmetric wettability, with the modified surface being in-air hydrophilic and underwater oleophobic, and the unmodified surface remaining hydrophobic. By comparing the performance of the composite membrane and the pristine PVDF membrane in direct contact MD experiments using a saline emulsion with 1000 ppm crude oil (in water), we showed that the fabricated composite membrane was significantly more resistant to oil fouling compared to the pristine hydrophobic PVDF membrane. Force spectroscopy was conducted for the interaction between an oil droplet and the membrane surface using a force tensiometer. The difference between the composite membrane and the pristine PVDF membrane in their interaction with an oil droplet served to explain the difference in the fouling propensities between these two membranes observed in MD experiments. The results from this study suggest that underwater oleophobic coating can effectively mitigate oil fouling in MD operations, and that the fabricated composite membrane with asymmetric wettability can enable MD to desalinate hypersaline wastewater with high concentrations of hydrophobic contaminants.

  1. Durable underwater superoleophobic PDDA/halloysite nanotubes decorated stainless steel mesh for efficient oil-water separation

    Science.gov (United States)

    Hou, Kun; Zeng, Yicheng; Zhou, Cailong; Chen, Jiahui; Wen, Xiufang; Xu, Shouping; Cheng, Jiang; Lin, Yingguang; Pi, Pihui

    2017-09-01

    A durable underwater superoleophobic mesh was conveniently prepared by layer-by-layer (LBL) assembly of poly (diallyldimethylammonium chloride) (PDDA) and halloysite nanotubes (HNTs) on a stainless steel mesh. The hierarchical structure and roughness of the PDDA/HNTs coating surface were controlled by adjusting the number of layer deposition cycles. When the PDDA/HNTs coating with 10 deposition cycles was decorated on the mesh with pore size of about 54 μm, the underwater superoleophobic mesh was obtained. The as-prepared underwater superoleophobic PDDA/HNTs decorated mesh exhibits outstanding oil-water separation performance with a separation efficiency of over 97% for various oil/water mixtures, which allowed water to pass through while repelled oil completely. In addition, the as-prepared decorated mesh still maintained high separation efficiency above 97% after repeated 20 separation times for hexane/water mixture or chloroform/water mixture. More importantly, the as-prepared decorated mesh is durable enough to resist chemical and mechanical challenges, such as strong alkaline, salt aqueous and sand abrasion. Therefore, the as-prepared decorated mesh has practical utility in oil-water separation due to its stable oil-water performance, remarkable chemical and mechanical durability and the facile and eco-friendly preparation process.

  2. Proactive Approach for Safe Use of Antimicrobial Coatings in Healthcare Settings: Opinion of the COST Action Network AMiCI

    Directory of Open Access Journals (Sweden)

    Merja Ahonen

    2017-03-01

    Full Text Available Infections and infectious diseases are considered a major challenge to human health in healthcare units worldwide. This opinion paper was initiated by EU COST Action network AMiCI (AntiMicrobial Coating Innovations and focuses on scientific information essential for weighing the risks and benefits of antimicrobial surfaces in healthcare settings. Particular attention is drawn on nanomaterial-based antimicrobial surfaces in frequently-touched areas in healthcare settings and the potential of these nano-enabled coatings to induce (ecotoxicological hazard and antimicrobial resistance. Possibilities to minimize those risks e.g., at the level of safe-by-design are demonstrated.

  3. A rapid approach to prepare poly(2-methyl-2-oxazoline)-based antifouling coating by UV irradiation

    Science.gov (United States)

    Zhu, Haikun; Mumtaz, Fatima; Zhang, Chong; Tan, Lin; Liu, Songtao; Zhang, Yalin; Pan, Chao; Wang, Yanmei

    2017-12-01

    A series of brush copolymers, poly[(2-methyl-2-oxazoline)-random-4-vinylpyridine] (PMOXA-r-4VP), with a variety of compositions was synthesized by reversible addition-fragmentation chain transfer (RAFT) polymerization of the poly(2-methyl-2-oxazoline) methacrylate macromonomer (PMOXA-MA) and 4-vinylpyridine (4VP), and then characterized by 1H NMR spectroscopy and gel permeation chromatography (GPC). The PMOXA-based coatings on the surfaces of glass, silicon, gold and polydimethylsiloxane (PDMS) substrates were then produced by short-time ultraviolet (UV) irradiation of PMOXA-r-4VP. Water contact angel (WCA), ellipsometry, X-ray photoelectron spectroscopy (XPS), atomic force microscopy (AFM), and ζ-potential techniques were used to characterize the coatings. The results showed that copolymers can be successfully bonded on the surfaces of glass, silicon, gold, and PDMS substrate. Besides, the PMOXA-based coatings displayed a superior resistance to bovine serum albumin, human blood platelets, Human Umbilical Vein Endothelial Cells adsorption and good biocompatibility. Finally, stability test indicated that the stability of coatings can be improved with the content of the 4VP segment. Furthermore, PMOXA-r1/2-4VP immobilized surfaces displayed good antifouling property in long-term applications.

  4. A Novel Approach to Flurbiprofen Pulsatile Colonic Release: Formulation and Pharmacokinetics of Double-Compression-Coated Mini-Tablets.

    Science.gov (United States)

    Vemula, Sateesh Kumar

    2015-12-01

    A significant plan is executed in the present study to study the effect of double-compression coating on flurbiprofen core mini-tablets to achieve the pulsatile colonic delivery to deliver the drug at a specific time as per the patho-physiological need of the disease that results in improved therapeutic efficacy. In this study, pulsatile double-compression-coated tablets were prepared based on time-controlled hydroxypropyl methylcellulose K100M inner compression coat and pH-sensitive Eudragit S100 outer compression coat. Then, the tablets were evaluated for both physical evaluation and drug-release studies, and to prove these results, in vivo pharmacokinetic studies in human volunteers were conducted. From the in vitro drug-release studies, F6 tablets were considered as the best formulation, which retarded the drug release in the stomach and small intestine (3.42 ± 0.12% in 5 h) and progressively released to the colon (99.78 ± 0.74% in 24 h). The release process followed zero-order release kinetics, and from the stability studies, similarity factor between dissolution data before and after storage was found to be 88.86. From the pharmacokinetic evaluation, core mini-tablets producing peak plasma concentration (C max) was 14,677.51 ± 12.16 ng/ml at 3 h T max and pulsatile colonic tablets showed C max = 12,374.67 ± 16.72 ng/ml at 12 h T max. The area under the curve for the mini and pulsatile tablets was 41,238.52 and 72,369.24 ng-h/ml, and the mean resident time was 3.43 and 10.61 h, respectively. In conclusion, development of double-compression-coated tablets is a promising way to achieve the pulsatile colonic release of flurbiprofen.

  5. Enteric coated HPMC capsules plugged with 5-FU loaded microsponges: a potential approach for treatment of colon cancer

    Directory of Open Access Journals (Sweden)

    Ankita Gupta

    2015-09-01

    Full Text Available The work was aimed at developing novel enteric coated HPMC capsules (ECHC plugged with 5 Florouracil (5-FU loaded Microsponges in combination with calcium pectinate beads. Modified quasi-emulsion solvent diffusion method was used to formulate microsponges based on 32 factorial design and the effects of independent variables (volume of organic solvent and Eudragit RS100 content on the dependent variables (Particle size, %EE & % CDR were determined. The optimized microsponges (F4 were characterized by SEM, PXRD, TGA and were plugged along with calcium pectinate beads in HPMC capsules and the HPMC capsules were further coated with enteric polymer Eudragit L 100 (Ed-L100 and/ or Eudrgit S 100 (Ed-S 100 in different proportions. In vitro release study of ECHC was performed in various release media sequentially SGF for 2 h, followed by SIF for the next 6 h and then in SCF (in the presence and absence of pectinase enzyme for further 16 h. Drug release was retarded on coating with EdS-100 in comparison to blend of EdS-100: EdL-100 coating. The percentage of 5-FU released at the end of 24 h from ECHC 3 was 97.83 ± 0.12% in the presence of pectinase whereas in control study it was 40.08 ± 0.02% drug. The optimized formulation was subjected to in vivo Roentgenographic studies in New Zealand white rabbits to analyze the in vivo behavior of the developed colon targeted capsules. Pharmacokinetic studies in New Zealand white rabbits were conducted to determine the extent of systemic exposure provided by the developed formulation in comparison to 5-FU aqueous solutions. Thus, enteric coated HPMC capsules plugged with 5-FU loaded microsponges and calcium pectinate beads proved to be promising dosage form for colon targeted drug delivery to treat colorectal cancer.

  6. Constrained Multi-Body Dynamics for Modular Underwater Robots — Theory and Experiments

    DEFF Research Database (Denmark)

    Nielsen, Mikkel Cornelius; Eidsvik, Ole Alexander; Blanke, Mogens

    2018-01-01

    This paper investigates the problem of modelling a system of interconnected underwater robots with highly coupled dynamics. The objective is to develop a mathematical description of the system that captures its most significant dynamics. The proposed modelling method is based on active constraint...... on a BlueROV vehicle to determine the model parameters. The applicability of the modelling approach is assessed by comparing experimental data to simulations of an equivalent model synthesised using the proposed theory....

  7. Efficient Multivariable Generalized Predictive Control for Autonomous Underwater Vehicle in Vertical Plane

    OpenAIRE

    Yao, Xuliang; Yang, Guangyi

    2016-01-01

    This paper presents the design and simulation validation of a multivariable GPC (generalized predictive control) for AUV (autonomous underwater vehicle) in vertical plane. This control approach has been designed in the case of AUV navigating with low speed near water surface, in order to restrain wave disturbance effectively and improve pitch and heave motion stability. The proposed controller guarantees compliance with rudder manipulation, AUV output constraints, and driving energy consumpti...

  8. Comparison of spatial models for foreground-background segmentation in underwater videos

    OpenAIRE

    Radolko, Martin

    2015-01-01

    The low-level task of foreground-background segregation is an important foundation for many high-level computer vision tasks and has been intensively researched in the past. Nonetheless, unregulated environments usually impose challenging problems, especially the difficult and often neglected underwater environment. There, among others, the edges are blurred, the contrast is impaired and the colors attenuated. Our approach to this problem uses an efficient Background Subtraction algorithm and...

  9. Experimental and numerical study on penetration of micro/nano diamond particle into metal by underwater shock wave

    Directory of Open Access Journals (Sweden)

    S Tanaka

    2016-09-01

    Full Text Available In order to develop composite materials, new attempting was conducted. When an explosive is exploded in water, underwater shock wave is generated. Metal plate is accelerated by the underwater shock wave and collided with diamond particles at high velocity. In this paper, pure aluminum and magnesium alloy plates are used as matrix. Micro and nano sized diamond particles were used as reinforcement. Micro diamond particles were closely coated on metal surface. Some of micro diamond particles were penetrated into aluminum. Improvement of base metal property (wearing resistance was verified by wear test for recovering metal plate. In order to confirm the deformation of the aluminum plate during the collision with diamond particles, simplified numerical simulation was conducted by using LS-DYNA software. From the result of numerical simulation, large deformation of aluminum and process of particle penetration were verified.

  10. MOD approach for the growth of epitaxial CeO2 buffer layers on biaxially textured Ni-W substrates for YBCO coated conductors

    International Nuclear Information System (INIS)

    Bhuiyan, M S; Paranthaman, M; Sathyamurthy, S; Aytug, T; Kang, S; Lee, D F; Goyal, A; Payzant, E A; Salama, K

    2003-01-01

    We have grown epitaxial CeO 2 buffer layers on biaxially textured Ni-W substrates for YBCO coated conductors using a newly developed metal organic decomposition (MOD) approach. Precursor solution of 0.25 M concentration was spin coated on short samples of Ni-3 at%W (Ni-W) substrates and heat-treated at 1100 C in a gas mixture of Ar-4%H 2 for 15 min. Detailed x-ray studies indicate that CeO 2 films have good out-of-plane and in-plane textures with full-width-half-maximum values of 5.8 deg. and 7.5 deg., respectively. High temperature in situ XRD studies show that the nucleation of CeO 2 films starts at 600 C and the growth completes within 5 min when heated at 1100 C. SEM and AFM investigations of CeO 2 films reveal a fairly dense microstructure without cracks and porosity. Highly textured YSZ barrier layers and CeO 2 cap layers were deposited on MOD CeO 2 -buffered Ni-W substrates using rf-magnetron sputtering. Pulsed laser deposition (PLD) was used to grow YBCO films on these substrates. A critical current, J c , of about 1.5 MA cm -2 at 77 K and self-field was obtained on YBCO (PLD)/CeO 2 (sputtered)/YSZ (sputtered)/CeO 2 (spin-coated)/Ni-W

  11. 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

  12. 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

  13. 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...

  14. 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)

  15. 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.

  16. 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

  17. High-frequency underwater plasma discharge application in antibacterial activity

    International Nuclear Information System (INIS)

    Ahmed, M. W.; Choi, S.; Lyakhov, K.; Shaislamov, U.; Mongre, R. K.; Jeong, D. K.; Suresh, R.; Lee, H. J.

    2017-01-01

    Plasma discharge is a novel disinfection and effectual inactivation approach to treat microorganisms in aqueous systems. Inactivation of Gram-negative Escherichia coli (E. coli) by generating high-frequency, high-voltage, oxygen (O_2) injected and hydrogen peroxide (H_2O_2) added discharge in water was achieved. The effect of H_2O_2 dose and oxygen injection rate on electrical characteristics of discharge and E. coli disinfection has been reported. Microbial log reduction dependent on H_2O_2 addition with O_2 injection was observed. The time variation of the inactivation efficiency quantified by the log reduction of the initial E. coli population on the basis of optical density measurement was reported. The analysis of emission spectrum recorded after discharge occurrence illustrated the formation of oxidant species (OH"•, H, and O). Interestingly, the results demonstrated that O_2 injected and H_2O_2 added, underwater plasma discharge had fabulous impact on the E. coli sterilization. The oxygen injection notably reduced the voltage needed for generating breakdown in flowing water and escalated the power of discharge pulses. No impact of hydrogen peroxide addition on breakdown voltage was observed. A significant role of oxidant species in bacterial inactivation also has been identified. Furthermore the E. coli survivability in plasma treated water with oxygen injection and hydrogen peroxide addition drastically reduced to zero. The time course study also showed that the retardant effect on E. coli colony multiplication in plasma treated water was favorable, observed after long time. High-frequency underwater plasma discharge based biological applications is technically relevant and would act as baseline data for the development of novel antibacterial processing strategies.

  18. Preliminary Investigation of an Underwater Ramjet Powered by Compressed Air

    Science.gov (United States)

    Mottard, Elmo J.; Shoemaker, Charles J.

    1961-01-01

    Part I contains the results of a preliminary experimental investigation of a particular design of an underwater ramjet or hydroduct powered by compressed air. The hydroduct is a propulsion device in which the energy of an expanding gas imparts additional momentum to a stream of water through mixing. The hydroduct model had a fineness ratio of 5.9, a maximum diameter of 3.2 inches, and a ratio of inlet area to frontal area of 0.32. The model was towed at a depth of 1 inch at forward speeds between 20 and 60 feet per second for airflow rates from 0.1 to 0.3 pound per second. Longitudinal force and pressures at the inlet and in the mixing chamber were determined. The hydroduct produced a positive thrust-minus-drag force at every test speed. The force and pressure coefficients were functions primarily of the ratio of weight airflow to free-stream velocity. The maximum propulsive efficiency based on the net internal thrust and an isothermal expansion of the air was approximately 53 percent at a thrust coefficient of 0.10. The performance of the test model may have been influenced by choking of the exit flow. Part II is a theoretical development of an underwater ramjet using air as "fuel." The basic assumption of the theoretical analysis is that a mixture of water and air can be treated as a compressible gas. More information on the properties of air-water mixtures is required to confirm this assumption or to suggest another approach. A method is suggested from which a more complete theoretical development, with the effects of choking included, may be obtained. An exploratory computation, in which this suggested method was used, indicated that the effect of choked flow on the thrust coefficient was minor.

  19. High-frequency underwater plasma discharge application in antibacterial activity

    Energy Technology Data Exchange (ETDEWEB)

    Ahmed, M. W.; Choi, S.; Lyakhov, K.; Shaislamov, U. [Jeju National University, Department of Nuclear and Energy Engineering (Korea, Republic of); Mongre, R. K.; Jeong, D. K. [Jeju National University, Faculty of Biotechnology (Korea, Republic of); Suresh, R.; Lee, H. J., E-mail: hjlee@jejunu.ac.kr [Jeju National University, Department of Nuclear and Energy Engineering (Korea, Republic of)

    2017-03-15

    Plasma discharge is a novel disinfection and effectual inactivation approach to treat microorganisms in aqueous systems. Inactivation of Gram-negative Escherichia coli (E. coli) by generating high-frequency, high-voltage, oxygen (O{sub 2}) injected and hydrogen peroxide (H{sub 2}O{sub 2}) added discharge in water was achieved. The effect of H{sub 2}O{sub 2} dose and oxygen injection rate on electrical characteristics of discharge and E. coli disinfection has been reported. Microbial log reduction dependent on H{sub 2}O{sub 2} addition with O{sub 2} injection was observed. The time variation of the inactivation efficiency quantified by the log reduction of the initial E. coli population on the basis of optical density measurement was reported. The analysis of emission spectrum recorded after discharge occurrence illustrated the formation of oxidant species (OH{sup •}, H, and O). Interestingly, the results demonstrated that O{sub 2} injected and H{sub 2}O{sub 2} added, underwater plasma discharge had fabulous impact on the E. coli sterilization. The oxygen injection notably reduced the voltage needed for generating breakdown in flowing water and escalated the power of discharge pulses. No impact of hydrogen peroxide addition on breakdown voltage was observed. A significant role of oxidant species in bacterial inactivation also has been identified. Furthermore the E. coli survivability in plasma treated water with oxygen injection and hydrogen peroxide addition drastically reduced to zero. The time course study also showed that the retardant effect on E. coli colony multiplication in plasma treated water was favorable, observed after long time. High-frequency underwater plasma discharge based biological applications is technically relevant and would act as baseline data for the development of novel antibacterial processing strategies.

