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Sample records for underwater explosion problem

  1. Underwater sympathetic detonation of pellet explosive

    Science.gov (United States)

    Kubota, Shiro; Saburi, Tei; Nagayama, Kunihito

    2017-06-01

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

  2. Water waves generated by underwater explosion

    CERN Document Server

    Mehaute, Bernard Le

    1996-01-01

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

  3. Hydroelastic behaviour of a structure exposed to an underwater explosion

    Science.gov (United States)

    Colicchio, G.; Greco, M.; Brocchini, M.; Faltinsen, O. M.

    2015-01-01

    The hydroelastic interaction between an underwater explosion and an elastic plate is investigated num- erically through a domain-decomposition strategy. The three-dimensional features of the problem require a large computational effort, which is reduced through a weak coupling between a one-dimensional radial blast solver, which resolves the blast evolution far from the boundaries, and a three-dimensional compressible flow solver used where the interactions between the compression wave and the boundaries take place and the flow becomes three-dimensional. The three-dimensional flow solver at the boundaries is directly coupled with a modal structural solver that models the response of the solid boundaries like elastic plates. This enables one to simulate the fluid–structure interaction as a strong coupling, in order to capture hydroelastic effects. The method has been applied to the experimental case of Hung et al. (2005 Int. J. Impact Eng. 31, 151–168 (doi:10.1016/j.ijimpeng.2003.10.039)) with explosion and structure sufficiently far from other boundaries and successfully validated in terms of the evolution of the acceleration induced on the plate. It was also used to investigate the interaction of an underwater explosion with the bottom of a close-by ship modelled as an orthotropic plate. In the application, the acoustic phase of the fluid–structure interaction is examined, highlighting the need of the fluid–structure coupling to capture correctly the possible inception of cavitation. PMID:25512585

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

    OpenAIRE

    Matsumoto, Kazuhiro

    1996-01-01

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

  5. Numerical modelling of underwater detonation of non-ideal condensed-phase explosives

    Science.gov (United States)

    Schoch, Stefan; Nikiforakis, Nikolaos

    2015-01-01

    The interest in underwater detonation tests originated from the military, since the expansion and subsequent collapse of the explosive bubble can cause considerable damage to surrounding structures or vessels. In military applications, the explosive is typically represented as a pre-burned material under high pressure, a reasonable assumption due to the short reaction zone lengths, and complete detonation of the unreacted explosive. Hence, numerical simulations of underwater detonation tests have been primarily concerned with the prediction of target loading and the damage incurred rather than the accurate modelling of the underwater detonation process. The mining industry in contrast has adopted the underwater detonation test as a means to experimentally characterise the energy output of their highly non-ideal explosives depending on explosive type and charge configuration. This characterisation requires a good understanding of how the charge shape, pond topography, charge depth, and additional charge confinement affect the energy release, some of which can be successfully quantified with the support of accurate numerical simulations. In this work, we propose a numerical framework which is able to capture the non-ideal explosive behaviour and in addition is capable of capturing both length scales: the reaction zone and the pond domain. The length scale problem is overcome with adaptive mesh refinement, which, along with the explosive model, is validated against experimental data of various TNT underwater detonations. The variety of detonation and bubble behaviour observed in non-ideal detonations is demonstrated in a parameter study over the reactivity of TNT. A representative underwater mining test containing an ammonium-nitrate fuel-oil ratestick charge is carried out to demonstrate that the presented method can be readily applied alongside experimental underwater detonation tests.

  6. Measurement of Naval Ship Responses to Underwater Explosion Shock Loadings

    Directory of Open Access Journals (Sweden)

    Il-Kwon Park

    2003-01-01

    Full Text Available The shock-resistance capability of battle ships against a non-contact underwater explosion (UNDEX is a very critical factor of survivability. In July 1987 and April 2000, we successfully conducted UNDEX shock tests for a coastal mine hunter (MHC and a mine sweeper/hunter (MSH of Republic of Korea Navy (ROKN, at the Chinhae bay, Korea. Test planning for conducting these shock tests included responsibilities, methods, and procedures. Test instruments were developed and tested on a drop shock machine to confirm availability in the actual shock tests with emphasis on shock resistance, remote control and reliability. All vital systems of the ships were confirmed to be capable of normal operational condition without significant damages during the explosion shot. By analyzing the test results, the tactical operational safety zone of the ships in underwater explosion environments was estimated. In this paper, we described the results of measurement of naval ship responses to underwater explosion shock loadings including test planning, sensor locations, data reduction, explosive devices, instrumentation and damage assessments of MSH.

