Yu, Jian-Cheng; Zhang, Ai-Qun; Jin, Wen-Ming; Chen, Qi; Tian, Yu; Liu, Chong-Jie
Underwater gliders, which glide through water columns by use of a pair of wings, are efficient long-distance, long-duration marine environment observatory platforms. The Sea-Wing underwater glider, developed by the Shenyang Institute of Automation, CAS, is designed for the application of deep-sea environment variables observation. The system components, the mechanical design, and the control system design of the Sea-Wing underwater glider are described in this paper. The pitch and roll adjusting models are derived based on the mechanical design, and the adjusting capabilities for the pitch and roll are analyzed according to the models. Field experiments have been carried out for validating the gliding motion and the ability of measuring ocean environment variables. Experimental results of the motion performances of the glider are presented.
Various lesson plans for museum instruction were tested on fifth grade children of fair and high intelligence in an attempt to improve upon the "accepted method" of teaching, which was thought to be better suited to the child of low intelligence than to his abler classmates. The lesson plans tested were: (1) the accepted method…
Vallance, Charles A.; Barritt, Scott W.; White, Mark; Martinson, Steven R.
Divers work in areas where radiological exposures would be prohibitive or even fatal to workers in dry conditions. To perform such work safely, while minimizing exposure, requires special equipment and techniques. This paper will provide an overview of the latest procedures and equipment necessary to perform work underwater in high radiation areas while meeting ALARA goals. Recent projects performed in spent fuel storage pools and inside primary containment at commercial nuclear power plants will be described to demonstrate the use of procedures and techniques for ALARA planning, personnel dose minimization, project execution, dose tracking, and control of radioactive waste
Dvorak, Robert W.
Discusses the application of the PLATO IV computer-based educational system to a one-semester basic drawing course for freshman architecture, landscape architecture, and interior design students and relates student reactions to the experience. (RAO)
Full Text Available Modern eating habits depend in large part on the development of food processing technology. Thermal treatments are often performed in the conventional food processing, but it can cause discoloration and loss of nutrients of the food by thermal processing or treatment. On the other hand, food processing using an underwater shock wave has little influence of heat and its processing time is very short, preventing the loss of nutrients. In this research optical observation experiment and the numerical simulation were performed, in order to understand and control the behavior of the underwater shock wave in the development of the processing container using an underwater shock wave for the factory and home. In this experiment a rectangular container was used to observe the behavior of the underwater shock wave. In the experiment, the shock wave was generated by using explosive on the shock wave generation side. The shock wave, which passed through the phosphor bronze and propagated from the aluminum sidewall, was observed on the processing container side. Numerical simulation of an analogous experimental model was investigated, where LS-DYNA software was used for the numerical simulation. The comparative study of the experiment and the numerical simulation was investigated. The behavior of a precursor shock wave from the device wall was able to be clarified. This result is used for development of the device in numerical simulation.
Hoovler, G.S.; Baldwin, M.N.
Criticla arrays of 2.5%-enriched UO 2 fuel rods that simulate underwater rod storage of spent power reactor fuel are being constructed. Rod storage is a term used to describe a spent fuel storage concept in which the fuel bundles are disassembled and the rods are packed into specially designed cannisters. Rod storage would substantially increase the amount of fuel that could be stored in available space. These experiments are providing criticality data against which to benchmark nuclear codes used to design tightly packed rod storage racks
Full Text Available In May 2016, 48 third semester undergraduate students enrolled in the physiotherapy program at Karolinska Institutet in Sweden were given three sets of questionnaires; before the information literacy instruction (ILI started, at the end of the first session, and a week after, at the end of the second and last session. The aim of this small-scale pilot study was to shed some light on students’ motivation to attend ILI, how they value the sessions afterwards and how they assess their learning outcome. Furthermore, it was an attempt to do a "students’ user experience study” in a pedagogical setting, with the intention to evaluate and improve teaching in ILI to meet student expectations. The average response rate for the three questionnaires was 92%. The results show that students’ expectations were similar to the actual content of ILI, and that the students were satisfied with their own learning outcome. Both motivation and the sense of relevance got higher scores after students attended ILI. Motivation rose from 7,4 to 8,12 out of 10. This is positive because a high level of motivation often improves the learning outcome (Schunk, 2012. When asked which areas most needed improvement in order to further enhance their learning outcome, the most common responses were “the pedagogy” and “my own achievement”. It would be interesting to start collaborating with a group of students in order to explore new methods and learning activities.
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.
Zhang, Kui; Climent, Salvador; Meratnia, Nirvana; Havinga, Paul J.M.
Although in recent years many research activities have been carried out on underwater communication, still many challenges need to be tackled to make the underwater communication suitable for real applications. To this end, availability of an open and well-designed platform and performing realworld
Thorsnes, T.; Bjarnadóttir, L. R.
Emerging platforms and tools like autonomous underwater vehicles and synthetic aperture sonars provide interesting opportunities for making seabed mapping more efficient and precise. Sediment grain-size maps are an important product in their own right and a key input for habitat and biotope maps. National and regional mapping programmes are tasked with mapping large areas, and survey efficiency, data quality, and resulting map confidence are important considerations when selecting the mapping strategy. Since 2005, c. 175,000 square kilometres of the Norwegian continental shelf and continental slope has been mapped with respect to sediments, habitats and biodiversity, and pollution under the MAREANO programme (www.mareano.no). At present the sediment mapping is based on a combination of ship-borne multibeam bathymetry and backscatter, visual documentation using a towed video platform, and grab sampling. We have now tested a new approach, using an Autonomous Underwater Vehicle (AUV) as the survey platform for the collection of acoustic data (Synthetic Aperture Sonar (SAS), EM2040 bathymetry and backscatter) and visual data (still images using a TFish colour photo system). This pilot project was conducted together the Norwegian Hydrographic Service, the Institute of Marine Research (biology observations) and the Norwegian Defence Research Establishment (operation of ship and AUV). The test site reported here is the Vesterdjupet area, offshore Lofoten, northern Norway. The water depth is between 170 and 300 metres, with sediments ranging from gravel, cobbles and boulders to sandy mud. A cold-water coral reef, associated with bioclastic sediments was also present in the study area. The presentation will give an overview of the main findings and experiences gained from this pilot project with a focus on geological mapping and will also discuss the relevance of AUV-based mapping to large-area mapping programmes like MAREANO.
Brustoloni, Jose Carlos
We describe a sequence of five experiments on network security that cast students successively in the roles of computer user, programmer, and system administrator. Unlike experiments described in several previous papers, these experiments avoid placing students in the role of attacker. Each experiment starts with an in-class demonstration of an…
Calisti, M; Corucci, F; Arienti, A; Laschi, C
This paper studies underwater legged locomotion (ULL) by means of a robotic octopus-inspired prototype and its associated model. Two different types of propulsive actions are embedded into the robot model: reaction forces due to leg contact with the ground and hydrodynamic forces such as the drag arising from the sculling motion of the legs. Dynamic parameters of the model are estimated by means of evolutionary techniques and subsequently the model is exploited to highlight some distinctive features of ULL. Specifically, the separation between the center of buoyancy (CoB)/center of mass and density affect the stability and speed of the robot, whereas the sculling movements contribute to propelling the robot even when its legs are detached from the ground. The relevance of these effects is demonstrated through robotic experiments and model simulations; moreover, by slightly changing the position of the CoB in the presence of the same feed-forward activation, a number of different behaviors (i.e. forward and backward locomotion at different speeds) are achieved.
Mitnik, Ruben; Recabarren, Matias; Nussbaum, Miguel; Soto, Alvaro
Graphing is a key skill in the study of Physics. Drawing and interpreting graphs play a key role in the understanding of science, while the lack of these has proved to be a handicap and a limiting factor in the learning of scientific concepts. It has been observed that despite the amount of previous graph-working experience, students of all ages…
Nielsen, Mikkel Cornelius; Eidsvik, Ole Alexander; Blanke, Mogens
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...
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.
The first underwater panoramic images were added to Google Maps™, the company announced on 25 September. This first “underwater Street View collection,” launched in partnership with the Caitlin Seaview Survey, provides people with the opportunity to “become the next virtual Jacques Cousteau.” For more information, see: maps.google.com/ocean.
Dick, James L
There is thus provided an underwater vehicle having facility for maneuvering alongside a retrieving vehicle, as by manipulation of bow and stern planes, for engaging a hull surface of the retrieving...
Kang, Sonia K; Inzlicht, Michael
Gaining an understanding of intergroup relations and outgroup rejection is an important childhood development. Children learn about rejection by outgroups via their own experiences and external instruction. A comparison of the impact of experience and instruction on first-, third-, and fifth-grade children's evaluations of rejection by outgroups in a minimal-groups paradigm suggests that the relative impact of experience and instruction differs as children age. In Study 1, younger children were more influenced by instruction, and older children were more influenced by what they experienced for themselves. In Study 2, younger children were more influenced by instruction, even when that instruction conflicted with what they experienced; older children were more influenced by their own experiences, even when those experiences contradicted what they were told to expect. These findings suggest that children begin learning about outgroup rejection through instruction but start to rely more on their own experiences as they age.
Hurd, Randy C.; Hacking, Kip S.; Damarjian, Jennifer L.; Wright, Geoffrey A.; Truscott, Tadd
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…
Hoovler, G.S.; Baldwin, M.N.
Critical experiments are in progress on arrays of 2 1/2% enriched UO 2 fuel pins simulating underwater pin storage of spent power reactor fuel. Pin storage refers to a spent fuel storage concept in which the fuel assemblies are dismantled and the fuel pins are tightly packed into specially designed canisters. These experiments are providing benchmark data with which to validate nuclear codes used to design spent fuel pin storage racks
Yang, Miao; Sowmya, Arcot
Quality evaluation of underwater images is a key goal of underwater video image retrieval and intelligent processing. To date, no metric has been proposed for underwater color image quality evaluation (UCIQE). The special absorption and scattering characteristics of the water medium do not allow direct application of natural color image quality metrics especially to different underwater environments. In this paper, subjective testing for underwater image quality has been organized. The statistical distribution of the underwater image pixels in the CIELab color space related to subjective evaluation indicates the sharpness and colorful factors correlate well with subjective image quality perception. Based on these, a new UCIQE metric, which is a linear combination of chroma, saturation, and contrast, is proposed to quantify the non-uniform color cast, blurring, and low-contrast that characterize underwater engineering and monitoring images. Experiments are conducted to illustrate the performance of the proposed UCIQE metric and its capability to measure the underwater image enhancement results. They show that the proposed metric has comparable performance to the leading natural color image quality metrics and the underwater grayscale image quality metrics available in the literature, and can predict with higher accuracy the relative amount of degradation with similar image content in underwater environments. Importantly, UCIQE is a simple and fast solution for real-time underwater video processing. The effectiveness of the presented measure is also demonstrated by subjective evaluation. The results show better correlation between the UCIQE and the subjective mean opinion score.
Arena, Dylan A.; Schwartz, Daniel L.
Well-designed digital games can deliver powerful experiences that are difficult to provide through traditional instruction, while traditional instruction can deliver formal explanations that are not a natural fit for gameplay. Combined, they can accomplish more than either can alone. An experiment tested this claim using the topic of statistics,…
Full Text Available While a great deal has been written on the advantage and benefits of online teaching, little is known on how..assessment is implemented in online classrooms to monitor and inform performance and progress. The..purpose of this study is to investigate the dynamics of WebCT classroom assessment by analyzing the..perceptions and experience of the instructors. Grounded theory method was employed to generate a - process..theory- . The study included 10 faculties who taught WebCT classes, and 216 students in the College of..Education in an urban university in the Mid west. Interviews and classroom observations were undertaken..on line. The findings indicated that, performance-based assessment, writing skills, interactive assessment..and learner autonomy were major assessment aspects to inform teaching and enhance learning. If one of..the major roles of online instruction is to increase self-directed learning, as part of the pedagogical..mechanism, web-based classroom assessment should be designed and practiced to impact learner autonomy.
Climent, Salvador; Capella, Juan Vincente; Meratnia, Nirvana; Serrano, Juan José
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
Helle, Laura; Nivala, Markus; Kronqvist, Pauliina; Gegenfurtner, Andreas; Björk, Pasi; Säljö, Roger
Virtual microscopy is being introduced in medical education as an approach for learning how to interpret information in microscopic specimens. It is, however, far from evident how to incorporate its use into existing teaching practice. The aim of the study was to explore the consequences of introducing virtual microscopy tasks into an undergraduate pathology course in an attempt to render the instruction more process-oriented. The research questions were: 1) How is virtual microscopy perceived by students? 2) Does work on virtual microscopy tasks contribute to improvement in performance in microscopic pathology in comparison with attending assistant-led demonstrations only? During a one-week period, an experimental group completed three sets of virtual microscopy homework assignments in addition to attending demonstrations. A control group attended the demonstrations only. Performance in microscopic pathology was measured by a pre-test and a post-test. Student perceptions of regular instruction and virtual microscopy were collected one month later by administering the Inventory of Intrinsic Motivation and open-ended questions. The students voiced an appreciation for virtual microscopy for the purposes of the course and for self-study. As for learning gains, the results indicated that learning was speeded up in a subgroup of students consisting of conscientious high achievers. The enriched instruction model may be suited as such for elective courses following the basic course. However, the instructional model needs further development to be suited for basic courses.
Callaghan, David P.; Ahmadi, Afshin; Nielsen, Peter
Flume measurements of a one-dimensional sliding hump starting from rest in quiescence fresh water indicate that when the hump travels at speed less than the shallow-water wave celerity, three waves emerge, travelling in two directions. One wave travels in the opposite direction to the sliding hump at approximately the shallow-water wave celerity (backward free wave). Another wave travels approximately in step with the hump (forced wave), and the remaining wave travels in the direction of the hump at approximately the shallow-water wave celerity (forward free wave). These experiments were completed for a range of sliding hump speed relative to the shallow-water wave celerity, up to unity of this ratio, to investigate possible derivation from solutions of the Euler equation with non-linear and non-hydrostatic terms being included or excluded. For the experimental arrangements tested, the forced waves were negative (depression or reduced water surface elevation) waves while the free waves were positive (bulges or increased water surface elevation). For experiments where the sliding hump travelled at less than 80% of the shallow-water wave celerity did not include transient behaviour measurements (i.e. when the three waves still overlapped). The three wave framework was partially supported by these measurements in that the separated forward and forced waves were compared to measurements. For the laboratory scale experiments, the forward free wave height was predicted reasonably by the long-wave equation (ignoring non-linear and non-hydrostatic terms) when the sliding hump speed was less than 80% of the shallow-water wave celerity. The forced wave depression magnitude required the Euler equations for all hump speed tested. The long-wave solution, while being valid in a limited parameter range, does predict the existence of the three waves as found in these experiments (forward travelling waves measured quantitatively while the backward travelling waves visually by video
Callaghan, David P.; Nielsen, Peter [The University of Queensland, School of Civil Engineering, Brisbane (Australia); Ahmadi, Afshin [Kellogg Brown and Root Pty Ltd, Brisbane, QLD (Australia)
Flume measurements of a one-dimensional sliding hump starting from rest in quiescence fresh water indicate that when the hump travels at speed less than the shallow-water wave celerity, three waves emerge, travelling in two directions. One wave travels in the opposite direction to the sliding hump at approximately the shallow-water wave celerity (backward free wave). Another wave travels approximately in step with the hump (forced wave), and the remaining wave travels in the direction of the hump at approximately the shallow-water wave celerity (forward free wave). These experiments were completed for a range of sliding hump speed relative to the shallow-water wave celerity, up to unity of this ratio, to investigate possible derivation from solutions of the Euler equation with non-linear and non-hydrostatic terms being included or excluded. For the experimental arrangements tested, the forced waves were negative (depression or reduced water surface elevation) waves while the free waves were positive (bulges or increased water surface elevation). For experiments where the sliding hump travelled at less than 80% of the shallow-water wave celerity did not include transient behaviour measurements (i.e. when the three waves still overlapped). The three wave framework was partially supported by these measurements in that the separated forward and forced waves were compared to measurements. For the laboratory scale experiments, the forward free wave height was predicted reasonably by the long-wave equation (ignoring non-linear and non-hydrostatic terms) when the sliding hump speed was less than 80% of the shallow-water wave celerity. The forced wave depression magnitude required the Euler equations for all hump speed tested. The long-wave solution, while being valid in a limited parameter range, does predict the existence of the three waves as found in these experiments (forward travelling waves measured quantitatively while the backward travelling waves visually by video
Perez, Carlos Raul, Jr.
The number of iPads in classrooms throughout the country is growing at a staggering rate. Educators and school districts are implementing iPad initiatives to enhance instruction. The purpose of this study was to examine high school teachers' experiences and perceptions after using the Apple iPad as an instructional tool in the classroom. An…
This research study was conducted to examine the effectiveness of direct instructional strategies regarding the achievement of students with ED. High school teachers with significant years of teaching experience in an urban setting support the effectiveness of direct instructional strategies. Teachers with 11-20 and 21-30 years of teaching…
Jirasatjanukul, Kanokrat; Jeerungsuwan, Namon
The objectives of the research were to (1) design an instructional model based on Connectivism and Constructivism to create innovation in real world experience, (2) assess the model designed--the designed instructional model. The research involved 2 stages: (1) the instructional model design and (2) the instructional model rating. The sample…
Mulvey, Bridget K.; Chiu, Jennifer L.; Ghosh, Rajlakshmi; Bell, Randy L.
Special education teachers provide critical science instruction to students. However, little research investigates special education teacher beliefs and practices around science in general or the nature of science and inquiry in particular. This investigation is a cross-case analysis of four elementary special education teachers' initial…
Ross, John A.; Maynes, Florence J.
An instructional program based on expert-novice differences in experimental problem-solving performance was taught to grade six students (N=265). Performance was assessed with multiple-choice and open-ended measures of specific transfer. Between-group comparisons using pretest scores as covariate showed treatment condition students consistently…
Schrum, P.B.; Cohen, G.H.
Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer [plus minus]45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer [plus minus]10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.
Schrum, P.B.; Cohen, G.H.
Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer ±45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer ±10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion
Full Text Available Based on creativity component theory, creativity system theory and creative self-efficacy theory, this study aims to explore the influence of college students’ aesthetics experience and creative self-efficacy on their creativity and the role of creativity instruction as a mediator variable. The participants were 338 college design majors in 50 teams who were working on their graduation exhibitions, and 50 advising professors from departments related to design. Hierarchical Linear Models were applied for analysis. The result showed that instruction on enhancing students’ creative intention positively affect students’ aesthetics experience. Students’ aesthetics experience affects their creativity and creative self-efficacy. Creativity instruction with focus on creativity skills by means of promoting aesthetic attitude, aesthetic understanding, and offering complete experiences had a moderating effect on students’ perception toward creative product. However, there was a negative moderating effect of creative instruction on perceived aesthetic pleasure and students’ perception toward creative product. There was no moderating effect of creative instruction on the relationship between students’ creative self-efficacy and creativity. Accordingly, the study concluded that in order to enhance students’ creativity, universities should stress on the development of students’ aesthetics experiences and re-evaluation of approaches to creativity instruction.
Byalko, Alexey V.
We present the first experimental observation of a new hydrodynamic phenomenon, the underwater tornado. Simple measurements show that the tornado forms a vortex of the Rankine type, i.e. the rising gas rotates as a solid body and the liquid rotates with a velocity decreasing hyperbolically with the radius. We obtain the dependence of the tornado radius a on the gas stream value j theoretically: a ∼ j2/5. Processing of a set of experiments yielded the value 0.36 for the exponent in this expression. We also report the initial stages of the theoretical study of this phenomenon.
Federal Laboratory Consortium — The Underwater Sound Reference Division (USRD) serves as the U.S. standardizing activity in the area of underwater acoustic measurements, as the National Institute...
Fischer, Philipp; Schwanitz, Max; Loth, Reiner; Posner, Uwe; Brand, Markus; Schröder, Friedhelm
A combined year-round assessment of selected oceanographic data and a macrobiotic community assessment was performed from October 2013 to November 2014 in the littoral zone of the Kongsfjorden polar fjord system on the western coast of Svalbard (Norway). State of the art remote controlled cabled underwater observatory technology was used for daily vertical profiles of temperature, salinity, and turbidity together with a stereo-optical assessment of the macrobiotic community, including fish. The results reveal a distinct seasonal cycle in total species abundances, with a significantly higher total abundance and species richness during the polar winter when no light is available underwater compared to the summer months when 24 h light is available. During the winter months, a temporally highly segmented community was observed with respect to species occurrence, with single species dominating the winter community for restricted times. In contrast, the summer community showed an overall lower total abundance as well as a significantly lower number of species. The study clearly demonstrates the high potential of cable connected remote controlled digital sampling devices, especially in remote areas, such as polar fjord systems, with harsh environmental conditions and limited accessibility. A smart combination of such new digital sampling methods with classic sampling procedures can provide a possibility to significantly extend the sampling time and frequency, especially in remote and difficult to access areas. This can help to provide a sufficient data density and therefore statistical power for a sound scientific analysis without increasing the invasive sampling pressure in ecologically sensitive environments.
Abbink, K.; Hennig-Schmidt, H.
This paper contributes to the ongoing methodological debate on context-free versus in-context presentation of experimental tasks. We report an experiment using the paradigm of a bribery experiment. In one condition, the task is presented in a typical bribery context, the other one uses abstract
The Internet and computer technology have altered the education landscape. Online courses are offered throughout the world. Learning about the experiences of faculty members is important to guide practitioners and administrators. Using qualitative research methodology, this study investigated the experiences of faculty members teaching online courses. A convenience sampling was used to select the instructional technology faculty members to investigate their experiences in online courses. Semi...
Bodin, F.; Fournier, Ph.; Martin, L.
Reprocessing operations on gas cooled French reactor spent fuel included a mechanical operation called decladding, (i.e., stripping the fuel rod from its magnesium metal cladding). After this operation shut down, COGEMA started a D and D project on the decladding building where specific equipment was stored under water. COGEMA then developed and operated a process to decontaminate and cut metallic structures remotely, using ultra-high-pressure water mixed with sand (3600 bar). This paper describes the experience gained, since the start up of this operation in 1994, discusses resulting dosimetry and waste produced, during decontamination and underwater cutting of high active large metallic structures including some with 200 mm thick steel plates. This process results in significantly lower exposures to workers involved in the D and D operations. In addition, the work was carried out in an environmentally safe manner with reasonable financial costs. (author)
Willis, Katie L
The hearing of turtles is poorly understood compared with the other reptiles. Although the mechanism of transduction of sound into a neural signal via hair cells has been described in detail, the rest of the auditory system is largely a black box. What is known is that turtles have higher hearing thresholds than other reptiles, with best frequencies around 500 Hz. They also have lower underwater hearing thresholds than those in air, owing to resonance of the middle ear cavity. Further studies demonstrated that all families of turtles and tortoises share a common middle ear cavity morphology, with scaling best suited to underwater hearing. This supports an aquatic origin of the group. Because turtles hear best under water, it is important to examine their vulnerability to anthropogenic noise. However, the lack of basic data makes such experiments difficult because only a few species of turtles have published audiograms. There are also almost no behavioral data available (understandable due to training difficulties). Finally, few studies show what kinds of sounds are behaviorally relevant. One notable paper revealed that the Australian snake-necked turtle (Chelodina oblonga) has a vocal repertoire in air, at the interface, and under water. Findings like these suggest that there is more to the turtle aquatic auditory scene than previously thought.
Wang, X. Christine; Christ, Tanya; Chiu, Ming Ming
Addressing a critical need for effective vocabulary practices in early childhood classrooms, we conducted a design experiment to achieve three goals: (1) developing a comprehensive model for early childhood vocabulary instruction, (2) examining the effectiveness of this model, and (3) discerning the contextual conditions that hinder or facilitate…
This study aims to conduct experimental instruction on the human resource management unit of business management in practical competencies-oriented business program developed by Chen (2005). This study is based on the quasi-experiment method and the subjects are two classes of students in a four-year technical university who have completed the…
Lozada, Neva; Turner Johnson, Ane
This qualitative case study explores the experiences of former [Supplemental Instruction] SI leaders who worked at a four-year, private university in the Mid-Atlantic while completing their undergraduate degrees. The insights offered by participants through interviews and graphic elicitation reveal the ways in which serving as an SI leader…
Mertens, Gaetan; Kuhn, Manuel; Raes, An K.; Kalisch, Raffael; De Houwer, Jan; Lonsdorf, Tina B.
Prior research showed that mere instructions about the contingency between a conditioned stimulus (CS) and an unconditioned stimulus (US) can generate fear reactions to the CS. Little is known, however, about the extent to which actual CS–US contingency experience adds anything beyond the effect of
Kim, Jeongyeon; Tatar, Bradley; Choi, Jinsook
This study aims to contrastively examine Korean and international students' experiences of taking subject courses at a Korean university. Focusing on the viewpoints of the students, rather than central authorities, we attempt to reveal how language use and cultural factors are interpenetrated in the praxis of English-medium instruction (EMI). The…
This report provides an overview and description of the design and construction of underwater geotechnical foundations and offers preliminary guidance based on past and current technology applications...
Kubota, Shiro; Saburi, Tei; Nagayama, Kunihito
The underwater sympathetic detonation of pellet explosives was taken by high-speed photography. The diameter and the thickness of the pellet were 20 and 10 mm, respectively. The experimental system consists of the precise electric detonator, two grams of composition C4 booster and three pellets, and these were set in water tank. High-speed video camera, HPV-X made by Shimadzu was used with 10 Mfs. The underwater explosions of the precise electric detonator, the C4 booster and a pellet were also taken by high-speed photography to estimate the propagation processes of the underwater shock waves. Numerical simulation of the underwater sympathetic detonation of the pellet explosives was also carried out and compared with experiment.
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…
Yuan-Cheng Chang; Chia-Chun Hsiao
Based on creativity component theory, creativity system theory and creative self-efficacy theory, this study aims to explore the influence of college students’ aesthetics experience and creative self-efficacy on their creativity and the role of creativity instruction as a mediator variable. The participants were 338 college design majors in 50 teams who were working on their graduation exhibitions, and 50 advising professors from departments related to design. Hierarchical Linear Models were ...
Galic, H. [Stanford Linear Accelerator Center, Menlo Park, CA (United States); Armstrong, F.E. [Lawrence Berkeley Lab., CA (United States); von Przewoski, B. [Indiana Univ. Cyclotron Facility, Bloomington, IN (United States)] [and others
This report contains summaries of 568 current and recent experiments in elementary particle physics. Experiments that finished taking data before 1988 are excluded. Included are experiments at BEPC (Beijing), BNL, CEBAF, CERN, CESR, DESY, FNAL, INS (Tokyo), ITEP (Moscow), IUCF (Bloomington), KEK, LAMPF, Novosibirsk, PNPI (St. Petersburg), PSI, Saclay, Serpukhov, SLAC, and TRIUMF, and also several underground and underwater experiments. Instructions are given for remote searching of the computer database (maintained under the SLAC/SPIRES system) that contains the summaries.
Galic, H.; Armstrong, F.E.; von Przewoski, B.
This report contains summaries of 568 current and recent experiments in elementary particle physics. Experiments that finished taking data before 1988 are excluded. Included are experiments at BEPC (Beijing), BNL, CEBAF, CERN, CESR, DESY, FNAL, INS (Tokyo), ITEP (Moscow), IUCF (Bloomington), KEK, LAMPF, Novosibirsk, PNPI (St. Petersburg), PSI, Saclay, Serpukhov, SLAC, and TRIUMF, and also several underground and underwater experiments. Instructions are given for remote searching of the computer database (maintained under the SLAC/SPIRES system) that contains the summaries
Thomas, Earl E.; Bell, David L.; Spelman, Maureen; Briody, Jennifer
Instructional coaching that supports teachers' with revising teaching practices is not understood. This study sought to understand the impact of the instructional coaching experience by recording coaching conversations/interactions with teachers. The purpose was to determine if the type of coaching conversations changed overtime during three…
Kobayashi, Futoshi; Kojima, Fumio
An underwater inspection robot has been needed for preventive maintenance in a nuclear power plant. This paper deals with a self-localization method for the underwater inspection robot. In this method, the position and the orientation of the robot are estimated by using the particle filter. For showing the effectiveness of the proposed method, an experiment with real robot is demonstrated. (author)
Arena, Dylan A.; Schwartz, Daniel L.
Well-designed digital games can deliver powerful experiences that are difficult to provide through traditional instruction, while traditional instruction can deliver formal explanations that are not a natural fit for gameplay. Combined, they can accomplish more than either can alone. An experiment tested this claim using the topic of statistics, where people's everyday experiences often conflict with normative statistical theories and a videogame might provide an alternate set of experiences for students to draw upon. The research used a game called Stats Invaders!, a variant of the classic videogame Space Invaders. In Stats Invaders!, the locations of descending alien invaders follow probability distributions, and players need to infer the shape of the distributions to play well. The experiment tested whether the game developed participants' intuitions about the structure of random events and thereby prepared them for future learning from a subsequent written passage on probability distributions. Community-college students who played the game and then read the passage learned more than participants who only read the passage.
Award 1 Title: Acoustic Communications 2011 Experiment: Deployment Support and Post Experiment Data Handling and Analysis. Award 2 Title: Exploiting Structured Dependencies in the Design of Adaptive Algorithms for Underwater Communication Award. 3 Title: Coupled Research in Ocean Acoustics and Signal Processing for the Next Generation of Underwater Acoustic Communication Systems
Exploiting Structured Dependencies in the Design of Adaptive Algorithms for Underwater Communication Award #3 Title Coupled Research in Ocean Acoustics ...and Signal Processing for theNext Generation of Underwater Acoustic Communication Systems James Preisig Woods Hole Oceanographic Institution...Dept. of Applied Ocean Physics and Engineering Ocean Acoustics and Signals Laboratory Woods Hole, MA 02540 AND JPAnalytics LLC 638 Brick Kiln
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.
Lie, Richard; Abdullah, Christopher; He, Wenliang; Tour, Ella
Primary literature offers rich opportunities to teach students how to “think like a scientist,” but the challenges students face when they attempt to read research articles are not well understood. Here, we present an analysis of what master’s students perceive as the most challenging aspects of engaging with primary literature. We examined 69 pairs of pre- and postcourse responses from students enrolled in a master’s-level course that offered a structured analysis of primary literature. On the basis of these responses, we identified six categories of challenges. Before instruction, “techniques” and “experimental data” were the most frequently identified categories of challenges. The majority of difficulties students perceived in the primary literature corresponded to Bloom’s lower-order cognitive skills. After instruction, “conclusions” were identified as the most difficult aspect of primary literature, and the frequency of challenges that corresponded to higher-order cognitive skills increased significantly among students who reported less experience with primary literature. These changes are consistent with a more competent perception of the primary literature, in which these students increasingly focus on challenges requiring critical thinking. Students’ difficulties identified here can inform the design of instructional approaches aimed to teach students how to critically read scientific papers. PMID:27909027
Jenkins, Scott A; Humphreys, Douglas E; Sherman, Jeff; Osse, Jim; Jones, Clayton; Leonard, Naomi; Graver, Joshua; Bachmayer, Ralf; Clem, Ted; Carroll, Paul; Davis, Philip; Berry, Jon; Worley, Paul; Wasyl, Joseph
The goals of this study are to determine how to advance from present capabilities of underwater glider (and hybrid motorglider) technology to what could be possible within the next few years; and to identify critical research issues that must be resolved to make such advancements possible. These goals were pursued by merging archival flight data with numerical model results and system spreadsheet analysis to extrapolate from the present state-of-the–art in underwater (UW) gliders to potential...
Lemmens, P.; De Meester, L.; Declerck, S.A.J.
Artificial structures can protect fish against predation by cormorants (Phalacocorax spp.). However, their effectiveness in larger water bodies with different fish communities in the presence of natural vegetation still needs to be explored. Using a large-scale field experiment with 24 ponds stocked
different roughness (smooth PVC versus pitted steel) in unidirectional flow. In addition , based on flows resulting in initiation of motion, particle image...roughly 0.047 mm. The flume was temporarily narrowed to 0.55 m wide with cinder blocks and a plastic waterproof covering for these experiments (see...determining and recording even a small amount of movement by hand can become prohibitively time-consuming. In addition , while the movement of the cartridge
Alfille, J.P.; Schildknecht, J.; Ramaswami, V.S.