  20. Biocompatible antimicrobial cotton fibres for healthcare industries: a biogenic approach for synthesis of bio-organic-coated silver nanoparticles.

    Science.gov (United States)

    Kashid, Sahebrao B; Lakkakula, Jaya R; Chauhan, Deepak S; Srivastava, Rohit; Raut, Rajesh W

    2017-12-01

    Cotton fibres coated with biogenically fabricated silver nanoparticles (SNPs) are most sought material because of their enhanced activity and biocompatibility. After successful synthesis of SNPs on cotton fibres using leaf extract of Vitex negundo Linn, the fibres were studied using diffuse reflectance spectroscopy, scanning electron microscopy, nanoparticle tracking analysis, energy dispersive X-ray, and inductively coupled plasma atomic emission spectrometry. The characterisation revealed uniformly distributed spherical agglomerates of SNPs having individual particle size around 50 nm with the deposition load of 423 μg of silver per gram of cotton. Antimicrobial assay of cotton-SNPs fibres showed effective performance against pathogenic bacteria and fungi. The method is biogenic, environmentally benign, rapid, and cost-effective, producing highly biocompatible antimicrobial coating required for the healthcare industry.

  1. 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.

  2. 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.

  3. Interdisciplinary approach to cell–biomaterial interactions: biocompatibility and cell friendly characteristics of RKKP glass–ceramic coatings on titanium

    International Nuclear Information System (INIS)

    Ledda, Mario; Lolli, Maria Grazia; Lisi, Antonella; De Bonis, Angela; Teghil, Roberto; Bertani, Francesca Romana; Cacciotti, Ilaria; Ravaglioli, Antonio; Rau, Julietta V

    2015-01-01

    In this work, titanium (Ti) supports have been coated with glass–ceramic films for possible applications as biomedical implant materials in regenerative medicine. For the film preparation, a pulsed laser deposition (PLD) technique has been applied. The RKKP glass–ceramic material, used for coating deposition, was a sol–gel derived target of the following composition: Ca-19.4, P-4.6, Si-17.2, O-43.5, Na-1.7, Mg-1.3, F-7.2, K-0.2, La-0.8, Ta-4.1 (all in wt%). The prepared coatings were compact and uniform, characterised by a nanometric average surface roughness. The biocompatibility and cell-friendly properties of the RKKP glass–ceramic material have been tested. Cell metabolic activity and proliferation of human colon carcinoma CaCo-2 cells seeded on RKKP films showed the same exponential trend found in the control plastic substrates. By the phalloidin fluorescence analysis, no significant modifications in the actin distribution were revealed in cells grown on RKKP films. Moreover, in these cells a high mRNA expression of markers involved in protein synthesis, proliferation and differentiation, such as villin (VIL1), alkaline phosphatase (ALP1), β-actin (β-ACT), Ki67 and RPL34, was recorded. In conclusion, the findings, for the first time, demonstrated that the RKKP glass–ceramic material allows the adhesion, growth and differentiation of the CaCo-2 cell line. (paper)

  4. Leakage warning system for flexible underwater pipelines

    Energy Technology Data Exchange (ETDEWEB)

    Moeller, E; Bernstein, L

    1985-08-01

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

  5. Underwater Sound Propagation from Marine Pile Driving.

    Science.gov (United States)

    Reyff, James A

    2016-01-01

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

  6. Underwater photography - A visual survey method

    Digital Repository Service at National Institute of Oceanography (India)

    Sharma, R.

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

  7. Water waves generated by underwater explosion

    CERN Document Server

    Mehaute, Bernard Le

    1996-01-01

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

  8. Radon dynamics in underwater thermal radon therapy

    International Nuclear Information System (INIS)

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

    1998-01-01

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

  9. Underwater Activities in the Soviet Union

    Science.gov (United States)

    1975-03-01

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

  10. Hydraulic lifter for an underwater drilling rig

    Energy Technology Data Exchange (ETDEWEB)

    Garan' ko, Yu L

    1981-01-15

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

  11. Forecast of Remote Underwater Sensing Technology.

    Science.gov (United States)

    1980-07-01

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

  12. Working underwater: deepwater drilling support by ROV

    Energy Technology Data Exchange (ETDEWEB)

    1958-01-01

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

  13. 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.

  14. 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.)

  15. An underwater ranging system based on photoacoustic effect occurring on target surface

    Science.gov (United States)

    Ni, Kai; Hu, Kai; Li, Xinghui; Wang, Lidai; Zhou, Qian; Wang, Xiaohao

    2016-11-01

    In this paper, an underwater ranging system based on photoacoustic effect occurring on target surface is proposed. In this proposal, laser pulse generated by blue-green laser is directly incident on target surface, where the photoacoustic effect occurs and a sound source is formed. And then the sound wave which is also called photoacoustic signal is received by the ultrasonic receiver after passing through water. According to the time delay between transmitting laser and receiving photoacoustic signal, and sound velocity in water, the distance between the target and the ultrasonic receiver can be calculated. Differing from underwater range finding by only laser, this approach can avoid backscattering of laser beam, so easier to implement. Experimental system according to this principle has been constructed to verify the feasibility of this technology. The experimental results showed that a ranging accuracy of 1 mm can be effectively achieved when the target is close to the ultrasonic receiver.

  16. A Relative-Localization Algorithm Using Incomplete Pairwise Distance Measurements for Underwater Applications

    Directory of Open Access Journals (Sweden)

    Kae Y. Foo

    2010-01-01

    Full Text Available The task of localizing underwater assets involves the relative localization of each unit using only pairwise distance measurements, usually obtained from time-of-arrival or time-delay-of-arrival measurements. In the fluctuating underwater environment, a complete set of pair-wise distance measurements can often be difficult to acquire, thus hindering a straightforward closed-form solution in deriving the assets' relative coordinates. An iterative multidimensional scaling approach is presented based upon a weighted-majorization algorithm that tolerates missing or inaccurate distance measurements. Substantial modifications are proposed to optimize the algorithm, while the effects of refractive propagation paths are considered. A parametric study of the algorithm based upon simulation results is shown. An acoustic field-trial was then carried out, presenting field measurements to highlight the practical implementation of this algorithm.

  17. Photogrammetry in maritime and underwater archaeology: two marble wrecks from Sicily

    Science.gov (United States)

    Balletti, C.; Beltrame, C.; Costa, E.; Guerra, F.; Vernier, P.

    2015-06-01

    Underwater survey, compared to land archaeology, needs some specific techniques, because the application of some active 3D sensor, such as laser scanner, is obviously impossible. The necessity to produce three-dimensional survey, offering the same accuracy of classical terrestrial laserscanning or photogrammetric methods, combined with the request of low costs and rapid solutions, led the researchers to test and apply oftentimes image-based techniques. In the last two years the Ca' Foscari University and University IUAV of Venice are conducting a research on the application of integrated techniques to support underwater metric documentation, comparing them to the manual traditional one. The gained experience (and confirmed by other recently published papers) shows that the actual multiimage digital photogrammetry is a good solution for the underwater archaeology. This approach is useful both from a metric and from a recording point of view, because it achieves high quality results, such as accurate 3D models or 2D representations, offering a complete documentation of underwater sites. But photogrammetry has to be supported by a topographical survey (to acquire ground control points - GCP) to georeference all the finds in the same reference system. This paper presents the integrated survey of two roman shipwrecks, approaching differently in the GCP's acquisition just for the different morphological characteristic of the sites. The wrecks' cargos are huge marble blocks, presenting differences in quantities, layout and depths. Those characteristics determine the choice of the topographic survey. The results of the survey are two 3D polygonal textured models of the sites, which can be easily used for different analyses and reconstructive hypothesis, opening new possibilities of documentation with both specialists and the wider public. Furthermore, 3D models are the geometric base for 2D orthophoto and cross section extraction. The paper will illustrate all the phases

  18. Tailored coating of gold nanostars: rational approach to prototype of theranostic device based on SERS and photothermal effects at ultralow irradiance

    Science.gov (United States)

    Bassi, B.; Dacarro, G.; Galinetto, P.; Giulotto, E.; Marchesi, N.; Pallavicini, P.; Pascale, A.; Perversi, S.; Taglietti, A.

    2018-06-01

    The last decade has come across an increasing demand for theranostic biocompatible nanodevices possessing the double ability of diagnosis and therapy. In this work, we report the design, synthesis and step-by-step characterization of rationally coated gold nanostars (GNSs) for the SERS imaging and photothermal therapy of HeLa cancer cells. The nanodevices were realized by synthesizing GNSs with a seed growth approach, coating them with a controlled mixture of thiols composed of a Raman reporter and a polyethylene glycol with a terminal amino group, and then reacting these amino groups with folic acid (FA), in order to impart selectivity towards cancer cells which overexpress folate receptors on their membranes. After a complete characterization, we demonstrate that these FA-functionalized GNSs (FA-GNSs) are able to bind selectively to the membranes of HeLa cells, acting as SERS tags and allowing SERS imaging. Moreover, we demonstrate that once bound to HeLa cell membranes, FA-GNSs exhibit photothermal effect which can be exploited to kill the same cells in vitro using laser irradiation in the NIR at a very low and safe irradiance. We thus demonstrate that the FA-GNSs designed following the described approach are an efficient prototype of theranostic nanodevices.

  19. Underwater sediment-contact radiation survey method

    International Nuclear Information System (INIS)

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

    1991-01-01

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

  20. Underwater inspection training in intense radiation field

    International Nuclear Information System (INIS)

    Taniguchi, Ryoichi

    2017-01-01

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

  1. Underwater noise from a wave energy converter

    DEFF Research Database (Denmark)

    Tougaard, Jakob

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

  2. Hybrid Underwater Vehicle: ARV Design and Development

    Directory of Open Access Journals (Sweden)

    Zhigang DENG

    2014-02-01

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

  3. An explanatory model of underwater adaptation

    Directory of Open Access Journals (Sweden)

    Joaquín Colodro

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

  4. A Scalable Method toward Superhydrophilic and Underwater Superoleophobic PVDF Membranes for Effective Oil/Water Emulsion Separation.

    Science.gov (United States)

    Yuan, Tao; Meng, Jianqiang; Hao, Tingyu; Wang, Zihong; Zhang, Yufeng

    2015-07-15

    A superhydrophilic and underwater superoleophobic PVDF membrane (PVDFAH) has been prepared by surface-coating of a hydrogel onto the membrane surface, and its superior performance for oil/water emulsion separation has been demonstrated. The coated hydrogel was constructed by an interfacial polymerization based on the thiol-epoxy reaction of pentaerythritol tetrakis (3-mercaptopropionate) (PETMP) with diethylene glycol diglycidyl ether (PEGDGE) and simultaneously tethered on an alkaline-treated commercial PVDF membrane surface via the thio-ene reaction. The PVDFAH membranes can be fabricated in a few minutes under mild conditions and show superhydrophilic and underwater superoleophobic properties for a series of organic solvents. Energy dispersive X-ray (EDX) analysis shows that the hydrogel coating was efficient throughout the pore lumen. The membrane shows superior oil/water emulsion separation performance, including high water permeation, quantitative oil rejection, and robust antifouling performance in a series oil/water emulsions, including that prepared from crude oil. In addition, a 24 h Soxhlet-extraction experiment with ethanol/water solution (50:50, v/v) was conducted to test the tethered hydrogel stability. We see that the membrane maintained the water contact angle below 5°, indicating the covalent tethering stability. This technique shows great promise for scalable fabrication of membrane materials for handling practical oil emulsion purification.

  5. Underwater cladding with laser beam and plasma arc welding

    International Nuclear Information System (INIS)

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

    1997-01-01

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

  6. 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.

  7. Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Francisco García-Córdova

    2013-04-01

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

  8. The influence of underwater turbulence on optical phase measurements

    Science.gov (United States)

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

    2016-05-01

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

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

    International Nuclear Information System (INIS)

    Takayama, Kazuhiko.

    1997-01-01

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

  10. External coatings for buried pipelines - a project approach; Revestimento externo para dutos enterrados - uma abordagem de projeto

    Energy Technology Data Exchange (ETDEWEB)

    Nunes, Laerce de P.; Gomes, Luiz Paulo; Nunes, Alessandra de M. [IEC - Instalacoes e Engenharia de Corrosao Ltda., Rio de Janeiro, RJ (Brazil)

    2005-07-01

    The transport of liquid or gas fluids, such as water, fuel, chemical products, minerals, among others, through underground pipelines, is becoming more significant in the whole world, specially in Brazil, due to low cost, operational security and low physical interference at the surface. By the other hand, the ambient matters, the population's security in pipeline tracing and economic aspects lead to greater requirements in relation to the integrity of those installations. Corrosion is one of the most important causes of underground pipelines' deterioration and coating and cathodic protection are recommended to prevent it from occurring. However, both techniques must be considered in the pipeline project for it to be successful. At the present work the most important kinds of coating for underground pipelines are presented, as well as the applications, limitations, reference norms and the interface with the cathodic protection systems in relation to the efficiencies to be adopted and the expected performance. Is it also discussed the welded piping joints confection and the protection difficulties when the efficiencies are not corresponded to those foreseen in the cathodic protection systems project. (author)

  11. Grey fuzzy logic approach for the optimization of DLC thin film coating process parameters using PACVD technique

    Science.gov (United States)

    Ghadai, R. K.; Das, P. P.; Shivakoti, I.; Mondal, S. C.; Swain, B. P.

    2017-07-01

    Diamond-like carbon (DLC) coatings are widely used in medical, manufacturing and aerospace industries due to their excellent mechanical, biological, optical and tribological properties. The selection of optimal process parameters for efficient characteristics of DLC film is always a challenging issue for the materials science researchers. The optimal combination of the process parameters involved in the deposition of DLC films provide a better result, which subsequently help other researchers to choose the process parameters. In the present work Grey Relation Analysis (GRA) and Fuzzy-logic are being used for the optimization of process parameters in DLC film coating by using plasma assist chemical vapour deposition (PACVD) technique. The bias voltage, bias frequency, deposition pressure, gas composition are considered as input process parameters and hardness (GPa), Young's modulus (GPa), ratio between diamond to graphic fraction, (Id/Ig) ratio are considered as response parameters. The input parameters are optimized by grey fuzzy analysis. The contribution of individual input parameter is done by ANOVA. In this analysis found that bias voltage having the least influence and gas composition has highest influence in the PACVD deposited DLC films. The grey fuzzy analysis results indicated that optimum results for bias voltage, bias frequency, deposition pressure, gas composition for the DLC thin films are -50 V, 6 kHz, 4 μbar and 60:40 % respectively.

  12. 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)

  13. 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)

  14. 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.

  15. 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)

  16. 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)

  17. HARDWARE REALIZATION OF CANNY EDGE DETECTION ALGORITHM FOR UNDERWATER IMAGE SEGMENTATION USING FIELD PROGRAMMABLE GATE ARRAYS

    Directory of Open Access Journals (Sweden)

    ALEX RAJ S. M.

    2017-09-01

    Full Text Available Underwater images raise new challenges in the field of digital image processing technology in recent years because of its widespread applications. There are many tangled matters to be considered in processing of images collected from water medium due to the adverse effects imposed by the environment itself. Image segmentation is preferred as basal stage of many digital image processing techniques which distinguish multiple segments in an image and reveal the hidden crucial information required for a peculiar application. There are so many general purpose algorithms and techniques that have been developed for image segmentation. Discontinuity based segmentation are most promising approach for image segmentation, in which Canny Edge detection based segmentation is more preferred for its high level of noise immunity and ability to tackle underwater environment. Since dealing with real time underwater image segmentation algorithm, which is computationally complex enough, an efficient hardware implementation is to be considered. The FPGA based realization of the referred segmentation algorithm is presented in this paper.

  18. Model of a thermal driven volumetric pump for energy harvesting in an underwater glider

    International Nuclear Information System (INIS)

    Falcão Carneiro, J.; Gomes de Almeida, F.