  7. Aluminum-Enhanced Underwater Electrical Discharges for Steam Explosion Triggering

    International Nuclear Information System (INIS)

    HOGELAND, STEVE R.; NELSON, LLOYD S.; ROTH, THOMAS CHRISTOPHER

    1999-01-01

    For a number of years, we have been initiating steam explosions of single drops of molten materials with pressure and flow (bubble growth) transients generated by discharging a capacitor bank through gold bridgewires placed underwater. Recent experimental and theoretical advances in the field of steam explosions, however, have made it important to substantially increase these relatively mild transients in water without using high explosives, if possible. To do this with the same capacitor bank, we have discharged similar energies through tiny strips of aluminum foil submerged in water. By replacing the gold wires with the aluminum strips, we were able to add the energy of the aluminum-water combustion to that normally deposited electrically by the bridgewire explosion in water. The chemical enhancement of the explosive characteristics of the discharges was substantial: when the same electrical energies were discharged through the aluminum strips, peak pressures increased as much as 12-fold and maximum bubble volumes as much as 5-fold above those generated with the gold wires. For given weights of aluminum, the magnitudes of both parameters appeared to exceed those produced by the underwater explosion of equivalent weights of high explosives

  8. Aluminum-Enhanced Underwater Electrical Discharges for Steam Explosion Triggering

    Energy Technology Data Exchange (ETDEWEB)

    HOGELAND, STEVE R.; NELSON, LLOYD S.; ROTH, THOMAS CHRISTOPHER

    1999-07-01

    For a number of years, we have been initiating steam explosions of single drops of molten materials with pressure and flow (bubble growth) transients generated by discharging a capacitor bank through gold bridgewires placed underwater. Recent experimental and theoretical advances in the field of steam explosions, however, have made it important to substantially increase these relatively mild transients in water without using high explosives, if possible. To do this with the same capacitor bank, we have discharged similar energies through tiny strips of aluminum foil submerged in water. By replacing the gold wires with the aluminum strips, we were able to add the energy of the aluminum-water combustion to that normally deposited electrically by the bridgewire explosion in water. The chemical enhancement of the explosive characteristics of the discharges was substantial: when the same electrical energies were discharged through the aluminum strips, peak pressures increased as much as 12-fold and maximum bubble volumes as much as 5-fold above those generated with the gold wires. For given weights of aluminum, the magnitudes of both parameters appeared to exceed those produced by the underwater explosion of equivalent weights of high explosives.

  9. Spherical Solutions of an Underwater Explosion Bubble

    Directory of Open Access Journals (Sweden)

    Andrew B. Wardlaw

    1998-01-01

    Full Text Available The evolution of the 1D explosion bubble flow field out to the first bubble minimum is examined in detail using four different models. The most detailed is based on the Euler equations and accounts for the internal bubble fluid motion, while the simplest links a potential water solution to a stationary, Isentropic bubble model. Comparison of the different models with experimental data provides insight into the influence of compressibility and internal bubble dynamics on the behavior of the explosion bubble.

  10. The Effect of Nano-Aluminumpowder on the Characteristic of RDX based Aluminized Explosives Underwater Close-Filed Explosion

    OpenAIRE

    Junting Yin; Baohui Yuan; Tao Zhou; Gang Li; Xinlian Ren

    2017-01-01

    In order to investigate the effect of nano-aluminum powder on the characteristic of RDX based aluminized explosives underwater closed-filed explosions, the scanning photographs along the radial of the charges were gained by a high speed scanning camera. The photographs of two different aluminized explosives underwater explosion have been analyzed, the shock wave curves and expand curves of detonation products were obtained, furthermore the change rules of shock waves propagation velocity, sho...

  11. Photoluminescent Detection of Dissolved Underwater Trace Explosives

    Directory of Open Access Journals (Sweden)

    Tye Langston

    2010-01-01

    Full Text Available A portable, rapid, and economical method for in situ trace explosive detection in aqueous solutions was demonstrated using photoluminescence. Using europium/thenoyltrifluoroacetone as the reagent, dissolved nitroglycerin was fluorescently tagged and detected in seawater solutions without sample preparation, drying, or preconcentration. The chemical method was developed in a laboratory setting and demonstrated in a flow-through configuration using lightweight, inexpensive, commercial components by directly injecting the reagents into a continually flowing seawater stream using a small amount of organic solvent (approximately 8% of the total solution. Europium's vulnerability to vibrational fluorescence quenching by water provided the mode of detection. Without nitroglycerin in the seawater solution, the reagent's fluorescence was quenched, but when dissolved nitroglycerin was present, it displaced the water molecules from the europium/thenoyltrifluoroacetone compound and restored fluorescence. This effort focused on developing a seawater sensor, but performance comparisons were made to freshwater. The method was found to perform better in freshwater and it was shown that certain seawater constituents (such as calcium have an adverse impact. However, the concentrations of these constituents are not expected to vary significantly from the natural seawater used herein.