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
Shaffer, Christopher D; Alvarez, Consuelo J; Bednarski, April E; Dunbar, David; Goodman, Anya L; Reinke, Catherine; Rosenwald, Anne G; Wolyniak, Michael J; Bailey, Cheryl; Barnard, Daron; Bazinet, Christopher; Beach, Dale L; Bedard, James E J; Bhalla, Satish; Braverman, John; Burg, Martin; Chandrasekaran, Vidya; Chung, Hui-Min; Clase, Kari; Dejong, Randall J; Diangelo, Justin R; Du, Chunguang; Eckdahl, Todd T; Eisler, Heather; Emerson, Julia A; Frary, Amy; Frohlich, Donald; Gosser, Yuying; Govind, Shubha; Haberman, Adam; Hark, Amy T; Hauser, Charles; Hoogewerf, Arlene; Hoopes, Laura L M; Howell, Carina E; Johnson, Diana; Jones, Christopher J; Kadlec, Lisa; Kaehler, Marian; Silver Key, S Catherine; Kleinschmit, Adam; Kokan, Nighat P; Kopp, Olga; Kuleck, Gary; Leatherman, Judith; Lopilato, Jane; Mackinnon, Christy; Martinez-Cruzado, Juan Carlos; McNeil, Gerard; Mel, Stephanie; Mistry, Hemlata; Nagengast, Alexis; Overvoorde, Paul; Paetkau, Don W; Parrish, Susan; Peterson, Celeste N; Preuss, Mary; Reed, Laura K; Revie, Dennis; Robic, Srebrenka; Roecklein-Canfield, Jennifer; Rubin, Michael R; Saville, Kenneth; Schroeder, Stephanie; Sharif, Karim; Shaw, Mary; Skuse, Gary; Smith, Christopher D; Smith, Mary A; Smith, Sheryl T; Spana, Eric; Spratt, Mary; Sreenivasan, Aparna; Stamm, Joyce; Szauter, Paul; Thompson, Jeffrey S; Wawersik, Matthew; Youngblom, James; Zhou, Leming; Mardis, Elaine R; Buhler, Jeremy; Leung, Wilson; Lopatto, David; Elgin, Sarah C R
There is widespread agreement that science, technology, engineering, and mathematics programs should provide undergraduates with research experience. Practical issues and limited resources, however, make this a challenge. We have developed a bioinformatics project that provides a course-based research experience for students at a diverse group of schools and offers the opportunity to tailor this experience to local curriculum and institution-specific student needs. We assessed both attitude and knowledge gains, looking for insights into how students respond given this wide range of curricular and institutional variables. While different approaches all appear to result in learning gains, we find that a significant investment of course time is required to enable students to show gains commensurate to a summer research experience. An alumni survey revealed that time spent on a research project is also a significant factor in the value former students assign to the experience one or more years later. We conclude: 1) implementation of a bioinformatics project within the biology curriculum provides a mechanism for successfully engaging large numbers of students in undergraduate research; 2) benefits to students are achievable at a wide variety of academic institutions; and 3) successful implementation of course-based research experiences requires significant investment of instructional time for students to gain full benefit.
Chen, Zhe; Wang, Huibin; Xu, Lizhong; Shen, Jie
Due to the major obstacles originating from the strong light absorption and scattering in a dynamic underwater environment, underwater optical information acquisition and processing suffer from effects such as limited range, non-uniform lighting, low contrast, and diminished colors, causing it to become the bottleneck for marine scientific research and projects. After studying and generalizing the underwater biological visual mechanism, we explore its advantages in light adaption which helps animals to precisely sense the underwater scene and recognize their prey or enemies. Then, aiming to transform the significant advantage of the visual adaptation mechanism into underwater computer vision tasks, a novel knowledge-based information weighting fusion model is established for underwater object extraction. With this bionic model, the dynamical adaptability is given to the underwater object extraction task, making them more robust to the variability of the optical properties in different environments. The capability of the proposed method to adapt to the underwater optical environments is shown, and its outperformance for the object extraction is demonstrated by comparison experiments.
The article discusses the relevance of the underwater vehicles' ability to solve a wide range of problems. The idea put in the basis of this research is designing a modular underwater robot. It allows to mount various equipment and test it in underwater environment. The paper deals with the concept of the robot and its characteristics.
Wallace, Michael L.; Freitas, William M.
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…
Norman, Kimberly A.; Spencer, Brenda H.
Since instruction in writing theory and pedagogy for preservice teachers is often limited, it is essential that teacher educators provide learning experiences that are supported by research in effective teacher preparation and make maximum impact in the time available. One of the experiences that has been identified as holding promise for…
Rand, Danielle; Yennie, Craig J.; Lynch, Patrick; Lowry, Gregory; Budarz, James; Zhu, Wenlei; Wang, Li-Qiong
Here we describe an acid rain neutralization laboratory experiment and its corresponding instructional video. This experiment has been developed and implemented for use in the teaching laboratory of a large introductory chemistry course at Brown University. It provides a contextually relevant example to introduce beginner-level students with…
McCulloch, Paul F
Underwater submergence produces autonomic changes that are observed in virtually all diving animals. This reflexly-induced response consists of apnea, a parasympathetically-induced bradycardia and a sympathetically-induced alteration of vascular resistance that maintains blood flow to the heart, brain and exercising muscles. While many of the metabolic and cardiorespiratory aspects of the diving response have been studied in marine animals, investigations of the central integrative aspects of this brainstem reflex have been relatively lacking. Because the physiology and neuroanatomy of the rat are well characterized, the rat can be used to help ascertain the central pathways of the mammalian diving response. Detailed instructions are provided on how to train rats to swim and voluntarily dive underwater through a 5 m long Plexiglas maze. Considerations regarding tank design and procedure room requirements are also given. The behavioral training is conducted in such a way as to reduce the stressfulness that could otherwise be associated with forced underwater submergence, thus minimizing activation of central stress pathways. The training procedures are not technically difficult, but they can be time-consuming. Since behavioral training of animals can only provide a model to be used with other experimental techniques, examples of how voluntarily diving rats have been used in conjunction with other physiological and neuroanatomical research techniques, and how the basic training procedures may need to be modified to accommodate these techniques, are also provided. These experiments show that voluntarily diving rats exhibit the same cardiorespiratory changes typically seen in other diving animals. The ease with which rats can be trained to voluntarily dive underwater, and the already available data from rats collected in other neurophysiological studies, makes voluntarily diving rats a good behavioral model to be used in studies investigating the central aspects of the
Angelica Lo Duca
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.
Fisher, Ryan; Rose, Paige
As one of the recognized media of the Orff-Schulwerk method of music instruction, movement is fundamental to music specialists' teaching. It can embody the mantra of "sound before sign," and provide the means by which students experience the kinesthetic learning that is so natural to their musical development. Because there are multiple…
Wade, Carol H.; Sonnert, Gerhard; Sadler, Philip M.; Hazari, Zahra
Using data from the first National study on high school preparation for college calculus success, the Factors Influencing College Success in Mathematics (FICSMath) project, this article connects student high school instructional experiences to college calculus performance. The findings reported here reveal that students were better prepared for…
Kerecsen, Laszlo; Pazdernik, Thomas L
This review describes 30 years of experience at the University of Kansas Medical Center in using computers in the teaching of pharmacology to medical students and other health professionals. The Computer-Assisted Teaching System contains both Computer-Assisted Instruction (CAI) and Computer-Managed Instruction (CMI). The system has evolved from mainframe to microprocessors to the current World Wide Web system. The greatest challenge has been to meet the changes in technologies and teaching approaches. The system has been well received by students and has provided the faculty with the means of providing a novel approach to teaching pharmacology.
Lindberg, Erik; Vanyushyn, Vladimir
This study sets out to examine schools principals' perception of the importance of school-based management (SBM) and instructional leadership tasks and their assessment of the performance of those tasks in Swedish upper secondary schools. A review of the literature on SBM and instructional leadership results in a list of twenty one tasks grouped…
Gomaa, Walid; El-Sherif, Ashraf F.; El-Sharkawy, Yasser H.
The conventional method used to detect an underwater target is by sending and receiving some form of acoustic energy. But the acoustic systems have limitations in the range resolution and accuracy; while, the potential benefits of a laserbased underwater target detection include high directionality, high response, and high range accuracy. Lasers operating in the blue-green region of the light spectrum(420 : 570nm)have a several applications in the area of detection and ranging of submersible targets due to minimum attenuation through water ( less than 0.1 m-1) and maximum laser reflection from estimated target (like mines or submarines) to provide a long range of detection. In this paper laser attenuation in water was measured experimentally by new simple method by using high resolution spectrometer. The laser echoes from different targets (metal, plastic, wood, and rubber) were detected using high resolution CCD camera; the position of detection camera was optimized to provide a high reflection laser from target and low backscattering noise from the water medium, digital image processing techniques were applied to detect and discriminate the echoes from the metal target and subtract the echoes from other objects. Extraction the image of target from the scattering noise is done by background subtraction and edge detection techniques. As a conclusion, we present a high response laser imaging system to detect and discriminate small size, like-mine underwater targets.
Javaid Muhammad Yasar
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.
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.
Furhad, Md. Hasan; Tahtali, Murat; Lambert, Andrew
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.
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.
I will describe ways in which instructional laboratories and research activities can interact in an undergraduate physics curriculum -- using the MIT Physics program both as an example of good practices and as a reflection of commonly occurring difficulties -- and argue that when executed as complementary elements of an academic program, research and instructional labs support not only the professional development of the student as a skilled scientist, but also the humanistic development of the student as a scientific thinker.
Attorney Docket No. 300009 1 of 8 A CARBON NANOTUBE UNDERWATER ACOUSTIC THERMOPHONE STATEMENT OF GOVERNMENT INTEREST  The...the Invention  The present invention is an acoustically transparent carbon nanotube thermophone. (2) Description of the Prior Art [0004...amplitude of the resulting sound waves.  Recently, there has been development of underwater acoustic carbon nanotube (CNT) yarn sheets capable
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.
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.
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.
Full Text Available Pairs of eyewitnesses with a content-focused interaction style remember significantly more about witnessed incidents. We examined whether content-focused retrieval strategies can be taught. Seventy-five pairs of witnesses were interviewed thrice about an event. The first and third interview were conducted individually for all witnesses. The second interview was individual, collaborative without instruction, or collaborative with instruction. Pairs in the latter condition were instructed to actively listen to and elaborate upon each other's contributions. The strategy instruction had no effect on retrieval strategies used, nor on the amount or accuracy of reported information. However, pairs who spontaneously adopted a content-focused interaction style during the collaborative interview remembered significantly more. Thus, our findings show that effective retrieval strategies cannot be taught, at least not with the current instructions. During the second interview, we observed collaborative inhibition and error pruning. When considering the total amount of information reported across the first two interviews, however, collaboration had no inhibitory effect on correct recall, yet the error pruning benefits remained. These findings suggest that investigative interviewers should interview witnesses separately first, and then interview pairs of witnesses collaboratively.
Vredeveldt, Annelies; van Koppen, Peter J
Pairs of eyewitnesses with a content-focused interaction style remember significantly more about witnessed incidents. We examined whether content-focused retrieval strategies can be taught. Seventy-five pairs of witnesses were interviewed thrice about an event. The first and third interview were conducted individually for all witnesses. The second interview was individual, collaborative without instruction, or collaborative with instruction. Pairs in the latter condition were instructed to actively listen to and elaborate upon each other's contributions. The strategy instruction had no effect on retrieval strategies used, nor on the amount or accuracy of reported information. However, pairs who spontaneously adopted a content-focused interaction style during the collaborative interview remembered significantly more. Thus, our findings show that effective retrieval strategies cannot be taught, at least not with the current instructions. During the second interview, we observed collaborative inhibition and error pruning. When considering the total amount of information reported across the first two interviews, however, collaboration had no inhibitory effect on correct recall, yet the error pruning benefits remained. These findings suggest that investigative interviewers should interview witnesses separately first, and then interview pairs of witnesses collaboratively.
Takamura, Koji; Yoshimoto, Ken-Ichi
Specialist knowledge and creative ability are important for engineers to solve various problems in manufacturing products. Creative ability cannot be acquired without real experiences and much knowledge. This paper discusses the educational effects of “instruction for thinking” in fundamental experiments in electrical and electronic engineering. An experiment was conducted in which students were required not only to use their previous knowledge but also to think by themselves in order to enhance creative ability. In this experiment, the present authors encouraged students to find out problems on their own, and waited until they worked out the solution. After the experiment, we conducted a questionnaire on students to the motivation for studying the technical subjects. As a result, it was confirmed that the practical ability for thinking was improved.
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
Bakar, S. A. A.; Ong, N. R.; Aziz, M. H. A.; Alcain, J. B.; Haimi, W. M. W. N.; Sauli, Z.
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.
Johansson, Elin; Lindwall, Oskar; Rystedt, Hans
Through close analyses of the interaction that takes place between students and facilitators, this study investigates the instructional use of video in post-simulation debriefings. The empirical material consists of recordings of 40 debriefings that took place after simulation-based training scenarios in health care education. During the…
Gardner, Joel; Belland, Brian R.
Introductory biology courses form a cornerstone of undergraduate instruction. However, the predominantly used lecture approach fails to produce higher-order biology learning. Research shows that active learning strategies can increase student learning, yet few biology instructors use all identified active learning strategies. In this paper, we…
Galic, H.; Dodder, D.C.; Klyukhin, V.I.; Ryabov, Yu.G.; Illarionova, N.S.; Lehar, F.; Oyanagi, Y.; Frosch, R.
This report contains summaries of 584 current and recent experiments in elementary particle physics. Experiments that finished taking data before 1986 are excluded. Included are experiments at Brookhaven, CERN, CESR, DESY, Fermilab, Tokyo Institute of Nuclear Studies, Moscow Institute of Theoretical and Experimental Physics, KEK, LAMPF, Novosibirsk, Paul Scherrer Institut (PSI), Saclay, Serpukhov, SLAC, SSCL, and TRIUMF, and also several underground and underwater experiments. Instructions are given for remote searching of the computer database (maintained under the SLAC/SPIRES system) that contains the summaries
Galic, H. [Stanford Univ., CA (United States). Stanford Linear Accelerator Center; Wohl, C.G.; Armstrong, B. [Lawrence Berkeley Lab., CA (United States); Dodder, D.C. [Los Alamos National Lab., NM (United States); Klyukhin, V.I.; Ryabov, Yu.G. [Inst. for High Energy Physics, Serpukhov (Russian Federation); Illarionova, N.S. [Inst. of Theoretical and Experimental Physics, Moscow (Russian Federation); Lehar, F. [CEN Saclay, Gif-sur-Yvette (France); Oyanagi, Y. [Univ. of Tokyo (Japan). Faculty of Sciences; Olin, A. [TRIUMF, Vancouver, BC (Canada); Frosch, R. [Paul Scherrer Inst., Villigen (Switzerland)
This report contains summaries of 584 current and recent experiments in elementary particle physics. Experiments that finished taking data before 1986 are excluded. Included are experiments at Brookhaven, CERN, CESR, DESY, Fermilab, Tokyo Institute of Nuclear Studies, Moscow Institute of Theoretical and Experimental Physics, KEK, LAMPF, Novosibirsk, Paul Scherrer Institut (PSI), Saclay, Serpukhov, SLAC, SSCL, and TRIUMF, and also several underground and underwater experiments. Instructions are given for remote searching of the computer database (maintained under the SLAC/SPIRES system) that contains the summaries.
ANA CECILIA B. FAJARDO
Full Text Available - This study identified the multimedia-assisted instruction used by the respondents in teaching English and determined the extent of using the same in developing the relevant language skills.This study was premised on the assumption that multimedia-assisted instruction in English has been applied in developing the English language skills of college students; specifically, this involved the teacher’s manipulation of print media, audio and audio-visual aids as well as internet materials. The Central Bicol State University of Agriculture-Main campus in Pili, including its campuses in Pasacao, Sipocot and Calabanga, all in Camarines Sur, served as the venue of this study. The college instructors, deans and language educators as well as experts of English from the said university served as respondents.The descriptive method of research was applied. The statistical tools used were the weighted mean and the Likert’s validation scale. The data were subjected to an in-depth analysis and interpretation to find concretely the specific multimedia-assisted instruction in English used by college instructors, the extent of using it in teaching, as well as the extent of using the same to language skills development. Based on the findings, the college instructors were using much of the multimedia available in their campuses, while frequently applying multimedia-assisted instruction in related English language skills development. It also proposed an instructional tool entitled “PowerPoint for Better English Language Teaching” which was prepared and validated. The findings helpedinstructors, administrators, and educational leaders to augment university budget, to purchase updated teaching devicesand to conduct teacher-training programs.
Leautier, R.; Pilot, G.
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
Madhan, R.; Navelkar, G.S.; Desa, E.S.; Afzulpurkar, S.; Prabhudesai, S.P.; Dabholkar, N.; Mascarenhas, A.A.M.Q.; Maurya, P.
. This stresses for implementation of multiple safety measures of a high degree so that the platform operates continuously in a fail-safe mode. This paper discusses issues on safety measures implemented on the autonomous underwater platforms namely MAYA AUV...
Instructional Strategies and Students' Academic Performance in Electrical Installation in Technical Colleges in Akwa Ibom State: Instructional Skills for Structuring Appropriate Learning Experiences for Students
Onweh, Vincent E.; Akpan, Udeme Timothy
The study investigated the effects of instructional strategies on students' academic performance in Electrical Installation in Technical Colleges in Akwa Ibom State. Instructional skills are the most specific category of teaching behaviours. A non-equivalent control group quasi experimental design was adopted for the study. Four intact classes…
Donnelly, Lisa A.; Kazempour, Mahsa; Amirshokoohi, Aidin
Evolution is an important and sometimes controversial component of high school biology. In this study, we used a mixed methods approach to explore students’ evolution acceptance and views of evolution teaching and learning. Students explained their acceptance and rejection of evolution in terms of evidence and conflicts with religion and authority. Students largely supported the teaching of evolution and offered several reasons for its inclusion in high school biology. Students also offered several suggestions for improving evolution instruction. Evolution acceptors’ and rejecters’ views of evolution teaching and learning differed in a number of respects, and these differences may be explained using border crossing as a theoretical lens. Relevant implications for evolution instruction are discussed.
The growing need for underwater observation and subsea monitoring systems has stimulated considerable interest in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. This communication technology is expected to play an important role in investigating climate change, in monitoring biological, biogeochemical, evolutionary, and ecological changes in the sea, ocean, and lake environments, and in helping to control and maintain oil production facilities and harbors using unmanned underwater vehicles (UUVs), submarines, ships, buoys, and divers. However, the present technology of underwater acoustic communication cannot provide the high data rate required to investigate and monitor these environments and facilities. Optical wireless communication has been proposed as the best alternative to meet this challenge. Models are presented for three kinds of optical wireless communication links: (a) a line-of-sight link, (b) a modulating retroreflector link, and (c) a reflective link, all of which can provide the required data rate. We analyze the link performance based on these models. From the analysis, it is clear that as the water absorption increases, the communication performance decreases dramatically for the three link types. However, by using the scattered light it was possible to mitigate this decrease in some cases. It is concluded from the analysis that a high-data-rate underwater optical wireless network is a feasible solution for emerging applications such as UUV-to-UUV links and networks of sensors, and extended ranges in these applications could be achieved by applying a multi-hop concept.
Apiwan, Suttinee; Puttharugsa, Chokchai; Khemmani, Supitch
The purposes of this research were to help students to perform Physics laboratory by themselves and to provide guidelines for high school teacher to develop active learning on fluid mechanics by using Torricelli's tank experiment. The research was conducted as follows: 1) constructed an appropriate Torricelli's tank experiment for high school teaching and investigated the condition for maximum water falling distance. As a consequence, it was found that the distance of the falling water measured from the experiment was shorter than that obtained from the theory of ideal fluid because of the energy loss during a flow, 2) developed instructional manual for high school teaching that encourages active learning by using problem based learning (PBL) approach, which is consistent with the trend of teaching and learning in 21st century. The content validity of our instructional manual using Index of Item-objective Congruence (IOC) as evaluated by three experts was over 0.67. The manual developed was therefore qualified for classroom practice.
Full Text Available The present work aims to reveal contradictory results obtained on two different fields; particularly from two studies conducted on the description-experience gap field showing that descriptions are neglected when personal experience is available (1,2, and several others conducted on the instructional control field getting to the opposite conclusion (3–8. To account for this contradiction, we hypothesized that participants from the studies of Jessup, Bishara and Busemeyer (1 and Lejarraga and Gonzalez (2 relied on their experience rather than on the descriptions because of the difficult, demanding nature of the probabilistic descriptions they faced. Enriched descriptions were created in our experiment to assess the contribution of this factor to the differential influence of the descriptions in choice behavior. Nonetheless, our hypothesis did not find support in the results and further research is needed to account for the aforementioned contradiction.
Umair Mujtaba Qureshi
Full Text Available Underwater Wireless Sensor Network (UWSN communication at high frequencies is extremely challenging. The intricacies presented by the underwater environment are far more compared to the terrestrial environment. The prime reason for such intricacies are the physical characteristics of the underwater environment that have a big impact on electromagnetic (EM signals. Acoustics signals are by far the most preferred choice for underwater wireless communication. Because high frequency signals have the luxury of large bandwidth (BW at shorter distances, high frequency EM signals cannot penetrate and propagate deep in underwater environments. The EM properties of water tend to resist their propagation and cause severe attenuation. Accordingly, there are two questions that need to be addressed for underwater environment, first what happens when high frequency EM signals operating at 2.4 GHz are used for communication, and second which factors affect the most to high frequency EM signals. To answer these questions, we present real-time experiments conducted at 2.4 GHz in terrestrial and underwater (fresh water environments. The obtained results helped in studying the physical characteristics (i.e., EM properties, propagation and absorption loss of underwater environments. It is observed that high frequency EM signals can propagate in fresh water at a shallow depth only and can be considered for a specific class of applications such as water sports. Furthermore, path loss, velocity of propagation, absorption loss and the rate of signal loss in different underwater environments are also calculated and presented in order to understand why EM signals cannot propagate in sea water and oceanic water environments. An optimal solk6ution for underwater communication in terms of coverage distance, bandwidth and nature of communication is presented, along with possible underwater applications of UWSNs at 2.4 GHz.
Full Text Available Understanding the dynamics of bodies of water and their impact on the global environment requires sensing information over the full volume of water. In this article, we develop a gradient-based decentralized controller that dynamically adjusts the depth of a network of underwater sensors to optimize sensing for computing maximally detailed volumetric models. We prove that the controller converges to a local minimum and show how the controller can be extended to work with hybrid robot and sensor network systems. We implement the controller on an underwater sensor network with depth adjustment capabilities. Through simulations and in-situ experiments, we verify the functionality and performance of the system and algorithm.
Lettner, H.; Hofmann, W.; Winkler, R.; Rolle, R.; Foisner, W.
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.)
Full Text Available The unmanned surface vehicle (USV integrated with acoustic modems has some advantages such as easy integration, rapid placement, and low cost, which becomes a kind of selective novel node in the underwater acoustic (UWA communication network and a kind of underwater or overwater communication relay as well. However, it is difficult to ensure the communication quality among the nodes on the network due to the random underwater acoustic channel, the severe marine environment, and the complex mobile node system. Aiming to model the communication characteristics of the USV, the multipath effect and Doppler effect are main concerns for the UWA communication in this paper, so that the ray beam method is utilized, the channel transmission function and the channel gain are obtained, and the mobile communication quality evaluation model is built. The simulation and lake experiments verify that the built mobile UWA communication quality evaluation model on USV can provide preference and technique support for USV applications.
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.
Full Text Available Feature extraction method using Mel frequency cepstrum coefficients (MFCC based on acoustic vector sensor is researched in the paper. Signals of pressure are simulated as well as particle velocity of underwater target, and the features of underwater target using MFCC are extracted to verify the feasibility of the method. The experiment of feature extraction of two kinds of underwater targets is carried out, and these underwater targets are classified and recognized by Backpropagation (BP neural network using fusion of multi-information. Results of the research show that MFCC, first-order differential MFCC, and second-order differential MFCC features could be used as effective features to recognize those underwater targets and the recognition rate, which using the particle velocity signal is higher than that using the pressure signal, could be improved by using fusion features.
Parrott, J Scott; Rubinstein, Matthew L
The role of metacognitive skills in the evidence analysis process has received little attention in the research literature. While the steps of the evidence analysis process are well defined, the role of higher-level cognitive operations (metacognitive strategies) in integrating the steps of the process is not well understood. In part, this is because it is not clear where and how metacognition is implicated in the evidence analysis process nor how these skills might be taught. The purposes of this paper are to (a) suggest a model for identifying critical thinking and metacognitive skills in evidence analysis instruction grounded in current educational theory and research and (b) demonstrate how freely available systematic review/meta-analysis tools can be used to focus on higher-order metacognitive skills, while providing a framework for addressing common student weaknesses. The final goal of this paper is to provide an instructional framework that can generate critique and elaboration while providing the conceptual basis and rationale for future research agendas on this topic.
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)
Van Veen, Hans; Vashisht, Divya; Voesenek, Laurentius A C J; Sasidharan, Rashmi
Many plants experience flooding at some point during their life cycle. The underwater environment creates a carbon and energy crisis for the plant, for which two successful strategies have been identified, quiescence and escape. During quiescence, growth is actively reduced until the water levels
Li, Jing; Ma, Yong; Zhou, Qunqun; Zhou, Bo; Wang, Hongyuan
Channel capacity of ocean water is limited by propagation distance and optical properties. Previous studies on this problem are based on water-tank experiments with different amounts of Maalox antacid. However, propagation distance is limited by the experimental set-up and the optical properties are different from ocean water. Therefore, the experiment result is not accurate for the physical design of underwater wireless communications links. This letter developed a Monte Carlo model to study channel capacity of underwater optical communications. Moreover, this model can flexibly configure various parameters of transmitter, receiver and channel, and is suitable for physical underwater optical communications links design. (paper)
Li, Jing; Ma, Yong; Zhou, Qunqun; Zhou, Bo; Wang, Hongyuan
Channel capacity of ocean water is limited by propagation distance and optical properties. Previous studies on this problem are based on water-tank experiments with different amounts of Maalox antacid. However, propagation distance is limited by the experimental set-up and the optical properties are different from ocean water. Therefore, the experiment result is not accurate for the physical design of underwater wireless communications links. This letter developed a Monte Carlo model to study channel capacity of underwater optical communications. Moreover, this model can flexibly configure various parameters of transmitter, receiver and channel, and is suitable for physical underwater optical communications links design.
Orvis, Karin A; Horn, Daniel B; Belanich, James
.... Further, the influence of prior video game experience on these learning outcomes was examined, as well as the role prior experience played in determining the optimal approach for adjusting task difficulty...
Full Text Available Exposure to repetitive drumming combined with instructions for shamanic journeying has been associated with physiological and therapeutic effects, such as an increase in salivary immunoglobulin A. In order to assess whether the combination of repetitive drumming and shamanic instructions is specifically associated with these effects, we compared the effect of listening to either repetitive drumming or instrumental meditation music for 15 minutes on salivary cortisol concentration and on self-reported physiological and psychological states. For each musical style, two groups of participants were exposed to two conditions: instructions for shamanic journeying or relaxation instructions. A total of 39 participants (24 females inexperienced in shamanic journeying completed the experiment. Salivary cortisol concentrations were measured before and after exposure to music. In addition, participants filled out a mood questionnaire before and after the experiment and completed a post experiment questionnaire on their experiences. A significant decrease in the concentration in salivary cortisol was observed across all musical styles and instructions, indicating that exposure to 15 minutes of either repetitive drumming or instrumental meditation music, while lying down, was sufficient to induce a decrease in cortisol levels. However, no differences were observed across conditions. Significant differences in reported emotional states and subjective experiences were observed between the groups. Notably, participants exposed to repetitive drumming combined with shamanic instructions reported experiencing heaviness, decreased heart rate, and dreamlike experiences significantly more often than participants exposed to repetitive drumming combined with relaxation instructions. Our findings suggest that the subjective effects specifically attributed to repetitive drumming and shamanic journeying may not be reflected in differential endocrine responses.
Gingras, Bruno; Pohler, Gerald; Fitch, W Tecumseh
Exposure to repetitive drumming combined with instructions for shamanic journeying has been associated with physiological and therapeutic effects, such as an increase in salivary immunoglobulin A. In order to assess whether the combination of repetitive drumming and shamanic instructions is specifically associated with these effects, we compared the effect of listening to either repetitive drumming or instrumental meditation music for 15 minutes on salivary cortisol concentration and on self-reported physiological and psychological states. For each musical style, two groups of participants were exposed to two conditions: instructions for shamanic journeying or relaxation instructions. A total of 39 participants (24 females) inexperienced in shamanic journeying completed the experiment. Salivary cortisol concentrations were measured before and after exposure to music. In addition, participants filled out a mood questionnaire before and after the experiment and completed a post experiment questionnaire on their experiences. A significant decrease in the concentration in salivary cortisol was observed across all musical styles and instructions, indicating that exposure to 15 minutes of either repetitive drumming or instrumental meditation music, while lying down, was sufficient to induce a decrease in cortisol levels. However, no differences were observed across conditions. Significant differences in reported emotional states and subjective experiences were observed between the groups. Notably, participants exposed to repetitive drumming combined with shamanic instructions reported experiencing heaviness, decreased heart rate, and dreamlike experiences significantly more often than participants exposed to repetitive drumming combined with relaxation instructions. Our findings suggest that the subjective effects specifically attributed to repetitive drumming and shamanic journeying may not be reflected in differential endocrine responses.
Full Text Available This study aims to verify experimentally the specifications of the data acquisition system required for the precise measurement of signals in an underwater explosion (UNDEX experiment. The three data acquisition systems with different specifications are applied to compare their precision relatively on maximum shock pressures from UNDEX. In addition, a method of assessing the acquired signals is suggested by introducing the concept of measurement uncertainty. The underwater explosion experiments are repeated five times under same conditions, and assessment is conducted on maximum quantities acquired from underwater pressure sensors. It is confirmed that the concept of measurement uncertainty is very useful method in accrediting the measurement results of UNDEX experiments. Keywords: Naval ship, Underwater explosion (UNDEX experiment, Shock pressure, Data acquisition system, Uncertainty of measurement
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.
DeLong, M. [Lawrence Livermore National Lab., CA (United States)
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.
Fedorov, V. M.; Pustovetov, V. P.; Trubkin, Y. A.; Kirilenkov, A. V.
Experimental measurements of cosmic ray muon intensity deep underwater aimed at determining a muon absorption curve are of considerable interest, as they allow to reproduce independently the muon energy spectrum at sea level. The comparison of the muon absorption curve in sea water with that in rock makes it possible to determine muon energy losses caused by nuclear interactions. The data available on muon absorption in water and that in rock are not equivalent. Underground measurements are numerous and have been carried out down to the depth of approx. 15km w.e., whereas underwater muon intensity have been measured twice and only down to approx. 3km deep.
Previous research illustrated how principals effectively facilitate the development of teachers' instructional practice through actions such as differentiating professional development, providing continuous professional development, establishing learning communities and using supervision/evaluations to help modify instruction; however, what is…
Martinez, A. O.; Bohls-Graham, E.; Jacobs, B. E.; Ellins, K. K.
Texas teachers have expressed a need for engaging activities for use in high school Earth science courses. With funding from the NSF, geoscience and education faculty from different institutions around the state collaborated with ten Earth science teachers to create five online Earth science instructional blueprints. The work is part of the DIG (Diversity and Innovation for Geosciences) Texas Instructional Blueprint project. A blueprint stitches together nine units for a yearlong Earth science course (scope and sequence). Each unit covers three weeks of teaching and contains lectures, readings, visualizations, lab investigations, learning activities, and other educational materials from credible sources, which are aligned with Texas state science standards for Earth and Space Science and the Earth Science Literacy Principles. Taken together, the collection of activities address the Next Generation Science Standards (NGSS). During summer 2014, three minority-serving secondary teachers completed a six-week internship at The University of Texas Institute for Geophysics (UTIG). As DIG Texas Education Interns, we organized and revised the content of the units, created scaffolding notes, and built blueprints by selecting groups of nine units from the project's current collection of twenty-one units. Because fieldwork is an important element of geoscience learning, we integrated virtual field trips into each unit. We (1) gained expertise in selecting high quality activities that directly correlate with state standards and address the Earth Science Literacy Principles; (2) developed a keen awareness of the value of the NGSS; (3) learned how to navigate through the NGSS website to track the relationships between the Science and Engineering Practices, Disciplinary Core Ideas, and Crosscutting Concepts for Earth science, as well as connections to other disciplines in the same grade level. Collaborating with other secondary Earth science teachers introduced each of us to new
Harrell, Pamela Esprivalo; Richards, Debbie; Collins, James; Taylor, Sarah
A description of learning experience that uses a four-step instrumentational framework involving concrete and representational experiences to promote conceptual understanding of abstract biological concepts by a series of closely-related activities is presented. The students are introduced to the structure and implications of DNA using four…
Shaffer, Christopher D.; Alvarez, Consuelo J.; Bednarski, April E.; Dunbar, David; Goodman, Anya L.; Reinke, Catherine; Rosenwald, Anne G.; Wolyniak, Michael J.; Bailey, Cheryl; Barnard, Daron; Bazinet, Christopher; Beach, Dale L.; Bedard, James E. J.; Bhalla, Satish; Braverman, John; Burg, Martin; Chandrasekaran, Vidya; Chung, Hui-Min; Clase, Kari; DeJong, Randall J.; DiAngelo, Justin R.; Du, Chunguang; Eckdahl, Todd T.; Eisler, Heather; Emerson, Julia A.; Frary, Amy; Frohlich, Donald; Gosser, Yuying; Govind, Shubha; Haberman, Adam; Hark, Amy T.; Hauser, Charles; Hoogewerf, Arlene; Hoopes, Laura L. M.; Howell, Carina E.; Johnson, Diana; Jones, Christopher J.; Kadlec, Lisa; Kaehler, Marian; Key, S. Catherine Silver; Kleinschmit, Adam; Kokan, Nighat P.; Kopp, Olga; Kuleck, Gary; Leatherman, Judith; Lopilato, Jane; MacKinnon, Christy; Martinez-Cruzado, Juan Carlos; McNeil, Gerard; Mel, Stephanie; Mistry, Hemlata; Nagengast, Alexis; Overvoorde, Paul; Paetkau, Don W.; Parrish, Susan; Peterson, Celeste N.; Preuss, Mary; Reed, Laura K.; Revie, Dennis; Robic, Srebrenka; Roecklein-Canfield, Jennifer; Rubin, Michael R.; Saville, Kenneth; Schroeder, Stephanie; Sharif, Karim; Shaw, Mary; Skuse, Gary; Smith, Christopher D.; Smith, Mary A.; Smith, Sheryl T.; Spana, Eric; Spratt, Mary; Sreenivasan, Aparna; Stamm, Joyce; Szauter, Paul; Thompson, Jeffrey S.; Wawersik, Matthew; Youngblom, James; Zhou, Leming; Mardis, Elaine R.; Buhler, Jeremy; Leung, Wilson; Lopatto, David; Elgin, Sarah C. R.