    2016-01-01

    Underwater gliders are one of the most promising approaches to achieve an increase of human presence in the oceans. Among existing solutions, thermal driven gliders present long range and endurance capabilities, offering the possibility of remaining years beneath water collecting and transmitting data to shore. A key component in thermal gliders lies in the process used to collect ocean's thermal energy. In this paper a new quasi-static model of a thermal driven volumetric pump, for use in underwater gliders, is presented. The study also encompasses an analysis of the influence different hydraulic system parameters have on the thermodynamic cycle efficiency. Finally, the paper proposes a simple dynamic model of a heat exchanger that uses commercially available materials for the Phase Change Material (PCM) container. Simulation results validate the models developed. - Highlights: • A new model of a thermal driven volumetric pump for underwater gliders is proposed. • The effect hydraulic system parameters have on the cycle efficiency is analyzed. • The energy efficiency may be increased tenfold using adequate hydraulic parameters. • It's shown that the PCM PVT transition surface may not alter the cycle efficiency.

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

    Directory of Open Access Journals (Sweden)

    Yueyue Deng

    2013-01-01

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

  20. A New Resource Allocation Protocol for the Backhaul of Underwater Cellular Wireless Networks

    Directory of Open Access Journals (Sweden)

    Changho Yun

    2018-01-01

    Full Text Available In this paper, an underwater base station initiating (UBSI resource allocation is proposed for underwater cellular wireless networks (UCWNs, which is a new approach to determine the backhaul capacity of underwater base stations (UBSs. This backhaul is a communication link from a UBS to a UBS controller (UBSC. Contrary to conventional resource allocation protocols, a UBS initiates to re-determine its backhaul capacity for itself according to its queue status; it releases a portion of its backhaul capacity in the case of experiencing resource under-utilization, and also requests additional backhaul capacity to the UBSC if packet drops are caused due to queue-overflow. This protocol can be appropriate and efficient to the underwater backhaul link where the transmission rate is quite low and the latency is unneglectable. In order to investigate the applicability of the UBSI resource allocation protocol to the UCWN, its performance is extensively analyzed via system level simulations. In our analysis, considered performance measures include average packet drop rate, average resource utilization, average message overhead, and the reserved capacity of the UBSC. In particular, the simulation results show that our proposed protocol not only utilizes most of the given backhaul capacity (more than 90 percent of resource utilization on the average, but also reduces controlling message overheads induced by resource allocation (less than 2 controlling messages on the average. It is expected that the simulation results and analysis in this paper can be used as operating guidelines to apply our new resource allocation protocol for the UCWN.

  1. Superhydrophobic silica coating by dip coating method

    International Nuclear Information System (INIS)

    Mahadik, Satish A.; Parale, Vinayak; Vhatkara, Rajiv S.; Mahadik, Dinesh B.; Kavale, Mahendra S.; Wagh, Pratap B.; Gupta, Satish; Gurav, Jyoti

    2013-01-01

    Herein, we report a simple and low cost method for the fabrication of superhydrophobic coating surface on quartz substrates via sol-gel dip coating method at room temperature. Desired surface chemistry and texture growth for superhydrophobicity developed under double step sol–gel process at room temperature. The resultant superhydrophobic surfaces were characterized by Field-emission scanning electron microscopy (FE-SEM), Atomic force microscopy (AFM), water contact angle (WCA) measurement, differential thermal gravimetric analysis-differential thermal analysis (TGA-DTA) calorimetry and optical spectrometer. Coating shows the ultra high water contact angle about 168 ± 2° and water sliding angle 3 ± 1° and superoleophilic with petroleum oils. This approach allows a simple strategy for the fabrication process of superhydrophilic–superhydrophobic on same surfaces with high thermal stability of superhydrophobicity up to 560 °C. Thus, durability, special wettability and thermal stability of superhydrophobicity expand their application fields.

  2. Optical Microbubble Resonators with High Refractive Index Inner Coating for Bio-Sensing Applications: An Analytical Approach

    Directory of Open Access Journals (Sweden)

    Andrea Barucci

    2016-11-01

    Full Text Available The design of Whispering Gallery Mode Resonators (WGMRs used as an optical transducer for biosensing represents the first and crucial step towards the optimization of the final device performance in terms of sensitivity and Limit of Detection (LoD. Here, we propose an analytical method for the design of an optical microbubble resonator (OMBR-based biosensor. In order to enhance the OMBR sensing performance, we consider a polymeric layer of high refractive index as an inner coating for the OMBR. The effect of this layer and other optical/geometrical parameters on the mode field distribution, sensitivity and LoD of the OMBR is assessed and discussed, both for transverse electric (TE and transverse magnetic (TM polarization. The obtained results do provide physical insights for the development of OMBR-based biosensor.

  3. The NESTOR underwater neutrino telescope project

    Energy Technology Data Exchange (ETDEWEB)

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

    2009-04-11

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

  4. Transducers and arrays for underwater sound

    CERN Document Server

    Butler, John L

    2016-01-01

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

  5. Collision Detection for Underwater ROV Manipulator Systems

    Directory of Open Access Journals (Sweden)

    Satja Sivčev

    2018-04-01

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

  6. The NESTOR underwater neutrino telescope project

    International Nuclear Information System (INIS)

    Rapidis, Petros A.

    2009-01-01

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

  7. Silent Localization of Underwater Sensors Using Magnetometers

    Directory of Open Access Journals (Sweden)

    Jonas Callmer

    2010-01-01

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

  8. Underwater colorectal EMR: remodeling endoscopic mucosal resection.

    Science.gov (United States)

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

    2015-05-01

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

  9. Morphing hull implementation for unmanned underwater vehicles

    Science.gov (United States)

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

    2013-11-01

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

  10. Morphing hull implementation for unmanned underwater vehicles

    International Nuclear Information System (INIS)

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

    2013-01-01

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

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

    KAUST Repository

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

    2012-01-01

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

  12. 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.

  13. 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.

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

    KAUST Repository

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

    2017-01-01

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

  15. 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.

  16. 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.

  17. Underwater target positioning with a single acoustic sensor

    Digital Repository Service at National Institute of Oceanography (India)

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

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

  18. 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.

  19. 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.

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

    Directory of Open Access Journals (Sweden)

    Ahmed Hawass

    2015-12-01

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

  1. 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.

  2. 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.

  3. 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...

  4. 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...

  5. 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.

  6. 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

  7. 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...

  8. Effect of a hard coat layer on buckle delamination of thin ITO layers on a compliant elasto-plastic substrate: an experimental–numerical approach

    NARCIS (Netherlands)

    Sluis, van der O.; Abdallah, Amir; Bouten, P.C.P.; Timmermans, P.H.M.; Toonder, den J.M.J.; With, de G.

    2011-01-01

    Layer buckling and delamination is a common interfacial failure phenomenon in thin film multi-layer structures that are used in flexible display applications. Typically, the substrate is coated on both sides with a hybrid coating, calleda hard coat (HC), which acts as a gas barrier and also

  9. 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.

  10. 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.

  11. 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.

  12. Photo-Curable Metal-Chelating Coatings Offer a Scalable Approach to Production of Antioxidant Active Packaging.

    Science.gov (United States)

    Lin, Zhuangsheng; Goddard, Julie

    2018-02-01

    Synthetic metal chelators (for example, ethylenediaminetetraacetic acid, EDTA) are widely used as additives to control trace transition metal induced oxidation in consumer products. To enable removal of synthetic chelators in response to increasing consumer demand for clean label products, metal-chelating active food packaging technologies have been developed with demonstrated antioxidant efficacy in simulated food systems. However, prior work in fabrication of metal-chelating materials leveraged batch chemical reactions to tether metal-chelating ligands, a process with limited industrial translatability for large-scale fabrication. To improve the industrial translatability, we have designed a 2-step laminated photo-grafting process to introduce metal chelating functionality onto common polymeric packaging materials. Iminodiacetic acid (IDA) functionalized materials were fabricated by photo-grafting poly(acrylic acid) onto polypropylene (PP) films, followed by a second photo-grafting process to graft-polymerize an IDA functionalized vinyl monomer (GMA-IDA). The photo-grafting was conducted under atmospheric conditions and was completed in 2 min. The resulting IDA functionalized metal-chelating material was able to chelate iron and copper, and showed antioxidant efficacy against ascorbic acid degradation, supporting its potential to be used synergistically with natural antioxidants for preservation of food and beverage products. The 2-step photo-grafting process improves the throughput of active packaging coatings, enabling potential roll-to-roll fabrication of metal-chelating active packaging materials for antioxidant food packaging applications. To address consumer and retail demands for "clean label" foods and beverages without a corresponding loss in product quality and shelf life, producers are seeking next generation technologies such as active packaging. In this work, we will report the synthesis of metal-chelating active packaging films, which enable removal

  13. Complementary approaches for the evaluation of biocompatibility of 90Y-labeled superparamagnetic citric acid (Fe,Er)3O4 coated nanoparticles.

    Science.gov (United States)

    Antic, Bratislav; Boskovic, Marko; Nikodinovic-Runic, Jasmina; Ming, Yue; Zhang, Hongguo; Bozin, Emil S; Janković, Drina; Spasojevic, Vojislav; Vranjes-Djuric, Sanja

    2017-06-01

    Magnetic nanoparticles (MNPs) are of immense interest for diagnostic and therapeutic applications in medicine. Design and development of new iron oxide-based MNPs for such applications is of rather limited breadth without reliable and sensitive methods to determine their levels in body tissues. Commonly used methods, such as ICP, are quite problematic, due to the inability to decipher the origin of the detected iron, i.e. whether it originates from the MNPs or endogenous from tissues and bodily fluids. One of the approaches to overcome this problem and to increase reliability of tracing MNPs is to partially substitute iron ions in the MNPs with Er. Here, we report on the development of citric acid coated (Fe,Er) 3 O 4 nanoparticles and characterization of their physico-chemical and biological properties by utilization of various complementary approaches. The synthesized MNPs had a narrow (6-7nm) size distribution, as consistently seen in atomic pair distribution function, transmission electron microscopy, and DC magnetization measurements. The particles were found to be superparamagnetic, with a pronounced maximum in measured zero-field cooled magnetization at around 90K. Reduction in saturation magnetization due to incorporation of 1.7% Er 3+ into the Fe 3 O 4 matrix was clearly observed. From the biological standpoint, citric acid coated (Fe,Er) 3 O 4 NPs were found to induce low toxicity both in human cell fibroblasts and in zebrafish (Danio rerio) embryos. Biodistribution pattern of the MNPs after intravenous administration in healthy Wistar rats was followed by the radiotracer method, revealing that 90 Y-labeled MNPs were predominantly found in liver (75.33% ID), followed by lungs (16.70% ID) and spleen (2.83% ID). Quantitative agreement with these observations was obtained by ICP-MS elemental analysis using Er as the detected tracer. Based on the favorable physical, chemical and biological characteristics, citric acid coated (Fe,Er) 3 O 4 MNPs could be

  14. Foundry Coating Technology: A Review

    DEFF Research Database (Denmark)

    Nwaogu, Ugochukwu Chibuzoh; Tiedje, Niels Skat

    2011-01-01

    is important. In this review, a detailed description of these topics and examples are provided where necessary. A potential area of research in foundry coating development, using sol-gel process is suggested. The application of sol-gel technology in the development of foundry coatings is a novel approach....

  15. Uniformity of cylindrical imploding underwater shockwaves at very small radii

    Science.gov (United States)

    Yanuka, D.; Rososhek, A.; Bland, S. N.; Krasik, Ya. E.

    2017-11-01

    We compare the convergent shockwaves generated from underwater, cylindrical arrays of copper wire exploded by multiple kilo-ampere current pulses on nanosecond and microsecond scales. In both cases, the pulsed power devices used for the experiments had the same stored energy (˜500 J) and the wire mass was adjusted to optimize energy transfer to the shockwave. Laser backlit framing images of the shock front were achieved down to the radius of 30 μm. It was found that even in the case of initial azimuthal non-symmetry, the shock wave self-repairs in the final stages of its motion, leading to a highly uniform implosion. In both these and previous experiments, interference fringes have been observed in streak and framing images as the shockwave approached the axis. We have been able to accurately model the origin of the fringes, which is due to the propagation of the laser beam diffracting off the uniform converging shock front. The dynamics of the shockwave and its uniformity at small radii indicate that even with only 500 J stored energies, this technique should produce pressures above 1010 Pa on the axis, with temperatures and densities ideal for warm dense matter research.

  16. Model-based processing for underwater acoustic arrays

    CERN Document Server

    Sullivan, Edmund J

    2015-01-01

    This monograph presents a unified approach to model-based processing for underwater acoustic arrays. The use of physical models in passive array processing is not a new idea, but it has been used on a case-by-case basis, and as such, lacks any unifying structure. This work views all such processing methods as estimation procedures, which then can be unified by treating them all as a form of joint estimation based on a Kalman-type recursive processor, which can be recursive either in space or time, depending on the application. This is done for three reasons. First, the Kalman filter provides a natural framework for the inclusion of physical models in a processing scheme. Second, it allows poorly known model parameters to be jointly estimated along with the quantities of interest. This is important, since in certain areas of array processing already in use, such as those based on matched-field processing, the so-called mismatch problem either degrades performance or, indeed, prevents any solution at all. Third...

  17. Efficient transformation of Mycosphaerella fijiensis by underwater shock waves.

    Science.gov (United States)

    Escobar-Tovar, Lina; Magaña-Ortíz, Denis; Fernández, Francisco; Guzmán-Quesada, Mauricio; Sandoval-Fernández, Jorge A; Ortíz-Vázquez, Elizabeth; Loske, Achim M; Gómez-Lim, Miguel A

    2015-12-01

    Black leaf streak disease, also known as black Sigatoka, causes dramatic losses in production of banana and plantains fruits. The disease is caused by the pathogenic fungus Mycosphaerella fijiensis (anamorph Pseudocercospora fijiensis; Mycosphaerellaceae). Genetic transformation of M. fijiensis would allow a better understanding of molecular basis of pathogenicity and design novel approaches to control the infection caused by this pathogen. However, transformation of this fungus has not been easy. We report here a protocol for genetic transformation of M. fijiensis employing underwater shock waves and intact conidia. The recombinant strains recovered showed genetic stability over >10 generations. The frequency of transformation obtained was between 75 and 150 times higher than the efficiency reported in the only article published on transformation of M. fijiensis using spheroplasts. This improvement allowed the use of a thousand times less cells than the amount employed before, avoiding the need for cumbersome successive batch cultures. Our protocol is simple, highly efficient, fast and reproducible and together with the available genomes of M. fijiensis and Musa acuminata, it offers new possibilities to study the diverse mechanisms of pathogenesis of the fungus. Copyright © 2015. Published by Elsevier B.V.

  18. Thin Fresnel zone plate lenses for focusing underwater sound

    International Nuclear Information System (INIS)

    Calvo, David C.; Thangawng, Abel L.; Nicholas, Michael; Layman, Christopher N.

    2015-01-01

    A Fresnel zone plate (FZP) lens of the Soret type creates a focus by constructive interference of waves diffracted through open annular zones in an opaque screen. For underwater sound below MHz frequencies, a large FZP that blocks sound using high-impedance, dense materials would have practical disadvantages. We experimentally and numerically investigate an alternative approach of creating a FZP with thin (0.4λ) acoustically opaque zones made of soft silicone rubber foam attached to a thin (0.1λ) transparent rubber substrate. An ultra-thin (0.0068λ) FZP that achieves higher gain is also proposed and simulated which uses low-volume fraction, bubble-like resonant air ring cavities to construct opaque zones. Laboratory measurements at 200 kHz indicate that the rubber foam can be accurately modeled as a lossy fluid with an acoustic impedance approximately 1/10 that of water. Measured focal gains up to 20 dB agree with theoretical predictions for normal and oblique incidence. The measured focal radius of 0.68λ (peak-to-null) agrees with the Rayleigh diffraction limit prediction of 0.61 λ/NA (NA = 0.88) for a low-aberration lens

  19. Efficient Vector-Based Forwarding for Underwater Sensor Networks

    Directory of Open Access Journals (Sweden)

    Peng Xie

    2010-01-01

    Full Text Available Underwater Sensor Networks (UWSNs are significantly different from terrestrial sensor networks in the following aspects: low bandwidth, high latency, node mobility, high error probability, and 3-dimensional space. These new features bring many challenges to the network protocol design of UWSNs. In this paper, we tackle one fundamental problem in UWSNs: robust, scalable, and energy efficient routing. We propose vector-based forwarding (VBF, a geographic routing protocol. In VBF, the forwarding path is guided by a vector from the source to the target, no state information is required on the sensor nodes, and only a small fraction of the nodes is involved in routing. To improve the robustness, packets are forwarded in redundant and interleaved paths. Further, a localized and distributed self-adaptation algorithm allows the nodes to reduce energy consumption by discarding redundant packets. VBF performs well in dense networks. For sparse networks, we propose a hop-by-hop vector-based forwarding (HH-VBF protocol, which adapts the vector-based approach at every hop. We evaluate the performance of VBF and HH-VBF through extensive simulations. The simulation results show that VBF achieves high packet delivery ratio and energy efficiency in dense networks and HH-VBF has high packet delivery ratio even in sparse networks.