  12. Spectral analysis of underwater explosions in the Dead Sea

    Science.gov (United States)

    Gitterman, Y.; Ben-Avraham, Z.; Ginzburg, A.

    1998-08-01

    The present study utilizes the Israel Seismic Network (ISN) as a spatially distributed multichannel system for the discrimination of low-magnitude events (ML UWEs) and 16 earthquakes in the magnitude range ML = 1.6-2.8, within distances of 10-150 km, recorded by the ISN, were selected for the analysis. The analysis is based on a smoothed (0.5 Hz window) Fourier spectrum of the whole signal (defined by the signal-to-noise criterion), without picking separate wave phases. It was found that the classical discriminant of the seismic energy ratio between the relatively low-frequency (1-6 Hz) and high-frequency (6-11 Hz) bands, averaged over an ISN subnetwork, showed an overlap between UWEs and earthquakes and cannot itself provide reliable identification. We developed and tested a new multistation discriminant based on the low- frequency spectral modulation (LFSM) method. In our case the LFSM is associated with the bubbling effect in underwater explosions. The method demonstrates a distinct azimuth-invariant coherency of spectral shapes in the low-frequency range (1-12 Hz) of short-period seismometer systems. The coherency of the modulated spectra for different ISN stations was measured by semblance statistics commonly used in seismic prospecting for phase correlation in the time domain. The modified statistics provided an almost complete separation between earthquakes and underwater explosions.

  13. The Effect of Nano-Aluminumpowder on the Characteristic of RDX based Aluminized Explosives Underwater Close-Filed Explosion

    Directory of Open Access Journals (Sweden)

    Junting Yin

    2017-01-01

    Full Text Available In order to investigate the effect of nano-aluminum powder on the characteristic of RDX based aluminized explosives underwater closed-filed explosions, the scanning photographs along the radial of the charges were gained by a high speed scanning camera. The photographs of two different aluminized explosives underwater explosion have been analyzed, the shock wave curves and expand curves of detonation products were obtained, furthermore the change rules of shock waves propagation velocity, shock front pressure and expansion of detonation products of two aluminized explosives were investigated, and also the parameters of two aluminized explosives were contrasted. The results show that the aluminized explosive which with nano-aluminum whose initial shock waves pressure propagation velocity, shock front pressure are smaller than the aluminized explosive without nano-aluminum and has lower decrease rate attenuation of energy.

  14. On the feasibility of using smoothed particle hydrodynamics for underwater explosion calculations

    Energy Technology Data Exchange (ETDEWEB)

    Swegle, J.W.; Attaway, S.W.

    1995-02-01

    SPH (Smoothed Particle Hydrodynamics) is a gridless Lagrangian technique which is appealing as a possible alternative to numerical techniques currently used to analyze high deformation impulsive loading events. In the present study, the SPH algorithm has been subjected to detailed testing and analysis to determine the feasibility of using PRONTO/SPH for the analysis of various types of underwater explosion problems involving fluid-structure and shock-structure interactions. Of particular interest are effects of bubble formation and collapse and the permanent deformation of thin walled structures due to these loadings. These are exceptionally difficult problems to model. Past attempts with various types of codes have not been satisfactory. Coupling SPH into the finite element code PRONTO represents a new approach to the problem. Results show that the method is well-suited for transmission of loads from underwater explosions to nearby structures, but the calculation of late time effects due to acceleration of gravity and bubble buoyancy will require additional development, and possibly coupling with implicit or incompressible methods.