There is widespread agreement that science, technology, engineering, and mathematics programs should provide undergraduates with research experience. Practical issues and limited resources, however, make this a challenge. We have developed a bioinformatics project that provides a course-based research experience for students at a diverse group of…
Greville, W James; Dymond, Simon; Newton, Philip M
Esoteric jargon and technical language are potential barriers to the teaching of science and medicine. Effective teaching strategies which address these barriers are desirable. Here, we created and evaluated the effectiveness of stand-alone 'equivalence-based instruction' (EBI) learning resources wherein the teaching of a small number of direct relationships between stimuli (e.g., anatomical regions, their function, and pathology) results in the learning of higher numbers of untaught relationships. We used a pre and post test design to assess students' learning of the relations. Resources were evaluated by students for perceived usefulness and confidence in the topic. Three versions of the resources were designed, to explore learning parameters such as the number of stimulus classes and the number of relationships within these classes. We show that use of EBI resulted in demonstrable learning of material that had not been directly taught. The resources were well received by students, even when the quantity of material to be learned was high. There was a strong desire for more EBI-based teaching. The findings are discussed in the context of an ongoing debate surrounding 'rote' vs. 'deep' learning, and the need to balance this debate with considerations of cognitive load and esoteric jargon routinely encountered during the study of medicine. These standalone EBI resources were an effective, efficient and well-received method for teaching neuroanatomy to medical students. The approach may be of benefit to other subjects with abundant technical jargon, science and other areas of medicine.
Gardani, G.; Bertoli, M.A.; Bellomi, M.
Computerised instruction means teaching by computer using a program that alternates information with self-checking multiple choice questions. This system was used to create a fully computerized lesson on the diagnosis and treatment of breast cancer which was then tested on a small group of madical students attending the Radiology School of the Milan University Institute of Radiological Sciences. At the end of the test, the students were asked to complete a questionnaire which was then analysed. The computer lesson consisted of 66 text messages and 21 self-checking questions. It aroused considerable interest, though the most common reason was curiosity about a novel system. The degree of fatigue caused was modest despite the fact that the computer lesson was at least as demanding as a traditional lesson, if not more so. The level of learning was considered high and optimised by the use of self-checking questions that were considered an essential element. However no student agreed to sit an official examination, even interactively, using the computer
Gobel, Kerstin; Helmke, Andreas
The development of intercultural competence, especially in foreign language instruction, is considered a key goal of teaching in German schools. The present article sheds light on the teaching of intercultural topics in the context of English as a foreign language (EFL). It presents the results of an analysis of data from a larger study (DESI…
van Leijen, A.V.; Rothkranz, L.J.M.; Groen, F.C.A.
This work reports on an experiment from the Maritime Rapid Environmental Assessment sea trials in 2007, where autonomous underwater vehicles were deployed for environmental assessment. Even though these underwater vehicles are very quiet platforms, this work investigates the potential of vehicle
The techniques of calibration of underwater sound transducers for farfield, near-field and closed environment conditions are reviewed in this paper .The design of acoustic calibration tank is mentioned. The facilities available at Naval Physical & Oceanographic Laboratory, Cochin for calibration of transducers are also listed.
Severs, S.; Toll, H.V.
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)
Mullen, Linda; Lee, Robert; Nash, Justin
Radar modulation, demodulation, and signal processing techniques have been merged with laser imaging to enhance visibility in murky underwater environments. The modulation provides a way to reject multiple scattered light that would otherwise reduce image contrast and resolution. Recent work has focused on the use of wideband modulation schemes and digital passband processing to resolve range details of an underwater scene. Use of the CLEAN algorithm has also been investigated to extract object features that are obscured by scattered light. Results from controlled laboratory experiments show an improvement in the range resolution and accuracy of underwater imagery relative to data collected with a conventional short pulse system.
Park, Joon-Young [Green Growth Laboratory, Korea Electric Power Research Institute, 65 Munjiro, Yuseong-Gu, Daejeon (Korea, Republic of)], E-mail: firstname.lastname@example.org; Cho, Byung-Hak; Lee, Jae-Kyung [Green Growth Laboratory, Korea Electric Power Research Institute, 65 Munjiro, Yuseong-Gu, Daejeon (Korea, Republic of)
This paper addresses the trajectory control problem of an underwater inspection robot for nuclear reactor internals. From the viewpoint of control engineering, the trajectory control of the underwater robot is a difficult task due to its nonlinear dynamics, which includes various hydraulic forces such as buoyancy and hydrodynamic damping, the difference between the centres of gravity and buoyancy, and disturbances from a tether cable. To solve such problems, we applied Time Delay Control to the underwater robot. This control law has a very simple structure not requiring nonlinear plant dynamics, and was proven to be highly robust against nonlinearities, uncertainties and disturbances. We confirmed its effectiveness through experiments.
Park, Joon-Young; Cho, Byung-Hak; Lee, Jae-Kyung
This paper addresses the trajectory control problem of an underwater inspection robot for nuclear reactor internals. From the viewpoint of control engineering, the trajectory control of the underwater robot is a difficult task due to its nonlinear dynamics, which includes various hydraulic forces such as buoyancy and hydrodynamic damping, the difference between the centres of gravity and buoyancy, and disturbances from a tether cable. To solve such problems, we applied Time Delay Control to the underwater robot. This control law has a very simple structure not requiring nonlinear plant dynamics, and was proven to be highly robust against nonlinearities, uncertainties and disturbances. We confirmed its effectiveness through experiments.
Nielsen, M.C.; Eidsvik, O. A.; Blanke, Mogens
This paper investigates the problem of employing reconfigurable robots in an underwater setting. The main results presented is the experimental validation of a modelling methodology for a system consisting of N dynamically connected robots with heterogeneous dynamics. Two distinct types...... of experiments are performed, a series of hydrostatic free-decay tests and a series of open-loop trajectory tests. The results are compared to a simulation based on the modelling methodology. The modelling methodology shows promising results for usage with systems composed of reconfigurable underwater modules....... The purpose of the model is to enable design of control strategies for cooperative reconfigurable underwater systems....
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.
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.
Full Text Available Geotube is, among others, a type of coastal structure that is increasingly accepted for coastal protection especially underwater breakwater. Besides its relatively low cost, it has other advantages such as flexibility, ease of construction and the fact that it can be filled with local sand material. Similar to all other coastal structures, it should also be stable under wave attack. A simple theoretical approach based on linear wave was adopted to estimate the stability of such structure. The theoretical solution was then compared with an experimental study. The experimental study was conducted at the Hydraulics and Hydrology Laboratory of Universitas Gadjah Mada. However, instead of a real geotube, PVC pipe was used where the weight of the PVC was varied by adjusting the volume of sand in the pipe. The result indicated that the agreement between the theoretical solution and the experiment was encouraging. The analytical solution may be utilized to predict underwater pipe stability under wave attack with certain degree of accuracy.
ROSS, Paul; Paul, ROSS
This poper examines an L1 learning experience shared by many EFL students in Japan: writing an essay in Japanese on university entrance exams. The main purpose is to identify the features of the experience that L2 writing teachers need to address in their classrooms. The major issues that are investigated are 1) what kind of writing students are expected to do on the exams, 2) what the purpose of the essay question is, and 3) what kind of training students receive to improve their writing ski...
Chopra, I.; O'Connor, J.; Pancho, R.; Chrzanowski, M.; Sandi-Urena, S.
This qualitative study investigated the experience of a cohort of students exposed consecutively to two substantially different environments in their General Chemistry Laboratory programme. To this end, the first semester in a traditional expository programme was followed by a semester in a cooperative, problem-based, multi-week format. The focus…
Five teaching experiments with French songs, in grades 7, 8 and 9, are described. Aural understanding was practiced first, then use of the text. In the 9th grade, work on the content became most important, with the aim of correcting and expanding the common conception of France. (Text is in German.) (IFS/WGA)
de Dios, Miguel; Salgueirino, Veronica; Perez-Lorenzo, Moises; Correa-Duarte, Miguel A.
An experiment is described to introduce advanced undergraduate students to an exciting area of nanotechnology that incorporates nanoparticles onto carbon nanotubes to produce systems that have valuable technological applications. The synthesis of such material has been easily achieved through a simple three-step procedure. Students explore…
Telford, Mark; Senior, Emma
This article describes the experiences of undergraduate healthcare students taking a module adopting a 'flipped classroom' approach. Evidence suggests that flipped classroom as a pedagogical tool has the potential to enhance student learning and to improve healthcare practice. This innovative approach was implemented within a healthcare curriculum and in a module looking at public health delivered at the beginning of year two of a 3-year programme. The focus of the evaluation study was on the e-learning resources used in the module and the student experiences of these; with a specific aim to evaluate this element of the flipped classroom approach. A mixed-methods approach was adopted and data collected using questionnaires, which were distributed across a whole cohort, and a focus group involving ten participants. Statistical analysis of the data showed the positive student experience of engaging with e-learning. The thematic analysis identified two key themes; factors influencing a positive learning experience and the challenges when developing e-learning within a flipped classroom approach. The study provides guidance for further developments and improvements when developing e-learning as part of the flipped classroom approach.
Rank, Bryan D.; Retallick, Michael S.
Faculty in agricultural teacher education programs are responsible for preparing future teachers to lead effective school-based agricultural education programs. However, agriculture teachers are having difficulty implementing supervised agricultural experience (SAE), even though they value it conceptually as a program component. In an effort to…
富士栄, 登美子; Fujie, Tomiko
It is our wish and heart's desire that school children cultivate creative and active minds through homemaking education. Homemaking education also aims to develop school children's spirit of inquiry into various phenomena in their daily lives. We can take up a variety of subjects in homemaking classes in order to realize these wishes and desires. For instance, we can cook and experiment with eggs. Teachers should encourage school children not only to acquire the basic knowledge and skill to c...
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.
Yuan, Xin; Martínez-Ortega, José-Fernán; Fernández, José Antonio Sánchez; Eckert, Martina
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.
Panda, S. K.; Bandopadhya, D.
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.
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.
Wosnitza, Marold; Volet, Simone
This paper examines how distinct trajectories of change in students' general views of group work over the duration of one single group assignment could be explained by multidimensional aspects of their experience and the overall instructional context. Science (336) and Education (377) students involved in a semester-long group assignment…
Turman, Paul D.
Examines the influence of coach experience on young athletes' preferences for, and perceptions of, coaches' leadership behaviors (autocratic, democratic, social support, positive feedback, and training and instruction) across an athletic season. Indicates that negative control strategies can be quite satisfactory at times, particularly if a…
Physical layer in UASNs Our main investigations are about underwater communications using acoustic waves. Elec- tromagnetic and optical waves do not...Shengli, Z., and Jun-Hong, C. (2008), Prospects and problems of wireless communication for underwater sensor networks, Wirel. Commun . Mob. Comput., 8(8... Wireless Communications , 9(9), 2934–2944.  Pompili, D. and Akyildiz, I. (2010), A multimedia cross-layer protocol for underwater acoustic sensor networks
Cheng, Xilin; Cheng, Xiang
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...
Jaulin, Luc; Creuze, Vincent; Debese, Nathalie; Quidu, Isabelle; Clement, Benoît; Billon-Coat, Annick
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, ...
Cruthirds, Danielle; Coward, Lori
Objective. To examine sterile technique and basic sterile compounding procedures among third-year pharmacy students. Design. Third year pharmacy students participating in an introductory pharmacy practice experience (IPPE) in 2012 (n=126) and 2013 (n=119) performed a modified low-risk compounded sterile product (CSP) media fill challenge test, then prepared a 5 mg/mL vancomycin solution that was subsequently analyzed for accuracy. Assessment. To identify deficiencies in sterile procedures, students were observed while performing a modified low-risk CSP media fill challenge test. In the first year of conducting the challenge test (2012), 3 deficiencies were identified: hand washing before compounding, cleaning items with alcohol prior to start, and cleaning work area upon completion. In 2013, significant improvements were observed in these 3 areas after students watched a demonstration video. Examination of CSPs revealed less than 1% contamination in both years. Analysis of compounded vancomycin solutions showed that 84% and 71% of students prepared solutions in 2012 and 2013, respectively, were within 10% of the targeted final concentration. Conclusion. Hands-on sterile compounding exercises are typically delivered early in the pharmacy professional curriculum with minimal reinforcement in subsequent years. Providing opportunities for advanced pharmacy students to refresh and practice sterile compounding procedures allows students to refine their skills before entering pharmacy practice. PMID:25861109
Rapidis, Petros A. [Institute of Nuclear Physics, National Center for Scientific Research ' Demokritos' , Athens 15310 (Greece)], E-mail: email@example.com
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.
Rapidis, Petros A.
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.
Jitendra, Asha K.; Star, Jon R.; Dupuis, Danielle N.; Rodriguez, Michael C.
This study examined the effect of schema-based instruction (SBI) on 7th-grade students' mathematical problem-solving performance. SBI is an instructional intervention that emphasizes the role of mathematical structure in word problems and also provides students with a heuristic to self-monitor and aid problem solving. Using a…
Chao, Li-Ming; Cao, Yong-Hui; Pan, Guang
This paper reviews recent developments in the understanding of underwater bio-mimetic propulsion. Two impressive models of underwater propulsion are considered: cruise and fast-start. First, we introduce the progression of bio-mimetic propulsion, especially underwater propulsion, where some primary conceptions are touched upon. Second, the understanding of flapping foils, considered as one of the most efficient cruise styles of aquatic animals, is introduced, where the effect of kinematics and the shape and flexibility of foils on generating thrust are elucidated respectively. Fast-start propulsion is always exhibited when predator behaviour occurs, and we provide an explicit introduction of corresponding zoological experiments and numerical simulations. We also provide some predictions about underwater bio-mimetic propulsion.
Full Text Available A new hybrid adaptive control algorithm is proposed for the nonlinear system controller design of underwater robot. Compared with the previous works in the controller design of underwater robot, the main advantages of this work are: (1 A new disturbance prediction and compensation model is proposed; (2 A new adaptive fuzzy smoother is proposed for the control input; (3 A time-varying flow disturbance is considered for the control design which is always neglected in many previous works and several practical experiments under different environment were implemented to verify the control performance. The Lyapunov stability theory proves the stability and convergence of this new control system. Simulation and experiment results demonstrate the performance and the effectiveness of this new algorithm.
Julia L. Tripp; Kip Archibald; Ann-Marie Phillips; Joseph Campbell
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
Full Text Available Underwater shock loading experiment device is the equipment which simulates underwater explosive shock wave through experiment. Underwater shock loading experiment device was used to conduct high-speed underwater impact on aluminium foam panel and its damage modes were studied in this paper. 3D dynamic DIC test system was used to collect and analyze real-time deformation of target board. After the experiment was completed, a numerical simulation of the series of experiment was conducted through ABAQUS finite element simulation and then a comparative analysis of the experiment was implemented. To comprehensively study damage modes of aluminium foam panel subjected to underwater shock loading, damage modes of aluminium foam panel at different shock speeds were studied. Results indicated that when a certain impact speed which could damage aluminium foam panel was reached, if the impact speed was low, aluminium foam panel would generate shear fracture at constrained boundary of flange; if the impact speed was high, aluminium foam panel would firstly generate fracture at the center and then generate shear fracture at constrained boundary of flange, and central fracture would generate three cracks.
The bottom of the Mediterranean is the unlikely venue for a new kind of telescope poised to turn astronomy on its head. The Antares Cerenkov detector hopes to spot high-energy neutrinos. A brief design overview is given. The AMANDA-II detector at the South Pole is also discussed.
Engaging in Argument from Evidence and the Ocean Sciences Sequence for Grades 3-5: A case study in complementing professional learning experiences with instructional materials aligned to instructional goals
Schoedinger, S. E.; Weiss, E. L.
K-5 science teachers, who often lack a science background, have been tasked with a huge challenge in implementing NGSS—to completely change their instructional approach from one that views science as a body of knowledge to be imparted to one that is epistemic in nature. We have found that providing high-quality professional learning (PL) experiences is often not enough and that teachers must have instructional materials that align with their instructional goals. We describe a case study in which the Lawrence Hall of Science (the Hall) used the Hall-developed Ocean Sciences Sequence for Grades 3-5 (OSS 3-5) to support a rigorous PL program for grade 3-5 teachers focused on the NGSS science and engineering practice, engaging in argument from evidence. Developed prior to the release of NGSS, the Ocean Literacy Framework and the NGSS precursor, A Framework for K-12 Science Education, informed the content and instructional approaches of OSS 3-5. OSS 3-5 provides a substantial focus on making evidence-based explanations (and other science practices), while building students' ocean sciences content knowledge. From 2013-2015, the Hall engaged cohorts of teachers in a rigorous PL experience focused on engaging in argument from evidence. During the summer, teachers attended a week-long institute, in which exemplar activities from OSS 3-5 were used to model instructional practices to support arguing from evidence and related practices, e.g., developing and using models and constructing explanations. Immediately afterward, teachers enacted what they'd learned during a two-week summer school practicum. Here, they team-taught the OSS 3-5 curriculum, participated in video reflection groups, and received coaching and just-in-time input from instructors. In the subsequent academic year, many teachers began by teaching OSS 3-5 so that they could practice engaging students in argumentation in curriculum they'd already used for that purpose. Throughout the year, teachers
Full Text Available Authors consider problem of maintenance and service of underwater vehicles. Usually, underwater station or accompanying ship is required for such operations. Docking is one of the most difficult tasks on the vehicle path from the outer space to the servicing bay. Algorithms allowing docking were presented in the earlier paper, and in this paper authors prove their stability. Movement control is based upon the path regulator. The stability of the closed-loop system according to Liapunov with the given control and limitations is proven. Equations, showing that vehicle will complete the positioning task with account to given limitations and staying stable are given. The criterion for switching movement and “positioning to point” algorithms is proposed. Achievement of the developed criterion was researched theoretically and in computer simulation. Experiments provide deviation of actual coordinates and velocity from the required ones and proved that achieving of criterion is enough to claim that system will be stable while performing algorithms with limitations for controls.
Yanou, Akira; Ohnishi, Shota; Ishiyama, Shintaro; Minami, Mamoru
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)
Shahab, S.; Erturk, A.
Low-power electronic systems are used in various underwater applications ranging from naval sensor networks to ecological monitoring for sustainability. In this work, underwater base excitation of cantilevers made of Macro-Fiber Composite (MFC) piezoelectric structures is explored experimentally and theoretically to harvest energy for such wireless electronic components toward enabling self-powered underwater systems. Bimorph cantilevers made of MFCs with different length-to-width ratios and same thickness are tested in air and under water to characterize the change in natural frequency and damping with a focus on the fundamental bending mode. The real and imaginary parts of hydrodynamic frequency response functions are identified and corrected based on this set of experiments. An electrohydroelastic model is developed and experimentally validated for predicting the power delivered to an electrical load as well as the shunted underwater vibration response under base excitation. Variations of the electrical power output with excitation frequency and load resistance are obtained for different length-to-width ratios. Underwater power density results are reported and compared with their in-air counterparts. Specifically a nonlinear dependence of the power density to the cantilever width is reported for energy harvesting from underwater base excitation.
Li, Jing; Ma, Yong; Zhou, Qunqun; Zhou, Bo; Wang, Hongyuan
Pulse response of the underwater wireless optical channel is significant for the analysis of channel capacity and error probability. Traditional vector radiative transfer theory (VRT) is not able to deal with the effect of receiving aperture. On the other hand, general water tank experiments cannot acquire an accurate pulse response due to the limited time resolution of the photo-electronic detector. We present a Monte Carlo simulation model to extract the time-domain pulse response undersea. In comparison with the VRT model, a more accurate pulse response for practical ocean communications could be achieved through statistical analysis of the received photons. The proposed model is more reasonable for the study of the underwater optical channel.
Kim, Hee-Won; Cho, Ho-Shin
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.
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.
Hosseini, S. H. R.; Kaiho, Kunio; Takayama, Kazuyoshi
The paper reports results of experiments to estimate the mortality of ocean bottom dwellers, ostracoda, against underwater shock wave exposures. This study is motivated to verify the possible survival of ocean bottom dwellers, foraminifera, from the devastating underwater shock waves induced mass extinction of marine creatures which took place at giant asteroid impact events. Ocean bottom dwellers under study were ostracoda, the replacement of foraminifera, we readily sampled from ocean bottoms. An analogue experiment was performed on a laboratory scale to estimate the domain and boundary of over-pressures at which marine creatures' mortality occurs. Ostracods were exposed to underwater shock waves generated by the explosion of 100mg PETN pellets in a chamber at shock over-pressures ranging up to 44MPa. Pressure histories were measured simultaneously on 113 samples. We found that bottom dwellers were distinctively killed against overpressures of 12MPa and this value is much higher than the usual shock over-pressure threshold value for marine-creatures having lungs and balloons.
Cámara, Beatriz; Álvarez de Buergo, Mónica; Bethencourt, Manuel; Freire-Lista, David; Fort, Rafael
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
Fabrício A. Magalhaes
Full Text Available Tracking of markers placed on anatomical landmarks is a common practice in sports science to perform the kinematic analysis that interests both athletes and coaches. Although different software programs have been developed to automatically track markers and/or features, none of them was specifically designed to analyze underwater motion. Hence, this study aimed to evaluate the effectiveness of a software developed for automatic tracking of underwater movements (DVP, based on the Kanade-Lucas-Tomasi feature tracker. Twenty-one video recordings of different aquatic exercises (n = 2940 markers’ positions were manually tracked to determine the markers’ center coordinates. Then, the videos were automatically tracked using DVP and a commercially available software (COM. Since tracking techniques may produce false targets, an operator was instructed to stop the automatic procedure and to correct the position of the cursor when the distance between the calculated marker’s coordinate and the reference one was higher than 4 pixels. The proportion of manual interventions required by the software was used as a measure of the degree of automation. Overall, manual interventions were 10.4% lower for DVP (7.4% than for COM (17.8%. Moreover, when examining the different exercise modes separately, the percentage of manual interventions was 5.6% to 29.3% lower for DVP than for COM. Similar results were observed when analyzing the type of marker rather than the type of exercise, with 9.9% less manual interventions for DVP than for COM. In conclusion, based on these results, the developed automatic tracking software presented can be used as a valid and useful tool for underwater motion analysis.
Stephan, Thomas; Frühberger, Peter; Werling, Stefan; Heizmann, Michael
The inspection of offshore parks, dam walls and other infrastructure under water is expensive and time consuming, because such constructions must be inspected manually by divers. Underwater buildings have to be examined visually to find small cracks, spallings or other deficiencies. Automation of underwater inspection depends on established water-proved imaging systems. Most underwater imaging systems are based on acoustic sensors (sonar). The disadvantage of such an acoustic system is the loss of the complete visual impression. All information embedded in texture and surface reflectance gets lost. Therefore acoustic sensors are mostly insufficient for these kind of visual inspection tasks. Imaging systems based on optical sensors feature an enormous potential for underwater applications. The bandwidth from visual imaging systems reach from inspection of underwater buildings via marine biological applications through to exploration of the seafloor. The reason for the lack of established optical systems for underwater inspection tasks lies in technical difficulties of underwater image acquisition and processing. Lightening, highly degraded images make a computational postprocessing absolutely essential.
Wong, Chiu-Yin; Indiatsi, John; Wong, Gary K W
The present case study examined English as a second language (ESL) teacher candidates' views on their preparedness on instructing culturally and linguistically diverse students. A survey was administrated to a group of ESL teacher candidates at the end of the training program. Results revealed that although the participants received training in culture and instructional strategies, lacking adequate knowledge in students' diverse cultures and languages was reported as a major challenge. Personality traits and knowing specific strategies are reported as their strengths. However, there is a mismatch between the data gathered from the self-ranking component and the open-ended questions. Implications and suggestions are discussed.
Xu, Wen; Cheng, Qianliu; Zhao, Hangfang
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.
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.
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.
Zhang, Songsong; Ouyang, Xiao; Li, Jie; Gao, Shan; Han, Shihui; Liu, Lianhe; Wei, Hao
To address the debates on whether superhydrophobic coatings can reduce fluid drag for underwater motions, we have achieved an underwater drag-reducing effect of large superhydrophobic submarine models with a feature size of 3.5 cm × 3.7 cm × 33.0 cm through sailing experiments of submarine models, modified with and without superhydrophobic surface under similar power supply and experimental conditions. The drag reduction rate reached as high as 15%. The fabrication of superhydrophobic coatings on a large area of submarine model surfaces was realized by immobilizing hydrophobic copper particles onto a precross-linked polydimethylsiloxane (PDMS) surface. The pre-cross-linking time was optimized at 20 min to obtain good superhydrophobicity for the underwater drag reduction effect by investigating the effect of pre-cross-linking on surface wettability and water adhesive property. We do believe that superhydrophobic coatings may provide a promising application in the field of drag-reducing of vehicle motions on or under the water surface.
Abe, Tadashi; Aota, Toshiichi; Nishizaki, Tadashi; Nakayama, Shigeru; Yamashita, Seiji
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.)
FOR ROBOT VISION IN AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING by Jake A. Jones June 2017 Thesis Advisor... VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING 5. FUNDING NUMBERS 6. AUTHOR(S) Jake A. Jones 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS...underwater vehicles (AUVs), robot vision, autonomy, visual odometry, underwater color shift, optical properties of water 15. NUMBER OF PAGES 75 16
Colmer, Timothy D.; Winkel, Anders; Pedersen, Ole
Background and aims Wetland plants inhabit flood-prone areas and therefore can experience episodes of complete submergence. Submergence impedes exchange of O2 and CO2 between leaves and the environment, and light availability is also reduced. The present review examines limitations to underwater net photosynthesis (PN) by terrestrial (i.e. usually emergent) wetland plants, as compared with submerged aquatic plants, with focus on leaf traits for enhanced CO2 acquisition. Scope Floodwaters are variable in dissolved O2, CO2, light and temperature, and these parameters influence underwater PN and the growth and survival of submerged plants. Aquatic species possess morphological and anatomical leaf traits that reduce diffusion limitations to CO2 uptake and thus aid PN under water. Many aquatic plants also have carbon-concentrating mechanisms to increase CO2 at Rubisco. Terrestrial wetland plants generally lack the numerous beneficial leaf traits possessed by aquatic plants, so submergence markedly reduces PN. Some terrestrial species, however, produce new leaves with a thinner cuticle and higher specific leaf area, whereas others have leaves with hydrophobic surfaces so that gas films are retained when submerged; both improve CO2 entry. Conclusions Submergence inhibits PN by terrestrial wetland plants, but less so in species that produce new leaves under water or in those with leaf gas films. Leaves with a thinner cuticle, or those with gas films, have improved gas diffusion with floodwaters, so that underwater PN is enhanced. Underwater PN provides sugars and O2 to submerged plants. Floodwaters often contain dissolved CO2 above levels in equilibrium with air, enabling at least some PN by terrestrial species when submerged, although rates remain well below those in air. PMID:22476500
Godden, D. R.; Baddeley, A. D.
In a free recall experiment, divers learn lists of words in two natural environments: on dry land and underwater, and recalled the words in either the environment of original learning, or in the alternative environment. A subsequent experiment related these actions to context-dependent memory. (Editor/RK)
Holtz, Peter; Gnambs, Timo
Most studies evaluating the effectiveness of school internships have relied on self-assessments that are prone to self-presentational distortions. Therefore, the present study analyzed the improvement in the instructional quality of 102 student teachers (46 women) from a German university during a 15-week internship at a local secondary school…
Villanueva, Alex; Bresser, Scott; Chung, Sanghun; Tadesse, Yonas; Priya, Shashank
An unmanned underwater vehicle (UUV) was designed inspired by the form and functionality of a Jellyfish. These natural organisms were chosen as bio-inspiration for a multitude of reasons including: efficiency of locomotion, lack of natural predators, proper form and shape to incorporate payload, and varying range of sizes. The structure consists of a hub body surrounded by bell segments and microcontroller based drive system. The locomotion of UUV was achieved by shape memory alloy "Biometal Fiber" actuation which possesses large strain and blocking force with adequate response time. The main criterion in design of UUV was the use of low-profile shape memory alloy actuators which act as artificial muscles. In this manuscript, we discuss the design of two Jellyfish prototypes and present experimental results illustrating the performance and power consumption.
Fu, Tricia C.
A dual communication and imaging underwater acoustic system is proposed and developed throughout this dissertation. Due to the wide variation in underwater channel characteristics, the research here focuses more on robustness to multipath in the shallow underwater acoustic environment, rather than high bit-rate applications and signaling schemes. Lower bit-rate (in the hundreds of bits per second (bps) to low kbps), applications such as the transfer of ecological telemetry data, e.g. conductivity or temperature data, are the primary focus of this dissertation. The parallels between direct sequence spread spectrum in digital communication and pulse-echo with pulse compression in imaging, and channel estimation in communication and range profile estimation in imaging are drawn, leading to a unified communications and imaging platform. A digital communication algorithm for channel order and channel coefficient estimation and symbol demodulation using Matching Pursuit (MP) with Generalized Multiple Hypothesis Testing (GMHT) is implemented in programmable DSP in real time with field experiment results in varying underwater environments for the single receiver (Rx), single transmitter (Tx) case. The custom and off-the-shelf hardware used in the single receiver, single transmitter set of experiments are detailed as well. This work is then extended to the single-input multiple-output (SIMO) case, and then to the full multiple-input multiple-output (MIMO) case. The results of channel estimation are used for simple range profile imaging reconstructions. Successful simulated and experimental results for both transducer array configurations are presented and analyzed. Non-real-time symbol demodulation and channel estimation is performed using experimental data from a scaled testing environment. New hardware based on cost-effective fish-finder transducers for a 6 Rx--1 Tx and 6 Rx--4 Tx transducer array is detailed. Lastly, in an application that is neither communication nor
The fortified Susquehanna Flats, the largest bed of underwater grasses in the Chesapeake Bay, seems able to withstand a major weather punch. Its resilience is contributing to an overall increase in the Bay’s submerged aquatic vegetation.
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.
Mohamed, Nader; Jawhar, Imad; Al-Jaroodi, Jameela; Zhang, Liren
This paper develops and compares different sensor network architecture designs that can be used for monitoring underwater pipeline infrastructures. These architectures are underwater wired sensor networks, underwater acoustic wireless sensor networks, RF (radio frequency) wireless sensor networks, integrated wired/acoustic wireless sensor networks, and integrated wired/RF wireless sensor networks. The paper also discusses the reliability challenges and enhancement approaches for these network architectures. The reliability evaluation, characteristics, advantages, and disadvantages among these architectures are discussed and compared. Three reliability factors are used for the discussion and comparison: the network connectivity, the continuity of power supply for the network, and the physical network security. In addition, the paper also develops and evaluates a hierarchical sensor network framework for underwater pipeline monitoring.
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.)
Merchant, Nathan D.; Brookes, Kate L.; Faulkner, Rebecca C.; Bicknell, Anthony W. J.; Godley, Brendan J.; Witt, Matthew J.
Underwater noise from human activities appears to be rising, with ramifications for acoustically sensitive marine organisms and the functioning of marine ecosystems. Policymakers are beginning to address the risk of ecological impact, but are constrained by a lack of data on current and historic noise levels. Here, we present the first nationally coordinated effort to quantify underwater noise levels, in support of UK policy objectives under the EU Marine Strategy Framework Directive (MSFD). ...