  20. Risk analysis for autonomous underwater vehicle operations in extreme environments.

    Science.gov (United States)

    Brito, Mario Paulo; Griffiths, Gwyn; Challenor, Peter

    2010-12-01

    Autonomous underwater vehicles (AUVs) are used increasingly to explore hazardous marine environments. Risk assessment for such complex systems is based on subjective judgment and expert knowledge as much as on hard statistics. Here, we describe the use of a risk management process tailored to AUV operations, the implementation of which requires the elicitation of expert judgment. We conducted a formal judgment elicitation process where eight world experts in AUV design and operation were asked to assign a probability of AUV loss given the emergence of each fault or incident from the vehicle's life history of 63 faults and incidents. After discussing methods of aggregation and analysis, we show how the aggregated risk estimates obtained from the expert judgments were used to create a risk model. To estimate AUV survival with mission distance, we adopted a statistical survival function based on the nonparametric Kaplan-Meier estimator. We present theoretical formulations for the estimator, its variance, and confidence limits. We also present a numerical example where the approach is applied to estimate the probability that the Autosub3 AUV would survive a set of missions under Pine Island Glacier, Antarctica in January-March 2009. © 2010 Society for Risk Analysis.

  1. Laser-Generated Shocks and Bubbles as Laboratory-Scale Models of Underwater Explosions

    Directory of Open Access Journals (Sweden)

    Theodore G. Jones

    2003-01-01

    Full Text Available Underwater shocks and bubbles were generated using a high energy pulsed laser system. The advantages of this experimental approach are: (1 precisely controlled and measured experimental conditions; (2 improved diagnostics, including extensive imaging capabilities; (3 unique experiments, including a simultaneously detonated line charge; and (4 the ability to provide validation quality data for hydrodynamic simulation codes. Bubble sensitivity to variation of several experimental parameters was examined. Numerical simulations were performed corresponding to the experimental shots, showing that empirical bubble theory, experimental bubble data, and simulations were all in good agreement.

  2. Development of Tools and Techniques to Survey, Assess, Stabilise, Monitor and Preserve Underwater Archaeological Sites: SASMAP

    Science.gov (United States)

    Gregory, D. J.

    2015-08-01

    SASMAP's purpose is to develop new technologies and best practices in order to locate, assess and manage Europe's underwater cultural heritage in a more effective way than is possible today. SASMAP has taken an holistic- and process- based approach to investigating underwater environments and the archaeological sites contained therein. End user of the results of SASMAP are severalfold; i) to benefiet the SMEs involved in the project and development of their products for the offshore industry (not just for archaeological purposes) ii) a better understanding of the marine environment and its effect on archaeological materials iii) the collation of the results from the project into guidelines that can be used by cultural resource managers to better administer and optimise developer lead underwater archaeological project within Europe in accordance with European legislation (Treaty of Valetta (1992). Summarily the project has utilised a down scaling approach to localise archaeological sites at a large scale regional level. This has involved using innovative satellite imagery to obtain seamless topography maps over coastal areas and the seabed (accurate to a depth of 6m) as well as the development of a 3D sub bottom profiler to look within the seabed. Results obtained from the downscaling approach at the study areas in the project (Greece and Denmark) have enabled geological models to be developed inorder to work towards predictive modelling of where submerged prehistoric sites may be encountered. Once sites have been located an upscaling approach has been taken to assessing an individual site and the materials on and within it in order to better understand the state of preservation and dynamic conditions of a site and how it can best be preserved through in situ preservation or excavation. This has involved the development of equipment to monitor the seabed environment (open water and in sediments), equipment for sampling sediments and assessing the state of

  3. The Modular Optical Underwater Survey System

    Directory of Open Access Journals (Sweden)

    Ruhul Amin

    2017-10-01

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

  4. Underwater hydraulic shock shovel control system

    Science.gov (United States)

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

    2008-06-01

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

  5. Data extraction system for underwater particle holography

    Science.gov (United States)

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

    2000-08-01

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

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

    National Research Council Canada - National Science Library

    Lazauski, Colin J

    2007-01-01

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

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

    National Research Council Canada - National Science Library

    Gooding, Trent

    2001-01-01

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

  8. Nanoparticle/Polymer Nanocomposite Bond Coat or Coating

    Science.gov (United States)

    Miller, Sandi G.

    2011-01-01

    This innovation addresses the problem of coatings (meant to reduce gas permeation) applied to polymer matrix composites spalling off in service due to incompatibility with the polymer matrix. A bond coat/coating has been created that uses chemically functionalized nanoparticles (either clay or graphene) to create a barrier film that bonds well to the matrix resin, and provides an outstanding barrier to gas permeation. There is interest in applying clay nanoparticles as a coating/bond coat to a polymer matrix composite. Often, nanoclays are chemically functionalized with an organic compound intended to facilitate dispersion of the clay in a matrix. That organic modifier generally degrades at the processing temperature of many high-temperature polymers, rendering the clay useless as a nano-additive to high-temperature polymers. However, this innovation includes the use of organic compounds compatible with hightemperature polymer matrix, and is suitable for nanoclay functionalization, the preparation of that clay into a coating/bondcoat for high-temperature polymers, the use of the clay as a coating for composites that do not have a hightemperature requirement, and a comparable approach to the preparation of graphene coatings/bond coats for polymer matrix composites.

  9. A new and efficient Solid Phase Microextraction approach for analysis of high fat content food samples using a matrix-compatible coating.

    Science.gov (United States)

    De Grazia, Selenia; Gionfriddo, Emanuela; Pawliszyn, Janusz

    2017-05-15

    The current work presents the optimization of a protocol enabling direct extraction of avocado samples by a new Solid Phase Microextraction matrix compatible coating. In order to further extend the coating life time, pre-desorption and post-desorption washing steps were optimized for solvent type, time, and degree of agitation employed. Using optimized conditions, lifetime profiles of the coating related to extraction of a group of analytes bearing different physical-chemical properties were obtained. Over 80 successive extractions were carried out to establish coating efficiency using PDMS/DVB 65µm commercial coating in comparison with the PDMS/DVB/PDMS. The PDMS/DVB coating was more prone to irreversible matrix attachment on its surface, with consequent reduction of its extractive performance after 80 consecutive extractions. Conversely, the PDMS/DVB/PDMS coating showed enhanced inertness towards matrix fouling due to its outer smooth PDMS layer. This work represents the first step towards the development of robust SPME methods for quantification of contaminants in avocado as well as other fatty-based matrices, with minimal sample pre-treatment prior to extraction. In addition, an evaluation of matrix components attachment on the coating surface and related artifacts created by desorption of the coating at high temperatures in the GC-injector port, has been performed by GCxGC-ToF/MS. Copyright © 2017 Elsevier B.V. All rights reserved.

  10. 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.

  11. 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.

  12. 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.

  13. 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.

  14. 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.

  15. 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 ...

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

    Indian Academy of Sciences (India)

    1School of Mechatronics, CSIR-Central Mechanical Engineering Research Institute, Durgapur 713209, India. 2Robotics and ...... a general purpose computer with Intel core i3 processor, frequency 2.20 ... Adobe Photoshop CS4 software. Table 6. .... 1In general, vision (e.g. camera) aided navigation requires on-board real-.

  17. Development of High Temperature Solid Lubricant Coatings

    National Research Council Canada - National Science Library

    Bhattacharya, Rabi

    1999-01-01

    ... environment. To test this approach, UES and Cleveland State University have conducted experiments to form cesium oxythiotungstate, a high temperature lubricant, on Inconel 718 surface from composite coatings...

  18. 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.

  19. 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.

  20. Hard coatings

    International Nuclear Information System (INIS)

    Dan, J.P.; Boving, H.J.; Hintermann, H.E.

    1993-01-01

    Hard, wear resistant and low friction coatings are presently produced on a world-wide basis, by different processes such as electrochemical or electroless methods, spray technologies, thermochemical, CVD and PVD. Some of the most advanced processes, especially those dedicated to thin film depositions, basically belong to CVD or PVD technologies, and will be looked at in more detail. The hard coatings mainly consist of oxides, nitrides, carbides, borides or carbon. Over the years, many processes have been developed which are variations and/or combinations of the basic CVD and PVD methods. The main difference between these two families of deposition techniques is that the CVD is an elevated temperature process (≥ 700 C), while the PVD on the contrary, is rather a low temperature process (≤ 500 C); this of course influences the choice of substrates and properties of the coating/substrate systems. Fundamental aspects of the vapor phase deposition techniques and some of their influences on coating properties will be discussed, as well as the very important interactions between deposit and substrate: diffusions, internal stress, etc. Advantages and limitations of CVD and PVD respectively will briefly be reviewed and examples of applications of the layers will be given. Parallel to the development and permanent updating of surface modification technologies, an effort was made to create novel characterisation methods. A close look will be given to the coating adherence control by means of the scratch test, at the coating hardness measurement by means of nanoindentation, at the coating wear resistance by means of a pin-on-disc tribometer, and at the surface quality evaluation by Atomic Force Microscopy (AFM). Finally, main important trends will be highlighted. (orig.)

  1. 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)

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

    Directory of Open Access Journals (Sweden)

    Liying Sun

    2014-01-01

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

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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

  8. 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.

  9. 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.

  10. Quantification of bacteria on abiotic surfaces by laser scanning cytometry: An automated approach to screen the antifouling properties of new surface coatings

    DEFF Research Database (Denmark)

    Regina, Viduthalai R.; Poulsen, Morten; Søhoel, Helmer

    2012-01-01

    Bacterial biofilms are a persistent source of contamination, and much effort invested in developing antifouling surfaces or coatings. A bottle-neck in developing such coatings is often the time-consuming task of screening and evaluating a large number of surface materials. An automated high...

  11. Fractal approach to surface roughness of TiO{sub 2}/WO{sub 3} coatings formed by plasma electrolytic oxidation process

    Energy Technology Data Exchange (ETDEWEB)

    Rožić, L.J., E-mail: ljrozic@nanosys.ihtmbg.ac.rs [University of Belgrade, IChTM-Department of Catalysis and Chemical Engineering, Njegoševa 12, Belgrade (Serbia); Petrović, S.; Radić, N. [University of Belgrade, IChTM-Department of Catalysis and Chemical Engineering, Njegoševa 12, Belgrade (Serbia); Stojadinović, S. [University of Belgrade, Faculty of Physics, Studentski trg 12-16, Belgrade (Serbia); Vasilić, R. [Faculty of Environmental Governance and Corporate Responsibility, Educons University, Vojvode Putnika 87, Sremska Kamenica (Serbia); Stefanov, P. [Institute of General and Inorganic Chemistry, Bulgarian Academy of Sciences, Sofia 1113 (Bulgaria); Grbić, B. [University of Belgrade, IChTM-Department of Catalysis and Chemical Engineering, Njegoševa 12, Belgrade (Serbia)

    2013-07-31

    In this study, we have shown that atomic force microscopy is a powerful technique to study the fractal parameters of TiO{sub 2}/WO{sub 3} coatings prepared by plasma electrolytic oxidation (PEO) process. Since the surface roughness of obtained oxide coatings affects their physical properties, an accurate description of roughness parameters is highly desirable. The surface roughness, described by root mean squared and arithmetic average values, is analyzed considering the scans of a series of atomic force micrographs. The results show that the oxide coatings exhibit lower surface roughness in initial stage of PEO process. Also, the surfaces of TiO{sub 2}/WO{sub 3} coatings exhibit fractal behavior. Positive correlation between the fractal dimension and surface roughness of the surfaces of TiO{sub 2}/WO{sub 3} coatings in initial stage of PEO process was found. - Highlights: • TiO{sub 2}/WO{sub 3} coatings were obtained by plasma electrolytic oxidation. • Oxide coatings exhibit lower surface roughness in initial stage of process. • The surfaces of TiO{sub 2}/WO{sub 3} coatings exhibit fractal behavior.

  12. U(VI) adsorption on natural iron-coated sands: comparison of approaches for modeling adsorption on heterogeneous environmental materials

    International Nuclear Information System (INIS)

    Logue, Brian A.; Smith, Robert W.; Westall, John C.

    2004-01-01

    Adsorption of U(VI) on 6 samples of natural Fe-rich sands from Oyster, VA was studied over a range of U(VI) concentrations (0.1-100 μM), pH values (3-7.6), and dithionite-citrate-bicarbonate (DCB) extractable amounts of Fe (3.1-12.3 μmol/g). Four modeling approaches were applied to represent the U(VI) adsorption data. Model I was a two-site, diffuse double layer, surface complexation model based on data for synthetic ferrihydrite [Geochim. Cosmochim. Acta 58 (1994) 5465-5478]. Considering the magnitude of approximations necessary for application of the laboratory-based model to natural sands, Model I was surprisingly accurate, as determined by the goodness of fit parameter, χ 2 /N of 53.1-22.2. Model II was based on the reactions and diffuse double layer treatment of Model I, but was calibrated to a portion of U(VI) adsorption data for each sand, and then used to predict adsorption data for the same sand under different experimental conditions. Model II did not increase the accuracy of the predictions made with Model I, χ 2 /N of 42.4-27.6. Models III and IV were four-site affinity spectrum models, without an explicit electric double layer model or explicit surface hydrolysis reactions. Model III was based on a discrete log K spectrum approach, and Model IV was obtained from adjusting all surface stability constants and site concentrations for all surface sites. Models III and IV represented the U(VI) adsorption data with the greatest accuracy, χ 2 /N ranged from 13.8 to 4.4. Model I provides evidence supporting the practice of using pure phase thermodynamic reaction constants for describing the adsorption characteristics of environmentally important sorbents in certain simple cases. Yet, affinity spectrum approaches (Models III and IV) become increasingly important as more accurate interpolation of adsorption data is necessary, the sorbent becomes increasingly complex, or the range of experimental conditions expands

  13. The electrochemical synthesis and corrosion behaviour of TiO2/poly(indole-co-aniline multilayer coating: Experimental and theoretical approach

    Directory of Open Access Journals (Sweden)

    Serap Toprak Döşlü

    2018-01-01

    Full Text Available The aim of this study was to protect stainless steel against corrosion via poly (indole-co-aniline with the help of titanium dioxide pre-coating. Different monomer ratios (1:1 and 1:9 were applied in order to determine the suitable chain composition to synthesize the copolymer in lithium perchlorate containing acetonitrile. The structures, morphologies, electrochemical properties and corrosion resistances of the mono and multi-layer coatings were investigated by Fourier-transform infrared spectra, scanning electron microscope, energy dispersive X-ray spectrometer, electrochemical impedance spectroscopy and anodic polarization. Furthermore the geometric structure and electronic properties of indole, aniline, and indole-co-aniline (dimmer molecules have been investigated by quantum calculations. The results indicated that corrosion protection of copolymers was increased via titanium dioxide pre-coating. The 1:1 copolymer coating showed better corrosion prevention than 1:9 coating. The correlation was determined between experimental and theoretical parameters.

  14. Effect of flooding waves on a removal of pollutants from underwater quarries

    Science.gov (United States)

    Lyubimova, Tatyana; Lepikhin, Anatoly; Parshakova, Yanina; Tiunov, Alexey

    2013-04-01

    A characteristic feature of the effects of large-scale sandy gravel extruction from water bodies is the formation of a considerable underwater quarries, that strongly changes the hydrodynamical regimes of these water bodies. Traditionally, to estimate the consequences of the formation of the quarries researchers focus on lowering of the water level at limiting hydrological regimes which have fundamental importance for ensuring the sustainability of the different water intakes. Additionally, the changes in the velocity regimes of water body are estimated from the viewpoint of minimizing the possible erosion processes. There is the Verkhnekamskoye potassium and magnesium salts deposit (the largest in Russia and the second in the world) on Kama river (Kama Reservoir) within Berezniki-Solikamsk-industrial unit. For this deposit the consideration of the formation of quarries is much more complicated because of the presence of significant natural and technogenic output of brines into the Kama reservoir. In this case it is necessary to analyze the problem of estimating the accumulation of the brines in these underwater quarries and to calculate the intensity of the removal of pollutants at their washing due to the changes in the hydrological regime of the water body. The problem of changing the hydrodynamic regime, first of all the lowering of the water level and the calculation of the flow velocity can be solved very successfully in two-and even in one-dimensional approach and the problem of washing the underwater quarries is essentially three-dimensional. In this paper we simulate the removal of contaminants from the underwater quarry. The problem is solved in the framework of unsteady approach. The calculations show that in the flow near the bottom of quarry the vortex is formed whose direction is such that the front edge of the quarry is eroded. The computations and field observations show that, the upper, rather thin (water supply of Kirov city, arises when the

  15. 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.

  16. 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.

  17. 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.

  18. 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.

  19. 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.

  20. 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.

  1. 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.