Volpe, Daniele; Pavan, Davide; Morris, Meg; Guiotto, Annamaria; Iansek, Robert; Fortuna, Sofia; Frazzitta, Giuseppe; Sawacha, Zimi
Although hydrotherapy is one of the physical therapies adopted to optimize gait rehabilitation in people with Parkinson disease, the quantitative measurement of gait-related outcomes has not been provided yet. This work aims to document the gait improvements in a group of parkinsonians after a hydrotherapy program through 2D and 3D underwater and on land gait analysis. Thirty-four parkinsonians and twenty-two controls were enrolled, divided into two different cohorts. In the first one, 2 groups of patients underwent underwater or land based walking training; controls underwent underwater walking training. Hence pre-treatment 2D underwater and on land gait analysis were performed, together with post-treatment on land gait analysis. Considering that current literature documented a reduced movement amplitude in parkinsonians across all lower limb joints in all movement planes, 3D underwater and on land gait analysis were performed on a second cohort of subjects (10 parkinsonians and 10 controls) who underwent underwater gait training. Baseline land 2D and 3D gait analysis in parkinsonians showed shorter stride length and slower speed than controls, in agreement with previous findings. Comparison between underwater and on land gait analysis showed reduction in stride length, cadence and speed on both parkinsonians and controls. Although patients who underwent underwater treatment exhibited significant changes on spatiotemporal parameters and sagittal plane lower limb kinematics, 3D gait analysis documented a significant (p<0.05) improvement in all movement planes. These data deserve attention for research directions promoting the optimal recovery and maintenance of walking ability. Crown Copyright © 2016. Published by Elsevier B.V. All rights reserved.
Pilipenko, Vladimir; Arnon, Shlomi
In recent years the need for high data rate underwater wireless communication (WC) has increased. Nowadays, the conventional technology for underwater communication is acoustic. However, the maximum data rate that acoustic technology can provide is a few kilobits per second. On the other hand, emerging applications such as underwater imaging, networks of sensors and swarms of underwater vehicles require much faster data rates. As a result, underwater optical WC, which can provide much higher data rates, has been proposed as an alternative means of communication. In addition to high data rates, affordable communication systems become an important feature in the development requirements. The outcome of these requirements is a new system design based on off-the-shelf components such as blue and green light emitting diodes (LEDs). This is due to the fact that LEDs offer solutions characterized by low cost, high efficiency, reliability and compactness. However, there are some challenges to be met when incorporating LEDs as part of the optical transmitter, such as low modulation rates and non linearity. In this paper, we review the main challenges facing the incorporation of LEDs as an integral part of underwater WC systems and propose some techniques to mitigate the LED limitations in order to achieve high data rate communication
The growing need for underwater observation and sub-sea monitoring systems has stimulated considerable interest in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. This communication technology is expected to play an important role in investigating climate change, in monitoring biological, bio-geochemical, evolutionary and ecological changes in the sea, ocean and lake environments and in helping to control and maintain oil production facilities and harbors using unmanned underwater vehicles (UUVs), submarines, ships, buoys, and divers. However, the present technology of underwater acoustic communication cannot provide the high data rate required to investigate and monitor these environments and facilities. Optical wireless communication has been proposed as the best alternative to meet this challenge. We present models of three kinds of optical wireless communication links a) a line-of-sight link, b) a modulating retro-reflector link and c) a reflective link, all of which can provide the required data rate. We analyze the link performance based on these models. From the analysis, it is clear that as the water absorption increases, the communication performance decreases dramatically for the three link types. However, by using the scattered lighted it was possible to mitigate this decrease in some cases. We conclude from the analysis that a high data rate underwater optical wireless network is a feasible solution for emerging applications such as UUV to UUV links and networks of sensors, and extended ranges in these applications could be achieved by applying a multi-hop concept.
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
Full Text Available Studies on shock response of circular plates subjected to underwater explosion is of interest to ship designers. Non-contact underwater explosion experiments were carried out on air backed circular High Strength Low Alloy (HSLA steel plates of 4 mm thickness and 290 mm diameter. The experiments were carried out in two phases. In the first phase, strain gauges were fixed at intervals of 30 mm from the centre of the plate and strains were recorded for the shock intensity gradually increasing to yielding. Semi-analytical models were derived for the elastic strain prediction which showed good agreement with the experiments. Dynamic yield stress and the shock factor for yielding were established. In the second phase, individual plates were subjected to increasing shock severity until fracture and the apex bulge depth and the thickness strains were measured. Empirical models were derived to predict the plastic deformation which were validated through a fresh set of experiments. Analysis of the fractured surface by visual examination showed that there was slant fracture indicating ductile mode of failure and the same was corroborated by Scanning Electron Microscopic (SEM examination.
Cui, Zihao; Tian, Zhaoshuo; Zhang, Yanchao; Bi, Zongjie; Yang, Gang; Gu, Erdan
A high frame rate streak tube imaging lidar (STIL) for real-time 3D imaging of underwater targets is presented in this paper. The system uses 532nm pulse laser as the light source, the maximum repetition rate is 120Hz, and the pulse width is 8ns. LabVIEW platform is used in the system, the system control, synchronous image acquisition, 3D data processing and display are realized through PC. 3D imaging experiment of underwater target is carried out in a flume with attenuation coefficient of 0.2, and the images of different depth and different material targets are obtained, the imaging frame rate is 100Hz, and the maximum detection depth is 31m. For an underwater target with a distance of 22m, the high resolution 3D image real-time acquisition is realized with range resolution of 1cm and space resolution of 0.3cm, the spatial relationship of the targets can be clearly identified by the image. The experimental results show that STIL has a good application prospect in underwater terrain detection, underwater search and rescue, and other fields.
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
Boshenyatov, B. V.
A theoretical model explaining the effect of anomalous suppression of the energy (up to 70%) of tsunami-type waves by thin (compared to the wavelength) underwater obstacles is developed based on the integral laws of conservation of mass and energy fluxes. It is shown that the analytical dependences for the coefficients of reflection and transmission of waves across an underwater obstacle that have been obtained using the theoretical model proposed by the author agree with the results of the experiments and numerical simulation based on the complete Navier-Stokes equations.
Hansen, Peter Nicholas; Nielsen, Mikkel Cornelius; Christensen, David Johan
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...... for distance estimation, the sensor offers three dimensional interpretation of the environment. This is obtained by triangulation of points extracted from the image using the Hough Transform. We evaluate the system in simulation and by physical proof-of-concept experiments on an OpenROV platform...
Yamaguchi, Hitoshi; Demura, Kenji
The practicality of underwater abrasive water jet cutting technology was studied in experiments. A study of abrasives in slurried form showed that optimum polymer concentration can be selected to suit underwater conditions. For the long-distance transport of slurry from the ocean surface to the ocean floor, a direct supply system by hose proved to be practical. This system takes advantage of the insolubility of the slurry in water due to a difference in specific gravity. For cutting thick steel plate at great ocean depths, a simulation with a pressurized container revealed the requirements for actual cutting. Confirmation of remote cutting operations will become the most important technology in field applications. Underwater sound vibration characteristics were found to change significantly in direct response to modifications in cutting conditions. This will be important basic data to develop an effective sensoring method.
Full Text Available This paper focuses on high precision leveling control of an underwater heavy load platform, which is viewed as an underwater parallel robot on the basis of its work pattern. The kinematic of platform with deformation is analyzed and the dynamics model of joint space is established. An adaptive backstepping controller according to Lyapunov's function is proposed for leveling control of platform based on joint space. Furthermore, the “lowest point fixed angle error” leveling scheme called “chase” is chosen for leveling control of platform. The digital simulation and practical experiment of single joint space actuator are carried out, and the results show high precision servo control of joint space. On the basis of this, the platform leveling control simulation relies on the hardware-in-loop system. The results indicate that the proposed controller can effectively restrain the influence from system parameter uncertainties and external disturbance to realize high precision leveling control of the underwater platform.
Wang, Zhen-yu; Yu, Jian-cheng; Zhang, Ai-qun; Wang, Ya-xing; Zhao, Wen-tao
Combining high precision numerical analysis methods with optimization algorithms to make a systematic exploration of a design space has become an important topic in the modern design methods. During the design process of an underwater glider's flying-wing structure, a surrogate model is introduced to decrease the computation time for a high precision analysis. By these means, the contradiction between precision and efficiency is solved effectively. Based on the parametric geometry modeling, mesh generation and computational fluid dynamics analysis, a surrogate model is constructed by adopting the design of experiment (DOE) theory to solve the multi-objects design optimization problem of the underwater glider. The procedure of a surrogate model construction is presented, and the Gaussian kernel function is specifically discussed. The Particle Swarm Optimization (PSO) algorithm is applied to hydrodynamic design optimization. The hydrodynamic performance of the optimized flying-wing structure underwater glider increases by 9.1%.
Full Text Available Along with rising awareness of public and scientific societies about environmental and ecological impacts of underwater noise, the need for underwater noise modelling in the shallow Lithuanian area of Baltic Sea emerged. Marine Strategy Framework Directive issues regarding underwater noise indicators refers to possibility of evaluation of Good Environmental State using underwater noise measurements as well as possibility to model underwater noise. Main anthropogenic underwater noise contributor in the Seas is the shipping lanes as known due to date, with no exclusion of Lithuanian Baltic Sea area. In this manuscript, it is presented the methods of development of simplistic underwater ambient noise model purposed for computation of underwater soundscape in shallow area of the Lithuanian Baltic Sea.
Swallom, D.W.; Sadovnik, I.; Gibbs, J.S.; Gurol, H.; Nguyen, L.
The development of magnetohydrodynamic propulsion systems for underwater vehicles is discussed. According to the authors, it is a high risk endeavor that offers the possibility of a number of significant advantages over conventional propeller propulsion systems. These advantages may include the potential for greater stealth characteristics, increased maneuverability, enhanced survivability, elimination of cavitation limits, and addition of a significant emergency propulsion system. The possibility of increased stealth is by far the most important advantage. A conceptual design study has been completed with numerical results that shows that these advantages may be obtained with a magnetohydrodynamic propulsion system in an annular configuration externally surrounding a generic study submarine that is neutrally buoyant and can operate with the existing submarine propulsion system power plant. The classical submarine mission requirements make the use of these characteristics of the magnetohydrodynamic propulsion system particularly appropriate for submarine missions. The magnetohydrodynamic annular propulsion system for a generic attack class submarine has been designed to take advantage of the magnetohydrodynamic thruster characteristics
Davis, Russ E.; Leonard, Naomi E.; Fratantoni, David M.
Gliders are autonomous underwater vehicles that achieve long operating range by moving at speeds comparable to those of, or slower than, typical ocean currents. This paper addresses routing gliders to rapidly reach a specified waypoint or to maximize the ability to map a measured field, both in the presence of significant currents. For rapid transit in a frozen velocity field, direct minimization of travel time provides a trajectory "ray" equation. A simpler routing algorithm that requires less information is also discussed. Two approaches are developed to maximize the mapping ability, as measured by objective mapping error, of arrays of vehicles. In order to produce data sets that are readily interpretable, both approaches focus sampling near predetermined "ideal tracks" by measuring mapping skill only on those tracks, which are laid out with overall mapping skill in mind. One approach directly selects each vehicle's headings to maximize instantaneous mapping skill integrated over the entire array. Because mapping skill decreases when measurements are clustered, this method automatically coordinates glider arrays to maintain spacing. A simpler method that relies on manual control for array coordination employs a first-order control loop to balance staying close to the ideal track and maintaining vehicle speed to maximize mapping skill. While the various techniques discussed help in dealing with the slow speed of gliders, nothing can keep performance from being degraded when current speeds are comparable to vehicle speed. This suggests that glider utility could be greatly enhanced by the ability to operate high speeds for short periods when currents are strong.
Demianov, A. I.; Sarycheva, L. I.; Sinyov, N. B.; Varadanyan, I. N.; Yershov, A. A.
Registration and identification of muons and muon groups penetrating into the ocean depth, can be performed using a modular multilayer detector with high resolution bidimensional readout - deep underwater calorimeter (project NADIR). Laboratory testing of a prototype sensor cell with liquid scintillator in light-tight casing, testifies to the practicability of the full-scale experiment within reasonable expences.
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)
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.
Wang, Biao; Wu, Chao; Li, Xiang; Zhao, Qingkai; Ge, Tong
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
Offer, H.P.; Chapman, T.L.; Willis, E.R.; Maslakowski, J.; Van Diemen, P.; Smith, B.W.
As nuclear plants age and reactor internal components begin to show increased evidence of age-related phenomena such as corrosion and fatigue, interest in the development of cost-effective mitigation and repair remedies grows. One technology currently receiving greater development and application program focus is underwater welding. Underwater welding, as used herein, is the application of weld metal to a substrate surface that is wet, but locally dry in the immediate area surrounding the welding torch. The locally dry environment is achieved by the use of a mechanical device that is specifically designed for water exclusion from the welding torch, surface to be welded, and the welding groove. This paper will explore recent developments in the use of underwater welding as a mitigation and repair technique. (author)
Full Text Available Practically all research studies concerning the teaching of Physics point out the fact that conventional instructional models fail to achieve their objectives. Many attempts have been done to change this situation, frequently with disappointing results. This work, which is the experimental stage in a research project of a greater scope, represents an effort to change to a model based on a cognitive learning theory, known as the Ausubel-Novak-Gowin theory, making use of the metacognitive tools that emerge from this theory. The results of this work indicate that the students react positively to the goals of meaningful learning, showing substantial understanding of Newtonian Mechanics. An important reduction in the study time required to pass the course has also been reported.
Nielsen, Mikkel Cornelius; Blanke, Mogens; Schjølberg, Ingrid
This paper considers the challenge of applying reconfigurable robots in an underwater environment. The main result presented is the development of a model for a system comprised of N, possibly heterogeneous, robots dynamically connected to each other and moving with 6 Degrees of Freedom (DOF......). This paper presents an application of the Udwadia-Kalaba Equation for modelling the Reconfigurable Underwater Robots. The constraints developed to enforce the rigid connection between robots in the system is derived through restrictions on relative distances and orientations. To avoid singularities...... in the orientation and, thereby, allow the robots to undertake any relative configuration the attitude is represented in Euler parameters....
Erbe, Christine; McCauley, Robert; McPherson, Craig; Gavrilov, Alexander
Underwater acoustic recordings of six Floating Production Storage and Offloading (FPSO) vessels moored off Western Australia are presented. Monopole source spectra were computed for use in environmental impact assessments of underwater noise. Given that operations on the FPSOs varied over the period of recording, and were sometimes unknown, the authors present a statistical approach to noise level estimation. No significant or consistent aspect dependence was found for the six FPSOs. Noise levels did not scale with FPSO size or power. The 5th, 50th (median), and 95th percentile source levels (broadband, 20 to 2500 Hz) were 188, 181, and 173 dB re 1 μPa @ 1 m, respectively.
Twarog, Leon I.; Walters, E. Garrison
Describes development and implementation of system of individualized instruction at Ohio State University at elementary level in Arabic, French, German, Latin, Russian, and Spanish. Funded by National Endowment for the Humanities, the project involved three components--teacher-assisted, mastery-based, and self-paced instruction (TAMBSPI).…
Halbert, B.E.; Scharer, J.M.; Chakravatti, J.L.; Barnes, E.
Underwater disposal of uranium mine tailings from the Elliot Lake area operations offers potential advantages in controlling radon gas release, emission of airborne particulate matter, and acid production from pyrites in the tailings. In addition, the proximity of the three active properties, one owned by Denison Mines Limited and two by Rio Algom Limited, to a large deep lake has spurred interest in the concept. It has been estimated that the placement of approximately 150 million tonnes of tailings from future planned production would occupy less than 20% of the lake volume. To assess the applicability of the underwater tailings disposal concept, a multi-stage study was developed in conjunction with the regulatory agencies. The most important facet identified for investigation during the first-stage investigations was an assessment of the effects of underwater disposal on water quality in the Serpent River Basin watershed. To simulate the effects of underwater disposal, a computer simulation routine was developed and integrated with a water quality model previously developed for the Basin which predicts levels of total dissolved solids, ammonia, dissolved radium-226 and pH. The underwater disposal model component reflects the effects of direct input of tailings into the hypolimnion, the chemical/biological transformation of dissolved constituents in the water column, the reactions of pyritic tailings deposited on the bottom, and the flux of dissolved constituents from the tailings into the water column. To establish site-specific values for the underwater disposal model, field and laboratory experiments were utilized to evaluate rates of pyrite and ammonia oxidation, and pH-alkalinity relationships. The results of these studies and their use in the water quality model are discussed. In addition, the results of two model run simulations are presented. (author)
Klingstedt, G.; Leisio, C. [ed.
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
In this thesis we consider different methods to localize events in a multi-hop wireless sensor network operating underwater using acoustic modems. The network consists of surface gateway nodes and relay nodes. Localization of surface gateways can be achieved through GPS, but we cannot rely on this technology for localizing underwater nodes. Surface Gateway nodes can distribute their locations through the network using the incoming signals by the acoustic modems from the relay nodes. Relay nodes are deployed to remain static but due to water currents, floating, and the untethered nature of the nodes, they often suffer from frequent drifting which can result in a deployed network suffering link failures. In this work, we developed a novel concept of an underwater alarming system, which adapts a cyclic graph model. In the event of link failure, a series of alarm packets are broadcasted in the network. These alarms are then captured through a novel concept of underwater Monitoring Courses (M-Courses), which can also be used to assure network connectivity and identify node faults. M-Courses also allow the network to localize events and identify network issues at a local level before forwarding any results upwards to a Surface Gateway nodes. This reduces the amount of communication overhead needed and allowing for distributed management of nodes in a network which may be constantly moving. We show that the proposed algorithms can reduce the number of send operations needed for an event to be localized in a network. We have found that M-Course routing reduces the number of sends required to report an event to a Surface Gateway by up to 80% in some cases when compared to a naive routing implementation. But this is achieved by increasing the time for an event to reach a Surface Gateway. These effects are both due to the buffering effect of M-Course routing, which allows us to efficiently deal with multiple events in an local area and we find that the performance of M
sufficiently waterproofed ...................................................................... 20 Objective: Calibration method can be used both topside... additional background variability is observed at early times, as illustrated in Figure 15. The layout of this figure is the same as Figure 14. Now the...are discussed in the following sections and summarized in Table 5. Objective: System is sufficiently waterproofed The array remained underwater up to
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.
2nd International Conference on Underwater Acoustic Measurements, Crete, Greece, 2007. 16  P.T. Gough and D.W. Hawkins “Imaging algorithms...course. Runs 275 and 325 folla.v the same trad < and run 322 foUows a track on the opposite side of the swath. The LF SAS image of run 325 is shown
Cannelli, L; Leus, G.; Dol, H.S.; Walree, P.A. van
In this paper a multiband transceiver designed for underwater channels is presented. Multi-branch filtering at the receiver is used to leverage the diversity offered by a multi-scale multi-lag scenario. The multi-branch bank of filters is constructed by estimating scale and delay coefficients
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
A key innovation in the history of whales was the evolution of a sonar system together with high-frequency hearing. Fossils of an archaic toothed whale's inner ear bones provide clues for a stepwise emergence of underwater echolocation ability. Copyright © 2016 Elsevier Ltd. All rights reserved.
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
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
Houtveen, A.A M; Booy, N; de Jong, Robert (Rob); van de Grift, W.J C M
In this article the results are reported of a quasi-experiment on effects of adaptive instruction on reading results of children in the first year of reading instruction in Dutch primary schools. The research involved 456 pupils from 23 schools (12 experimental and 11 control group schools).
Full Text Available Underwater noise pollution (UNP has become a major concern in marine habitats, which is intense anthropogenic noise in the marine (aquatic environment. It is caused by ship traffic, oceanographic experiments, and use of explosives in geophysical research, underwater construction, active sonars and seismic survey techniques. Oceans are much nosier than 1960s. Narrow and shallow channel noisy aquatic environments where noise levels reach the highest value is not surprising. The Strait of Istanbul (SoI; Bosphorus is one of the most important maritime passages (app. 50 000 vessel/year or 140 vessel/day which is situated between the Black Sea and the Aegean Sea are also biologically extremely important gateway not only it provides access to a channel. Many of the varieties of fish migration hunting value are realized through the TSS. Local maritime traffic is another important acoustic sources which are more than 3 000 elements (Kesgin and Vardar, 2001 of everyday local traffic in SoI, which are causing noise in the 2 and 10 kHz range. Large vessels create signals both in bands below 1 kHz (main engine, electrical instruments cavitation noise creates higher frequency bands. Almost all elements of marine traffic in SoI located therefore encountered UND in all bands.
Li, Daijin; Qin, Kan; Luo, Kai
Stirling engines are regarded as an efficient and promising power system for underwater devices. Currently, many researches on one-dimensional model is used to evaluate thermodynamic performance of Stirling engine, but in which there are still some aspects which cannot be modeled with proper mathematical models such as mechanical loss or auxiliary power. In this paper, a four-cylinder double-acting Stirling engine for Unmanned Underwater Vehicles (UUVs) is discussed. And a one-dimensional model incorporated with empirical equations of mechanical loss and auxiliary power obtained from experiments is derived while referring to the Stirling engine computer model of National Aeronautics and Space Administration (NASA). The P-40 Stirling engine with sufficient testing results from NASA is utilized to validate the accuracy of this one-dimensional model. It shows that the maximum error of output power of theoretical analysis results is less than 18% over testing results, and the maximum error of input power is no more than 9%. Finally, a Stirling engine for UUVs is designed with Schmidt analysis method and the modified one-dimensional model, and the results indicate this designed engine is capable of showing desired output power.
Full Text Available Stirling engines are regarded as an efficient and promising power system for underwater devices. Currently, many researches on one-dimensional model is used to evaluate thermodynamic performance of Stirling engine, but in which there are still some aspects which cannot be modeled with proper mathematical models such as mechanical loss or auxiliary power. In this paper, a four-cylinder double-acting Stirling engine for Unmanned Underwater Vehicles (UUVs is discussed. And a one-dimensional model incorporated with empirical equations of mechanical loss and auxiliary power obtained from experiments is derived while referring to the Stirling engine computer model of National Aeronautics and Space Administration (NASA. The P-40 Stirling engine with sufficient testing results from NASA is utilized to validate the accuracy of this one-dimensional model. It shows that the maximum error of output power of theoretical analysis results is less than 18% over testing results, and the maximum error of input power is no more than 9%. Finally, a Stirling engine for UUVs is designed with Schmidt analysis method and the modified one-dimensional model, and the results indicate this designed engine is capable of showing desired output power.
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.
O'Bryan, Kenneth G.
Writing considerations specific to instructional television (ITV) situations are discussed in this handbook written for the beginner, but designed to be of use to anyone creating an ITV script. Advice included in the handbook is based on information obtained from ITV wirters, literature reviews, and the author's personal experience. The ITV…
This paper presents a technique for the estimation of the relative bearing angle between the unmanned underwater vehicle (UUV) and the base station for the homing and docking operations. The key requirement of this project includes computation efficiency and estimation accuracy for direct implementation onto the UUV electronic hardware, subject to the extreme constraints of physical limitation of the hardware due to the size and dimension of the UUV housing, electric power consumption for the requirement of UUV survey duration and range coverage, and heat dissipation of the hardware. Subsequent to the design and development of the algorithm, two phases of experiments were conducted to illustrate the feasibility and capability of this technique. The presentation of this paper includes system modeling, mathematical analysis, and results from laboratory experiments and full-scale sea tests.
Niu, Wen-dong; Wang, Shu-xin; Wang, Yan-hui; Song, Yang; Zhu, Ya-qiang
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.
Hou, Weilin; Weidemann, Alan D.; Gray, Deric J.; Fournier, Georges R.
The main challenge working with underwater imagery results from both rapid decay of signals due to absorption, which leads to poor signal to noise returns, and the blurring caused by strong scattering by the water itself and constituents within, especially particulates. The modulation transfer function (MTF) of an optical system gives the detailed and precise information regarding the system behavior. Underwater imageries can be better restored with the knowledge of the system MTF or the point spread function (PSF), the Fourier transformed equivalent, extending the performance range as well as the information retrieval from underwater electro-optical system. This is critical in many civilian and military applications, including target and especially mine detection, search and rescue, and diver visibility. This effort utilizes test imageries obtained by the Laser Underwater Camera Imaging Enhancer (LUCIE) from Defense Research and Development Canada (DRDC), during an April-May 2006 trial experiment in Panama City, Florida. Imaging of a standard resolution chart with various spatial frequencies were taken underwater in a controlled optical environment, at varying distances. In-water optical properties during the experiment were measured, which included the absorption and attenuation coefficients, particle size distribution, and volume scattering function. Resulting images were preprocessed to enhance signal to noise ratio by averaging multiple frames, and to remove uneven illumination at target plane. The MTF of the medium was then derived from measurement of above imageries, subtracting the effect of the camera system. PSFs converted from the measured MTF were then used to restore the blurred imageries by different deconvolution methods. The effects of polarization from source to receiver on resulting MTFs were examined and we demonstrate that matching polarizations do enhance system transfer functions. This approach also shows promise in deriving medium optical
Full Text Available Underwater torpedo has control fin with very low aspect ratio due to launching from limited size of cylindrical torpedo tube. If the aspect ratio of control fin of underwater vehicle is very low three-dimensional flow around control fin largely reduces control forces. In this study, the end plate was applied to reduce the three-dimensional flow effects of partially movable control fin of underwater vehicle. Through numerical simulations the flow field around control fin was examined with and without end plate for different flap angles. The pressure, vorticity, lift and torque on the control fin were analyzed and compared to experiments. The comparison have shown a reasonable agreement between numerical and experimental results and the effect of end plate on a low aspect ratio control fin. When the end plate was attached to the movable control fin, the lift increased and the actuator shaft torque did not significantly change. As this means less consumption of the actuator shaft torque compared to the control fin that has the same control force, the inner actuator capacity can be reduced and energy consumption can be saved. Considering this, it is expected to be effectively applied to the control fin design of underwater vehicles such as torpedoes.
Full Text Available Using visual sensors for detecting regions of interest in underwater environments is fundamental for many robotic applications. Particularly, for an autonomous exploration task, an underwater vehicle must be guided towards features that are of interest. If the relevant features can be seen from the distance, then smooth control movements of the vehicle are feasible in order to position itself close enough with the final goal of gathering visual quality images. However, it is a challenging task for a robotic system to achieve stable tracking of the same regions since marine environments are unstructured and highly dynamic and usually have poor visibility. In this paper, a framework that robustly detects and tracks regions of interest in real time is presented. We use the chromatic channels of a perceptual uniform color space to detect relevant regions and adapt a visual attention scheme to underwater scenes. For the tracking, we associate with each relevant point superpixel descriptors which are invariant to changes in illumination and shape. The field experiment results have demonstrated that our approach is robust when tested on different visibility conditions and depths in underwater explorations.
Dong, Mingjie; Chou, Wusheng; Yao, Guodong
3D reconstruction is of vital importance to detect and monitor the underwater environment. A method based on geometric transformation of mechanical scanning sonar and depth information is proposed, in which the point cloud data from sonar and depth gauge are acquired to reconstruct the underwater 3D environment. However, noise and interference can affect the measurement of sonar, and movement of sonar during measurement can lead to distortion of the received data. Meanwhile, translation and rotation movement of sonar head may happen when ROV dives which can lead to different body reference coordinates of different scanning. To solve this, pre-processing and motion compensation are implemented at first, and underwater matching correction algorithm is used to calculate the translation and rotation of the sonar head. Then the inverse operation is implemented to convert the scan data of every depth into the same coordinate reference system. Finally, surface reconstruction of point clouds from sonar the depth information are used to reconstruct underwater environment based on MLS (Moving Least Square Method) using PCL (Point Cloud Library). Water tank experiments verify the effectiveness of the proposed method.
Neuner, Burton; Pascoguin, B. Melvin
Wirelessly transmitting large volumes of information at high data rates underwater is becoming increasingly important for such applications as environmental monitoring and petroleum exploration and maintenance. Underwater free-space optical (FSO) communication addresses the aforementioned need by providing wireless high-data-rate links. Visible light transmission through seawater typically peaks in the blue-green spectrum (475 nm-575 nm), but local clarity conditions, which are dynamic, strongly influence the actual maximum. We describe the development of a new laser-wavelength auto-selection algorithm and system for optimized underwater FSO communication. This system has the potential to improve underwater optical link reliability for high-data-rate communications. First, we describe the laser system and water tube setup for performing optical experiments. Next, we present research on recreating various seawater types (from clear to turbid) in the laboratory using particle suspensions and dye, which will enable wavelength-dependent transmission tests. Finally, we show experimental results from optical water tube tests, and describe the development of the autoselection algorithm.
Liu, Xin-yu; Li, Yi-ping; Wang, Ya-xing; Feng, Xi-sheng
In this study, a dynamic modeling method for foil-like underwater vehicles is introduced and experimentally verified in different sea tests of the Hadal ARV. The dumping force of a foil-like underwater vehicle is sensitive to swing motion. Some foil-like underwater vehicles swing periodically when performing a free-fall dive task in experiments. Models using conventional modeling methods yield solutions with asymptotic stability, which cannot simulate the self-sustained swing motion. By improving the ridge regression optimization algorithm, a grey-box modeling method based on 378 viscous drag coefficients using the Taylor series expansion is proposed in this study. The method is optimized for over-fitting and convergence problems caused by large parameter matrices. Instead of the PMM test data, the unsteady computational fluid dynamics calculation results are used in modeling. The obtained model can better simulate the swing motion of the underwater vehicle. Simulation and experimental results show a good consistency in free-fall tests during sea trials, as well as a prediction of the dive speed in the swing state.
Pennycook, J.; LaRue, M.; Herried, B.; Morin, P. J.
Recognizing the need to bridge the gap between scientific research and the classroom, we have developed an exciting activity which engages students in grades 5-12 using high-resolution satellite imagery to observe Weddell seal populations in Antarctica. Going beyond the scope of the textbook, students experience the challenge researchers face in counting and monitoring animal populations in the field. The activity is presented in a non-expert, non-technical exercise enriched for students, with background information, tutorials, and satellite imagery included. Teachers instruct their class in how to use satellite imagery analysis techniques to collect data on seal populations in the McMurdo Sound region of the Ross Sea, Antarctica. Students participate in this inquiry-based, open-ended exercise to evaluate changes in the seal population within and between seasons. The activity meets the New Generation Science Standards (NGSS) through inquiry-based, real-world application and supports seven Performance Expectations (PE) for grade 5-12. In addition, it offers students a glimpse into the work of a field biologist, promoting interest in entering the STEM career pipeline. As every new Antarctica season unfolds, new imagery will be uploaded to the website allowing each year of students to add their counts to a growing long-term dataset for the classroom. The activity files provide 1) a tutorial in how to use the images to count the populations, 2) background information about Weddell seals in the McMurdo Sound region of the Ross Sea for the students and the teachers, and 3) collections of satellite imagery for spatial and temporal analysis of population fluctuations. Teachers can find all activity files to conduct the activity, including student instructions, on the Polar Geospatial Center's website (http://z.umn.edu/seals). Satellite image, Big Razorback Island, Antarctica Weddell seals,Tent Island, Antarctica
Jerković Ljiljana S.
Full Text Available Inclusive differentiated instruction is a new model of didactic instruction, theoretically described and established in this paper for the first time, after being experimentally verified through teaching of the mother tongue (instruction in reading and literature. Inclusive individually planned instruction is based on a phenomenological and constructivist didactic instructional paradigm. This type of teaching is essentially developmental and person-oriented. The key stages of inclusive differentiated instruction of literature are: 1 recognition of individual students' potential and educational needs regarding reading and work on literary texts; 2 planning and preparation of inclusive individually planned instruction in reading and literature; 3 actual class teaching of lessons thus prepared; and 4 evaluation of the student achievement following inclusive differentiated instruction in reading and literature. A highly important element of the planning and preparation of inclusive differentiated instruction is the creation of student profiles and inclusive individualized syllabi. Individualized syllabi specify the following: 1. a brief student profile; 2. the student position on the continuum of the learning outcomes of instruction in the Serbian language; 3. reverse-engineered macro-plan stages of instruction in the Serbian language (3.1. identifying expected outcomes and fundamental qualities of learners' work, 3.2. defining acceptable proofs of their realisation, 3.3. planning learning and teaching experiences, and 3.4. providing material and technical requisites for teaching; 4 the contents and procedure of individualized lessons targeting the student; 5 a plan of syllabus implementation monitoring and evaluation. The continuum of the learning outcomes of inclusive differentiated instruction in literature exists at three main levels, A, B and C. The three levels are: A reading techniques and learning about the main literary theory concepts; B
Kastberg, Peter; Grinsted, Annelise
Why you may wonder - have we chosen a topic which at first glance may seem trivial, and even a bit dull? Well, looks can be deceiving, and in this case they are! There are many good reasons for taking a closer look at instructions.......Why you may wonder - have we chosen a topic which at first glance may seem trivial, and even a bit dull? Well, looks can be deceiving, and in this case they are! There are many good reasons for taking a closer look at instructions....
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...
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.
Safdar Hussain Bouk
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.
Schaefer, C.; Lenk, C.; Koelbl, O.
The article gives a review of the current state of education in medical ethics in Germany. The issue is considered from the viewpoint of radio-oncology. Both the pertinent literature and our own experience in teaching medical ethics are presented. In October 2003, medical ethics was integrated into the curriculum of medicine. The aim was to train competence in the field of personal attitudes and to intensify skills of moral reasoning. Our own experiences are positive, which is in accordance with the reports of other working groups. Most of the students were interested in education in medical ethics and looked upon ethical training as being an important part of their studies. Medical students are interested in ethical education during the clinical period of their studies, which has been taken into account since the actual change of the curriculum. Radio-oncologists as specialists in other clinical fields can offer important contributions when they discuss clinical cases from the viewpoint of medical ethics. The long-term effect of such an education will become the subject of future research. (orig.) [de
remote control of such vehicles requires the use of a tether , limiting the vehicle’s range; however operating underwater vehicles autonomously requires...URBI Universal Robot Body Interface UUV Unmanned Underwater Vehicle UNCLASSIFIED xi DSTO–TN–1194 UNCLASSIFIED THIS PAGE IS INTENTIONALLY BLANK xii... underwater environment, where many platforms are still reliant upon an umbilical tether for power and high bandwidth communications. This tether
waves for Underwater Wireless Communication (UWC); radio waves, optical waves, and acoustic waves are few to name. Radio waves are good for extra low...2211 underwater communication , wireless sensors, mutual information REPORT DOCUMENTATION PAGE 11. SPONSOR/MONITOR’S REPORT NUMBER(S) 10. SPONSOR...Cotae, “On the Performance of the Underwater Wireless Communication Sensor Networks: Work in Progress” ASEE Mid-Atlantic Fall 2014 Conference
Hino, Takehisa; Tamura, Masataka; Kono, Wataru; Kawano, Shohei; Yoda, Masaki
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)
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)
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.)
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: firstname.lastname@example.org [Centre for Environment, Fisheries and Aquaculture Science (Cefas), Pakefield Road, Lowestoft, NR33 0HT (United Kingdom)
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.
Rudnick, Daniel L.
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.
Santos, Rodrigo; Orozco, Javier; Ochoa, Sergio; Meseguer Pallarès, Roc; Eggly, Gabriel
“The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-26401-1_37." Underwater sensor networks are becoming an important field of research, because of its everyday increasing application scope. Examples of their application areas are environmental and pollution monitoring (mainly oil spills), oceanographic data collection, support for submarine geo-localization, ocean sampling and early tsunamis alert. It is well-known the challenge that represents to perfo...
irreversible Joule heat) by an electric light bulb . The reciprocal (or reverse) of this process by supplying heat and shining light to the same electric bulb ...limit the invention to the precise form disclosed; and obviously many modifications and variations are possible in light of the above teaching...300151 1 of 14 PASSIVE MODE CARBON NANOTUBE UNDERWATER ACOUSTIC TRANSDUCER STATEMENT OF GOVERNMENT INTEREST  The invention described
Qurnell, F.D.; Peloquin, A.V.
An underwater suction device for collecting irradiated materials in a pool of water includes injection and suction tubes and a removable, disposable filter for capturing irradiated materials. Pressurized water is injected into the suction tube through a jet pump nozzle to establish a suction flow through the tube. The suction device is manoeuverable by a pole, which is pivotally connected to the suction device by a latching mechanism. (author)
Concepts The first design (Figure 1) was based on the concept of an airfoil kite. The shape of the tow body was built around a NACA5515 hydrofoil to...Underwater Vehicles Brooke Ocean Technology (USA) Inc. 6 Figure 1: Hydrofoil Design The second design was based on that of a boat hull...communications. A sharp bow was utilized to cut through the water to reduce drag when on the surface. Like the hydrofoil design the top profile was
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
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.
Isern González, Josep; Hernández Sosa, Daniel; Fernández Perdomo, Enrique; Cabrera Gámez, Jorge; Domínguez Brito, Antonio Carlos; Prieto Marañón, Víctor
Underwater gliders have revealed as a valuable scientific platform, with a growing number of successful environmental sampling applications. They are specially suited for long range missions due to their unmatched autonomy level, although their low surge speed make them strongly affected by ocean currents. Path planning constitute a real concern for this type of vehicle, as it may reduce the time taken to reach a given waypoint or save power. In such a dynamic environment it is not easy to fi...
300170 1 of 10 A RECOVERY SYSTEM FOR UNMANNED UNDERWATER VEHICLES STATEMENT OF GOVERNMENT INTEREST  The invention described herein may...6 of 10 forces cannot be easily predicted and can be strong enough to require a significantly larger handling system and significantly more...the sea state, the ship handling system , the capture mechanism and the design of the capture mechanism 400.  The water jets 100 will increase
One proposed solution to educating more nurses to decrease and eventually eliminate the nursing shortage is distance education. But what are nursing students' experiences with distance education? Answering this question can assist in the development of effective teaching and learning strategies to provide for the development of quality distance education programs. This article provides an integrative review of the nursing literature to ascertain the student perspective of distance education. A review of nursing literature was completed using a number of databases and specific criteria to locate research studies specific to this topic. The studies were analyzed for validity and reliability, and limitations were mentioned. Student perceptions garnered from the research studies analyzed are summarized with the acronym DISTANCE ED. Implications, recommendations, and needs for future research are discussed. A supplementary review of the literature is used to augment the findings.
Full Text Available Little attention has been given to involving the deaf community in distance teaching and learning or in designing courses that relate to their language and culture. This article reports on the design and development of video-based learning objects created to enhance the educational experiences of American Sign Language (ASL hearing participants in a distance learning course and, following the course, the creation of several new applications for use of the learning objects. The learning objects were initially created for the web, as a course component for review and rehearsal. The value of the web application, as reported by course participants, led us to consider ways in which the learning objects could be used in a variety of delivery formats: CD-ROM, web-based knowledge repository, and handheld device. The process to create the learning objects, the new applications, and lessons learned are described.
Fratantoni, David M
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...
Hansen, Kirstin Anderson; Larsen, Ole Næsbye; Wahlberg, Magnus
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...
Calibration of a camera system is essential to ensure that image measurements result in accurate estimates of locations and dimensions within the object space. In the underwater environment, the calibration must implicitly or explicitly model and compensate for the refractive effects of waterproof housings and the water medium. This paper reviews the different approaches to the calibration of underwater camera systems in theoretical and practical terms. The accuracy, reliability, validation and stability of underwater camera system calibration are also discussed. Samples of results from published reports are provided to demonstrate the range of possible accuracies for the measurements produced by underwater camera systems.
Full Text Available Calibration of a camera system is essential to ensure that image measurements result in accurate estimates of locations and dimensions within the object space. In the underwater environment, the calibration must implicitly or explicitly model and compensate for the refractive effects of waterproof housings and the water medium. This paper reviews the different approaches to the calibration of underwater camera systems in theoretical and practical terms. The accuracy, reliability, validation and stability of underwater camera system calibration are also discussed. Samples of results from published reports are provided to demonstrate the range of possible accuracies for the measurements produced by underwater camera systems.
Filaretov, V.F.; Koval, E.V.
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
Van Reet, Alan R
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...
.... 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...
Jeo, J. W.; Kim, C. H.; Seo, Y. C.; Choi, Y. S.; Kim, S. H.
The tracking procedure of the underwater mobile robot moving and submerging ahead to nuclear reactor vessel for visual inspection, which is required to find the foreign objects such as loose parts, is described. The yellowish underwater robot body tends to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by the Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color information, yellow and indigo. From the horizontal and vertical profiles analysis of the color image, the blue, green, and the gray component have the inferior signal-to-noise characteristics compared to the red component. The center coordinates extraction procedures areas follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences; binarization, labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth. When the position of the robot vehicle fluctuates between the previous and the current image frame due to the flickering noise and light source, installed temporally in the bottom of the reactor vessel, we adaptively adjusted the ROI window. Adding the ROI windows of the previous frame to the current frame, and then setting up the ROI window of the next image frame, we can robustly track the positions of the underwater robot and control the target position's divergence. From these facts, we can conclude that using the red component from color camera is more efficient tracking method
Luo, Junhai; Han, Ying; Fan, Liying
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.
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.
Future large-scale implementation of wave energy converts (WECs) will introduce an anthropogenic activity in the ocean which may contribute to underwater noise. The Ocean houses several marine species with acoustic sensibility; consequently the potential impact of the underwater noise needs to be addressed. At present, there are no acoustic impact studies based on acquired data. The WEAM project (Wave Energy Acoustic Monitoring) aims at developing an underwater noise monitoring plan for WECs. The development of an acoustic monitoring plan must consider the sound propagation in the ocean, identify noise sources, understand the operational characteristics and select adequate instrumentation. Any monitoring strategy must involve in-situ measurements. However, the vast distances which sound travels within the ocean, can make in-situ measurements covering the entire area of interest, impracticable. This difficulty can be partially overcome through acoustic numerical modelling. This paper presents a synthetic study, on the application of acoustic forward modelling and the evaluation of the impact of noise produced by wave energy devices on marine mammals using criteria based on audiograms of dolphins, or other species. The idea is to illustrate the application of that methodology, and to show to what extent it allows for estimating distances of impacts due to acoustic noise.
Mohd Shahrieel Mohd Aras
Full Text Available Abstract This paper describes a study of thruster modelling for a remotely operated underwater vehicle (ROV by system identification using Microbox 2000/2000C. Microbox 2000/2000C is an XPC target machine device to interface between an ROV thruster with the MATLAB 2009 software. In this project, a model of the thruster will be developed first so that the system identification toolbox in MATLAB can be used. This project also presents a comparison of mathematical and empirical modelling. The experiments were carried out by using a mini compressor as a dummy depth pressure applied to a pressure sensor. The thruster model will thrust and submerge until it reaches a set point and maintain the set point depth. The depth was based on pressure sensor measurement. A conventional proportional controller was used in this project and the results gathered justified its selection.
Full Text Available Manipulator is of vital importance to the remotely operated vehicle (ROV, especially when it works in the nuclear reactor pool. Two degrees of freedom (2-DOF underwater manipulator is designed to the ROV, which is composed of control cabinet, buoyancy module, propellers, depth gauge, sonar, a monocular camera and other attitude sensors. The manipulator can be used to salvage small parts like bolts and nuts to accelerate the progress of the overhaul. It can move in the vertical direction alone through the control of the second joint, and can grab object using its unique designed gripper. A monocular vision based localization algorithm is applied to help the manipulator work independently and intelligently. Eventually, field experiment is conducted in the swimming pool to verify the effectiveness of the manipulator and the monocular vision based algorithm.
Full Text Available Matched field processing (MFP is an effective method for underwater target imaging and localizing, but its performance is not guaranteed due to the nonuniqueness and instability problems caused by the underdetermined essence of MFP. By exploiting the sparsity of the targets in an imaging area, this paper proposes a compressive sensing MFP (CS-MFP model from wave propagation theory by using randomly deployed sensors. In addition, the model’s recovery performance is investigated by exploring the lower bounds of the coherence parameter of the CS dictionary. Furthermore, this paper analyzes the robustness of CS-MFP with respect to the displacement of the sensors. Subsequently, a coherence-excluding coherence optimized orthogonal matching pursuit (CCOOMP algorithm is proposed to overcome the high coherent dictionary problem in special cases. Finally, some numerical experiments are provided to demonstrate the effectiveness of the proposed CS-MFP method.
Evans, L.G.; Bielefeld, M.J.; Eller, E.L.; Schmadebeck, R.L.; Trombka, J.I.; Mustafa, M.G.; Senftle, F.E.; Heath, R.L.; Stehling, K.; Vadus, J.
The surveying of the elemental composition of bulk samples over extended areas in near real-time would be an invaluable tool for surface and underwater environmental analysis. However, few techniques provide such a capability. Based on the experience from the orbital gamma-ray spectrometer experiments on Apollo 15 and 16 in which elemental composition of large portions of the moon were determined, an analysis system has been developed for terrestrial applications, which can fulfill these requirements. A portable, compact pulsed neutron generator and NaI(Tl) detector system coupled to associated electronics under mini-computer control can provide the timing and spectral characteristics necessary to determine elemental composition for many applications. Field trials of the system for underwater elemental analysis are planned during the next year
Full Text Available The main objective of this research is to investigate efficiency of use of supplementary video content in multimedia teaching. Integrating video clips in multimedia lecture presentations may increase students’ perception of important information and motivation for learning. Because of that, students can better understand and remember key points of a lecture. Those improvements represent some important learning outcomes. This research showed that segmentation of teaching materials with supplementary video clips may improve lecture organization and presentation in order to achieve effective teaching and learning. The context of the video content and the position of supplementary video clips in teaching material are important influences on factors for motivation and efficiency of learning. This research presents the effects of the use of supplementary videos with different context of content (entertainment and educational as well as the effects of their position within the teaching material. The experimental results showed that the most efficient method of use of supplementary video is integration with educational video content in the middle of a lecture. This position of video insertion provides the best results. The context of video content influences efficiency of learning also. Entertainment video was not as efficient as educational, but it can be used to engage and motivate students for learning. The given results have been confirmed with a subjective assessment of students’ quality of experience with different methods of embedding video clips.
Wilson, Scott B.
The primary purpose of this study was to examine the effectiveness of utilizing a combination of lecture and computer resources to train personnel to assume roles as hydraulic system technicians and specialists in the fluid power industry. This study compared computer simulated laboratory instruction to traditional hands-on laboratory instruction,…
Gustmann, M.; Niemann, H.R.; Aust, E.; Schultheiss, G.F.
This paper describes research activities with an industrial robot, which was modified for the special application in seawater down to 1100 m water depth. The essential modifications are outlined, which have allowed the operation of this commercial available, free programmable handling system in wet environment. In addition, results of operation tests and of experiments in shallow water are presented, which gave important insights into the kinematic behaviour, the efficiency and the safe function of this world wide first underwater robot. (orig.).
Monica W. Tracey
Full Text Available In an authentic example of linking design and development with learning and performance, an international real estate development firm defined a problem; implementing a cleaning system in the largest mall in the world with a cross-cultural unskilled work force in Dubai, UAE. Partnering with a university instructional design team employing a rapid prototyping methodology and the constructivist ID approach, Layers of Negotiation Model, a comprehensive curriculum was designed. This article describes the project background, initial design, the ID team's work in Dubai, illustrates the product, and summarizes the design experience.
We have developed underwater cutting technique for 4.2 mm thick zircaloy pressure tubes and up to 6 mm thick steel using fibre-coupled 250 W average power pulsed Nd:YAG laser. This underwater cutting technique will be highly useful in various nuclear applications as well as in dismantling/repair of ship and pipe lines ...
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.
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
Jong, C.A.F. de
There is a growing interest in the possible impact of anthropogenic underwater noise on marine life . One of the concerns is the increasing contribution of shipping noise, with the growing number and size of commercial ships. Traditionally, underwater radiated noise control was only of interest
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.
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
Laser cutting; underwater laser cutting; fibre optic beam delivery; Nd:YAG laser; material processing; heat affected zone; microstructure. PACS Nos 42.62.Cf; 42.62.-b; 42.55.Rz; 42.81.Ai; 42.81.-i. 1. Introduction. Underwater laser cutting and welding has many applications in nuclear facilities and shiping industry and is a ...
Full Text Available Multichannel receivers are usually employed in high-rate underwater acoustic communication to achieve spatial diversity. In the context of multichannel underwater acoustic communications, passive time reversal (TR combined with a single-channel adaptive decision feedback equalizer (TR-DFE is a low-complexity solution to achieve both spatial and temporal focusing. In this paper, we present a novel receiver structure to combine passive time reversal with a low-order multichannel adaptive decision feedback equalizer (TR-MC-DFE to improve the performance of the conventional TR-DFE. First, the proposed method divides the whole received array into several subarrays. Second, we conduct passive time reversal processing in each subarray. Third, the multiple subarray outputs are equalized with a low-order multichannel DFE. We also investigated different channel estimation methods, including least squares (LS, orthogonal matching pursuit (OMP, and improved proportionate normalized least mean squares (IPNLMS. The bit error rate (BER and output signal-to-noise ratio (SNR performances of the receiver algorithms are evaluated using simulation and real data collected in a lake experiment. The source-receiver range is 7.4 km, and the data rate with quadrature phase shift keying (QPSK signal is 8 kbits/s. The uncoded BER of the single input multiple output (SIMO systems varies between 1 × 10 − 1 and 2 × 10 − 2 for the conventional TR-DFE, and between 1 × 10 − 2 and 1 × 10 − 3 for the proposed TR-MC-DFE when eight hydrophones are utilized. Compared to conventional TR-DFE, the average output SNR of the experimental data is enhanced by 3 dB.
The Bechtel Hanford, Inc. facility transition instruction was initiated in response to the need for a common, streamlined process for facility transitions and to capture the knowledge and experience that has accumulated over the last few years. The instruction serves as an educational resource and defines the process for transitioning facilities to long-term surveillance and maintenance (S and M). Generally, these facilities do not have identified operations missions and must be transitioned from operational status to a safe and stable configuration for long-term S and M. The instruction can be applied to a wide range of facilities--from process canyon complexes like the Plutonium Uranium Extraction Facility or B Plant, to stand-alone, lower hazard facilities like the 242B/BL facility. The facility transition process is implemented (under the direction of the US Department of Energy, Richland Operations Office [RL] Assistant Manager-Environmental) by Bechtel Hanford, Inc. management, with input and interaction with the appropriate RL division and Hanford site contractors as noted in the instruction. The application of the steps identified herein and the early participation of all organizations involved are expected to provide a cost-effective, safe, and smooth transition from operational status to deactivation and S and M for a wide range of Hanford Site facilities
Full Text Available A capacitive micromachined ultrasonic transducer structure for use in underwater imaging is designed, fabricated and tested in this paper. In this structure, a silicon dioxide insulation layer is inserted between the top electrodes and the vibration membrane to prevent ohmic contact. The capacitance-voltage (C-V characteristic curve shows that the transducer offers suitable levels of hysteresis and repeatability performance. The −6 dB center frequency is 540 kHz and the transducer has a bandwidth of 840 kHz for a relative bandwidth of 155%. Underwater pressure of 143.43 Pa is achieved 1 m away from the capacitive micromachined ultrasonic transducer under 20 excitation. Two-dimensional underwater ultrasonic imaging, which is able to prove that a rectangular object is present underwater, is achieved. The results presented here indicate that our work will be highly beneficial for the establishment of an underwater ultrasonic imaging system.
Jiang, Peng; Feng, Yang; Wu, Feng
This study addresses the optimization of node redeployment coverage in underwater wireless sensor networks. Given that nodes could easily become invalid under a poor environment and the large scale of underwater wireless sensor networks, an underwater sensor network redeployment algorithm was developed based on wolf search. This study is to apply the wolf search algorithm combined with crowded degree control in the deployment of underwater wireless sensor networks. The proposed algorithm uses nodes to ensure coverage of the events, and it avoids the prematurity of the nodes. The algorithm has good coverage effects. In addition, considering that obstacles exist in the underwater environment, nodes are prevented from being invalid by imitating the mechanism of avoiding predators. Thus, the energy consumption of the network is reduced. Comparative analysis shows that the algorithm is simple and effective in wireless sensor network deployment. Compared with the optimized artificial fish swarm algorithm, the proposed algorithm exhibits advantages in network coverage, energy conservation, and obstacle avoidance.
Martinez, Jayson J.; Myers, Joshua R.; Carlson, Thomas J.; Deng, Zhiqun; Rohrer, John S.; Caviggia, Kurt A.
The purpose of this study was to design and build two versions of an underwater sound recording device. The device designed is referred to as the Underwater Sound Recorder (USR), which can be connected to one or two hydrophones or other underwater sound sensors. The URS contains a 26 dB preamplifier and a user selectable gain that permits additional amplification of input to the system from 26 dB to 46 dB. Signals within the frequency range up to 15 kHz may be recorded using the USR. Examples of USR applications are monitoring underwater processes that have the potential to create large pressure waves that could potentially harm fish or other aquatic life, such as underwater explosions or pile driving. Additional applications are recording sound generated by vessels or the vocalizations of some marine mammals, such as the calls from many species of whales.
Cheng, Binbin; Wang, Wenwu; Chen, Yao
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.
Miwa, Yasuhiro; Sato, Syuuichi; Kojima, Toshio; Owaki, Katsura; Hirose, Naoya
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.)
Mehaute, Bernard Le
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
Shiri, Ron S.; Lunde, Emily L.; Coronado, Patrick L.; Quijada, Manuel A.
For many years, acoustic systems have been used as the primary method for underwater communication; however, the data transfer rate of such systems is low because sound propagates slowly through water. A higher throughput can be achieved using visible light to transmit data underwater. The first issue with this approach is that there is generally a large loss of the light signal due to scattering and absorption in water, even though there is an optimal wavelength for transmission in the blue or green wavelengths of the visible spectrum. The second issue is that a simple communication system, consisting only of a highly directional source/transmitter and small optical detector/receiver, has a very narrow field of view. The goal of this project is to improve an optical, underwater communication system by increasing the effective field of view of the receiving optics. To this end, we make two changes to the simple system: (1) An optical dome was added near the receiver. An array of lenses is placed radially on the surface of the dome, reminiscent of the compound eye of an insect. The lenses make the source and detector planes conjugate, and each lens adds a new region of the source plane to the instrument's total field of view. (2) The receiver was expanded to include multiple photodiodes. With these two changes, the receiver has much more tolerance to misalignments (in position and angle) of the transmitter. Two versions of the optical dome (with 6" and 8" diameters) were designed using PTC's Creo CAD software and modeled using Synopsys' CODE V optical design software. A series of these transparent hemispherical domes, with both design diameters, were manufactured using a 5-axis mill. The prototype was then retrofitted with lenses and compared with the computer-generated model to demonstrate the effectiveness of this solution. This work shows that the dome design improves the optical field of view of the underwater communication system considerably. Furthermore, with
Reyff, James A
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.
Falkenberg, Thomas; Gregersen, Rene Tavs; Blanke, Mogens
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...
concenetrate on the bearings-only approach. In this method the Observer monitors his bearing to the Source, over a period of time. Usually the Observer must...developed in [ 5] was earlier applied with much success to tracking maneuvering air targets. This approach will now be applied in the underwater environment...April 1977.  A. H. Jazwinski, Stochastic Processes and Filtering Theory, Academic Press, New York, 1970.  D. H. Halliday, and R. Resnick, Physics, John Wiley & Sons, Inc., New York, 1966. hI
Reis, Joel; Morgado, Marco; Batista, Pedro; Oliveira, Paulo; Silvestre, Carlos
This paper presents the steps for developing a low-cost POrtableNavigation Tool for Underwater Scenarios (PONTUS) to be used as a localization device for subsea targets. PONTUS consists of an integrated ultra-short baseline acoustic positioning system aided by an inertial navigation system. Built on a practical design, it can be mounted on an underwater robotic vehicle or be operated by a scuba diver. It also features a graphical user interface that provides information on the tracking of the designated target, in addition to some details on the physical properties inside PONTUS. A full disclosure of the architecture of the tool is first presented, followed by thorough technical descriptions of the hardware components ensemble and the software development process. A series of experiments was carried out to validate the developed prototype, and the results are presented herein, which allow assessing its overall performance. PMID:27649181
Full Text Available We consider the problem of evaluating the reliability of underwater acoustic communication (UWAC systems. Reliability is a requirement for any communication system and is often defined as the probability to achieve a target bit error rate. Evaluation of system reliability is often performed empirically by conducting a large number of measurements. However, for UWAC, where experiments are expensive and time-consuming, not much data is available to perform such a reliability check. Based on the assumption that the long delay spread is the dominant characteristic of the underwater acoustic channel and for a given channel model, we offer a relaxed practical approach to evaluate the reliability of an UWAC system. As a test case, we show reliability results for the multiple input multiple output (MIMO code division multiple access (CDMA communication system.
Sun, Liang; Wang, Xinwei; Liu, Xiaoquan; Ren, Pengdao; Lei, Pingshun; You, Ruirong; He, Jun; Zhou, Yan; Liu, Yuliang
Underwater range-gated laser imaging (URGLI) still has some problems like un-uniform light, low brightness and contrast. To solve the problems, a variant of adaptive histogram equalization called contrast limited adaptive histogram equalization (CLAHE) is proposed in this paper. In experiment, using the CLAHE and HE to enhance the images, and evaluate the quality of enhanced images by peak signal to noise ratio (PSNR) and contrast. The result shows that the HE gets the images over-enhanced, while the CLAHE has a good enhancement with compressing the over-enhancement and the influence of un-uniform light. The experimental results demonstrate that the CLAHE has a good result of image enhancement for target detection by underwater range-gated laser imaging system.
Full Text Available This paper presents the steps for developing a low-cost POrtableNavigation Tool for Underwater Scenarios (PONTUS to be used as a localization device for subsea targets. PONTUS consists of an integrated ultra-short baseline acoustic positioning system aided by an inertial navigation system. Built on a practical design, it can be mounted on an underwater robotic vehicle or be operated by a scuba diver. It also features a graphical user interface that provides information on the tracking of the designated target, in addition to some details on the physical properties inside PONTUS. A full disclosure of the architecture of the tool is first presented, followed by thorough technical descriptions of the hardware components ensemble and the software development process. A series of experiments was carried out to validate the developed prototype, and the results are presented herein, which allow assessing its overall performance.
Full Text Available Autonomous Underwater Vehicles (AUVs generally work in complex marine environments. Any fault in AUVs may cause significant losses. Thus, system reliability and automatic fault diagnosis are important. To address the actuator failure of AUVs, a fault diagnosis method based on the Gaussian particle filter is proposed in this study. Six free-space motion equation mathematical models are established in accordance with the actuator configuration of AUVs. The value of the control (moment loss parameter is adopted on the basis of these models to represent underwater vehicle malfunction, and an actuator failure model is established. An improved Gaussian particle filtering algorithm is proposed and is used to estimate the AUV failure model and motion state. Bayes algorithm is employed to perform robot fault detection. The sliding window method is adopted for fault magnitude estimation. The feasibility and validity of the proposed method are verified through simulation experiments and experimental data.
Duecker, Daniel-André; Geist, A. René; Hengeler, Michael; Kreuzer, Edwin; Pick, Marc-André; Rausch, Viktor; Solowjow, Eugen
Self-localization is one of the most challenging problems for deploying micro autonomous underwater vehicles (μAUV) in confined underwater environments. This paper extends a recently-developed self-localization method that is based on the attenuation of electro-magnetic waves, to the μAUV domain. We demonstrate a compact, low-cost architecture that is able to perform all signal processing steps present in the original method. The system is passive with one-way signal transmission and scales to possibly large μAUV fleets. It is based on the spherical localization concept. We present results from static and dynamic position estimation experiments and discuss the tradeoffs of the system. PMID:28445419
Full Text Available The article describes a study of problem of estimating the position coordinates of Autonomous Biomimetic Underwater Vehicle (ABUV using two methods: dead reckoning (DR and extended Kalman filter (EKF. In the first part of the paper, navigation system of ABUV is described and scientific problem with underwater positioning is formulated. The main part describes a way of estimating the position coordinates using DR and EKF and a numerical experiment involving motion of ABUV along the predetermined test distance. The final part of the paper contains a comparative statistical analysis of the results, carried out for assessing the accuracy of estimation of the position coordinates using DR and EKF methods. It presents the generalized conclusions from the research and the problems relating to the proper placement of the components of the system measuring distances.
Full Text Available Due to the introduction of robotic applications in the modern society, such as service robots or self-driving cars, it is possible to use this trend as motivating factor in the learning process of robotics. Several possibilities about how to use this motivation to increase learning rate are analysed, focusing on underwater robotic simulators. Moreover, a cloud learning environment able to evaluate the students with a robotic simulator is proposed as key element of the system. These kinds of tools can be used with just an Internet-capable system through a web browser, reaching a virtually unlimited amount of resources. The implemented features are used in a underwater pipe following application, creating a comparison environment on the cloud that immerse students in a competition to reach the best possible result. Finally, a first experience in a real educational environment using the proposed tool is detailed, demonstrating the viability and suitability of the proposed tool.
...: Divers or underwater ROV. 115.650 Section 115.650 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY... Alternative Hull Examination (AHE) Program options: Divers or underwater ROV. To complete your underwater survey, you may use divers or an underwater remotely operated vehicle (ROV). (a) If you use divers to...
Hall, J. C.
The design, performance and safety of a fully engineered, selfcontained Li/SOCl2 battery as the power source for underwater applications. In addition to meeting the performance standards of the end user this battery is successfully tested under the rigorous safety conditions of NAVSEA Instruction 9310.1A for use on land, aircraft and surface ships.
Zhu, Junxiao; Ho, Siu Chun Michael; Patil, Devendra; Wang, Ning; Hirsch, Rachel; Song, Gangbing
Reports indicated that impact events accounted for 47% of offshore pipeline failures, which calls for impact detection and localization for subsea pipelines. In this paper, an innovative method for rapid localization of impacts on underwater pipelines utilizing a novel determination technique for both arrival-time and group velocity (ATGV) of ultrasonic guided waves with lead zirconate titanate (PZT) transducers is described. PZT transducers mounted on the outer surface of a model pipeline were utilized to measure ultrasonic guided waves generated by impact events. Based on the signals from PZT sensors, the ATGV technique integrates wavelet decomposition, Hilbert transform and statistical analysis to pinpoint the arrival-time of the designated ultrasonic guided waves with a specific group velocity. Experimental results have verified the effectiveness and the localization accuracy for eight impact points along a model underwater pipeline. All estimations errors were small and were comparable with the wavelength of the designated ultrasonic guided waves. Furthermore, the method is robust against the low frequency structural vibration introduced by other external forces.
Full Text Available The open circuit underwater breathing apparatus can be a one or two-stage regulator used in scuba diving or a two-stage regulator used in surface supplied installations. These installations are proper in underwater sites at small depth. The pneumatic circuit of a two-stage regulator is composed mainly of a first stage regulator mounted on the air cylinders and a second stage carried by the diver in his mouth. The two regulators are linked together by a medium pressure hose. The circuit opens when the depression created by the diver’s inhalation, in the second stage body, reaches a certain value. The second stage opening causes a transient movement, namely an expansion wave that propagates through the medium pressure hose to the first stage regulator. The first stage regulator opens and the air in the cylinders is allowed to flow to the diver. The longer the hose, the greater the duration of the expansion wave propagation. Investigations on the wave propagation offer data on the inspiration unsteady motion duration which influences the respiratory effort of the diver.
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.
Gao, Yang; Song, Jingfeng; Li, Shumin; Elowsky, Christian; Zhou, You; Ducharme, Stephen; Chen, Yong Mei; Zhou, Qin; Tan, Li
Exploring the abundant resources in the ocean requires underwater acoustic detectors with a high-sensitivity reception of low-frequency sound from greater distances and zero reflections. Here we address both challenges by integrating an easily deformable network of metal nanoparticles in a hydrogel matrix for use as a cavity-free microphone. Since metal nanoparticles can be densely implanted as inclusions, and can even be arranged in coherent arrays, this microphone can detect static loads and air breezes from different angles, as well as underwater acoustic signals from 20 Hz to 3 kHz at amplitudes as low as 4 Pa. Unlike dielectric capacitors or cavity-based microphones that respond to stimuli by deforming the device in thickness directions, this hydrogel device responds with a transient modulation of electric double layers, resulting in an extraordinary sensitivity (217 nF kPa-1 or 24 μC N-1 at a bias of 1.0 V) without using any signal amplification tools.
Praczyk, Tomasz; Szymak, Piotr
Autonomous underwater vehicles are vehicles that are entirely or partly independent of human decisions. In order to obtain operational independence, the vehicles have to be equipped with a specialized software. The main task of the software is to move the vehicle along a trajectory with collision avoidance. Moreover, the software has also to manage different devices installed on the vehicle board, e.g. to start and stop cameras, sonars etc. In addition to the software embedded on the vehicle board, the software responsible for managing the vehicle by the operator is also necessary. Its task is to define mission of the vehicle, to start, to stop the mission, to send emergency commands, to monitor vehicle parameters, and to control the vehicle in remotely operated mode. An important objective of the software is also to support development and tests of other software components. To this end, a simulation environment is necessary, i.e. simulation model of the vehicle and all its key devices, the model of the sea environment, and the software to visualize behavior of the vehicle. The paper presents architecture of the software designed for biomimetic autonomous underwater vehicle (BAUV) that is being constructed within the framework of the scientific project financed by Polish National Center of Research and Development.