  2. New chemical approach to obtain dense layer phosphate-based ionic conductor coating on negative electrode material surface: Synthesis way, outgassing and improvement of C-rate capability

    Energy Technology Data Exchange (ETDEWEB)

    Fleutot, Benoit, E-mail: benoit.fleutot@u-picardie.fr [Laboratoire de Réactivité et Chimie des Solides, Université de Picardie Jules Verne, CNRS UMR 7314, 33 rue Saint Leu, 80039 Amiens (France); Réseau sur le Stockage Electrochimique de l’Energie (RS2E), CNRS FR3459 (France); Davoisne, Carine; Gachot, Grégory; Cavalaglio, Sébastien; Grugeon, Sylvie; Viallet, Virginie [Laboratoire de Réactivité et Chimie des Solides, Université de Picardie Jules Verne, CNRS UMR 7314, 33 rue Saint Leu, 80039 Amiens (France); Réseau sur le Stockage Electrochimique de l’Energie (RS2E), CNRS FR3459 (France)

    2017-04-01

    Highlights: • Dense layer coating of based-phosphate ionic conductor obtained by spray-drying. • Influence of dense ionic conductor at the negative surface material on performances. • Impact of dense ionic conductor coating on outgassing phenomena. - Abstract: Li{sub 4}Ti{sub 5}O{sub 12} (LTO) based batteries have severe gassing behavior during charge/discharge and storage process, due to interfacial reactions between active material and electrolyte solution. In the same time, the electronic and ionic conductivity of pristine LTO is very poor and induces the use of nanoparticles which increase the outgassing phenomena. The coating of LTO particles could be a solution. For this the LTO spinel particles are modified with ionic conductor Li{sub 3}PO{sub 4} coating using a spray-drying method. For the first time a homogeneous thin dense layer phosphate based conductor is obtained without nanoparticles, as a thin film material. It is so possible to study the influence of ionic conductor deposited on the negative electrode material on performances by the controlled layer thickness. This coating was characterized by XRD, SEM, XPS and TEM. The electrochemical performance of Li{sub 3}PO{sub 4} coated Li{sub 4}Ti{sub 5}O{sub 12} is improved at high C-rate by the surface modification (improvement of 30 mAh g{sup −1} at 5 C-rate compared to pristine LTO for 5 nm of coating), inducing by a modification of surface energy. An optimum coating thickness was studied. This type of coating allows a significant decrease of outgassing phenomena due the conformal coating and opens the way to a great number of studies and new technologies.

  3. New chemical approach to obtain dense layer phosphate-based ionic conductor coating on negative electrode material surface: Synthesis way, outgassing and improvement of C-rate capability

    International Nuclear Information System (INIS)

    Fleutot, Benoit; Davoisne, Carine; Gachot, Grégory; Cavalaglio, Sébastien; Grugeon, Sylvie; Viallet, Virginie

    2017-01-01

    Highlights: • Dense layer coating of based-phosphate ionic conductor obtained by spray-drying. • Influence of dense ionic conductor at the negative surface material on performances. • Impact of dense ionic conductor coating on outgassing phenomena. - Abstract: Li_4Ti_5O_1_2 (LTO) based batteries have severe gassing behavior during charge/discharge and storage process, due to interfacial reactions between active material and electrolyte solution. In the same time, the electronic and ionic conductivity of pristine LTO is very poor and induces the use of nanoparticles which increase the outgassing phenomena. The coating of LTO particles could be a solution. For this the LTO spinel particles are modified with ionic conductor Li_3PO_4 coating using a spray-drying method. For the first time a homogeneous thin dense layer phosphate based conductor is obtained without nanoparticles, as a thin film material. It is so possible to study the influence of ionic conductor deposited on the negative electrode material on performances by the controlled layer thickness. This coating was characterized by XRD, SEM, XPS and TEM. The electrochemical performance of Li_3PO_4 coated Li_4Ti_5O_1_2 is improved at high C-rate by the surface modification (improvement of 30 mAh g"−"1 at 5 C-rate compared to pristine LTO for 5 nm of coating), inducing by a modification of surface energy. An optimum coating thickness was studied. This type of coating allows a significant decrease of outgassing phenomena due the conformal coating and opens the way to a great number of studies and new technologies.

  4. EARLY DETECTION OF NEAR-FIELD TSUNAMIS USING UNDERWATER SENSOR NETWORKS

    Directory of Open Access Journals (Sweden)

    L. E. Freitag

    2012-01-01

    Full Text Available We propose a novel approach for near-field tsunami detection, specifically for the area near the city of Padang, Indonesia. Padang is located on the western shore of Sumatra, directly across from the Mentawai segment of the Sunda Trench, where accumulated strain has not been released since the great earthquake of 1797. Consequently, the risk of a major tsunamigenic earthquake on this segment is high. Currently, no ocean-bottom pressure sensors are deployed in the Mentawai basin to provide a definitive tsunami warning for Padang. Timely warnings are essential to initiate evacuation procedures and minimize loss of human life. Our approach augments existing technology with a network of underwater sensors to detect tsunamis generated by an earthquake or landslide fast enough to provide at least 15 minutes of warning. Data from the underwater sensor network would feed into existing decision support systems that accept input from land and sea-based sensors and provide warning information to city and regional authorities.

  5. Autonomous navigation for autonomous underwater vehicles based on information filters and active sensing.

    Science.gov (United States)

    He, Bo; Zhang, Hongjin; Li, Chao; Zhang, Shujing; Liang, Yan; Yan, Tianhong

    2011-01-01

    This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.

  6. Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing

    Directory of Open Access Journals (Sweden)

    Tianhong Yan

    2011-11-01

    Full Text Available This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM, and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China. Weak links in the information matrix in an extended information filter (EIF can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM. All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.

  7. Protective Coatings

    Science.gov (United States)

    1980-01-01

    General Magnaplate Corporation's pharmaceutical machine is used in the industry for high speed pressing of pills and capsules. Machine is automatic system for molding glycerine suppositories. These machines are typical of many types of drug production and packaging equipment whose metal parts are treated with space spinoff coatings that promote general machine efficiency and contribute to compliance with stringent federal sanitation codes for pharmaceutical manufacture. Collectively known as "synergistic" coatings, these dry lubricants are bonded to a variety of metals to form an extremely hard slippery surface with long lasting self lubrication. The coatings offer multiple advantages; they cannot chip, peel or be rubbed off. They protect machine parts from corrosion and wear longer, lowering maintenance cost and reduce undesired heat caused by power-robbing friction.

  8. 3D RECONSTRUCTION OF AN UNDERWATER ARCHAELOGICAL SITE: COMPARISON BETWEEN LOW COST CAMERAS

    Directory of Open Access Journals (Sweden)

    A. Capra

    2015-04-01

    Full Text Available The 3D reconstruction with a metric content of a submerged area, where objects and structures of archaeological interest are found, could play an important role in the research and study activities and even in the digitization of the cultural heritage. The reconstruction of 3D object, of interest for archaeologists, constitutes a starting point in the classification and description of object in digital format and for successive fruition by user after delivering through several media. The starting point is a metric evaluation of the site obtained with photogrammetric surveying and appropriate 3D restitution. The authors have been applying the underwater photogrammetric technique since several years using underwater digital cameras and, in this paper, digital low cost cameras (off-the-shelf. Results of tests made on submerged objects with three cameras are presented: © Canon Power Shot G12, © Intova Sport HD e © GoPro HERO 2. The experimentation had the goal to evaluate the precision in self-calibration procedures, essential for multimedia underwater photogrammetry, and to analyze the quality of 3D restitution. Precisions obtained in the calibration and orientation procedures was assessed by using three cameras, and an homogeneous set control points. Data were processed with © Agisoft Photoscan. Successively, 3D models were created and the comparison of the models derived from the use of different cameras was performed. Different potentialities of the used cameras are reported in the discussion section. The 3D restitution of objects and structures was integrated with sea bottom floor morphology in order to achieve a comprehensive description of the site. A possible methodology of survey and representation of submerged objects is therefore illustrated, considering an automatic and a semi-automatic approach.

  9. Mitigating the effect of optical back-scatter in multispectral underwater imaging

    International Nuclear Information System (INIS)

    Mortazavi, Halleh; Oakley, John P; Barkat, Braham

    2013-01-01

    Multispectral imaging is a very useful technique for extracting information from the underwater world. However, optical back-scatter changes the intensity value in each spectral band and this distorts the estimated spectrum. In this work, a filter is used to detect the level of optical back-scatter in each spectral band from a set of multispectral images. Extraction of underwater object spectra can be done by subtracting the estimated level of optical back-scatter and scaling the remainder in each spectral band from the captured image in the corresponding band. An experiment has been designed to show the performance of the proposed filter for correcting the set of multispectral underwater images and recovering the pixel spectra. The multispectral images are captured by a B/W CCD digital camera with a fast tunable liquid-crystal filter in 33 narrow spectral bands in clear and different levels of turbid water. Reference estimates for the optical back-scatter spectra are found by comparing a clear and a degraded set of multispectral images. The accuracy and consistency of the proposed method, the extended Oakley–Bu cost function, is examined by comparing the estimated values with the reference level of an optical back-scatter spectrum. The same comparison is made for the simple estimation approach. The results show that the simple method is not reliable and fail to estimate the level of optical back-scatter spectrum accurately. The results from processing experimental images in turbid water show that the effect of optical back-scatter can be mitigated in the image of each spectral band and, as a result, the spectra of the object can be recovered. However, for a very high level of turbid water the recovery is limited because of the effect of extinction. (paper)

  10. D Reconstruction of AN Underwater Archaelogical Site: Comparison Between Low Cost Cameras

    Science.gov (United States)

    Capra, A.; Dubbini, M.; Bertacchini, E.; Castagnetti, C.; Mancini, F.

    2015-04-01

    The 3D reconstruction with a metric content of a submerged area, where objects and structures of archaeological interest are found, could play an important role in the research and study activities and even in the digitization of the cultural heritage. The reconstruction of 3D object, of interest for archaeologists, constitutes a starting point in the classification and description of object in digital format and for successive fruition by user after delivering through several media. The starting point is a metric evaluation of the site obtained with photogrammetric surveying and appropriate 3D restitution. The authors have been applying the underwater photogrammetric technique since several years using underwater digital cameras and, in this paper, digital low cost cameras (off-the-shelf). Results of tests made on submerged objects with three cameras are presented: Canon Power Shot G12, Intova Sport HD e GoPro HERO 2. The experimentation had the goal to evaluate the precision in self-calibration procedures, essential for multimedia underwater photogrammetry, and to analyze the quality of 3D restitution. Precisions obtained in the calibration and orientation procedures was assessed by using three cameras, and an homogeneous set control points. Data were processed with Agisoft Photoscan. Successively, 3D models were created and the comparison of the models derived from the use of different cameras was performed. Different potentialities of the used cameras are reported in the discussion section. The 3D restitution of objects and structures was integrated with sea bottom floor morphology in order to achieve a comprehensive description of the site. A possible methodology of survey and representation of submerged objects is therefore illustrated, considering an automatic and a semi-automatic approach.

  11. 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.

  12. Polymeric Coatings for Combating Biocorrosion

    Science.gov (United States)

    Guo, Jing; Yuan, Shaojun; Jiang, Wei; Lv, Li; Liang, Bin; Pehkonen, Simo O.

    2018-03-01

    Biocorrosion has been considered as big trouble in many industries and marine environments due to causing great economic loss. The main disadvantages of present approaches to prevent corrosion include being limited by environmental factors, being expensive, inapplicable to field, and sometimes inefficient. Studies show that polymer coatings with anti-corrosion and anti-microbial properties have been widely accepted as a novel and effective approach to preventbiocorrosion. The main purpose of this review is to summarize up the progressive status of polymer coatings used for combating microbially-induced corrosion. Polymers used to synthesize protective coatings are generally divided into three categories: i) traditional polymers incorporated with biocides, ii) antibacterial polymers containing quaternary ammonium compounds, and iii) conductive polymers. The strategies to synthesize polymer coatings resort mainly to grafting anti-bacterial polymers from the metal substrate surface using novel surface-functionalization approaches, such as free radical polymerization, chemically oxidative polymerization and surface-initiated atom transfer radical polymerization, as opposed to the traditional approaches of dip coating or spin coating.

  13. Autonomous underwater vehicle for research and rescue operations

    CSIR Research Space (South Africa)

    Holtzhausen S

    2008-11-01

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

  14. Spreading of sediment due to underwater blasting and dredging

    DEFF Research Database (Denmark)

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

    2015-01-01

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

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

    Digital Repository Service at National Institute of Oceanography (India)

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

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

  16. Underwater sound produced by individual drop impacts and rainfall

    DEFF Research Database (Denmark)

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

    1989-01-01

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

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

    NARCIS (Netherlands)

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

    2013-01-01

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

  18. 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.

  19. Underwater Munitions Expert System to Predict Mobility and Burial

    Science.gov (United States)

    2017-11-14

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

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

    NARCIS (Netherlands)

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

    2014-01-01

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

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

    NARCIS (Netherlands)

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

    2014-01-01

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

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

    NARCIS (Netherlands)

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

    2017-01-01

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

  3. 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

  4. 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.

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

    African Journals Online (AJOL)

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

  6. 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.

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

    Science.gov (United States)

    Panda, S. K.; Bandopadhya, D.

    2018-02-01

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

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

    African Journals Online (AJOL)

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

  9. A highly versatile autonomous underwater vehicle with biomechanical propulsion

    NARCIS (Netherlands)

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

    2009-01-01

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

  10. 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

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

    African Journals Online (AJOL)

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

  12. 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.

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

    Science.gov (United States)

    2013-04-23

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

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

    International Nuclear Information System (INIS)

    Vertut, Jean

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

  15. A Cost-Effective Solid-State Approach to Synthesize g-C3N4 Coated TiO2 Nanocomposites with Enhanced Visible Light Photocatalytic Activity

    Directory of Open Access Journals (Sweden)

    Min Fu

    2013-01-01

    Full Text Available Novel graphitic carbon nitride (g-C3N4 coated TiO2 nanocomposites were prepared by a facile and cost-effective solid-state method by thermal treatment of the mixture of urea and commercial TiO2. Because the C3N4 was dispersed and coated on the TiO2 nanoparticles, the as-prepared g-C3N4/TiO2 nanocomposites showed enhanced absorption and photocatalytic properties in visible light region. The as-prepared g-C3N4 coated TiO2 nanocomposites under 450°C exhibited efficient visible light photocatalytic activity for degradation of aqueous MB due to the increased visible light absorption and enhanced MB adsorption. The g-C3N4 coated TiO2 nanocomposites would have wide applications in both environmental remediation and solar energy conversion.

  16. Silver-loaded chitosan coating as an integrated approach to face titanium implant-associated infections: analytical characterization and biological activity.

    Science.gov (United States)

    Cometa, Stefania; Bonifacio, Maria A; Baruzzi, Federico; de Candia, Silvia; Giangregorio, Maria M; Giannossa, Lorena C; Dicarlo, Manuela; Mattioli-Belmonte, Monica; Sabbatini, Luigia; De Giglio, Elvira

    2017-12-01

    The present work focuses on the idea to prevent and/or inhibit the colonization of implant surfaces by microbial pathogens responsible for post-operative infections, adjusting antimicrobial properties of the implant surface prior to its insertion. An antibacterial coating based on chitosan and silver was developed by electrodeposition techniques on poly(acrylic acid)-coated titanium substrates. When a silver salt was added during the chitosan deposition step, a stable and scalable silver incorporation was achieved. The physico-chemical composition of the coating was studied by X-ray photoelectron spectroscopy (XPS), while atomic force microscopy in intermittent contact mode (ICAFM) was used to explore the coating morphology. The amount of silver released from the coating up to 21 days was evaluated by inductively coupled plasma mass spectrometry (ICP-MS). The capability of the proposed coating to interact in vitro with the biological environment in terms of compatibility and antibacterial properties was assessed using MG-63 osteoblast-like cell line and S. aureus and P. aeruginosa strains, respectively. These studies revealed that a coating showing a silver surface atomic percentage equal to 0.3% can be effectively used as antibacterial system, while providing good viability of osteoblast-like cells after 7 days. The antibacterial effectiveness of the prepared coating is mainly driven by a contact killing mechanism, although the low concentration of silver released (below 0.1 ppm up to 21 days) is enough to inhibit bacterial growth, advantaging MG-63 cells in the race for the surface.

  17. Damage-resistant brittle coatings

    Energy Technology Data Exchange (ETDEWEB)

    Lawn, B.R.; Lee, K.S. [National Inst. of Stand. and Technol., Gaithersburg, MD (United States). Mater. Sci. and Eng. Lab.; Chai, H. [Tel Aviv Univ. (Israel). Faculty of Engineering; Pajares, A. [Universidad de Extremadura, Badajoz (Spain). Dept. de Fisica; Kim, D.K. [Korea Advanced Inst. of Science and Technolgy, Taejon (Korea). Dept. of Materials Science and Engineering; Wuttiphan, S. [National Metal and Materials Technology Center, Bangkok (Thailand); Peterson, I.M. [Corning Inc., NY (United States); Hu Xiaozhi [Western Australia Univ., Nedlands, WA (Australia). Dept. of Mechanical and Materials Engineering

    2000-11-01

    Laminate structures consisting of hard, brittle coatings and soft, tough substrates are important in a wide variety of engineering applications, biological structures, and traditional pottery. In this study the authors introduce a new approach to the design of damage-resistant brittle coatings, based on a combination of new and existing relations for crack initiation in well-defined contact-induced stress fields. (orig.)