Merchant, Nathan D; Brookes, Kate L; Faulkner, Rebecca C; Bicknell, Anthony W J; Godley, Brendan J; Witt, Matthew J
Underwater noise from human activities appears to be rising, with ramifications for acoustically sensitive marine organisms and the functioning of marine ecosystems. Policymakers are beginning to address the risk of ecological impact, but are constrained by a lack of data on current and historic noise levels. Here, we present the first nationally coordinated effort to quantify underwater noise levels, in support of UK policy objectives under the EU Marine Strategy Framework Directive (MSFD). Field measurements were made during 2013-2014 at twelve sites around the UK. Median noise levels ranged from 81.5-95.5 dB re 1 μPa for one-third octave bands from 63-500 Hz. Noise exposure varied considerably, with little anthropogenic influence at the Celtic Sea site, to several North Sea sites with persistent vessel noise. Comparison of acoustic metrics found that the RMS level (conventionally used to represent the mean) was highly skewed by outliers, exceeding the 97 th percentile at some frequencies. We conclude that environmental indicators of anthropogenic noise should instead use percentiles, to ensure statistical robustness. Power analysis indicated that at least three decades of continuous monitoring would be required to detect trends of similar magnitude to historic rises in noise levels observed in the Northeast Pacific.
Giuliano, Giovanni; Kent, Lionel W. J.; Laycock, Leslie C.
The present study originated in the lack of research into achieving underwater total internal reflection (TIR) via the acousto-optic effect. The uniqueness of this technique exists in the fact that it is based on a high sound pressure level which induces a localised change in refractive index of seawater sufficient to achieve total internal reflection within the communication channel. Different transducer systems for generating the pressure wave have been investigated and take the form of a wave which may be either a standing wave, or a novel beamforming technique. The former is based on an array of transducers and with an acoustic mirror at the receiver in order to establish the standing wave. The alternative approach relies on the high intrinsic directionality of a novel beamformer where an annular transducer array is examined as an acoustic source. In this paper, the main characteristics of the acoustic optic waveguide will be presented. This will include both sound and light propagation in the ocean, TIR, novel beam propagation, the refractive index of water as a function of the externally applied acoustic pressure, and the acoustic technology. The modelled results, the limitations imposed by the challenging medium, and the system requirements required to obtain an Underwater Wireless Acousto-Optic Waveguide (UWAOW) will be also addressed.
Zhao, Yin; Xia, Ying-kai; Chen, Ying; Xu, Guo-Hua
Underwater vehicle speed control methodology method is the focus of research in this study. Driven by a hydraulic flexible traction system, the underwater vehicle advances steadily on underwater guide rails, simulating an underwater environment for the carried device. Considering the influence of steel rope viscoelasticity and the control system traction structure feature, a mathematical model of the underwater vehicle driven by hydraulic flexible traction system is established. A speed contr...
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.)
Xu, Jing; Sun, Bin; Lyu, Weichao; Kong, Meiwei; Sarwar, Rohail; Han, Jun; Zhang, Wei; Deng, Ning
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.
Full Text Available Ontologies have been widely used to facilitate semantic interoperability and serve as a common information model in many applications or domains. The Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs project, aiming to facilitate coordination and cooperation between heterogeneous underwater vehicles, also adopts ontologies to formalize information that is necessarily exchanged between vehicles. However, how to derive more useful contexts based on ontologies still remains a challenge. In particular, the extreme nature of the underwater environment introduces uncertainties in context data, thus imposing more difficulties in context reasoning. None of the existing context reasoning methods could individually deal with all intricacies in the underwater robot field. To this end, this paper presents the first proposal applying a hybrid context reasoning mechanism that includes ontological, rule-based, and Multi-Entity Bayesian Network (MEBN reasoning methods to reason about contexts and their uncertainties in the underwater robot field. The theoretical foundation of applying this reasoning mechanism in underwater robots is given by a case study on the oil spill monitoring. The simulated reasoning results are useful for further decision-making by operators or robots and they show that the consolidation of different reasoning methods is a promising approach for context reasoning in underwater robots.
Educators are often tasked with developing courses and curricula that teach learners how to perform medical procedures. This instruction must provide an optimal, uniform learning experience for all learners. If not well designed, this instruction risks being unstructured, informal, variable amongst learners, or incomplete. This article shows how an instructional design model can help craft courses and curricula to optimize instruction in performing medical procedures. Educators can use this as a guide to developing their own course instruction.
Ohwaki, Katsura; Morita, Ichiro; Kojima, Toshio; Sato, Shuichi
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)
Furno, Lidia; Nielsen, Mikkel Cornelius; Blanke, Mogens
The present paper introduces an approach to fault-tolerant reconfiguration for collaborating underwater robots. Fault-tolerant reconfiguration is obtained using the virtual actuator approach, Steen (2005). The paper investigates properties of a centralised versus a decentralised implementation...... an underwater drill needs to be transported and positioned by three collaborating robots as part of an underwater autonomous operation....... and assesses the capabilities under communication constraints between the individual robots. In the centralised case, each robot sends information related to its own status to a unique virtual actuator that computes the necessary reconfiguration. In the decentralised case, each robot is equipped with its own...
Full Text Available To solve the problem of the high peak-to-average power ratio (PAPR in Orthogonal Frequency Division Multiplexing (OFDM for the underwater acoustic communication system, the paper offers a method of reducing PAPR which combines the amplitude limiting and the improved nonlinear transformation. Traditional amplitude limiting technique can reduce PAPR in OFDM system effectively, at the cost of reducing the bit error rate (BER. However the companding transformation has far less computation complexity than SLM or PTS technologies and can improve the BER performance compared to the amplitude limiting technique simultaneously. The paper combines these two kinds of techniques, takes full use of advantages of the two method, and puts forward a low-complexity scheme choosing parameters that are more appropriate to the underwater acoustic field, with the result of improved BER performance even in lower SNR. Both simulation and experiment results show that the new method which combines clipping and companding transformation can effectively reduce the PAPR in the underwater acoustic OFDM communication system and improve the BER performance simultaneously.
Full Text Available Advanced modulation and channel equalization techniques are essential for improving the performance of medium-range single-carrier underwater acoustic communications. In this paper, an enhanced detection scheme, hybrid time-frequency domain decision feedback equalizer (DFE combined with complementary code keying (CCK remodulator, is presented. CCK modulation technique provides strong tolerance to intersymbol interference caused by multipath propagation in underwater acoustic channels. The conventional hybrid DFE, using a frequency domain feedforward filter and a time domain feedback filter, provides good performance along with low computational complexity. The error propagation in the feedback filter, caused by feedbacking wrong decisions prior to CCK demodulation, may lead to great performance degradation. In our proposed scheme, with the help of CCK coding gain, more accurate remodulated CCK chips can be used as feedback. The proposed detection scheme is tested by the practical ocean experiments. The experimental results show that the proposed detection scheme ensures robust communications over 10-kilometre underwater acoustic channels with the data rate at 5 Kbits/s in 3 kHz of channel bandwidth.
Full Text Available The Unmanned Surface Vehicle (USV integrated with an acoustic modem is a novel mobile vehicle for data collection, which has an advantage in terms of mobility, efficiency, and collection cost. In the scenario of data collection, the USV is controlled autonomously along the planning trajectory and the data of underwater nodes are dynamically collected. In order to improve the efficiency of data collection and extend the life of the underwater nodes, a mobile data collection protocol for underwater nodes using the USV was proposed. In the protocol, the stop-and-wait ARQ transmission mechanism is adopted, where the duty cycle is designed considering the ratio between the sleep mode and the detection mode, and the transmission ratio is defined by the duty cycle, wake-up signal cycles, and USV’s speed. According to protocol, the evaluation index for energy consumption is constructed based on the duty cycle and the transmission ratio. The energy consumption of the protocol is simulated and analyzed using the mobile communication experiment data of USV, taking into consideration USV’s speed, data sequence length, and duty cycle. Optimized protocol parameters are identified, which in turn denotes the proposed protocol’s feasibility and effectiveness.
Zhou, Zhangbing; Xing, Riliang; Duan, Yucong; Zhu, Yueqin; Xiang, Jianming
With the advent of the Internet of Underwater Things, smart things are deployed in the ocean space and establish underwater wireless sensor networks for the monitoring of vast and dynamic underwater environments. When events are found to have possibly occurred, accurate event coverage should be detected, and potential event sources should be determined for the enactment of prompt and proper responses. To address this challenge, a technique that detects event coverage and determines event sources is developed in this article. Specifically, the occurrence of possible events corresponds to a set of neighboring sensor nodes whose sensory data may deviate from a normal sensing range in a collective fashion. An appropriate sensor node is selected as the relay node for gathering and routing sensory data to sink node(s). When sensory data are collected at sink node(s), the event coverage is detected and represented as a weighted graph, where the vertices in this graph correspond to sensor nodes and the weight specified upon the edges reflects the extent of sensory data deviating from a normal sensing range. Event sources are determined, which correspond to the barycenters in this graph. The results of the experiments show that our technique is more energy efficient, especially when the network topology is relatively steady.
Full Text Available In this work we report on experiments aimed at testing the cavitation hypothesis [Varenberg, M.; Gorb, S. J. R. Soc., Interface 2008, 5, 383–385] proposed to explain the strong underwater adhesion of mushroom-shaped adhesive microstructures (MSAMSs. For this purpose, we measured the pull-off forces of individual MSAMSs by detaching them from a glass substrate under different wetting conditions and simultaneously video recording the detachment behavior at very high temporal resolution (54,000–100,000 fps. Although microcavitation was observed during the detachment of individual MSAMSs, which was a consequence of water inclusions present at the glass–MSAMS contact interface subjected to negative pressure (tension, the pull-off forces were consistently lower, around 50%, of those measured under ambient conditions. This result supports the assumption that the recently observed strong underwater adhesion of MSAMS is due to an air layer between individual MSAMSs [Kizilkan, E.; Heepe, L.; Gorb, S. N. Underwater adhesion of mushroom-shaped adhesive microstructure: An air-entrapment effect. In Biological and biomimetic adhesives: Challenges and opportunities; Santos, R.; Aldred, N.; Gorb, S. N.; Flammang, P., Eds.; The Royal Society of Chemistry: Cambridge, U.K., 2013; pp 65–71] rather than by cavitation. These results obtained due to the high-speed visualisation of the contact behavior at nanoscale-confined interfaces allow for a microscopic understanding of the underwater adhesion of MSAMSs and may aid in further development of artificial adhesive microstructures for applications in predominantly liquid environments.
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.
Full Text Available Objectives – This study examines the connection between student academic success and information literacy instruction. Locally, it allowed librarians to ascertain the institution’s saturation rate for information literacy instruction and identify academic programs not utilizing library instruction services. In a broader application, it provides an argument for a tiered program of information literacy instruction and offers student perspectives on improving a library instruction program.Methods – Focus groups with 15 graduating seniors, all of whom had attended at least one library instruction session, discussed student experiences and preferences regarding library instruction. An analysis of 4,489 academic transcripts of graduating seniors identified differences in grade point average (GPA between students with different levels of library instruction.Results – Students value library instruction for orientation purposes as beginning students, and specialized, discipline-specific library instruction in upper-level courses. There is a statistically significant difference in GPA between graduating seniors who had library instruction in upper-level courses (defined in this study as post-freshman-level and those who did not.Conclusions – Library instruction seems to make the most difference to student success when it is repeated at different levels in the university curriculum, especially when it is offered in upper-level courses. Instruction librarians should differentiate between lower-division and upper-division learning objectives for students in order to create a more cohesive and non-repetitive information literacy curriculum.
Sarkisov, G. S.; Fedotov-Gefen, A. V.; Krasik, Ya. E.
Two-channel laser polarimeter was used to measure magnetic and electric fields in vicinity of underwater exploding wire. Nd:YAG Q-switch laser with 532nm wavelength, 100mJ energy and 5ns pulse width was used for probing. Single wire, parallel wires and X and V- shaped wires was used in experiments. Electric and magnetic field induced birefringes in the water results in changing of polarization stage of probing beam after propagation through this anisotropic medium. Magnetic field results in circular anisotropy of the water, while electric field creates linear anisotropy. Magnetic field results in rotation of polarization plan of linear-polarized probing beam. Electric field effect is more complicated- polarization plan of the laser beam subjected to pulsation and changing of ellipticity. Effect of electric field depends on initial probing geometry- angle between electrical field vector E and polarization plane of probing wave. In our exploding wire experiments we found influence of both Faraday and Kerr effects. It was demonstrated existence of Kerr effect inside bubbles at high voltage electrode. Effect of magnetic fields interaction for multi-wire loads was observed.
Yanuka, D.; Rososhek, A.; Bland, S. N.; Krasik, Ya. E.
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.
Heijltjes, Anita; van Gog, Tamara|info:eu-repo/dai/nl/294304975; Leppink, Jimmie; Paas, Fred
This experiment investigated the impact of critical thinking dispositions and instructions on economics students' performance on reasoning skills. Participants (. N=. 183) were exposed to one of four conditions: critical thinking instruction, critical thinking instruction with self-explanation
Heijltjes, Anita; Van Gog, Tamara|info:eu-repo/dai/nl/294304975; Paas, Fred
This experiment investigated the impact of different types of critical thinking instruction and dispositions on bias in economics students' (N=141) reasoning performance. The following conditions were compared: (A) implicit instruction; (B) implicit instruction with practice; (C) implicit
The Lived Experiences of Leading Edge Certified Elementary School Teachers Who Use Instructional Technology to Foster Critical Thinking, Collaboration, Creativity, and Communication in Their Classrooms: A Phenomenological Study
Purpose: The purpose of this phenomenological study was to describe the perceptions of current and former Leading Edge Certified (LEC) elementary school teachers regarding instructional technology practices that facilitate students' development of critical thinking, collaboration, communication, and creativity (4Cs) in one-to-one computer…
Cabalo, Jessica Villaruz; Ma, Boya; Jaciw, Andrew
The Delaware Department of Education (DDOE) was interested in evaluating components of a statewide pilot program to support instruction in World Languages (particularly Spanish and French). The first component was an online student assessment, the Standards-based Measurement of Proficiency (STAMP) to measure the learning outcomes. The DDOE also…
Krahforst, Cecilia S.
Underwater noise and its impacts on marine life are growing management concerns. This dissertation considers both the ecological and social concerns of underwater noise, using the oyster toadfish (Opsanus tau) as a model species. Oyster toadfish call for mates using a boatwhistle sound, but increased ambient noise levels from vessels or other anthropogenic activities are likely to influence the ability of males to find mates. If increased ambient noise levels reduce fish fitness then underwater noise can impact socially valued ecosystem services (e.g. fisheries). The following ecological objectives of the impacts of underwater noise on oyster toadfish were investigated: (1) to determine how noise influences male calling behavior; (2) to assess how areas of high vessel activity ("noisy") and low vessel activity ("quiet") influence habitat utilization (fish standard length and occupancy rate); and (3) to discover if fitness (number of clutches and number of embryos per clutch) is lower in "noisy" compared with "quiet" sites. Field experiments were executed in "noisy" and "quiet" areas. Recorded calls by males in response to playback sounds (vessel, predator, and snapping shrimp sounds) and egg deposition by females ("noisy" vs. "quiet" sites) demonstrated that oyster toadfish are impacted by underwater noise. First, males decreased their call rates and called louder in response to increased ambient noise levels. Second, oyster toadfish selected nesting sites in areas with little or no inboard motorboat activity. Third, male oyster toadfish at "noisy" sites either had no egg clutches on their shelters or the number of embryos per clutch was significantly lower than in the "quiet" areas. Underwater noise and disturbance from vessels are influencing the fitness of the oyster toadfish. The social significance of the growing concerns regarding underwater noise was investigated by identifying dominant themes found within two types of texts: four recent underwater noise
Hallewell, G D
The ANTARES Collaboration is constructing a deep underwater neutrino detector for operation at -2400 m off the French Mediterranean coast near Toulon. The detector, which will begin operation in 2004, will have an aperture of approx 0.1 km sup 2 , and will contain 900 photomultiplier tubes. The photomultiplier axes will be angled 45 deg. downward toward the seabed to observe the Cherenkov emissions of upward-going muons created by the interactions in or near the detector of high energy neutrinos traversing the Earth. These neutrinos arrive undeviated from a variety of galactic and extragalactic sources of astrophysical interest, and might be produced in the possible annihilation of dark matter neutralinos. The design and present status of the detector are summarized. Results from site evaluation and the development of supporting instrumentation are outlined.
Butler, John L
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...
Full Text Available This paper describes the validation process of a localization algorithm for underwater vehicles. In order to develop new localization algorithms, it is essential to characterize them with regard to their accuracy, long-term stability and robustness to external sources of noise. This is only possible if a gold-standard reference localization (GSRL is available against which any new localization algorithm (NLA can be tested. This process requires a vehicle which carries all the required sensor and processing systems for both the GSRL and the NLA. This paper will show the necessity of such a validation process, briefly sketch the test vehicle and its capabilities, describe the challenges in computing the localizations of both the GSRL and the NLA simultaneously for comparison, and conclude with experimental data of real-world trials.
Moore, Casey; daCunha, John; Rhoades, Bruce; Twardowski, Michael
A compact, high-resolution, two-dimensional excitation-emission matrix fluorometer (EEMF) has been designed and built specifically for use in identifying and measuring the concentrations of organic compounds, including polluting hydrocarbons, in natural underwater settings. Heretofore, most EEMFs have been designed and built for installation in laboratories, where they are used to analyze the contents of samples collected in the field and brought to the laboratories. Because the present EEMF can be operated in the field, it is better suited to measurement of spatially and temporally varying concentrations of substances of interest. In excitation-emission matrix (EEM) fluorometry, fluorescence is excited by irradiating a sample at one or more wavelengths, and the fluorescent emission from the sample is measured at multiple wavelengths. When excitation is provided at only one wavelength, the technique is termed one-dimensional (1D) EEM fluorometry because the resulting matrix of fluorescence emission data (the EEM) contains only one row or column. When excitation is provided at multiple wavelengths, the technique is termed two-dimensional (2D) EEM fluorometry because the resulting EEM contains multiple rows and columns. EEM fluorometry - especially the 2D variety - is well established as a means of simultaneously detecting numerous dissolved and particulate compounds in water. Each compound or pool of compounds has a unique spectral fluorescence signature, and each EEM is rich in information content, in that it can contain multiple fluorescence signatures. By use of deconvolution and/or other mixture-analyses techniques, it is often possible to isolate the spectral signature of compounds of interest, even when their fluorescence spectra overlap. What distinguishes the present 2D EEMF over prior laboratory-type 2D EEMFs are several improvements in packaging (including a sealed housing) and other aspects of design that render it suitable for use in natural underwater
Thor I. Fossen
Full Text Available The problem of controlling underwater mobile robots in 6 degrees of freedom (DOF is addressed. Uncertainties in the input matrix due to partly known nonlinear thruster characteristics are modeled as multiplicative input uncertainty. This paper proposes two methods to compensate for the model uncertainties: (1 an adaptive passivity-based control scheme and (2 deriving a hybrid (adaptive and sliding controller. The hybrid controller consists of a switching term which compensates for uncertainties in the input matrix and an on-line parameter estimation algorithm. Global stability is ensured by applying Barbalat's Lyapunovlike lemma. The hybrid controller is simulated for the horizontal motion of the Norwegian Experimental Remotely Operated Vehicle (NEROV.
Sivčev, Satja; Rossi, Matija; Coleman, Joseph; Omerdić, Edin; Dooly, Gerard; Toal, Daniel
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.
Miller, Timothy F; Gandhi, Farhan; Rufino, Russell J
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)
Rudnick, Daniel L.; Cole, Sylvia T.
The sampling characteristics of an underwater glider are addressed through comparison with contemporaneous measurements from a ship survey using a towed vehicle. The comparison uses the underwater glider Spray and the towed vehicle SeaSoar north of Hawaii along 158°W between 22.75°N and 34.5°N. A Spray dive from the surface to 1000 m and back took 5.6 h and covered 5.3 km, resulting in a horizontal speed of 0.26 m s-1. SeaSoar undulated between the surface and 400 m, completing a cycle in 11 min while covering 2.6 km, for a speed of 3.9 m s-1. Adjacent profiles of temperature and salinity are compared between the two platforms to prove that each is accurate. Spray and SeaSoar data are compared through sections, isopycnal spatial series, and wave number spectra. The relative slowness of the glider results in the projection of high-frequency oceanic variability, such as internal waves, onto spatial structure. The projection is caused by Doppler smearing because of finite speed and aliasing due to discrete sampling. The projected variability is apparent in properties measured on depth surfaces or in isopycnal depth. No projected variability is seen in observations of properties on constant density surfaces because internal waves are intrinsically filtered. Wave number spectra suggest that projected variability affects properties at constant depth at wavelengths shorter than 30 km. These results imply that isobaric quantities, like geostrophic shear, are valid at wavelengths longer than 30 km, while isopycnal quantities, like spice, may be analyzed for scales as small as a glider measures.
lethal methods may become an increasingly useful tool to investigate shark populations where researchers encounter logistical or conservation-related constraints. Keywords: biopsy probe, laser photogrammetry, non-lethal sampling, underwater ...
"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.
Hou, Weilin; Gray, Deric J; Weidemann, Alan D; Fournier, Georges R; Forand, J. L
...) in the spatial domain and the modulation transfer function (MTF) in the frequency domain. Due to the intensity variations involved in underwater sensing, denoising is carefully carried out by wavelet decompositions...
Tuna, G.; Das, R.
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.
Rinaldi, R.; Hordosch, H.
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.
KWON KYOUNG YOUB
Full Text Available A fuzzy logic for autonomous navigation of underwater robot is proposed in this paper. The VFF(Virtual Force Field algorithm, which is widely used in the field of mobile robot, is modified for application to the autonomous navigation of underwater robot. This Modified Virtual Force Field(MVFF algorithm using the fuzzy logic can be used in either track keeping or obstacle avoidance. Fuzzy logics are devised to handle various situations which can be faced during autonomous navigation of underwater robot. A graphic simulator based on OpenGL for an autonomous navigation has been developed. The good performance of the proposed MVFF algorithm is verified through computer simulations on an underwater robot.
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%.
Tai, Shen-Chuan; Tsai, Ting-Chou; Huang, Jyun-Han
Light absorption and scattering in underwater environments can result in low-contrast images with a distinct color cast. This paper proposes a systematic framework for the enhancement of underwater images. Light transmission is estimated using the random forest algorithm. RGB values, luminance, color difference, blurriness, and the dark channel are treated as features in training and estimation. Transmission is calculated using an ensemble machine learning algorithm to deal with a variety of conditions encountered in underwater environments. A color compensation and contrast enhancement algorithm based on depth information was also developed with the aim of improving the visual quality of underwater images. Experimental results demonstrate that the proposed scheme outperforms existing methods with regard to subjective visual quality as well as objective measurements.
Ranjan, T.N.; Nherakkol, A.; Navelkar, G.S.
To navigate the Autonomous Underwater Vehicle (AUV) accurately is one of the most important aspects in its application. A truly autonomous vehicle must determine its position which requires the optimal integration of all available attitude...
In February 1997, the U.S. Nuclear Regulatory Commission (NRC), Office of Nuclear Regulatory Research (RES), initiated a literature review to assess the state of underwater welding technology. In particular, the objective of this literature review was to evaluate the viability of underwater welding in-vessel components of boiling water reactor (BWR) in-vessel components, especially those components fabricated from stainless steels that are subjected to high neutron fluences. This assessment was requested because of the recent increased level of activity in the commercial nuclear industry to address generic issues concerning the reactor vessel and internals, especially those issues related to repair options. This literature review revealed a preponderance of general information about underwater welding technology, as a result of the active research in this field sponsored by the U.S. Navy and offshore oil and gas industry concerns. However, the literature search yielded only a limited amount of information about underwater welding of components in low-fluence areas of BWR in-vessel environments, and no information at all concerning underwater welding experiences in high-fluence environments. Research reported by the staff of the U.S. Department of Energy (DOE) Savannah River Site and researchers from the DOE fusion reactor program proved more fruitful. This research documented relevant experience concerning welding of stainless steel materials in air environments exposed to high neutron fluences. It also addressed problems with welding highly irradiated materials, and primarily attributed those problems to helium-induced cracking in the material. (Helium is produced from the neutron irradiation of boron, an impurity, and nickel.) The researchers found that the amount of helium-induced cracking could be controlled, or even eliminated, by reducing the heat input into the weld and applying a compressive stress perpendicular to the weld path.
Jesus, S. M.
This is a review presentation that addresses recent developments in underwater acoustic telemetry as a tool for ocean observation, monitoring and protection. Distributed sensing is a paradigm with important reflections in oceanic technology where bottom installed structures can not always be connected to a central hub through cabled networks. Moreover, recent developments in ocean robotics lead to the off-the-shelf availability of autonomous underwater vehicles that rely on wireless communica...
Temsamani, A.B.; Vandenplas, S.; Van Biesen, L.
In this work a parametric modeling of the underwater acoustic field is investigated in a laboratory scale at high frequencies (150-850 kHz). The aim is to develop experimentally verifiable theoretical models to investigate the acoustic field propagation in elastic and viscoelastic or porous media. To achieve this goal, the efforts have been directed to three integral parts pertaining to the development of the methods. The first part deals with the modeling of the underwater acoustic field fol...
Xiao, Kun; Fang, Shao-Ji; Pang, Yong-Jie
To impove underwater vehicle dead reckoning, a developed strong tracking adaptive kalman filter is proposed. The filter is improved with an additional adaptive factor and an estimator of measurement noise covariance. Since the magnitude of fading factor is changed adaptively, the tracking ability of the filter is still enhanced in low velocity condition of underwater vehicles. The results of simulation tests prove the presented filter effective.
Li, Daijin; Qin, Kan; Luo, Kai
Stirling engines are regarded as an efficient and promising power system for underwater devices. Currently, many researches on one-dimensional model is used to evaluate thermodynamic performance of Stirling engine, but in which there are still some aspects which cannot be modeled with proper mathematical models such as mechanical loss or auxiliary power. In this paper, a four-cylinder double-acting Stirling engine for Unmanned Underwater Vehicles (UUVs) is discussed. And a one-dimensional mod...
Jong, C.A.F. de
There is a growing interest in the possible impact of anthropogenic underwater noise on marine life . One of the concerns is the increasing contribution of shipping noise, with the growing number and size of commercial ships. Traditionally, underwater radiated noise control was only of interest for naval [2,3] and fishery research vessels . Due to the potential environmental impact, it becomes also relevant for commercial shipping. The challenge is to bring the expertise from the naval ...
Willis, Walter David
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
79 ix LIST OF FIGURES Figure 1. NPS REMUS 100 with WHOI Docking Station. Source: [1...underwater missions were short and quick . Now, with advanced technology, underwater missions can be as long as the user desires. The new AUVs have...the full information problem. In order to use the MHE approach for real-time applications, the optimization process should be quick and accurate
Phoemsapthawee, Surasak; Le Boulluec, Marc; Laurens, Jean-marc; Deniset, Francois
Underwater gliders are recent innovative types of autonomous underwater vehicles (AUVs) used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of th...
Kraus, Robert J.
The use of autonomous underwater vehicles (AUVs) for oceanic observation and research is becoming more common. Underwater gliders are a specific class of AUV that do not use conventional propulsion. Instead they change their buoyancy and center of mass location to control attitude and trajectory. The vehicles spend most of their time in long, steady glides, so even minor improvements in glide range can be magnified over multiple dives. This dissertation presents a rigid-body dynamic system...
The oscillation of a gas bubble produced as a result of underwater explosion could cause the severe whipping damage on nearby marine vehicle. The effects of rigid boundary curvatures to explosive gas bubble oscillation behavior in underwater were investigated. The analyses were conducted using a multimaterial Lagrangian-Eulerian finite element code, MSC/DYTRAN. The incident shock wave pressure, bubble pulse pressure, gas bubble radius and period were calculated for the case of detonation of a...
Blackwell, Susanna B.; Greene, Charles R.
Underwater and in-air recordings were made from a boat anchored near Prudhoe Bay, Alaska, while a Griffon 2000TD hovercraft drove by at or near full power on four passes. At the closest point of approach (CPA, 6.5 m), underwater broadband (10-10 000 Hz) levels reached 133 and 131 dB re: 1 μPa at depths of 1 and 7 m, respectively. In-air unweighted and A-weighted broadband (10-10 000 Hz) levels reached 104 and 97 dB re: 20 μPa, respectively. The hovercraft produced sound at a wide range of frequencies. Both underwater and in air, the largest spectral peak was near 87 Hz, which corresponded to the blade rate of the thrust propeller. In addition, the spectral composition included several harmonics of this frequency. The shaft or blade rate of the lift fan was barely detectable underwater despite its proximity to the water. The hovercraft was considerably quieter underwater than similar-sized conventional vessels and may be an attractive alternative when there is concern over underwater sounds.
Full Text Available The Underwater Swarm is a particular Underwater Network configuration characterized by nodes very close one to each other, with mobility capability. The structure of the network is that of a distributed network, in which the nodes, through the exchange of control information, will take decisions in collaborative manner. This type of network raises challenges for its effective design and development, for which the only use of acoustic communication as traditionally suggested in underwater communication could be not enough. A new emerging solution could be a hybrid solution that combines the use of acoustic and optical channel in order to overcome the acoustic channel limitations in underwater environment. In this work, we want to investigate how the acoustic and optical communications influence the Underwater Swarm performance by considering the Low Layers Protocols (Physical Layer, Data Link Layer and Network Layer effects over the two different propagation technologies. Performance simulations have been carried out to suggest how the new hybrid system could be designed. This study will permit to provide useful analysis for the real implementation of an Underwater Swarm based on hybrid communication technology.
Mueller, John H.; And Others
Four experiments were conducted to examine the effects of various processing instructions on the rate of false recognition. The continuous single-item procedure was used, and false recognitions of four types were examined: synonyms, antonyms, nonsemantic associates, and homonyms. The instructions encouraged subjects to think of associates, usages…
Retalis, Symeon; Avgeriou, Paris
The size and complexity of modern instructional systems, which are based on the World Wide Web, bring about great intricacy in their crafting, as there is not enough knowledge or experience in this field. This imposes the use of new instructional design models in order to achieve risk-mitigation,
Honebein, Peter C.; Sink, Darryl L.
Eclectic instructional design is the process whereby a designer blends ideas from multiple learning theories to construct a learning experience that works better than a course designed from only one theoretical influence. Eclectic instructional designers are those who do not get hung up or rely consistently on any one theory for their designs.…
Zhou, Ling; Cheng, Xianghong; Zhu, Yixian
Terrain aided navigation (TAN) is a form of geophysical localization technique for autonomous underwater vehicles (AUVs) operating in GPS-denied environments. TAN performance on sensor-rich AUVs has been evaluated in sea trials. However, many challenges remain before TAN can be successfully implemented on sensor-limited AUVs, especially with coarse maps. To improve TAN performance over coarse maps, a Gaussian process (GP) is proposed for the modeling of bathymetric terrain and integrated into the particle filter (GP-PF). GP is applied to provide not only the bathymetric value prediction through learning a set of bathymetric data from coarse maps but also the variance of the prediction. As a measurement update, calculated on bathymetric deviation is performed through the PF to obtain absolute and bounded positioning accuracy. Through the analysis of TAN performance on experimental data for two different terrains with map resolutions of 10–50 m, both the ability of the proposed model to represent the actual bathymetric terrain with accuracy and the effect of the GP-PF for TAN on sensor-limited systems in suited terrain are demonstrated. The experiment results further verify that there is an inverse relationship between the coarseness of the map and the overall TAN accuracy in rough terrains, but there is hardly any relationship between them in relatively flat terrains. (paper)
Panneton, W. Michael; Gan, Qi; Le, Jason; Livergood, Robert S.; Clerc, Philip; Juric, Rajko
The mammalian diving response is a powerful autonomic adjustment to underwater submersion greatly affecting heart rate, arterial blood pressure, and ventilation. The bradycardia is mediated by the parasympathetic nervous system, arterial blood pressure is mediated via the sympathetic system and still other circuits mediate the respiratory changes. In the present study we investigate the cardiorespiratory responses and the brainstem neurons activated by voluntary diving of trained rats, and, compare them to control and swimming animals which did not dive. We show that the bradycardia and increase in arterial blood pressure induced by diving were significantly different than that induced by swimming. Neuronal activation was calculated after immunohistochemical processing of brainstem sections for Fos protein. Labeled neurons were counted in the caudal pressor area, the medullary dorsal horn, subnuclei of the nucleus tractus solitarii (NTS), the nucleus raphe pallidus (RPa), the rostroventrolateral medulla, the A5 area, the nucleus locus coeruleus, the Kölliker–Fuse area, and the external lateral and superior lateral subnuclei of the parabrachial nucleus. All these areas showed significant increases in Fos labeling when data from voluntary diving rats were compared to control rats and all but the commissural subnucleus of the NTS, A5 area, and RPa were significantly different from swimming rats. These data provide a substrate for more precise experiments to determine the role of these nuclei in the reflex circuits driving the diving response. PMID:22563319
W Michael ePanneton
Full Text Available The mammalian diving response is a powerful autonomic adjustment to underwater submersion greatly affecting heart rate, arterial blood pressure and ventilation. The bradycardia is known to be mediated by the parasympathetic nervous system, arterial blood pressure is mediated via the sympathetic system and still other circuits mediate the respiratory changes. In the present study we investigate the cardiorespiratory responses and the brainstem neurons activated by voluntary diving of trained rats, and, compare them to control and swimming animals which did not dive. We show that the bradycardia and increase in arterial blood pressure induced by diving were significantly different that induced by swimming. Neuronal activation was calculated after immunohistochemical processing of brainstem sections for Fos protein. Labeled neurons were counted in the caudal pressor area, the medullary dorsal horn, subnuclei of the nucleus tractus solitarii, the nucleus raphe pallidus, the rostroventrolateral medulla, the A5 area, the nucleus locus coeruleus, the Kölliker-Fuse area and the external lateral and superior lateral subnuclei of the parabrachial nucleus. All these areas showed significant increases in Fos labeling when data from voluntary diving rats were compared to control rats and all but the commissural subnucleus of the nucleus tractus solitarii, A5 area, and raphe pallidus were different from swimming rats. These data provide a substrate for more precise experiments to determine the role of these nuclei in the reflex circuits driving the diving response.