  18. Compressible and Recyclable Monolithic g-C3N4/Melamine Sponge: A Facile Ultrasonic-coating Approach and Enhanced Visible-light Photocatalytic Activity

    Science.gov (United States)

    Yang, Ye; Zhang, Qian; Zhang, Ruiyang; Ran, Tao; Wan, Wenchao; Zhou, Ying

    2018-05-01

    Powdery photocatalysts seriously restrict their practical application due to the difficult recycle and low photocatalytic activity. In this work, a monolithic g-C3N4/melamine sponge (g-C3N4/MS) was successfully fabricated by a cost-effective ultrasonic-coating route, which is easy to achieve the uniform dispersion and firm loading of g-C3N4 on MS skeleton. The monolithic g-C3N4/MS entirely inherits the porous structure of MS and results in a larger specific surface area (SSA) than its powdery counterpart. Benefit from this monolithic structure, g-C3N4/MS gains more exposed active sites, enhanced visible-light absorption and separation of photogenerated carriers, thus achieving noticeable photocatalytic activity on nitric oxide (NO) removal, rhodamine B (RhB) degradation and CO2 reduction. Specifically, NO removal ratio is as high as 78.6% which is 4.5 times higher than that of the powdery g-C3N4, while RhB degradation rate reaches 97.88%, and yield rate of CO and CH4 attains 7.48 and 3.93 μmol g-1 h-1. Importantly, the features of low-density, high porosity, good elasticity and firmness, not only endow g-C3N4/MS with flexibility in various environmental applications, but also make it easy to recycle and stable for long-time application. Our work provides a feasible approach to fabricate novel monolithic photocatalysts with large-scale production and application.

  19. Computer Vision Photogrammetry for Underwater Archaeological Site Recording in a Low-Visibility Environment

    Science.gov (United States)

    Van Damme, T.

    2015-04-01

    Computer Vision Photogrammetry allows archaeologists to accurately record underwater sites in three dimensions using simple twodimensional picture or video sequences, automatically processed in dedicated software. In this article, I share my experience in working with one such software package, namely PhotoScan, to record a Dutch shipwreck site. In order to demonstrate the method's reliability and flexibility, the site in question is reconstructed from simple GoPro footage, captured in low-visibility conditions. Based on the results of this case study, Computer Vision Photogrammetry compares very favourably to manual recording methods both in recording efficiency, and in the quality of the final results. In a final section, the significance of Computer Vision Photogrammetry is then assessed from a historical perspective, by placing the current research in the wider context of about half a century of successful use of Analytical and later Digital photogrammetry in the field of underwater archaeology. I conclude that while photogrammetry has been used in our discipline for several decades now, for various reasons the method was only ever used by a relatively small percentage of projects. This is likely to change in the near future since, compared to the `traditional' photogrammetry approaches employed in the past, today Computer Vision Photogrammetry is easier to use, more reliable and more affordable than ever before, while at the same time producing more accurate and more detailed three-dimensional results.

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

    Science.gov (United States)

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

    2018-03-15

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

  1. Toward efficient task assignment and motion planning for large-scale underwater missions

    Directory of Open Access Journals (Sweden)

    Somaiyeh MahmoudZadeh

    2016-10-01

    Full Text Available An autonomous underwater vehicle needs to possess a certain degree of autonomy for any particular underwater mission to fulfil the mission objectives successfully and ensure its safety in all stages of the mission in a large-scale operating field. In this article, a novel combinatorial conflict-free task assignment strategy, consisting of an interactive engagement of a local path planner and an adaptive global route planner, is introduced. The method takes advantage of the heuristic search potency of the particle swarm optimization algorithm to address the discrete nature of routing-task assignment approach and the complexity of nondeterministic polynomial-time-hard path planning problem. The proposed hybrid method is highly efficient as a consequence of its reactive guidance framework that guarantees successful completion of missions particularly in cluttered environments. To examine the performance of the method in a context of mission productivity, mission time management, and vehicle safety, a series of simulation studies are undertaken. The results of simulations declare that the proposed method is reliable and robust, particularly in dealing with uncertainties, and it can significantly enhance the level of a vehicle’s autonomy by relying on its reactive nature and capability of providing fast feasible solutions.

  2. UMDR: Multi-Path Routing Protocol for Underwater Ad Hoc Networks with Directional Antenna

    Science.gov (United States)

    Yang, Jianmin; Liu, Songzuo; Liu, Qipei; Qiao, Gang

    2018-01-01

    This paper presents a new routing scheme for underwater ad hoc networks based on directional antennas. Ad hoc networks with directional antennas have become a hot research topic because of space reuse may increase networks capacity. At present, researchers have applied traditional self-organizing routing protocols (such as DSR, AODV) [1] [2] on this type of networks, and the routing scheme is based on the shortest path metric. However, such routing schemes often suffer from long transmission delays and frequent link fragmentation along the intermediate nodes of the selected route. This is caused by a unique feature of directional transmission, often called as “deafness”. In this paper, we take a different approach to explore the advantages of space reuse through multipath routing. This paper introduces the validity of the conventional routing scheme in underwater ad hoc networks with directional antennas, and presents a special design of multipath routing algorithm for directional transmission. The experimental results show a significant performance improvement in throughput and latency.

  3. Cross Deployment Networking and Systematic Performance Analysis of Underwater Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Zhengxian Wei

    2017-07-01

    Full Text Available Underwater wireless sensor networks (UWSNs have become a new hot research area. However, due to the work dynamics and harsh ocean environment, how to obtain an UWSN with the best systematic performance while deploying as few sensor nodes as possible and setting up self-adaptive networking is an urgent problem that needs to be solved. Consequently, sensor deployment, networking, and performance calculation of UWSNs are challenging issues, hence the study in this paper centers on this topic and three relevant methods and models are put forward. Firstly, the normal body-centered cubic lattice to cross body-centered cubic lattice (CBCL has been improved, and a deployment process and topology generation method are built. Then most importantly, a cross deployment networking method (CDNM for UWSNs suitable for the underwater environment is proposed. Furthermore, a systematic quar-performance calculation model (SQPCM is proposed from an integrated perspective, in which the systematic performance of a UWSN includes coverage, connectivity, durability and rapid-reactivity. Besides, measurement models are established based on the relationship between systematic performance and influencing parameters. Finally, the influencing parameters are divided into three types, namely, constraint parameters, device performance and networking parameters. Based on these, a networking parameters adjustment method (NPAM for optimized systematic performance of UWSNs has been presented. The simulation results demonstrate that the approach proposed in this paper is feasible and efficient in networking and performance calculation of UWSNs.

  4. Underwater characterization of control rods for waste disposal using SMOPY

    Energy Technology Data Exchange (ETDEWEB)

    Gallozzi-Ulmann, A.; Couturier, P.; Amgarou, K.; Rothan, D.; Menaa, N. [CANBERRA France,1 rue des Herons, 78182 ST Quentin Yvelines Cedex (France); Chard, P. [CANBERRA UK, Lower Dunbeath House, Forss Business Park, Thurso, Caithness KW14 7UZ (United Kingdom)

    2015-07-01

    Storage of spent fuel assemblies in cooling ponds requires careful control of the geometry and proximity of adjacent assemblies. Measurement of the fuel burnup makes it possible to optimise the storage arrangement of assemblies taking into account the effect of the burnup on the criticality safety margins ('burnup credit'). Canberra has developed a measurement system for underwater measurement of spent fuel assemblies. This system, known as 'SMOPY', performs burnup measurements based on gamma spectroscopy (collimated CZT detector) and neutron counting (fission chamber). The SMOPY system offers a robust and waterproof detection system as well as the needed capability of performing radiometric measurements in the harsh high dose - rate environments of the cooling ponds. The gamma spectroscopy functionality allows powerful characterization measurements to be performed, in addition to burnup measurement. Canberra has recently performed waste characterisation measurements at a Nuclear Power Plant. Waste activity assessment is important to control costs and risks of shipment and storage, to ensure that the activity level remains in the range allowed by the facility, and to declare activity data to authorities. This paper describes the methodology used for the SMOPY measurements and some preliminary results of a radiological characterisation of AIC control rods. After describing the features and normal operation of the SMOPY system, we describe the approach used for establishing an optimum control rod geometric scanning approach (optimum count time and speed) and the method of the gamma spectrometry measurements as well as neutron check measurements used to verify the absence of neutron sources in the waste. We discuss the results obtained including {sup 60}Co, {sup 110m}Ag and {sup 108m}Ag activity profiles (along the length of the control rods) and neutron results including Total Measurement Uncertainty evaluations. Full self-consistency checks were

  5. Permeation Barrier Coatings for the Helical Heat Exchanger

    International Nuclear Information System (INIS)

    Korinko, P.S.

    1999-01-01

    A permeation barrier coating was specified for the Helical Heat Exchanger (HHE) to minimize contamination through emissions and/or permeation into the nitrogen system for ALARA reasons. Due to the geometry of the HHE, a special coating practice was needed since the conventional method of high temperature pack aluminization was intractable. A survey of many coating companies was undertaken; their coating capabilities and technologies were assessed and compared to WSRC needs. The processes and limitations to coating the HHE are described. Slurry coating appears to be the most technically sound approach for coating the HHE

  6. 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

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

    Science.gov (United States)

    Fischell, Erin M; Schmidt, Henrik

    2015-12-01

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

  8. Polymethyl methacrylate-co-methacrylic acid coatings with controllable concentration of surface carboxyl groups: A novel approach in fabrication of polymeric platforms for potential bio-diagnostic devices

    Energy Technology Data Exchange (ETDEWEB)

    Hosseini, Samira; Ibrahim, Fatimah [Center for Innovation in Medical Engineering, Department of Biomedical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur 50603 (Malaysia); Djordjevic, Ivan, E-mail: ivan.djordjevic@um.edu.my [Center for Innovation in Medical Engineering, Department of Biomedical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur 50603 (Malaysia); Koole, Leo H. [Center for Innovation in Medical Engineering, Department of Biomedical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur 50603 (Malaysia); Department of Biomedical Engineering, Faculty of Health. Medicine and Life Science, Maastricht University, PO Box 616, NL 6200 MD Maastricht (Netherlands)

    2014-05-01

    Highlights: • Synthesis and processing of PMMA-co-MAA spin-coatings on silicon wafers. • Surface chemistry and morphology as a function of tailored co-polymer structure. • Polymer coatings with controlled number of surface carboxyl groups. - Abstract: The generally accepted strategy in development of bio-diagnostic devices is to immobilize proteins on polymeric surfaces as a part of detection process for diseases and viruses through antibody/antigen coupling. In that perspective, polymer surface properties such as concentration of functional groups must be closely controlled in order to preserve the protein activity. In order to improve the surface characteristics of transparent polymethacrylate plastics that are used for diagnostic devices, we have developed an effective fabrication procedure of polymethylmetacrylate-co-metacrylic acid (PMMA-co-MAA) coatings with controlled number of surface carboxyl groups. The polymers were processed effectively with the spin-coating technique and the detailed control over surface properties is here by demonstrated through the variation of a single synthesis reaction parameter. The chemical structure of synthesized and processed co-polymers has been investigated with nuclear magnetic resonance spectroscopy (NMR) and matrix-assisted laser desorption time-of-flight mass spectrometry (MALDI-ToF-MS). The surface morphology of polymer coatings have been analyzed with atomic force microscopy (AFM) and scanning electron microscopy (SEM). We demonstrate that the surface morphology and the concentration of surface –COOH groups (determined with UV–vis surface titration) on the processed PMMA-co-MAA coatings can be precisely controlled by variation of initial molar ratio of reactants in the free-radical polymerization reaction. The wettability of developed polymer surfaces also varies with macromolecular structure.

  9. Polymethyl methacrylate-co-methacrylic acid coatings with controllable concentration of surface carboxyl groups: A novel approach in fabrication of polymeric platforms for potential bio-diagnostic devices

    International Nuclear Information System (INIS)

    Hosseini, Samira; Ibrahim, Fatimah; Djordjevic, Ivan; Koole, Leo H.

    2014-01-01

    Highlights: • Synthesis and processing of PMMA-co-MAA spin-coatings on silicon wafers. • Surface chemistry and morphology as a function of tailored co-polymer structure. • Polymer coatings with controlled number of surface carboxyl groups. - Abstract: The generally accepted strategy in development of bio-diagnostic devices is to immobilize proteins on polymeric surfaces as a part of detection process for diseases and viruses through antibody/antigen coupling. In that perspective, polymer surface properties such as concentration of functional groups must be closely controlled in order to preserve the protein activity. In order to improve the surface characteristics of transparent polymethacrylate plastics that are used for diagnostic devices, we have developed an effective fabrication procedure of polymethylmetacrylate-co-metacrylic acid (PMMA-co-MAA) coatings with controlled number of surface carboxyl groups. The polymers were processed effectively with the spin-coating technique and the detailed control over surface properties is here by demonstrated through the variation of a single synthesis reaction parameter. The chemical structure of synthesized and processed co-polymers has been investigated with nuclear magnetic resonance spectroscopy (NMR) and matrix-assisted laser desorption time-of-flight mass spectrometry (MALDI-ToF-MS). The surface morphology of polymer coatings have been analyzed with atomic force microscopy (AFM) and scanning electron microscopy (SEM). We demonstrate that the surface morphology and the concentration of surface –COOH groups (determined with UV–vis surface titration) on the processed PMMA-co-MAA coatings can be precisely controlled by variation of initial molar ratio of reactants in the free-radical polymerization reaction. The wettability of developed polymer surfaces also varies with macromolecular structure

  10. Inactivation of microbial infectiousness by silver nanoparticles-coated condom: a new approach to inhibit HIV- and HSV-transmitted infection

    Directory of Open Access Journals (Sweden)

    Mohammed Fayaz A

    2012-09-01

    Full Text Available A Mohammed Fayaz,1,* Zhujun Ao,1,3,* Morkattu Girilal,2 Liyu Chen,3,4 Xianzhong Xiao,4 PT Kalaichelvan,2 Xiaojian Yao1,31Laboratory of Molecular Human Retrovirology, Department of Medical Microbiology, Faculty of Medicine, University of Manitoba, Winnipeg, MB, Canada; 2CAS in Botany, University of Madras, Guindy Campus, Chennai, Tamil Nadu, India; 3Department of Microbiology, 4School of Basic Medical Sciences, Central South University, Changsha, Hunan, People’s Republic of China*Both authors contributed equally to this workAbstract: Recent research suggests that today’s condoms are only 85% effective in preventing human immunodeficiency virus (HIV and other sexually transmitted diseases. In response, there has been a push to develop more effective ways of decreasing the spread of the disease. The new nanotechnology-based condom holds the promise of being more potent than the first-generation products. The preliminary goal of this study was to develop a silver nanoparticles (Ag-NPs-coated polyurethane condom (PUC and to investigate its antimicrobial potential including the inactivation of HIV and herpes simplex virus (HSV infectiousness. The Ag-NPs-coated PUC was characterized by using ultraviolet-visible spectrophotometry, Fourier transform-infrared spectroscopy, high-resolution scanning electron microscopy, and energy-dispersive analysis of X-ray spectroscopy. Nanoparticles were stable on the PUC and not washed away by water. Morphology of the PUC was retained after coating. The NP binding is due to its interaction with the nitrogen atom of the PUC. No significant toxic effects was observed when human HeLa cells, 293T and C8166 T cells were contacted to Ag-NPs-coated PUC for three hours. Interestingly, our results demonstrated that the contact of the Ag-NPs-coated PUC with HIV-1 and HSV-1/2 was able to efficiently inactivate their infectiousness. In an attempt to elucidate the antiviral action of the Ag-NPs, we have demonstrated that the

  11. Protective coatings for commercial particulates

    DEFF Research Database (Denmark)

    Kindl, B.; Teng, Y.H.; Liu, Y.L.

    1994-01-01

    SiC/Al composites are in large-scale production with Al-Si alloy matrices. The same composites with pure Al or low Si matrices need diffusion barriers on the SiC reinforcement to control the interfacial reaction. The present paper describes various approaches taken to obtain protective coatings...... of alumina and zirconia on SiC particulates by sol-gel techniques. Aqueous and organic precursors have been used. The extent of the reaction, i.e., the Si and Al4C3 content in the matrix, was determined by differential thermal analysis and X-ray diffraction. The reaction rates of some coated particulates...... in liquid Al are decreased by as much as one order of magnitude during the first 15 min of immersion. Pretreatments of the SiC surface, the composition and thickness of the coating interphase and heat treatments of the coated materials have been studied, and are discussed in relation to their effect...

  12. 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

  13. Development of a tentacle propulsion technique for underwater application

    International Nuclear Information System (INIS)

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

    2013-01-01

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

  14. SOUNET: Self-Organized Underwater Wireless Sensor Network

    Directory of Open Access Journals (Sweden)

    Hee-won Kim

    2017-02-01

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

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

    Science.gov (United States)

    Kim, Hee-Won; Cho, Ho-Shin

    2017-02-02

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

  16. Development of underwater robot for taking off marine life

    International Nuclear Information System (INIS)

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

    1983-01-01

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

  17. 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)

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

    Science.gov (United States)

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

    2014-01-01

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

  19. Electrostatic images for underwater anisotropic conductive half spaces

    International Nuclear Information System (INIS)

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

    1998-01-01

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

  20. Cosmic ray muons and their associated shower particles underwater

    International Nuclear Information System (INIS)

    Anderson, S.N.