Full Text Available This paper describes a computational study of the hydrodynamics of a ray-inspired underwater vehicle conducted concurrently with experimental measurements. High-resolution stereo-videos of the vehicle’s fin motions during steady swimming are obtained and used as a foundation for developing a high fidelity geometrical model of the oscillatory fin. A Cartesian grid based immersed boundary solver is used to examine the flow fields produced due to these complex artificial pectoral fin kinematics. Simulations are carried out at a smaller Reynolds number in order to examine the hydrodynamic performance and understand the resultant wake topology. Results show that the vehicle’s fins experience large spanwise inflexion of the distal part as well as moderate chordwise pitching during the oscillatory motion. Most thrust force is generated by the distal part of the fin, and it is highly correlated with the spanwise inflexion. Two sets of inter-connected vortex rings are observed in the wake right behind each fin. Those vortex rings induce strong backward flow jets which are mainly responsible for the fin thrust generation.
Liu, X.; Xu, Y.
Munitions deposited in water bodies are a big threat to human health, safety, and environment. It is thus imperative to predict the motion and the resting status of the underwater munitions. A multitude of physical processes are involved, which include turbulent flows, sediment transport, granular material mechanics, 6 degree-of-freedom motion of the munition, and potential liquefaction. A clear understanding of this unique physical setting is currently lacking. Consequently, it is extremely hard to make reliable predictions. In this work, we present the computational modeling of two importance processes, i.e., hydrodynamics and scour, around munition objects. Other physical processes are also considered in our comprehensive model. However, they are not shown in this talk. To properly model the dynamics of the deforming bed and the motion of the object, an immersed boundary method is implemented in the open source CFD package OpenFOAM. Fixed bed and scour cases are simulated and compared with laboratory experiments. The future work of this project will implement the coupling between all the physical processes.
Avant, Rue Celia
School site-based instructional coaching is a form of job-embedded professional development for teachers and an element of school reform. Coaches are hired based upon their pedagogical knowledge, content expertise, prior teaching experience, and "people skills." They are adept at handling a variety of social interactions at school sites,…
Programs for the elderly are rapidly becoming part of adult education programs. Such programs often use the methods and assumptions associated with androgogy (an approach to adult education advocating that instruction of adults should encourage self-directed learning) and use learning objectives related to life experiences and problems. Although…
М. Ю. Каховський
Full Text Available Based on long-term experience of welding by mechanized flux-cored wires, the E.O. Paton Electric Welding Institute investigated a self-protecting flux-cored wire for wet underwater welding of stainless steels type 18-10. It allows to perform welding of butt, fillet and overlapped joints in flat and vertical positions of high-alloy corrosion-resistant steels type of 18-10 (AISI 304L, 308L, 347 and 321. The article presents results of development of welding-repair technology using self-shielded flux-cored wire for wet underwater welding of high-alloy stainless steels type 18-10. Also, the article describes a method of increasing the process stability of the arc in wet underwater welding high corrosion resistant steels type 18-10 by self-shielded flux cored wire. Studied welding characteristics of the weld metal with the introduction of the charge wire components stabilizers. The application of this technology allows partially or completely reducing the human participation in welding process under the extreme conditions: at large depth, in radioactive environments (in case of NPS and also gaining a significant economic effect due to greater efficiency (productivity of welding-repair works. The practical value of this technology consists in possibility of welding-repair works directly under water without any additional assembly works. As to its properties the developed self-shielding wire for underwater welding of high-alloy corrosion resistant steel meets completely the requirements of class (B of the International standard ANSI/AWS D3.6 on underwater welding
Steigerwalt, R.; Johnson, R. M.; Trembanis, A. C.; Schmidt, V. E.; Tait, G.
An Autonomous Underwater Vehicle (AUV) Magnetic Mapping (MM) System has been developed and tested for military munitions detection as well as pipeline locating, wreck searches, and geologic surveys in underwater environments. The system is comprised of a high sensitivity Geometrics G-880AUV cesium vapor magnetometer integrated with a Teledyne-Gavia AUV and associated Doppler enabled inertial navigation further utilizing traditional acoustic bathymetric and side scan imaging. All onboard sensors and associated electronics are managed through customized crew members to autonomously operate through the vehicles primary control module. Total field magnetic measurements are recorded with asynchronous time-stamped data logs which include position, altitude, heading, pitch, roll, and electrical current usage. Pre-planned mission information can be uploaded to the system operators to define data collection metrics including speed, height above seafloor, and lane or transect spacing specifically designed to meet data quality objectives for the survey. As a result of the AUVs modular design, autonomous navigation and rapid deployment capabilities, the AUV MM System provides cost savings over current surface vessel surveys by reducing the mobilization/demobilization effort, thus requiring less manpower for operation and reducing or eliminating the need for a surface support vessel altogether. When the system completes its mission, data can be remotely downloaded via W-LAN and exported for use in advanced signal processing platforms. Magnetic compensation software has been concurrently developed to accept electrical current measurements directly from the AUV to address distortions from permanent and induced magnetization effects on the magnetometer. Maneuver and electrical current compensation terms can be extracted from the magnetic survey missions to perform automated post-process corrections. Considerable suppression of system noise has been observed over traditional
Greene, Chad A; Wilson, Preston S
Passive acoustic techniques are of interest as a low-power means of quantifying underwater point-source gas ebullition. Toward the development of systems for logging natural seep activity, laboratory experiments were performed that exploited the bubble's Minnaert natural frequency for the measurement of gas flow from a model seep. Results show agreement among acoustic, optical, and gas trap ebullition measurements over the range of emission rates from 0 to 10 bubbles per second. A mathematical model is proposed to account for the real gas behavior of bubbles which cannot be approximated as ideal, such as methane at marine depths exceeding 30 m. © 2012 Acoustical Society of America.
Kobayashi, Ryosuke; Kouno, Naoyuki; Otani, Kenichi; Yamada, Taiichiro; Takatori, Yousuke; Inada, Takashi
This paper describes localization and cable handling method as the underlying techniques for underwater survey robot. Map matching method comparing cross-sectional shape data cut from a 3-D CAD with structural shapes measured by a range sensor is proposed as the localization. The cable handling system mounted to a robot is developed to operate the cable remotely. Some experiments to evaluate performance of the proposed techniques were implemented at mock-ups of a reactor building and the real field. As a result, it was confirmed that the position was detected with an accuracy of 100 mm, and 100 m cable was handled. (author)
Saini, P. Sri; Prince, Shanthi
At present, there is a lot of interest in the functioning of the marine environment. Unmanned or Autonomous Underwater Vehicles (UUVs or AUVs) are used in the exploration of the underwater resources, pollution monitoring, disaster prevention etc. Underwater, where radio waves do not propagate, acoustic communication is being used. But, underwater communication is moving towards Optical Communication which has higher bandwidth when compared to Acoustic Communication but has shorter range comparatively. Underwater Optical Wireless Communication (OWC) is mainly affected by the absorption and scattering of the optical signal. In coastal waters, both inherent and apparent optical properties (IOPs and AOPs) are influenced by a wide array of physical, biological and chemical processes leading to optical variability. The scattering effect has two effects: the attenuation of the signal and the Inter-Symbol Interference (ISI) of the signal. However, the Inter-Symbol Interference is ignored in the present paper. Therefore, in order to have an efficient underwater OWC link it is necessary to model the channel efficiently. In this paper, the underwater optical channel is modeled using Monte-Carlo method. The Monte Carlo approach provides the most general and most flexible technique for numerically solving the equations of Radiative transfer. The attenuation co-efficient of the light signal is studied as a function of the absorption (a) and scattering (b) coefficients. It has been observed that for pure sea water and for less chlorophyll conditions blue wavelength is less absorbed whereas for chlorophyll rich environment red wavelength signal is absorbed less comparative to blue and green wavelength.
Lee, Kevin M; Wilson, Preston S; Wochner, Mark S
The ultimate goal of this work is to accurately predict the attenuation through a collection of large (on the order of 10-cm-radius) tethered encapsulated bubbles used in underwater noise abatement systems. Measurements of underwater sound attenuation were performed during a set of lake experiments, where a low-frequency compact electromechanical sound source was surrounded by different arrays of encapsulated bubbles with various individual bubbles sizes and void fractions. The measurements were compared with an existing predictive model [Church, J. Acoust. Soc. Am. 97, 1510-1521 (1995)] of the dispersion relation for linear propagation in liquid containing encapsulated bubbles. Although the model was originally intended to describe ultrasound contrast agents, it is evaluated here for large bubbles, and hence low frequencies, as a design tool for future underwater noise abatement systems, and there is good quantitative agreement between the observations and the model.
The aim of the lesson plan is for children to compose simple shapes and textures of marine animals in the sea using hand prints. They will be enabled to experiment, repeating and combining hand and thumb prints to create an underwater scene and marine animals. They will respond to the prints created in the class by talking about his/her work, as well as the work of other children
.... 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...
Bayrakdar, Y.; Meratnia, Nirvana; Kantarci, Aylin
Design of efficient routing protocols for underwater sensor networks is challenging because of the distinctive characteristics of the water medium. Currently, many routing protocols are available for terrestrial wireless sensor networks. However, specific properties of underwater medium such as
.... We constructed an underwater vehicle equipped with two pairs of mechanical pectoral fins and pectoral fin controllers to examine the swimming performance of the underwater vehicle in still water...
Lazauski, Colin J
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...
Flint, Tim; Sellier, Mathieu
In this work, we are interested in maximising the suction produced by an underwater Bernoulli gripper. Bernoulli grippers work by exploiting low pressure regions caused by the acceleration of a working fluid through a narrow channel, between the gripper and a surface, to provide a suction force. This mechanism allows for non-contact adhesion to various surfaces and may be used to hold a robot to the hull of a ship while it inspects welds for example. A Bernoulli type pressure analysis was used to model the system with a Darcy friction factor approximation to include the effects of frictional losses. The analysis involved a constrained optimisation in order to avoid cavitation within the mechanism which would result in decreased performance and damage to surfaces. A sensitivity based method and gradient descent approach was used to find the optimum shape of a discretised surface. The model's accuracy has been quantified against finite volume computational fluid dynamics simulation (ANSYS CFX) using the k- ω SST turbulence model. Preliminary results indicate significant improvement in suction force when compared to a simple geometry by retaining a pressure just above that at which cavitation would occur over as much surface area as possible. Doctoral candidate in the Mechanical Engineering Department of the University of Canterbury, New Zealand.
McKenna, Megan F; Ross, Donald; Wiggins, Sean M; Hildebrand, John A
Underwater radiated noise measurements for seven types of modern commercial ships during normal operating conditions are presented. Calibrated acoustic data (autonomous seafloor-mounted acoustic recorder were combined with ship passage information from the Automatic Identification System. This approach allowed for detailed measurements (i.e., source level, sound exposure level, and transmission range) on ships of opportunity. A key result was different acoustic levels and spectral shapes observed from different ship-types. A 54 kGT container ship had the highest broadband source level at 188 dB re 1 μPa@1m; a 26 kGT chemical tanker had the lowest at 177 dB re 1 μPa@1m. Bulk carriers had higher source levels near 100 Hz, while container ship and tanker noise was predominantly below 40 Hz. Simple models to predict source levels of modern merchant ships as a group from particular ship characteristics (e.g., length, gross tonnage, and speed) were not possible given individual ship-type differences. Furthermore, ship noise was observed to radiate asymmetrically. Stern aspect noise levels are 5 to 10 dB higher than bow aspect noise levels. Collectively, these results emphasize the importance of including modern ship-types in quantifying shipping noise for predictive models of global, regional, and local marine environments. © 2012 Acoustical Society of America.
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.
Buckle, J. R.; Knox, A.; Siviter, J.; Montecucco, A.
Autonomous underwater vehicles (AUVs) are a vital part of the oceanographer's toolbox, allowing long-term measurements across a range of ocean depths of a number of ocean properties such as salinity, fluorescence, and temperature profile. Buoyancy-based gliding, rather than direct propulsion, dramatically reduces AUV power consumption and allows long-duration missions on the order of months rather than hours or days, allowing large distances to be analyzed or many successive analyses of a certain area without the need for retrieval. Recent versions of these gliders have seen the buoyancy variation system change from electrically powered to thermally powered using phase-change materials, however a significant battery pack is still required to power communications and sensors, with power consumption in the region of 250 mW. The authors propose a novel application of a thermoelectric generation system, utilizing the depth-related variation in oceanic temperature. A thermal energy store provides a temperature differential across which a thermoelectric device can generate from repeated dives, with the primary purpose of extending mission range. The system is modeled in Simulink to analyze the effect of variation in design parameters. The system proves capable of generating all required power for a modern AUV.
Nebrensky, J. J.; Craig, Gary; Hobson, Peter R.; Lampitt, R. S.; Nareid, Helge; Pescetto, A.; Trucco, Andrea; Watson, John
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.
Ackerley, Katherine; Helm, Francesca
This volume gives voice to the views and experiences of researchers, lecturers, administrative staff, teacher trainers and students with regard to the implementation of English-medium instruction in a public university based in the north-east of Italy.
Full Text Available Introduced in July, 2011 in a beta test of invited users only, the new social media service Google+ (or G+ quickly spread by word of mouth, and Google leader Larry Page (2011 blogged that within sixteen days it had 10 million users. By August, it had 25 million users (Cashmore, 2011. Even with slower growth ahead (still with no marketing budget, the service looks likely to crest 100 million users perhaps as early as ten months, a feat that took Facebook three years. Other social networks, most notably Facebook and Twitter, have been used increasingly as instructional tools, since they are platforms with which students are already familiar (Maloney, 2007; McLoughlin & Lee, 2007. Selwyn (2009 found that students often eschew official channels for communication in favor of less formal community-based formats such as Facebook, implying a growing need for instructional communication tools that will be used willingly by students. The question is whether Google+ can be used like Twitter or Facebook to augment instruction, or even, perhaps, to improve upon those predecessors for academic purposes. Google+ is like Twitter in that anyone can follow a given user’s posts. There is no direct “friend” relationship required to read the posts written by others. However, it also approximates some features of Facebook. Rather than friends sorted into “lists” like in Facebook, Google+ allows users to place feeds into one or more “circles,” the better to monitor (or control the flow of information to and from different audiences. Circles are more intuitive, and more central to the experience, than the Facebook lists. They provide an explicit organizational structure, compared to the less-obvious listing functionality, which feels like an afterthought, found in Facebook.
Linderholm, Tracy; Kwon, Heekyung; Therriault, David J.
Two experiments tested the hypothesis that prereading instructions, including how to self-explain during reading, would enhance multiple-text comprehension for college readers. Three prereading instruction conditions included a control condition that provided only the instruction for participants to try to comprehend well; a definition-only…
Johnson, Kelly Gomez
Instructional coaching is a reality in many schools today, yet administrators often lack experience or background on how to utilize this professional development model effectively. Instructional coaching can help administrators balance the managerial and instructional leadership responsibilities required of their role. As districts adopt the…
Sumit Kumar; Sunil Kumar; Chandan Deep Singh
This paper presents modeling and simulation of flexible robot in an underwater environment. The underwater environment completely contrasts with ground or space environment. The robot in an underwater situation is subjected to various dynamic forces like buoyancy forces, hydrostatic and hydrodynamic forces. The underwater robot is modeled as Rayleigh beam. The developed model further allows estimating the deflection of tip in two directions. The complete dynamics of the u...
Korman, Murray S.
Underwater acoustics and sonar (SP411) is a 3 hour course that is offered to midshipmen in their senior year. Typically, general science and oceanography majors, totaling 110 students/yr, enroll. Since this course is offered without a lab, the ''in class'' experience has been enhanced with the development (over many years) of our demo carts and computer workstations which surround the classroom. In a studio classroom atmosphere, students perform a variety of experiments in small groups. How can scientific visualizations best develop learning of complex interactions? Two examples are presented. PC-IMAT (personal curriculum interactive multisensor analysis training) simulations of multielement array steering support the theory and enhance the experiments that are performed in class such as the two-element array. Mathematica simulations involving the programming and animation of a point source in a rigid-rigid infinite parallel wave guide are used to stress the method of images, superposition, group and phase velocity and far-field modal pattern that is observed as a function of depth and source frequency. Later, students have fun using a ripple tank with an eye dropper to generate a point source between two adjustable parallel boundaries, and their understanding of ''underwater sound'' is greatly enhanced.
Martinez, Jayson J; Myers, Josh R; Carlson, Thomas J; Deng, Z Daniel; Rohrer, John S; Caviggia, Kurt A; Woodley, Christa M; Weiland, Mark A
To monitor the underwater sound and pressure waves generated by anthropogenic activities such as underwater blasting and pile driving, an autonomous system was designed to record underwater acoustic signals. The underwater sound recording device (USR) allows for connections of two hydrophones or other dynamic pressure sensors, filters high frequency noise out of the collected signals, has a gain that can be independently set for each sensor, and allows for 2 h of data collection. Two versions of the USR were created: a submersible model deployable to a maximum depth of 300 m, and a watertight but not fully submersible model. Tests were performed on the USR in the laboratory using a data acquisition system to send single-frequency sinusoidal voltages directly to each component. These tests verified that the device operates as designed and performs as well as larger commercially available data acquisition systems, which are not suited for field use. On average, the designed gain values differed from the actual measured gain values by about 0.35 dB. A prototype of the device was used in a case study to measure blast pressures while investigating the effect of underwater rock blasting on juvenile Chinook salmon and rainbow trout. In the case study, maximum positive pressure from the blast was found to be significantly correlated with frequency of injury for individual fish. The case study also demonstrated that the device withstood operation in harsh environments, making it a valuable tool for collecting field measurements.
Christa M. Woodley
Full Text Available To monitor the underwater sound and pressure waves generated by anthropogenic activities such as underwater blasting and pile driving, an autonomous system was designed to record underwater acoustic signals. The underwater sound recording device (USR allows for connections of two hydrophones or other dynamic pressure sensors, filters high frequency noise out of the collected signals, has a gain that can be independently set for each sensor, and allows for 2 h of data collection. Two versions of the USR were created: a submersible model deployable to a maximum depth of 300 m, and a watertight but not fully submersible model. Tests were performed on the USR in the laboratory using a data acquisition system to send single-frequency sinusoidal voltages directly to each component. These tests verified that the device operates as designed and performs as well as larger commercially available data acquisition systems, which are not suited for field use. On average, the designed gain values differed from the actual measured gain values by about 0.35 dB. A prototype of the device was used in a case study to measure blast pressures while investigating the effect of underwater rock blasting on juvenile Chinook salmon and rainbow trout. In the case study, maximum positive pressure from the blast was found to be significantly correlated with frequency of injury for individual fish. The case study also demonstrated that the device withstood operation in harsh environments, making it a valuable tool for collecting field measurements.
Zhao, Jianhu; Zhou, Fengnian; Zhang, Hongmei; Li, Juanjuan
In large-scope marine investigation, the traditional bathymetric measurement can not meet the requirement of rapid data acquisition with lower cost of financial and material resources, while remote sensing (RS) technology provides a perfect way in the work. RS can not only provide quickly and efficiently the information of underwater topography with respect to the traditional method, but also present corresponding underwater topography with different-period RS images. In this paper, we depict in detail the procedures and some key techniques in acquiring underwater topography by remote sensing inversion technology based on self-organization feature mapping (SOFM). Firstly, we introduce some basic theories about the acquisition of underwater topography by the RS inversion technology. Besides, we discuss the data acquisition and preparation in the work. Moreover, we implement correlation analysis and find out the sensitive bands used for building RS inversion model. In virtue of SOFM, we construct the mapping relation between water depth and the reflectivity of sensitive band in the studied area, and test the it in two experimental water areas. The model achieves satisfying accuracy and can meet the requirement of given bathymetric scale. Finally the mapping relation is used for the water depth inversion in the studied water area. We also use the water depth from the model to draw the underwater topographic map in the water area.
Wang, Wei; Liu, Jindong; Xie, Guangming; Wen, Li; Zhang, Jianwei
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.
Park, Hye Min; Park, Ki Hyun; Kang, Sung Won; Joo, Koan Sik
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.
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.
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.
Librarians View Instruction as Integral to Their Professional Identities. A Review of: Julien, H., & Genuis, S. K. (2011. Librarians’ experience of the teaching role: A national survey of librarians. Library & Information Science Research, 33(2, 103-111. doi: 10.1016/j.lisr.2010.09.005
Full Text Available Objective – To explore the ways that professional and non-professional library staff experience and relate to their instructional roles.Design – Online survey.Setting – All types of Canadian libraries, including public, school, post-secondary, medical, special, and other libraries.Subjects – A total of 788 library staff persons with instructional responsibilities.Methods – In 2009, the authors constructed a 20-minute anonymous survey that contained questions about the nature of librarians’ instructional work, their preparation for doing instruction, and their experiences as instructors. Subjects were recruited via several electronic mail lists. The authors used SPSS to analyze the quantitative data and NVivo to analyze the qualitative data.Main Results – The study found that the majority of subjects believed instruction to be integral to their professional identities, although some viewed it as an imposition. The nature of instructional work varied greatly, but included short presentations; a series of sessions; semester-length courses; and one-on-one instruction. Subjects prepared for instruction through on-the-job training; reading professional literature; attending workshops and conferences; taking a formal course in instruction; and other methods. On the whole, training helped library staff to feel more prepared for teaching and to embrace instructional work as integral to their professional identities. Study participants derived enjoyment from instruction in the form of satisfaction with facilitating student learning; relationship building; personal development; task variety; and appreciation of the heightened profile of library staff. Subjects also described several barriers to teaching, including administrative, technological, and logistical barriers; client and faculty interactions; and interpersonal challenges such as nervousness or lack of preparation. Finally, subjects described the ways that instruction has changed with
Oubei, Hassan M.
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.
...-AA00 Safety Zone; Underwater Hazard, Gravesend Bay, Brooklyn, NY AGENCY: Coast Guard, DHS. ACTION... maritime public and safety of navigation from recently discovered underwater explosive hazards in Gravesend... published a notice of proposed rulemaking (NPRM) entitled ``Safety Zone; Underwater Hazard, Gravesend Bay...
Oubei, Hassan M.
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.
Full Text Available In this work, an enhanced differential chaos shift keying (DCSK, based on a first order hybrid chaotic system, is being proposed for a high reliability underwater acoustic communication system. It can be integrated into systems that use standard existing transducers. We show that a coherent operation between the received signal and the time reversal of the basis function in a first order hybrid chaotic system maximizes the signal to noise ratio at the receiver. Concurrently, DCSK configuration is used to resist the distortion caused by the complex underwater acoustic channel. Our simulation results show that the proposed method has lower bit error rate (BER. In addition, it shows higher communication reliability over underwater acoustic channel as compared to the conventional DCSK using logistic map and its variant forms such as Correlation Delay Shift Keying (CDSK, Phase-Separate DCSK (PS-DCSK, High Efficiency DCSK (HE-DCSK, and Reference Modulated DCSK (RM-DCSK.
Quevedo, E.; Delory, E.; Callicó, G. M.; Tobajas, F.; Sarmiento, R.
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.
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.
Zhang, Rui; Zhang, Wendong; He, Changde; Zhang, Yongmei; Song, Jinlong; Xue, Chenyang
A 1 × 16 capacitive micro-machined ultrasonic transducer linear array was designed, fabricated, and tested for underwater imaging in the low frequency range. The linear array was fabricated using Si-SOI bonding techniques. Underwater transmission performance was tested in a water tank, and the array has a resonant frequency of 700 kHz, with pressure amplitude 182 dB (μPa·m/V) at 1 m. The -3 dB main beam width of the designed dense linear array is approximately 5 degrees. Synthetic aperture focusing technique was applied to improve the resolution of reconstructed images, with promising results. Thus, the proposed array was shown to be suitable for underwater imaging applications.
Full Text Available A 1 × 16 capacitive micro-machined ultrasonic transducer linear array was designed, fabricated, and tested for underwater imaging in the low frequency range. The linear array was fabricated using Si-SOI bonding techniques. Underwater transmission performance was tested in a water tank, and the array has a resonant frequency of 700 kHz, with pressure amplitude 182 dB (μPa·m/V at 1 m. The −3 dB main beam width of the designed dense linear array is approximately 5 degrees. Synthetic aperture focusing technique was applied to improve the resolution of reconstructed images, with promising results. Thus, the proposed array was shown to be suitable for underwater imaging applications.
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.
Thomas, T. R.; Cook, P. L.
A description is given of a simple, inexpensive and versatile method for estimating underwater weight. The use of a portable stock tank allows the determination of % Fat by underwater weighing without requiring a swimming pool, built-in tank, or special facility. Twenty-eight college students were weighed on two separate testing sessions 24-48 hours apart. Ten trials were performed at each session. The mean of the last five trials was used in determining underwater weight. The test-retest reliability coefficient was high, r = 0.98, and most of the successive trial correlations were above 0.99. The mean % Fat for the women (N = 9) was 22.2 +/- 5.9 and for the men (N = 19) was 13.7 +/- 5.1. Images Figure 1 PMID:630178
Rao, Jionghui; Wei, Wei; Wang, Feng; Zhang, Xiaohui
Compared with other communication methods, optical wireless communication (OWC) holds the merits of higher transmitting rate and sufficient secrecy. So it is an efficacious communicating measure for data transmitting between underwater carriers. However, due to the water attenuation and the transmitter & the receiver (TX/RX) collimation, this application is restrained in underwater mobile carriers. A prototype for underwater OWC was developed, in which a high-powered green LED array was used as the light source which partly raveled the TX/RX collimation out. A small pumped-multiple-tube (PMT) was used as the detector to increase the communicating range, and FPGA chips were employed to code and decode the communicating data. The data rate of the prototype approached to 4 Mb/s at 8.4m and 1 Mb/s at 22m where voice and Morse communications were achieved in a scope of 30 degree TX/RX angle.
Su, Xiaoshi; Norris, Andrew N; Cushing, Colby W; Haberman, Michael R; Wilson, Preston S
An inhomogeneous acoustic metamaterial lens based on spatial variation of refractive index for broadband focusing of underwater sound is reported. The index gradient follows a modified hyperbolic secant profile designed to reduce aberration and suppress side lobes. The gradient index (GRIN) lens is comprised of transversely isotropic hexagonal microstructures with tunable quasi-static bulk modulus and mass density. In addition, the unit cells are impedance-matched to water and have in-plane shear modulus negligible compared to the effective bulk modulus. The flat GRIN lens is fabricated by cutting hexagonal centimeter scale hollow microstructures in aluminum plates, which are then stacked and sealed from the exterior water. Broadband focusing effects are observed within the homogenization regime of the lattice in both finite element simulations and underwater measurements (20-40 kHz). This design approach has potential applications in medical ultrasound imaging and underwater acoustic communications.
The purpose of this paper is to outline a course for the training of divers with a special interest in underwater surveying (e.g. surveyors, archaeologists, biologists, geologists, photographers/videographers). This outline presents: i) the Courses' Standards ii) the Learning Objectives for the related Knowledge Development, iii) the Skills that have to be conducted, iv) the Performance Requirements for the students and v) the Open Water Considerations for the Training Dives. It is expected that the resulting course outline will be used as a reference for the training of certified divers who want to become underwater surveyors, providing them basic knowledge and skills to survey adequate data for the detailed documentation of submerged features. Moreover the combination of knowledge (what) and the skills (how) that are presented during the proposed course attempt to define a protocol for the recording of underwater features in favor of mapping and 3D modeling.
Lu, Hao; Wang, Hai-bin; Aissa-El-Bey, Abdeldjalil; Pyndiah, Ramesh
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.
Phoemsapthawee, Surasak; Le Boulluec, Marc; Laurens, Jean-Marc; Deniset, François
Underwater gliders are recent innovative types of autonomous underwater vehicles (AUVs) used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of the hydrodynamic behavior and the flight mechanics of the underwater glider is necessary. A 6-DOF motion simulator is coupled with an unsteady potential flow model for this purpose. In some specific cases, the numerical study demonstrates that an inappropriate stabilizer dimension can cause counter-steering behavior. The simulator can be used to improve the automatic flight control. It can also be used for the hydrodynamic design optimization of the devices.
Teacher Candidates' Experiences with Clinical Teaching in Reading Instruction: A Comparison between the Professional Development School Environment and the Non-Professional Development School Environment
Hopper, Cynthia J.
Teacher candidates experience a variety of school settings when enrolled in teacher education methods courses. Candidates report varied experiences when in public school classrooms. This dissertation investigated clinical experiences of teacher candidates when placed in two different environments for clinical teaching. The two environments were a…
Many administrators are so overwhelmed by the basic responsibilities of their daily work that there seems to be little or no time left for providing quality leadership in instruction. Instead, schools employ department chairs, instructional specialists, and coordinators to provide instructional leadership. How can administrators find time in the…
von Lukas, Uwe Freiherr
Visual computing technologies have traditionally been developed for conventional setups where air is the surrounding medium for the user, the display, and/or the camera. However, given mankind's increasingly need to rely on the oceans to solve the problems of future generations (such as offshore oil and gas, renewable energies, and marine mineral resources), there is a growing need for mixed-reality applications for use in water. This article highlights the various research challenges when changing the medium from air to water, introduces the concept of underwater mixed environments, and presents recent developments in underwater visual computing applications.
Gaur, A.S.; Sundaresh; Tripati, S.
-1 Migration & Diffusion, Vol. 6, Issue Number 21, 2005 ANCIENT DWARKA: STUDY BASED ON RECENT UNDERWATER ARCHAEOLOGICAL INVESTIGATIONS by A.S. Gaur, Sundaresh and Sila Tripati Summary Dwarka, one of the best-studied underwater sites in India, has...). Dwarka has been the attraction for historians since the beginning of the 20th century. The ancient town Dwarka has been described as 56 Migration & Diffusion, Vol 6, Issue Number 21, 2005 Fig.l: Dwarka is headquarter of the Okhamandal taluka in Jamnagar...
J.E. van Aanhold
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.
Full Text Available Due to the receding sea-ice extent in the Arctic, and the potentially large undiscovered petroleum resources present north of the Arctic circle, offshore activities in ice-infested waters are increasing. Due to the presence of drifting sea-ice and icebergs, ice management (IM becomes an important part of the offshore operation, and an important part of an IM system is the ability to reliably monitor the ice conditions. An autonomous underwater vehicle (AUV has a unique capability of high underwater spatial and temporal coverage, making it suitable for monitoring applications. Since the first Arctic AUV deployment in 1972, AUV technology has matured and has been used in complex under-ice operations. This paper motivates the use of AUVs as an ice-monitoring sensor platform. It discusses relevant sensor capabilities and challenges related to communication and navigation. This paper also presents experiences from a field campaign that took place in Ny-Aalesund at Svalbard in January 2014, where a REMUS 100 AUV was used for sea-floor mapping and collection of oceanographic parameters. Based on this, we discuss the experiences related to using AUVs for ice-monitoring. We conclude that AUVs are highly applicable for ice-monitoring, but further research is needed.
Yamada, T.; Kanazawa, T.; Fujimoto, H.; Shinohara, M.; Ishihara, T.; Araya, A.; Iizasa, K.; Tsukioka, S.