    1978-01-01

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

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

    Science.gov (United States)

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

    2016-05-01

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

  2. First hvdc underwater transmission links mainland and Vancouver

    Energy Technology Data Exchange (ETDEWEB)

    1967-06-01

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

  3. NBL Pistol Grip Tool for Underwater Training of Astronauts

    Science.gov (United States)

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

    2011-01-01

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

  4. In-air and underwater hearing of the cormorant

    DEFF Research Database (Denmark)

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

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

  5. 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).

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

    DEFF Research Database (Denmark)

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

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

  7. 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 ...

  8. 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...

  9. 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.

  10. 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

  11. Diver Operated Tools and Applications for Underwater Construction

    Science.gov (United States)

    1987-01-01

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

  12. A new electronic control system for unmanned underwater vehicles

    OpenAIRE

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

    2015-01-01

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

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

    International Nuclear Information System (INIS)

    Rose, N.

    1994-01-01

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

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

    International Nuclear Information System (INIS)

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

    1980-01-01

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

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

    OpenAIRE

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

    2016-01-01

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

  16. Numerical Computational Technique for Scattering from Underwater Objects

    OpenAIRE

    T. Ratna Mani; Raj Kumar; Odamapally Vijay Kumar

    2013-01-01

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

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

    Science.gov (United States)

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

    2012-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

    1967-04-01

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

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

    International Nuclear Information System (INIS)

    Henning, C.D.

    1993-01-01

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

  20. Fast-response underwater TSP investigation of subcritical instabilities of a cylinder in crossflow

    Science.gov (United States)

    Capone, Alessandro; Klein, Christian; Di Felice, Fabio; Beifuss, Uwe; Miozzi, Massimo

    2015-10-01

    We investigate the classic cylinder in crossflow case to test the effectiveness of a fast-response underwater temperature-sensitive paint coating (TSP) in providing highly resolved spatial and time observations of the action of a flow over a bluff body surface. The flow is investigated at Reynolds number crisis state. The obtained TSP image sequences convey an accurate description of the evolution of the main features in the fluid-cylinder interaction, like the separation line position, the pattern of the large coherent structures acting on the cylinder's surface and the small-scale intermittent streamwise arrays of vortices. Ad hoc data management and features extraction techniques are proposed which allow extraction of quantitative data, such as separation line position and vortex-shedding frequency, and results are compared to the literature. Use of TSP for water applications introduces an interesting point of view about the fluid-body interactions by focusing directly on the effect of the flow on the model surface.

  1. Underwater inspection and maintenance programs within nuclear and non-nuclear related operating systems

    International Nuclear Information System (INIS)

    Vallance, C.; Goulet, B.; Black, S.

    2008-01-01

    The increasing age of the nuclear and non-nuclear power generating facilities requires extended inspection, repair and maintenance (IRM) activities to prolong the operation of these facilities past their original design life. Commercial divers are often utilized to perform critical work at nuclear power plants, fuel reprocessing plants, waste storage facilities, and research institutions. These various tasks include inspection, welding, mechanical modifications and repairs, coating applications, and work associated with plant decommissioning. Programs may take place in areas such as the reactor vessel, equipment pool, spent fuel pool, and suppression chamber using manned intervention and remotely operated vehicles. Some of these tasks can also be conducted using remotely operated vehicles (ROV's). Although specialist robots are not uncommon to the nuclear industry, the use of free-swimming vehicle's and remote systems for the inspection of underwater assets has increased due to improvements of the supporting technologies and information requirements needed to extend the life of these facilities. This paper will provide an overview of the procedures and equipment necessary to perform unique work tasks using manned and unmanned techniques. (author)

  2. Evaluation of the interfacial shear strength and residual stress of TiAlN coating on ZIRLO™ fuel cladding using a modified shear-lag model approach

    Energy Technology Data Exchange (ETDEWEB)

    Liu, Y., E-mail: troy.liu@manchester.ac.uk [Materials Performance Centre, School of Materials, The University of Manchester, M13 9PL (United Kingdom); Bhamji, I., E-mail: imran.bhamji@manchester.ac.uk [Materials Performance Centre, School of Materials, The University of Manchester, M13 9PL (United Kingdom); Withers, P.J., E-mail: p.j.withers@manchester.ac.uk [Materials Performance Centre, School of Materials, The University of Manchester, M13 9PL (United Kingdom); Wolfe, D.E., E-mail: dew125@arl.psu.edu [The Pennsylvania State University, University Park, State College, PA 16801 (United States); Motta, A.T., E-mail: atmnuc@engr.psu.edu [The Pennsylvania State University, University Park, State College, PA 16801 (United States); Preuss, M., E-mail: michael.preuss@manchester.ac.uk [Materials Performance Centre, School of Materials, The University of Manchester, M13 9PL (United Kingdom)

    2015-11-15

    This paper investigates the residual stresses and interfacial shear strength of a TiAlN coating on Zr–Nb–Sn–Fe alloy (ZIRLO™) substrate designed to improve corrosion resistance of fuel cladding used in water-cooled nuclear reactors, both during normal and exceptional conditions, e.g. a loss of coolant event (LOCA). The distribution and maximum value of the interfacial shear strength has been estimated using a modified shear-lag model. The parameters critical to this analysis were determined experimentally. From these input parameters the interfacial shear strength between the TiAlN coating and ZIRLO™ substrate was inferred to be around 120 MPa. It is worth noting that the apparent strength of the coating is high (∼3.4 GPa). However, this is predominantly due to the large compressive residuals stress (3 GPa in compression), which must be overcome for the coating to fail in tension, which happens at a load just 150 MPa in excess of this.

  3. Approaches in controllable generation of artificial pinning center in REBa2Cu3O y -coated conductor for high-flux pinning

    Science.gov (United States)

    Yoshida, Y.; Miura, S.; Tsuchiya, Y.; Ichino, Y.; Awaji, S.; Matsumoto, K.; Ichinose, A.

    2017-10-01

    This paper reviews the progress of studies to determine optimum shapes of the artificial pinning center (APC) of REBa2Cu3O y thin films and coated conductors towards superconducting magnets operating at temperatures of 77 K or less. Superconducting properties vary depending on the kind and quantity of BaMO3 materials. Therefore, we study changes in the shapes of nanorods that are due to the difference in the quality of additives and growth temperature. In addition, we aim to control the APC using an optimum shape that matches the operating temperature. In particular, we describe the shape control of nanorods in SmBCO thin films and coated conductors by employing lower temperature growth (LTG) technology using seed layers. From the cross-sectional transmission electron microscopy observations, we confirmed that using the LTG method, the BaHfO3 (BHO) nanorods, which were comparatively thin and short in length, formed a firework structure in the case of SmBCO films with coated conductors. The superconducting properties in the magnetic field of the SmBCO-coated conductor with the optimum amount of BHO showed that {F}{{p}}\\max = 1.6 TN m-3 on a single crystalline substrate and 1.5 TN m-3 on metallic substrate with a biaxially textured MgO layer fabricated by ion-beam assisted deposition method tape 4.2 K.

  4. 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.

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

    Directory of Open Access Journals (Sweden)

    Francisco J. Cañete

    2016-02-01

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

  6. 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.

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

    International Nuclear Information System (INIS)

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

    1983-01-01

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

  8. 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.

  9. 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.

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

    International Nuclear Information System (INIS)

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

    1999-01-01

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

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

    KAUST Repository

    Debont, Matthew John Robert

    2012-08-01

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

  12. 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...

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

    National Research Council Canada - National Science Library

    Tan, Yong

    2004-01-01

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

  14. 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.

  15. Coating materials

    International Nuclear Information System (INIS)

    Ozeki, Takao; Kimura, Tadashi; Kobayashi, Juichi; Maeda, Yutaka; Nakamoto, Hideo.

    1969-01-01

    A non-solvent type coating material composition having properties as good as thermosetting acrylic or amino alkid resins is provided by employing active energy irradiation, particularly electron beams, using a radically polymerizable low molecular compound (A) (hereafter called an oligomer) containing at least two vinyl radicals in one molecule. This oligomer is produced by reacting an epoxy-containing vinyl monomer with alpha-, beta-ethylene unsaturated carboxylic acids or their anhydrides. The composition (I) contains 10% - 100% of this oligomer. In embodiments, an oligomer having a fiberous trivinyl construction is produced by reacting 180 parts by weight of glycidyl methacrylate ester with 130 parts of itaconic acid in the presence of a polymerization-inhibitor and an addition reaction catalyst at 90 0 C for 6 hours. In practice, the coating material compositions (1), consist of the whole oligomer [I-1]; (2), consist of 10-90% of (A) component and 90%-10% of vinyl monomers containing at least 30% (meth) acrylic monomer [I-2]; (3), 10%-90% of component (A) and 90%-10% of other monomers containing at least two vinyl radicals [I-3]; (4), a mixture of (I-2) and (I-3), [I-4]; and (5), consist of 50% or less unsaturated polyester of 500-5,000 molecular weight range or drying oil, or alkyd resin of 500-5,000 molecular weight range modified by drying oil, [I-5]. As a catalyst a tertiary amino vinyl compound is preferred. Five examples are given. (Iwakiri, K.)

  16. Fault-tolerant Control of Unmanned Underwater Vehicles with Continuous Faults: Simulations and Experiments

    Directory of Open Access Journals (Sweden)

    Qian Liu

    2010-02-01

    Full Text Available A novel thruster fault diagnosis and accommodation method for open-frame underwater vehicles is presented in the paper. The proposed system consists of two units: a fault diagnosis unit and a fault accommodation unit. In the fault diagnosis unit an ICMAC (Improved Credit Assignment Cerebellar Model Articulation Controllers neural network information fusion model is used to realize the fault identification of the thruster. The fault accommodation unit is based on direct calculations of moment and the result of fault identification is used to find the solution of the control allocation problem. The approach resolves the continuous faulty identification of the UV. Results from the experiment are provided to illustrate the performance of the proposed method in uncertain continuous faulty situation.

  17. Fault-tolerant Control of Unmanned Underwater Vehicles with Continuous Faults: Simulations and Experiments

    Directory of Open Access Journals (Sweden)

    Qian Liu

    2009-12-01

    Full Text Available A novel thruster fault diagnosis and accommodation method for open-frame underwater vehicles is presented in the paper. The proposed system consists of two units: a fault diagnosis unit and a fault accommodation unit. In the fault diagnosis unit an ICMAC (Improved Credit Assignment Cerebellar Model Articulation Controllers neural network information fusion model is used to realize the fault identification of the thruster. The fault accommodation unit is based on direct calculations of moment and the result of fault identification is used to find the solution of the control allocation problem. The approach resolves the continuous faulty identification of the UV. Results from the experiment are provided to illustrate the performance of the proposed method in uncertain continuous faulty situation.

  18. A self-cleaning underwater superoleophobic mesh for oil-water separation

    KAUST Repository

    Zhang, Lianbin

    2013-07-31

    Oil-water separation has recently become a global challenging task because of the frequent occurrence of oil spill accidents due to the offshore oil production and transportation, and there is an increasing demand for the development of effective and inexpensive approaches for the cleaning-up of the oily pollution in water system. In this study, a self-cleaning underwater superoleophobic mesh that can be used for oil-water separation is prepared by the layer-by-layer (LbL) assembly of sodium silicate and TiO2 nanoparticles on the stainless steel mesh. The integration of the self-cleaning property into the all-inorganic separation mesh by using TiO2 enables the convenient removal of the contaminants by ultraviolet (UV) illumination, and allows for the facile recovery of the separation ability of the contaminated mesh, making it promising for practial oil-water separation applications.

  19. Intumescent Coatings as Fire Retardants

    Science.gov (United States)

    Parker, J. A.; Fohlen, G. M.; Sawko, P. M.; Fish, R. H.

    1970-01-01

    The development of fire-retardant coatings to protect surfaces which may be exposed to fire or extreme heat is a subject of intense interest to many industries. A fire-retardant paint has been developed which represents a new chemical approach for preparing intumescent coatings, and potentially, is very important to fire-prevention authorities. The requirements for a superior coating include ease of application, suitability to a wide variety of surfaces and finishes, and stability over an extended period of time within a broad range of ambient temperature and humidity conditions. These innovative coatings, when activated by the heat of a fire, react to form a thick, low-density, polymeric coating or char layer. Water vapor and sulphur dioxide are released during the intumescent reaction. Two fire-protection mechanisms thus become available: (1) the char layer retards the flow of heat, due to the extremely low thermal conductivity; and (2) water vapor and sulfur dioxide are released, providing fire quenching properties. Still another mechanism functions in cases where the char, by virtue of its high oxidation resistance and low thermal conductivity, reaches a sufficiently high temperature to re-radiate much of the incident heat load. The coatings consist of dispersions of selective salts of a nitro-amino-arornatic compound. Specifically, para-nitroaniline bisulfate and the ammonium salt of para-nitroaniline-ortho sulphuric acid (2-amino-5-nitrobenzenesulphuric acid) are used. Suitable vehicles are cellulose nitrate of lacquer grade, a nitrite-phenolic modified rubber, or epoxy-polysulfide copolymer. Three separate formulations have been developed. A solvent is usually employed, such as methylethyl ketone, butyl acetate, or toluene, which renders the coatings suitably thin and which evaporates after the coatings are applied. Generally, the intumescent material is treated as insoluble in the vehicle, and is ground and dispersed in the vehicle and solvent like an

  20. Characterization of Al-coated and Uncoated Steel Slags in Flow-through Experiments: An Approach to Evaluate the Potential Efficiency of P Sorption Materials in P Removal Structures

    Science.gov (United States)

    Chagas, I. S. P.; Penn, C. J.; Huang, C. H.

    2017-12-01

    Excessive phosphorus (P) in surface waters is one of the key drivers of eutrophication. P removal structures are an emerging technology developed to reduce excessive dissolved P in runoff and drainage water, preventing or mitigating P delivery to water systems. One of the determining factors for the success of these structures is the type of P sorption material (PSM) being used. Steel slag, a residue of the steel industry, is an example of PSM proven to be efficient in sequestering dissolved P from water. However, its P sorption capacity can significantly vary, mostly because different steel-making processes generate this PSM. Aluminum-coating is a technology aiming to improve the P sorptive qualities of steel slag. In this study, we characterized eighteen different slag samples from different plants and steel-making processes. Safety, i.e., presence of trace metals, as well as chemical and physical properties were evaluated through digestions, metal-extractions and general chemical and physical characterization (e.g.: pH, buffer index, bulk density). We conducted flow-through experiments, a dynamic sorption approach, on coated and uncoated slag samples in order to evaluate differences in P removal efficiency and the effects of Al-coating. For the Al-coating, a solution of Al2(SO4)3 at two concentrations (94.5 or 66.2 g L-1) was used to coat the slag samples. After 48 hours in contact with the solution, flow-through experiments were performed. All samples were tested with an incoming P concentration of 0.5 mg L-1. Hydraulic residence time was regulated for each steel slag sample, alternating between 9.85 minutes or 0.28 minutes. This study will provide essential information about intrinsic differences in steel slag composition and its efficiency in sequestering P from flowing waters. Moreover, we explore the effects of the Al-coating technique, which can in turn enhance P removal structures efficacy and broaden its adoption.

  1. Underwater behaviour of bitumen coated radioactive wastes: experimental validation of the Colonbo degradation model

    International Nuclear Information System (INIS)

    Gwinner, B.

    2004-03-01

    In the release scenario considered for geologic repository, water is thought to be the main aggressive agent with regards to bituminized radioactive waste (composed in general of 60 weight % of bitumen, 40% of soluble/insoluble salts and a few ppm of radionuclides). Since liquid water can diffuse in pure bitumen, leaching of bituminized waste results in the dissolution of the most soluble salts and leads to the development of a more or less concentrated saline solution-filled pore structure (called permeable layer). In consequence of the generation of a porous layer in the bituminized waste, leaching of salts and radionuclides can then take place. Research performed at the Atomic Energy Commission (CEA) aims therefore at understanding the consequences of ground-water immersion on the transport properties and radionuclides leaching of bituminized waste materials. To this end, a constitutive model (called COLONBO) which describes mathematically the leaching of bituminized waste has been developed. The COLONBO model is based on the following assumptions: 1. Water and dissolved salts migrate in the permeable layer according to Fick's first law. The diffusion of water and salts are quantified by effective diffusion coefficients which are unknown. 2. The mechanical properties of the bitumen matrix are not considered during leaching (free swelling). Up to now, the COLONBO model has been used only to model experimental water uptake and salt leach curves, leading (theoretical) estimates of the effective diffusion coefficients of water and salts in the permeable layer. The aim of this work was to validate experimentally the numerical results obtained with the COLONBO model. First, the correspondence between experimental and simulated water uptake and salt leach rates obtained on various bituminized waste materials is checked, leading estimates of the effective diffusion coefficients of water and salts in the permeable layer. Second, the evolution of the thickness and of the morphology of the permeable layer of partially leached bituminized waste samples is studied. The porosity and the pore distribution in the permeable layer are quantified according to a semi-automatic method based on the analysis of Environmental Scanning Electron Microscope images. The obtained experimental porosity profiles are compared successfully to those resulting from simulations performed with the COLONBO model. The effective diffusion coefficients of water and salts in the permeable layer of leached bituminized waste samples are then directly measured by through diffusion experiments. In the experiments, the flow of radioactive tracers (water and salts) through thin membranes of partially leached bituminized waste is followed in time. Due to the evolution of the bitumen specimen during the tests (continuous leaching), a specific method of analysis had to be developed to obtain reliable effective diffusion coefficients. The results show that the diffusion coefficients of water and salts increase with the porosity of the permeable layer, as expected from the COLONBO model. Overall, the direct characterization of the transport properties of the permeable layer and of the pore distribution in the permeable layer validate quantitatively the results obtained with the COLONBO model and the underlying hypotheses. Finally, constitutive models describing the leaching of elements from polymer matrices immersed in water have been applied to bituminized waste materials. With respect to COLONBO, these models account for the effect of mechanical properties of polymers on swelling and leach rates. (author)

  2. Analysis of underwater decoupling properties of a locally resonant acoustic metamaterial coating

    International Nuclear Information System (INIS)

    Huang Ling-Zhi; Xiao Yong; Wen Ji-Hong; Yang Hai-Bin; Wen Xi-Sen

    2016-01-01

    This paper presents a semi-analytical solution for the vibration and sound radiation of a semi-infinite plate covered by a decoupling layer consisting of locally resonant acoustic metamaterial. Formulations are derived based on a combination use of effective medium theory and the theory of elasticity for the decoupling material. Theoretical results show good agreements between the method developed in this paper and the conventional finite element method (FEM), but the method of this paper is more efficient than FEM. Numerical results also show that system with acoustic metamaterial decoupling layer exhibits significant noise reduction performance at the local resonance frequency of the acoustic metamaterial, and such performance can be ascribed to the vibration suppression of the base plate. It is demonstrated that the effective density of acoustic metamaterial decoupling layer has a great influence on the mechanical impedance of the system. Furthermore, the resonance frequency of locally resonant structure can be effectively predicted by a simple model, and it can be significantly affected by the material properties of the locally resonant structure. (paper)

  3. A new approach for enhancement of the corrosion protection properties and interfacial adhesion bonds between the epoxy coating and steel substrate through surface treatment by covalently modified amino functionalized graphene oxide film

    International Nuclear Information System (INIS)

    Parhizkar, N.; Shahrabi, T.; Ramezanzadeh, B.

    2017-01-01

    Highlights: •The steel substrate was treated by a covalently modified amino functionalized graphene oxide (fGO) film. •Deposition of fGO film at the interface of steel and epoxy could effectively improve the adhesion strength and corrosion protection properties. •More stable and stronger interfacial bonds was obtained when treating the interface by fGO film. -- Abstract: This study introduces a novel surface treatment approach of steel substrate by covalent modification of graphene oxide (fGO) nanosheets with 3-aminopropyltriethoxysilane to improve the adhesion and corrosion protection properties of an epoxy coating. The effect of fGO film on the epoxy coating performance was studied by field-emission scanning electron microscopy (FE-SEM), X-Ray photoelectron spectroscopy (XPS), electrochemical impedance spectroscopy (EIS), Pull-off adhesion, salt spray and cathodic delamination tests. Results revealed that deposition of fGO film on steel surface can effectively improve the adhesion strength and corrosion protection properties and reduce the cathodic delamination rate of the epoxy coating.

  4. Quantification of coating aging using impedance measurements

    NARCIS (Netherlands)

    Westing, E.P.M. van; Weijde, D.H. van der; Vreijling, M.P.W.; Ferrari, G.M.; Wit, J.H.W. de

    1998-01-01

    This chapter shows the application results of a novel approach to quantify the ageing of organic coatings using impedance measurements. The ageing quantification is based on the typical impedance behaviour of barrier coatings in immersion. This immersion behaviour is used to determine the limiting

  5. Coatings and Corrosion Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — Purpose: The mission of the Coatings and Corrosion Laboratory is to develop and analyze the effectiveness of innovative coatings test procedures while evaluating the...

  6. Graphene Coatings

    DEFF Research Database (Denmark)

    Stoot, Adam Carsten; Camilli, Luca; Bøggild, Peter

    2014-01-01

    Owing to its remarkable electrical and mechanical properties, graphene has been attracting tremendous interest in materials science. In particular, its chemical stability and impermeability make it a promising protective membrane. However, recent investigations reveal that single layer graphene...... cannot be used as a barrier in the long run, due to galvanic corrosion phenomena arising when oxygen or water penetrate through graphene cracks or domain boundaries. Here, we overcome this issue by using a multilayered (ML) graphene coating. Our lab- as well as industrial-scale tests demonstrate that ML...... graphene can effectively protect Ni in harsh environments, even after long term exposure. This is made possible by the presence of a high number of graphene layers, which can efficiently mask the cracks and domain boundaries defects found in individual layers of graphene. Our findings thus show...

  7. Coating materials

    International Nuclear Information System (INIS)

    Ozeki, Takao; Kimura, Tadashi; Kobayashi, Juichi; Maeda, Yutaka; Nakamoto, Hideo.

    1969-01-01

    A non-solvent type coating material composition is provided which can be hardened by irradiation with active energy, particularly electron beams, using a composition which contains 10%-100% of a radically polymerizable low molecular compound (A), (hereafter called an oligomer), having at least two vinyl radicals in one molecule. These compositions have a high degree of polymerization and characteristics equivalent to thermosetting acrylic or amino alkyd resin. The oligomer (A) is produced by reacting an epoxy-containing vinyl monomer with saturated polycarboxylic acids or anhydrides. In one embodiment, 146 parts by weight of adipic acid and 280 parts of glycidyl methacrylate ester undergo addition reaction in the presence of a polymerization-inhibitor and a catalyst at 90 0 C for 6 hours to produce an oligomer having a fiberous divinyl construction. The coating composition utilizes this oligomer in the forms of (I-1), a whole oligomer; (I-2), 0%-90% of this oligomer and 90%-10% of a vinyl monomer containing at least 30% of (meth) acrylic monomer; (I-3), 10%-90% of such oligomer and 90%-10% of other monomers containing at least two vinyl radicals in one molecule; (I-4), a mixture of (I-2) and (I-3) in proportion of 1/9 to 9/1, and (I-5), above four compositions each containing 50% or less unsaturated polyester or drying oil having 500-5,000 molecules or a drying oil-modified alkyd resin having 500-5,000 molecules. Four examples are given. (Iwakiri, K.)

  8. Microneedle Coating Techniques for Transdermal Drug Delivery

    Directory of Open Access Journals (Sweden)

    Rita Haj-Ahmad

    2015-11-01

    Full Text Available Drug administration via the transdermal route is an evolving field that provides an alternative to oral and parenteral routes of therapy. Several microneedle (MN based approaches have been developed. Among these, coated MNs (typically where drug is deposited on MN tips are a minimally invasive method to deliver drugs and vaccines through the skin. In this review, we describe several processes to coat MNs. These include dip coating, gas jet drying, spray coating, electrohydrodynamic atomisation (EHDA based processes and piezoelectric inkjet printing. Examples of process mechanisms, conditions and tested formulations are provided. As these processes are independent techniques, modifications to facilitate MN coatings are elucidated. In summary, the outcomes and potential value for each technique provides opportunities to overcome formulation or dosage form limitations. While there are significant developments in solid degradable MNs, coated MNs (through the various techniques described have potential to be utilized in personalized drug delivery via controlled deposition onto MN templates.

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

    International Nuclear Information System (INIS)

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

    2008-01-01

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

  10. A laboratory scale approach to polymer solar cells using one coating/printing machine, flexible substrates, no ITO, no vacuum and no spincoating

    DEFF Research Database (Denmark)

    Carlé, Jon Eggert; Andersen, Thomas Rieks; Helgesen, Martin

    2013-01-01

    Printing of the silver back electrode under ambient conditions using simple laboratory equipment has been the missing link to fully replace evaporated metal electrodes. Here we demonstrate how a recently developed roll coater is further developed into a single machine that enables processing of a......–tin-oxide (ITO) or vacuum evaporation steps making it a significant step beyond the traditional laboratory polymer solar cell processing methods involving spin coating and metal evaporation....

  11. In situ fabrication of nanostructured titania coating on the surface of titanium wire: A new approach for preparation of solid-phase microextraction fiber

    International Nuclear Information System (INIS)

    Cao Dandan; Lue Jianxia; Liu Jingfu; Jiang Guibin

    2008-01-01

    Nanostructured titania-based solid-phase microextraction (SPME) fibers were fabricated through the in situ oxidation of titanium wires with H 2 O 2 (30%, w/w) at 80 deg. C for 24 h. The obtained SPME fibers possess a ∼1.2 μm thick nanostructured coating consisting of ∼100 nm titania walls and 100-200 nm pores. The use of these fibers for headspace SPME coupled with gas chromatography with electron capture detection (GC-ECD) resulted in improved analysis of dichlorodiphenyltrichloroethane (DDT) and its degradation products. The presented method to detect DDT and its degradation products has high sensitivity (0.20-0.98 ng L -1 ), high precision (relative standard deviation R.S.D. = 9.4-16%, n = 5), a wide linear range (5-5000 ng L -1 ), and good linearity (coefficient of estimation R 2 = 0.991-0.998). As the nanostructured titania was in situ formed on the surface of a titanium wire, the coating was uniformly and strongly adhered on the titanium wire. Because of the inherent chemical stability of the titania coating and the mechanical durability of the titanium wire substrate, this new SPME fiber exhibited long life span (over 150 times)

  12. In situ fabrication of nanostructured titania coating on the surface of titanium wire: A new approach for preparation of solid-phase microextraction fiber

    Energy Technology Data Exchange (ETDEWEB)

    Cao Dandan [State Key Laboratory of Environmental Chemistry and Ecotoxicology, Research Center for Eco-Environmental Sciences, Chinese Academy of Sciences, P.O. Box 2871, Beijing 100085 (China); Environmental Science Division, School of Earth and Space Science, University of Science and Technology of China, Hefei, Anhui Province 230026 (China); Lue Jianxia [State Key Laboratory of Environmental Chemistry and Ecotoxicology, Research Center for Eco-Environmental Sciences, Chinese Academy of Sciences, P.O. Box 2871, Beijing 100085 (China); Liu Jingfu [State Key Laboratory of Environmental Chemistry and Ecotoxicology, Research Center for Eco-Environmental Sciences, Chinese Academy of Sciences, P.O. Box 2871, Beijing 100085 (China)], E-mail: jfliu@rcees.ac.cn; Jiang Guibin [State Key Laboratory of Environmental Chemistry and Ecotoxicology, Research Center for Eco-Environmental Sciences, Chinese Academy of Sciences, P.O. Box 2871, Beijing 100085 (China)

    2008-03-17

    Nanostructured titania-based solid-phase microextraction (SPME) fibers were fabricated through the in situ oxidation of titanium wires with H{sub 2}O{sub 2} (30%, w/w) at 80 deg. C for 24 h. The obtained SPME fibers possess a {approx}1.2 {mu}m thick nanostructured coating consisting of {approx}100 nm titania walls and 100-200 nm pores. The use of these fibers for headspace SPME coupled with gas chromatography with electron capture detection (GC-ECD) resulted in improved analysis of dichlorodiphenyltrichloroethane (DDT) and its degradation products. The presented method to detect DDT and its degradation products has high sensitivity (0.20-0.98 ng L{sup -1}), high precision (relative standard deviation R.S.D. = 9.4-16%, n = 5), a wide linear range (5-5000 ng L{sup -1}), and good linearity (coefficient of estimation R{sup 2} = 0.991-0.998). As the nanostructured titania was in situ formed on the surface of a titanium wire, the coating was uniformly and strongly adhered on the titanium wire. Because of the inherent chemical stability of the titania coating and the mechanical durability of the titanium wire substrate, this new SPME fiber exhibited long life span (over 150 times)

  13. Electrocurtain coating process for coating solar mirrors

    Science.gov (United States)

    Kabagambe, Benjamin; Boyd, Donald W.; Buchanan, Michael J.; Kelly, Patrick; Kutilek, Luke A.; McCamy, James W.; McPheron, Douglas A.; Orosz, Gary R.; Limbacher, Raymond D.

    2013-10-15

    An electrically conductive protective coating or film is provided over the surface of a reflective coating of a solar mirror by flowing or directing a cation containing liquid and an anion containing liquid onto the conductive surface. The cation and the anion containing liquids are spaced from, and preferably out of contact with one another on the surface of the reflective coating as an electric current is moved through the anion containing liquid, the conductive surface between the liquids and the cation containing liquid to coat the conductive surface with the electrically conductive coating.

  14. Underwater Broadband Source Localization Based on Modal Filtering and Features Extraction

    Directory of Open Access Journals (Sweden)

    Dominique Fattaccioli

    2010-01-01

    Full Text Available Passive source localization is a crucial issue in underwater acoustics. In this paper, we focus on shallow water environment (0 to 400 m and broadband Ultra-Low Frequency acoustic sources (1 to 100 Hz. In this configuration and at a long range, the acoustic propagation can be described by normal mode theory. The propagating signal breaks up into a series of depth-dependent modes. These modes carry information about the source position. Mode excitation factors and mode phases analysis allow, respectively, localization in depth and distance. We propose two different approaches to achieve the localization: multidimensional approach (using a horizontal array of hydrophones based on frequency-wavenumber transform (F-K method and monodimensional approach (using a single hydrophone based on adapted spectral representation (FTa method. For both approaches, we propose first complete tools for modal filtering, and then depth and distance estimators. We show that adding mode sign and source spectrum informations improves considerably the localization performance in depth. The reference acoustic field needed for depth localization is simulated with the new realistic propagation modelMoctesuma. The feasibility of both approaches, F-K and FTa, are validated on data simulated in shallow water for different configurations. The performance of localization, in depth and distance, is very satisfactory.

  15. Underwater Broadband Source Localization Based on Modal Filtering and Features Extraction

    Directory of Open Access Journals (Sweden)

    Cristol Xavier

    2010-01-01

    Full Text Available Passive source localization is a crucial issue in underwater acoustics. In this paper, we focus on shallow water environment (0 to 400 m and broadband Ultra-Low Frequency acoustic sources (1 to 100 Hz. In this configuration and at a long range, the acoustic propagation can be described by normal mode theory. The propagating signal breaks up into a series of depth-dependent modes. These modes carry information about the source position. Mode excitation factors and mode phases analysis allow, respectively, localization in depth and distance. We propose two different approaches to achieve the localization: multidimensional approach (using a horizontal array of hydrophones based on frequency-wavenumber transform ( method and monodimensional approach (using a single hydrophone based on adapted spectral representation ( method. For both approaches, we propose first complete tools for modal filtering, and then depth and distance estimators. We show that adding mode sign and source spectrum informations improves considerably the localization performance in depth. The reference acoustic field needed for depth localization is simulated with the new realistic propagation modelMoctesuma. The feasibility of both approaches, and , are validated on data simulated in shallow water for different configurations. The performance of localization, in depth and distance, is very satisfactory.

  16. Understanding the in vivo performance of enteric coated tablets using an in vitro-in silico-in vivo approach: case example diclofenac.

    Science.gov (United States)

    Kambayashi, Atsushi; Blume, Henning; Dressman, Jennifer

    2013-11-01

    Individual pharmacokinetics after administration of enteric coated tablets are often highly variable and this has been ascribed to the interaction of the dosage form with the physiology of the gastrointestinal tract. This research aimed to explore the influence of interactions between enteric coated tablets and physiological factors such as gastric and intestinal pH as well as gastric emptying on the release of drug from the dosage form and the subsequent plasma profile, using diclofenac as a case example. A physiologically based pharmacokinetic (PBPK) model for monolithic enteric coated dosage forms was designed and coupled with biorelevant dissolution results to predict PK profiles of diclofenac from Voltaren® tablets in both fasted and fed humans. The paddle method was used to obtain the dissolution profiles of diclofenac in biorelevant media. The Noyes-Whitney model was employed to describe the dissolution kinetics. The PBPK model was set up using STELLA® software. A single unit enteric coated tablet was assumed to be emptied from stomach only with the house-keeping wave. Timing of the emptying was simulated using a random number generator to statistically estimate gastric emptying times after ingestion. The lag times and the dissolution rate used as input parameters in the STELLA® model were adjusted according to the pre-exposure period. The oral PK profiles were predicted for each virtual subject individually, and then the mean profiles and standard deviations were calculated. The dissolution profiles were highly affected by the period of pre-exposure in FaSSGF. A long period of pre-exposure of the tablet prolonged the lag time and decreased the dissolution rate. The results of the pharmacokinetic simulations showed that not only the mean profiles in the fasted state but also the variability could be predicted successfully using data generated for the individual virtual subjects. The results emphasize the importance of accounting for the range of p

  17. 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...

  18. 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...

  19. 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…

  20. 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...