Gravity is one of the powerful indices to profile underground structures. Surface ship gravimeters are popular tool for the purpose of collecting gravity values in marine region. They enable you to obtain gravity values from large area easily, while the resolutions are relatively low because of the distance between the sea surface and bottom. Otherwise, ocean bottom gravimeters are able to be observed gravity with high resolution, but they have still covered few limited sites so that they are designed to do observation in quiet only. In some cases, such as hydrothermal deposit survey, the medium performance both in resolution and size of survey area are required. This paper describes a gravimeter we have been developing for satisfying the requirements. Our target is to detect gravity anomalies less than 1 mgal by using an underwater vehicle. This setting is roughly equivalent to find a typical hydrothermal deposit with a dimension of 0.5 km x 0.5 km x 10 m and a density contrast of 1 g/cm3 when we set the sensor at 50 m high from the seafloor. There are some issues such as noise reduction, robustness and downsizing to clear the target. A gravity sensor (Micro-g LaCoste S-174) is mounted on a gimbal control unit with an inertial navigation sensor for the problems. These are stored in a sphere vessel made of titanium alloy (125 kgf in air, 32 kgf in water) and it is available in 3500 m below sea surface. Furthermore, in order to reduce high frequency noise due to mainly the vehicle motion through a low-pass filter, data are able to be stored at sampling rates of approximately 100 Hz. The logging system and control unit for communication to/from ship is stored another canister (22 kgf in air, 10 kgf in water). We made gravity measurement experiments to examine the effectiveness of the gimbal system and filtering application. The gravimeter was set on a machine simulating pitch and roll motions with a period of 16 s and an amplitude of 7.5 degrees, which is greater
Mortazavi, Halleh; Oakley, John P; Barkat, Braham
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)
This Underwater Maintenance Guide has been developed to provide utility plant personnel with a single-source reference to underwater services. These services, which include both manned diving and remotely-operated vehicle operations, are required to perform certain underwater maintenance functions at nuclear power generating stations. This Guide provides an introduction to those underwater services and their general operations, as well as overviews of specific work tasks which have been identified thus far. This information is intended to familiarize utility maintenance personnel with the general scope and capabilities of underwater services, without encroaching upon the contractor's flexibility to develop responses to individual maintenance tasks
Pilyaev Sergey Ivanovich
Full Text Available Cultivation of sea objects is of great importance while solving the problems of providing the constantly growing requirements of the national economy with sea products. Cultivation of sea objects uses special hydrobiotechnical constructions. As the practice showed, cultivation of seafood is commercially impossible without solving the questions of calculating and designing such constructions. In special literature these questions are poorly covered or not considered at all. In the article the results of theoretical and pilot studies of waves influence on hydrobiotechnical constructions is provided, in particular on underwater fish-breeding cages.This article offers the theoretical solution to the problem of determining the efforts of the ropes holding the fish tank under wave influences. In order to solve this problem, the equations of hard drives movements were set up and the differential equations of free oscillations of buzz were obtained.When determining the horizontal movements, the four different configurations of connections and the system motion directions in general are possible in case of waveoscillations. Next step is the solution of the differential equations and determination of natural oscillation frequency in the direction of the vertical axis. Defining efforts in the ropes from their own weight (static calculation is self-explanatory, it should be noted that accounting for the weighing influence of water on such structures does not have significant influence.Further the authors defined loading and efforts from the regular waves’ impacts.Modeling of the waves influence on submersible fish tank was carried by Fraud method. The studies were conducted with two models with large and small mesh. The signals of strain gauge sensors were registered by electronic measuring equipment.When comparing the theoretical and experimental data, satisfactory results have been obtained. It was determined that in order to improve the calculation
Full Text Available The interpolation-reconstruction of local underwater terrain using the underwater digital terrain map (UDTM is an important step for building an underwater terrain matching unit and directly affects the accuracy of underwater terrain matching navigation. The Kriging method is often used in terrain interpolation, but, with this method, the local terrain features are often lost. Therefore, the accuracy cannot meet the requirements of practical application. Analysis of the geographical features is performed on the basis of the randomness and self-similarity of underwater terrain. We extract the fractal features of local underwater terrain with the fractal Brownian motion model, compensating for the possible errors of the Kriging method with fractal theory. We then put forward an improved Kriging interpolation method based on this fractal compensation. Interpolation-reconstruction tests show that the method can simulate the real underwater terrain features well and that it has good usability.
Li, Chongyi; Guo, Jichang; Wang, Bo; Cong, Runmin; Zhang, Yan; Wang, Jian
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.
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.
Gregory, D. J.
preservation of wood, once of the common materials on archaeological sites. The guidelines and all information and experiences obtained during the course of the project will be utilised to enhance and develop existing legislation and best practice for mapping and preserving Europe's underwater and coastal heritage. The project started in September 2012 and finished at the end of August 2015 and the aim of the paper is to give a brief introduction to the results of the project. Further information on the project is available at www.sasmap.eu
Young Kook Kim
Full Text Available Most of composite materials are made by sintering method. In this research, in order to make composite material for magnetic refrigeration, we carried out several experiments for the powder consolidation using the shock compaction method and numerical analysis for the behavior of underwater shock wave. The shock compaction method is to consolidate metal powder using underwater shock wave including an ultra-high pressure and high velocity generated by detonation of explosive. Generally, the magnitude of peak pressure and the pressure distribution of underwater shock wave depend on the inner shape of water container which is one of the parts of high pressure generating device. In this study, we have investigated several water containers using numerical analysis and observation experiments. Therefore, underwater shock wave is affected by the reflected wave generated from the wall of water container and the magnitude of reflected wave depends on the inner angle θ of water container. The pressure and velocity of reflected wave is gradually increased with increasing inner angle θ of water container.
Li, Huidong; Tian, Chuan; Lu, Jun; Myjak, Mitchell J.; Martinez, Jayson J.; Brown, Richard S.; Deng, Zhiqun
This paper presents a self-powered underwater acoustic transmitter using a piezoelectric beam to harvest the mechanical energy from fish swimming. This transmitter does not require a battery and is demonstrated in live fish. It transmits an acoustic waveform as the implanted fish swims. It enables long-term monitoring of aquatic animals.
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 ...
Clark, James E
Exposure to the underwater environment for pleasure or work poses many challenges on the human body including thermal stress, barotraumas, decompression sickness as well as the acute effects of breathing gases under pressure. With the popularity of recreational self-contained underwater breathing apparatus (SCUBA) diving on the increase and deep inland dive sites becoming more accessible, it is important that we understand the effects of breathing pressurised gas at depth can have on the body. One of the common consequences of hyperbaric gas is the narcotic effect of inert gas. Nitrogen (a major component of air) under pressure can impede mental function and physical performance at depths of as little as 10 m underwater. With increased depth, symptoms can worsen to include confusion, disturbed coordination, lack of concentration, hallucinations and unconsciousness. Narcosis has been shown to contribute directly to up to 6% of deaths in divers and is likely to be indirectly associated with other diving incidents at depth. This article explores inert gas narcosis, the effect on divers' movement and function underwater and the proposed physiological mechanisms. Also discussed are some of the factors that affect the susceptibility of divers to the condition. In conclusion, understanding the cause of this potentially debilitating problem is important to ensure that safe diving practices continue.
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.
Christensen-Dalsgaard, J; Elepfandt, A
Anesthetized clawed frogs (Xenopus laevis) were stimulated with underwater sound and the tympanic disk vibrations were studied using laser vibrometry. The tympanic disk velocities ranged from 0.01 to 0.5 mm/s (at a sound pressure of 2 Pa) in the frequency range of 0.4-4 kHz and were 20-40 dB higher...
D V A N Ravi Kumar
Jul 4, 2017 ... Abstract. Bearing-only passive target tracking is a well-known underwater defence issue dealt in the recent past with the conventional nonlinear estimators like extended Kalman filter (EKF) and unscented Kalman filter. (UKF). It is being treated now-a-days with the derivatives of EKF, UKF and a highly ...
Ort, C.M.; Beerens, S.P.; Theije, P.A.M. de
Although in most recent crises around the world it would appear from a superficial glance that there was no imminent underwater threat, a closer look shows differently. In the War on Iraq, for instance, a large allied effort was spent on eliminating the very real mine threat that endangered the
Aanhold, J.E.; Tuitman, J.T.; Trouwborst, W.; Vaders, J.A.A.
In order to satisfy the need for good quality UNDerwater EXplosion (UNDEX) response estimates of naval platforms, TNO developed two 3D simulation tools: the Simplified Interaction Tool (SIT) and the hydro/structural code 3DCAV. Both tools are an add-on to LS-DYNA. SIT is a module of user routines
Development of energy-efficient data collection and routing schemes for Underwater Wireless Sensor Networks (UWSNs) is a challenging issue due to the peculiarities of the underlying physical layer technology. Since the recharging or replacement of sensor nodes is almost impossible after deployment, the critical issue of ...
Bosschaart, C.; Jansen, H.W.; Jong, C.A.F. de; Basten, T.
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
Pumphrey, Hugh C.; Crum, L. A.; Jensen, Leif Bjørnø
; the second occurs for some impacts but not others. A range of conditions is described in which a bubble is produced for every drop impact, and it is shown that these conditions are likely to be met by a significant fraction of the raindrops in a typical shower. Underwater sound produced by artificial as well...
Students from Stockbridge High School Robotics Team invention is a low cost underwater video and data capturing device. This system is capable of shooting time-lapse photography and/or video for up to 3 days of video at a time. It can be used in remote locations without having to change batteries or adding additional external hard drives for data storage. The video capturing device has a unique base and mounting system which houses a pi drive and a programmable raspberry pi with a camera module. This system is powered by two 12 volt batteries, which makes it easier for users to recharge after use. Our data capturing device has the same unique base and mounting system as the underwater camera. The data capturing device consists of an Arduino and SD card shield that is capable of collecting continuous temperature and pH readings underwater. This data will then be logged onto the SD card for easy access and recording. The low cost underwater video and data capturing device can reach depths up to 100 meters while recording 36 hours of video on 1 terabyte of storage. It also features night vision infrared light capabilities. The cost to build our invention is $500. The goal of this was to provide a device that can easily be accessed by marine biologists, teachers, researchers and citizen scientists to capture photographic and water quality data in marine environments over extended periods of time.
Huntsberger, Terrance L.
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.
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.
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.
Ainslie, M.A.; Jong, C.A.F. de
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
Lin, Aobo; Tong, Zheng; Song, Yuhang; Kong, Meiwei; Xu, Jing
We demonstrate a self-designed underwater wireless optical communication system using blue LEDs. The performance of the transmitter and receiver was experimentally investigated. Four different square wave signals (10 KHz, 100 KHz, 500 KHz and 1 MHz) were successfully transmitted via a short water channel at the first phase.
Altay Arpali, Serap; Baykal, Yahya; Arpali, Çağlar
In underwater optical communication links, bit error rate (BER) is an important performance criterion. For this purpose, the effects of oceanic turbulence on multimode laser beam incidences are studied and compared in terms of average BER (), which is related to the scintillation index. Based on the log-normal distribution, is analysed for underwater turbulence parameters, including the rate of dissipation of the mean squared temperature, the rate of dissipation of the turbulent kinetic energy, the parameter that determines the relative strength of temperature and salinity in driving index fluctuations, the Kolmogorov microscale length and other link parameters such as link length, wavelength and laser source size. It is shown that use of multimode improves the system performance of optical wireless communication systems operating in an underwater medium. For all the investigated multimode beams, decreasing link length, source size, the relative strength of temperature and salinity in driving the index fluctuations, the rate of dissipation of the mean squared temperature and Kolmogorov microscale length improve the . Moreover, lower values are obtained for the increasing wavelength of operation and the rate of dissipation of the turbulent kinetic energy in underwater turbulence.
Jansen, H.W.; Jong, C.A.F. de
The aim of the SONIC project is to develop tools to investigate and mitigate the effects of underwater noise generated by shipping. One way to study the contribution of shipping noise to the background noise in the seas is to produce shipping noise maps. The SONIC project delivers the required
Henrion, S.; Vercruyssen, T.; Müller, U.K.
For operations in complex underwater environments, bio-inspired robots offer manoeuvrability, stealth and autonomy. They integrate propulsion and control systems into one multi-purpose undulatory propeller. By generating large counteracting forces, undulating fins generate a wide range of net
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
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
Wu, Huayang; Chen, Min; Guan, Xin
Due to the particularities of the underwater environment, some negative factors will seriously interfere with data transmission rates, reliability of data communication, communication range, and network throughput and energy consumption of underwater sensor networks (UWSNs). Thus, full consideration of node energy savings, while maintaining a quick, correct and effective data transmission, extending the network life cycle are essential when routing protocols for underwater sensor networks are studied. In this paper, we have proposed a novel routing algorithm for UWSNs. To increase energy consumption efficiency and extend network lifetime, we propose a time-slot based routing algorithm (TSR).We designed a probability balanced mechanism and applied it to TSR. The theory of network coding is introduced to TSBR to meet the requirement of further reducing node energy consumption and extending network lifetime. Hence, time-slot based balanced network coding (TSBNC) comes into being. We evaluated the proposed time-slot based balancing routing algorithm and compared it with other classical underwater routing protocols. The simulation results show that the proposed protocol can reduce the probability of node conflicts, shorten the process of routing construction, balance energy consumption of each node and effectively prolong the network lifetime.
Isufi, E.; Dol, H.; Leus, G.J.T.
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
Jalaja Janardanan Kartha
Sep 7, 2017 ... We model the problem as a constrained optimization prob- lem, considering the peculiarities of the underwater environ- ment, resource limitations and application requirements. In particular, we formulate an optimization problem that maxi- mizes the lifetime of the UWSN, subject to node energy con- straints ...
fers extensively from visual image processing, primarily due to three major underwater channel impairments, i.e. ... visual quality of the image by mitigating color cast with subsequent contrast enhancement. In the proposed method, ...... sincere thanks to all Robotics & Automation Group mem- bers for their help and support.
Lopat'ko, K.; Aftandiliants, Y.; Veklich, A.; Boretskij, V.; Taran, N.; Batsmanova, L.; Trach, V.; Tugai, T.
The underwater spark discharge between manganese granules was studied. Optical emission spectroscopy methods were used for diagnostics of such discharge plasma. The colloidal solution with manganese nanoparticles was produced by this discharge. The biological applications of this colloid were analyzed. The mechanism of metallic nanoparticle action and their transformation at interacting with biological objects were studied in Alternaria alternata culture
Danehy, Paul M.; Alderfer, David W.
Several optical methods for measuring temperature near underwater shock waves are reviewed and compared. The relative merits of the different techniques are compared, considering accuracy, precision, ease of use, applicable temperature range, maturity, spatial resolution, and whether or not special additives are required.
This paper will offer an ethnographic account of the everyday reality of controlling illegal underwater drug trafficking in the global Port of Rotterdam (PoR). In so doing, it will explore what it means for customs diving officers to do drug inspections under challenging circumstances in order to
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.
Jalaja Janardanan Kartha
Sep 7, 2017 ... ditions and providing useful performance indicators prior to network deployment. Keywords. Underwater Sensor Networks .... There exists the possibility of controlling the extent of multi-hop routing that is feasible for ... standard tools; (iii) investigating the performance metrics of the proposed framework; (iv) ...
Binnerts, B.; Benda-Beckmann, A.M. von; Beek, P.J.G. van
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
Arnon, Shlomi; Kedar, Debbie
The growing need for ocean observation systems has stimulated considerable interest within the research community in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. Sensors and ad hoc sensor networks are the emerging tools for performing extensive data-gathering operations on land, and solutions in the subsea setting are being sought. Efficient communication from the sensors and within the network is critical, but the underwater environment is extremely challenging. Addressing the special features of underwater wireless communication in sensor networks, we propose a novel non-line-of-sight network concept in which the link is implemented by means of back-reflection of the propagating optic signal at the ocean-air interface and derive a mathematical model of the channel. Point-to-multipoint links can be achieved in an energy efficient manner and broadcast broadband communications, such as video transmissions, can be executed. We show achievable bit error rates as a function of sensor node separation and demonstrate the feasibility of this concept using state-of-the-art silicon photomultiplier detectors.
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 ...
metal vapour from the cut kerf is spread in air. In cutting of irradiated material, debris and metal vapour creates airborne activity, which may be harmful for people working nearby, whereas, underwater cutting is advantageous in terms of a narrow. HAZ adjacent to the laser cut surface providing better samples for the analysis.
period an effort was also made to estimate the cost of a reasonably simple test device that consists of a motor, bearing support and underwater...planned for use at that facility. FIT Test Vehicle Successful operation of the HullBUG system on the sailing vessel Adele was performed in
Ferrini, V. L.; Morton, J. J.; Wiener, C.
Video imagery acquired with underwater vehicles is an essential tool for characterizing seafloor ecosystems and seafloor geology. It is a fundamental component of ocean exploration that facilitates real-time operations, augments multidisciplinary scientific research, and holds tremendous potential for public outreach and engagement. Acquiring, documenting, managing, preserving and providing access to large volumes of video acquired with underwater vehicles presents a variety of data stewardship challenges to the oceanographic community. As a result, only a fraction of underwater video content collected with research submersibles is documented, discoverable and/or viewable online. With more than 1 billion users, YouTube offers infrastructure that can be leveraged to help address some of the challenges associated with sharing underwater video with a broad global audience. Anyone can post content to YouTube, and some oceanographic organizations, such as the Schmidt Ocean Institute, have begun live-streaming video directly from underwater vehicles. OceanVideoLab (oceanvideolab.org) was developed to help improve access to underwater video through simple annotation, browse functionality, and integration with related environmental data. Any underwater video that is publicly accessible on YouTube can be registered with OceanVideoLab by simply providing a URL. It is strongly recommended that a navigational file also be supplied to enable geo-referencing of observations. Once a video is registered, it can be viewed and annotated using a simple user interface that integrates observations with vehicle navigation data if provided. This interface includes an interactive map and a list of previous annotations that allows users to jump to times of specific observations in the video. Future enhancements to OceanVideoLab will include the deployment of a search interface, the development of an application program interface (API) that will drive the search and enable querying of
The purpose of this qualitative embedded multiple case study was to describe what instructional strategies corporate instructional designers were using to design mobile learning and to understand from their experiences which instructional strategies they believed enhance learning. Participants were five instructional designers who were actively…
Llor, Jesús; Malumbres, Manuel P
Several Medium Access Control (MAC) and routing protocols have been developed in the last years for Underwater Wireless Sensor Networks (UWSNs). One of the main difficulties to compare and validate the performance of different proposals is the lack of a common standard to model the acoustic propagation in the underwater environment. In this paper we analyze the evolution of underwater acoustic prediction models from a simple approach to more detailed and accurate models. Then, different high layer network protocols are tested with different acoustic propagation models in order to determine the influence of environmental parameters on the obtained results. After several experiments, we can conclude that higher-level protocols are sensitive to both: (a) physical layer parameters related to the network scenario and (b) the acoustic propagation model. Conditions like ocean surface activity, scenario location, bathymetry or floor sediment composition, may change the signal propagation behavior. So, when designing network architectures for UWSNs, the role of the physical layer should be seriously taken into account in order to assert that the obtained simulation results will be close to the ones obtained in real network scenarios.
Veiga, Santiago; Roig, Andreu
Pacing strategies of elite swimmers have been consistently characterised from the average lap velocities. In the present study, we examined the racing strategies of 200 m world class-level swimmers with regard to their underwater and surface lap components. The finals and semi-finals of the 200 m races at the 2013 World Swimming Championships (Barcelona, Spain) were analysed by an innovative image-processing system (InThePool® 2.0). Free swimming velocities of elite swimmers typically decreased throughout the 200 m race laps (-0.12 m · s(-1), 95% CI -0.11 to -0.14 m · s(-1), P = 0.001, η(2) = 0.81), whereas underwater velocities, which were faster than free swimming, were not meaningfully affected by the race progress (0.02 m · s(-1), -0.01 to 0.04 m · s(-1), P = 0.01, η(2) = 0.04). When swimming underwater, elite swimmers typically travelled less distance (-0.66 m, -0.83 to -0.49 m, P = 0.001, η(2) = 0.34) from the first to the third turn of the race, although underwater distances were maintained on the backstroke and butterfly races. These strategies allowed swimmers to maintain their average velocity in the last lap despite a decrease in the free swimming velocity. Elite coaches and swimmers are advised to model their racing strategies by considering both underwater and surface race components.
He, Bo; Zhang, Hongjin; Li, Chao; Zhang, Shujing; Liang, Yan; Yan, Tianhong
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.
Ni, Jianjun; Wu, Liuying; Shi, Pengfei; Yang, Simon X
Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown environment, including complex computing problem when the environment is very large and repeated path problem when the size of obstacles is bigger than the detection range of sensors. To deal with these problems, an improved dynamic BINN is proposed in this paper. In this proposed method, the AUV is regarded as the core of the BINN and the size of the BINN is based on the detection range of sensors. Then the BINN will move with the AUV and the computing could be reduced. A virtual target is proposed in the path planning method to ensure that the AUV can move to the real target effectively and avoid big-size obstacles automatically. Furthermore, a target attractor concept is introduced to improve the computing efficiency of neural activities. Finally, some experiments are conducted under various 3D underwater environments. The experimental results show that the proposed BINN based method can deal with the real-time path planning problem for AUV efficiently.
Mullick, Suvradip; Madhukar, Yuvraj K.; Roy, Subhransu; Nath, Ashish K.
Recent development of water-jet assisted underwater laser cutting has shown some advantages over the gas assisted underwater laser cutting, as it produces much less turbulence, gas bubble and aerosols, resulting in a more gentle process. However, this process has relatively low efficiency due to different losses in water. Scattering is reported to be a dominant loss mechanism, which depends on the growth of vapor layer at cut front and its removal by water-jet. Present study reports improvement in process efficiency by reducing the scattering loss using modulated laser power. Judicious control of laser pulse on- and off-time could improve process efficiency through restricting the vapor growth and its effective removal by water-jet within the laser on- and off-time, respectively. Effects of average laser power, duty cycle and modulation frequency on specific energy are studied to get an operating zone for maximum efficiency. Next, the variation in laser cut quality with different process parameters are studied within this operating zone using Design of experiment (DOE). Response surface methodology (RSM) is used by implementing three level Box-Behnken design to optimize the variation in cut quality, and to find out the optimal process parameters for desired quality. Various phenomena and material removal mechanism involved in this process are also discussed.
Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown environment, including complex computing problem when the environment is very large and repeated path problem when the size of obstacles is bigger than the detection range of sensors. To deal with these problems, an improved dynamic BINN is proposed in this paper. In this proposed method, the AUV is regarded as the core of the BINN and the size of the BINN is based on the detection range of sensors. Then the BINN will move with the AUV and the computing could be reduced. A virtual target is proposed in the path planning method to ensure that the AUV can move to the real target effectively and avoid big-size obstacles automatically. Furthermore, a target attractor concept is introduced to improve the computing efficiency of neural activities. Finally, some experiments are conducted under various 3D underwater environments. The experimental results show that the proposed BINN based method can deal with the real-time path planning problem for AUV efficiently. PMID:28255297
Full Text Available We have developed dual sonar equipment and an improved operating method for improving resolution in order to solve the problems of limitations of the optical equipment and the application method of SSS (side scan sonar in the investigation of damage of underwater structures. We analyzed the influence factors of the resolution of sonar data through the comparison of resolution and data quality in indoor test. Also we confirmed the problems about the overlapping area of the dual sonar. Depth and distance were analyzed as major influencing factors for survey angle. Specimens were scanned while adjusting distance and towfish angle according to depth change in order to verify applicability of the developed dual sonar in the field experiment. Optimal resolution was found to be 3 cm in specimen spacing, and 20 sample data items were extracted. We developed the regression model based on the multiple regression analysis and developed the RealDualSONAR-DAQ tool, the dual sonar optimum operating method program based on proposed correlation equations. We can use the developed tools to get the value of the major influencing factors for dual sonar operation and obtain high quality sonar data to analyze damage of underwater structures.
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.
Illig, David W.
Interest in underwater optical sensors has grown as technologies enabling autonomous underwater vehicles have been developed. Propagation of light through water is complicated by the dual challenges of absorption and scattering. While absorption can be reduced by operating in the blue-green region of the visible spectrum, reducing scattering is a more significant challenge. Collection of scattered light negatively impacts underwater optical ranging, imaging, and communications applications. This thesis concentrates on the ranging application, where scattering reduces operating range as well as range accuracy. The focus of this thesis is on the problem of backscatter, which can create a "clutter" return that may obscure submerged target(s) of interest. The main contributions of this thesis are explorations of signal processing approaches to increase the separation between the target and backscatter returns. Increasing this separation allows detection of weak targets in the presence of strong scatter, increasing both operating range and range accuracy. Simulation and experimental results will be presented for a variety of approaches as functions of water clarity and target position. This work provides several novel contributions to the underwater lidar field: 1. Quantification of temporal separation approaches: While temporal separation has been studied extensively, this work provides a quantitative assessment of the extent to which both high frequency modulation and spatial filter approaches improve the separation between target and backscatter. 2. Development and assessment of frequency separation: This work includes the first frequency-based separation approach for underwater lidar, in which the channel frequency response is measured with a wideband waveform. Transforming to the time-domain gives a channel impulse response, in which target and backscatter returns may appear in unique range bins and thus be separated. 3. Development and assessment of statistical
Fischell, Erin M; Schmidt, Henrik
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)].
Lian, Zhongxu; Xu, Jinkai; Wan, Yanling; Li, Yiquan; Yu, Zhanjiang; Liu, Qimeng; Yu, Huadong
Underwater superoleophobic surfaces are becoming increasingly important in regard to self-cleaning, anti-fouling, oil droplet transportation and water/oil separation. Although a great number of underwater superoleophobic surfaces have been demonstrated, their tribological properties remain impractical for the purposes of real-life applications. Herein, a two-step method of high speed wire electrical discharge machining and boiling water treatment was adopted to fabricate fish scale inspired underwater oil repellent hierarchical structure on an aluminum (Al) alloy 5083 surface. The hierarchical roughness and hydroxyl groups were obtained on the surface, and the surface exhibited the ability to prevent contact with organic fluids when submerged in water. Moreover, the tribological properties of underwater superoleophobic Al surfaces in aqueous environments were analyzed. The average friction coefficient of underwater superoleophobic surfaces was decreased compared with the polished Al surface. We believe that this research will contribute to the engineering application of underwater superoleophobic surfaces in the future.
A REVIEW OF THE LITERATURE, A MAIL SURVEY, AND A TEXTUAL ANALYSIS OF JUNIOR COLLEGE DOCUMENTS INDICATE THAT, WHILE CALIFORNIA JUNIOR COLLEGES ARE CONCERNED ABOUT THE QUALITY AND EFFECTIVENESS OF INSTRUCTION, CONTROL OF THAT QUALITY IS RARELY A SYSTEMATIC ROUTINE ENTERPRISE BASED ON EXAMINATION OF BEHAVIOR CHANGES IN STUDENTS FOLLOWING INSTRUCTION.…
Wang, Dong; Wang, Tuo; Wang, Qi; Zhang, Zhao; Zhao, Mingyu; Wang, Yinghui
When multiple energy systems execute optimization instructions simultaneously, and the same equipment is Shared, the instruction conflict may occur. Aiming at the above problems, taking into account the control objectives of each system, the characteristics of different systems, such as comprehensive clean energy, energy efficiency, and peak filling, etc., designed the instruction coordination mechanism for the daemon. This mechanism mainly acts on the main station of the system, and form a final optimization instruction. For some specific scenarios, the collaboration mechanism of unlocking the terminal is supplemented. The mechanism determines the specific execution instructions based on the arrival time of the instruction. Finally, the experiment in Tianjin eco-city shows that this algorithm can meet the instruction and collaboration requirements of multi-energy systems, and ensure the safe operation of the equipment.
David R. Mandel
Full Text Available An experiment was conducted to test the effectiveness of brief instruction in information structuring (i.e., representing and integrating information for improving the coherence of probability judgments and binary choices among intelligence analysts. Forty-three analysts were presented with comparable sets of Bayesian judgment problems before and immediately after instruction. After instruction, analysts’ probability judgments were more coherent (i.e., more additive and compliant with Bayes theorem. Instruction also improved the coherence of binary choices regarding category membership: after instruction, subjects were more likely to invariably choose the category to which they assigned the higher probability of a target’s membership. The research provides a rare example of evidence-based validation of effectiveness in instruction to improve the statistical assessment skills of intelligence analysts. Such instruction could also be used to improve the assessment quality of other types of experts who are required to integrate statistical information or make probabilistic assessments.
Gang Qiao; Yunjiang Zhao; Songzuo Liu; Muhammad Bilal
A novel portable underwater acoustic modem is proposed in this paper for covert communication between divers or underwater unmanned vehicles (UUVs) and divers at a short distance. For the first time, real dolphin calls are used in the modem to realize biologically inspired Covert Underwater Acoustic Communication (CUAC). A variety of dolphin whistles and clicks stored in an SD card inside the modem helps to realize different biomimetic CUAC algorithms based on the specified covert scenario. I...
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.
propeller on the vLBV300 SV Starboard, vertical propeller on the vLBV300 THAUS Tethered Hovering-Class Autonomous Underwater System UUV Unmanned...inhabitance of man and machine—the aim is to fundamentally enable the transformative capability of robots as underwater co-workers. The RDAS finds...be commanded via a high- or low-level computer interface, resulting in a tethered , hovering-class autonomous underwater system (THAUS). As
Chen Wang; Amir Anvar
This paper describes the modeling and simulation of an underwater robot glider used in the shallow-water environment. We followed the Equations of motion derived by  and simplified dynamic Equations of motion of an underwater glider according to our underwater glider. A simulation code is built and operated in the MATLAB Simulink environment so that we can make improvements to our testing glider design. It may be also used to validate a robot glider design.
Rumes, B.; Erkman, A.; Haelters, J.
There is concern about possible effects on the marine ecosystem of high levels of underwater noise generated during pile driving for the construction of offshore wind farms. As a result, various national governments in Europe have identified limits of underwater sound levels, as such imposing in many cases the use of noise mitigation measures. In this paper we compare the regulations with regard to impulsive underwater noise in the Belgian wind farm zone with those in the Dutch wind energy zo...
Full Text Available This paper addresses the target localization problems based on received signal strength (RSS measurements in underwater acoustic wireless sensor network (UWSN. Firstly, the problems based on the maximum likelihood (ML criterion for estimating target localization in cases of both known and unknown transmit power are respectively derived, and fast implementation algorithms are proposed by transforming the non-convex problems into a generalized trust region subproblem (GTRS frameworks. A three-step procedure is also provided to enhance the estimation accuracy in the unknown target transmit power case. Furthermore, the Cramer–Rao lower bounds (CRLBs in both cases are derived. Computer simulation results show the superior performance of the proposed methods in the underwater environment.
Juan David Hernández
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.
Full Text Available A new autopilot system for unmanned underwater vehicle (UUV using multi-single-beam sonars is proposed for environmental exploration. The proposed autopilot system is known as simultaneous detection and patrolling (SDAP, which addresses two fundamental challenges: autonomous guidance and control. Autonomous guidance, autonomous path planning, and target tracking are based on the desired reference path which is reconstructed from the sonar data collected from the environmental contour with the predefined safety distance. The reference path is first estimated by using a support vector clustering inertia method and then refined by Bézier curves in order to satisfy the inertia property of the UUV. Differential geometry feedback linearization method is used to guide the vehicle entering into the predefined path while finite predictive stable inversion control algorithm is employed for autonomous target approaching. The experimental results from sea trials have demonstrated that the proposed system can provide satisfactory performance implying its great potential for future underwater exploration tasks.
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.
Using the regular finite element method for analyzing wave propagation problems presents difficulties: (a) The finite element mesh gives spurious reflection of the traveling wave and (b) Since a finite element model has to have a finite boundary, the wave is reflected by the outside boundary. However, for underwater shock problems, only the response of the structure is of major interest, not the behavior of the wave itself, and the shock wave can be assumed to be spherical. By taking advantage of the limited scope of the underwater shock problem, a finite element procedure can be developed that eliminates the above difficulties. This procedure not only can give very accurate solutions but it may also include structural nonlinearities and effect of cavitation
Elamassie, Mohammed; Uysal, Murat; Baykal, Yahya; Abdallah, Mohamed; Qaraqe, Khalid
The performance of underwater optical wireless communication systems is severely affected by the turbulence that occurs due to the fluctuations in the index of refraction. Most previous studies assume a simplifying, yet inaccurate, assumption in the turbulence spectrum model that the eddy diffusivity ratio is equal to unity. It is, however, well known that the eddy diffusivities of temperature and salt are different from each other in most underwater environments. In this paper, we obtain a simplified spatial power spectrum model of turbulent fluctuations of the seawater refraction index as an explicit function of eddy diffusivity ratio. Using the derived model, we obtain the scintillation index of optical plane and spherical waves and investigate the effect of the eddy diffusivity ratio.
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...
Full Text Available There has been a great demand, in the medical field and in industrial applications, for a novel micro biped robot with multiple degrees of freedom that can swim smoothly in water or in aqueous medium. The fish-like micro-robot studied is a type of miniature device that is installed with sensing and actuating elements. This article describes the new structure and motion mechanism of a hybrid type of underwater micro-robot using an ion-conducting polymer film (ICPF actuator, and discusses the swimming and floating characteristics of the micro-robot in water, measured by changing the voltage frequency and the amplitude of the input voltage. Results indicate that the swimming speed of the proposed underwater micro-robot can be controlled by changing the frequency of the input voltage, and the direction (upward or downward can be manipulated by changing the frequency of the electric current applied and the amplitude of the voltage.
Hernández, Juan David; Istenič, Klemen; Gracias, Nuno; Palomeras, Narcís; Campos, Ricard; Vidal, Eduard; García, Rafael; Carreras, Marc
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. PMID:27472337
Conte, G.; Serrani, A.
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