  15. Using Underwater Explosion and Cylinder Expansion Tests to Calibrate Afterburn Models for Aluminized Explosives

    Science.gov (United States)

    Wedberg, Rasmus

    2017-06-01

    The study explores the combined use of underwater performance tests and cylinder expansion tests in order to parameterize detonation models for aluminized explosives which exhibit afterburning. The approach is suggested to be used in conjunction with thermochemical computation. A formulation containing RDX and aluminum powder is considered and several charges with varying masses are submerged and detonated. Pressure gauges are employed at horizontal distances scaling with the charge diameter, and the specific shock wave energy is shown to increase with charge mass. This is attributed to the combustion of aluminum particles after the Chapman-Jouguet plane. Cylinder expansion tests are carried out using Photon Doppler Velocimetry to register the wall expansion velocity. The tests are modeled using a multi-material arbitrary Lagrangian-Eulerian approach with the Guirguis-Miller model describing detonation with afterburning. The equation of state and afterburn rate law parameters are adjusted such that the model reproduces the results from the cylinder expansion and underwater tests. The approach seems promising, and might be valuable for aluminized explosive formulations intended to be used in a variety of confinement conditions. Swedish Armed Forces.

  16. Assessment on shock pressure acquisition from underwater explosion using uncertainty of measurement

    Directory of Open Access Journals (Sweden)

    Seok-Jun Moon

    2017-11-01

    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

  17. A Computer Program for a Canonical Problem in Underwater Shock

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    Thomas L. Geers

    1994-01-01

    Full Text Available Finite-element/boundary-element codes are widely used to analyze the response of marine structures to underwater explosions. An important step in verifying the correctness and accuracy of such codes is the comparison of code-generated results for canonical problems with corresponding analytical or semianalytical results. At the present time, such comparisons rely on hardcopy results presented in technical journals and reports. This article describes a computer program available from SAVIAC that produces user-selected numerical results for a step-wave-excited spherical shell submerged in and (optionally filled with an acoustic fluid. The method of solution employed in the program is based on classical expansion of the field quantities in generalized Fourier series in the meridional coordinate. Convergence of the series is enhanced by judicious application of modified Cesàro summation and partial closed-form solution.

  18. Numerical Simulation and Response of Stiffened Plates Subjected to Noncontact Underwater Explosion

    Directory of Open Access Journals (Sweden)

    Elsayed Fathallah

    2014-01-01

    Full Text Available A numerical simulation has been carried out to examine the response of steel plates with different arrangement of stiffeners and subjected to noncontact underwater explosion (UNDEX with different shock loads. Numerical analysis of the underwater explosion phenomena is implemented in the nonlinear finite element code ABAQUS/Explicit. The aim of this work is to enhance the dynamic response to resist UNDEX. Special emphasis is focused on the evolution of mid-point displacements. Further investigations have been performed to study the effects of including material damping and the rate-dependant material properties at different shock loads. The results indicate that stiffeners configurations and shock loads affect greatly the overall performance of steel plates and sensitive to the materials data. Also, the numerical results can be used to obtain design guidelines of floating structures to enhance resistance of underwater shock damage, since explosive tests are costly and dangerous.

  19. Problems in the theory of point explosions

    Science.gov (United States)

    Korobeinikov, V. P.

    The book is concerned with the development of the theory of point explosions, which is relevant to the study of such phenomena as the initiation of detonation, high-power explosions, electric discharges, cosmic explosions, laser blasts, and hypersonic aerodynamics. The discussion covers the principal equations and the statement of problems; linearized non-self-similar one-dimensional problems; spherical, cylindrical, and plane explosions with allowance for counterpressure under conditions of constant initial density; explosions in a combustible mixture of gases; and point explosions in inhomogeneous media with nonsymmetric energy release. Attention is also given to point explosions in an electrically conducting gas with allowance for the effect of the magnetic field and to the propagation of perturbations from solar flares.

  20. Safety problems with abandoned explosive facilities

    International Nuclear Information System (INIS)

    Courtright, W.C.

    1969-01-01

    Procedures were developed for the safe removal of explosive and radioactive contaminated materials structures and drains from abandoned sites, including explosives processing and service buildings with a goal to return the entire area to its natural state and to permit public access. The safety problems encountered in the cleanup and their solutions are applicable to modification and maintenance work in operating explosive facilities. (U.S.)

  1. Time-Dependent Modeling of Underwater Explosions by Convolving Similitude Source with Bandlimited Impulse from the CASS/GRAB Model

    Science.gov (United States)

    2015-06-30

    pressure Green’s function) is determined from the CASS/GRAB model. The similitude source is based on the work of Hopkinson,9 Arons ,10 Cole,11 and...Swisdak.12 Arons , Cole, and Swisdak summarized most underwater explosive results after World War II. Most work on similitude is based on experimental...Academic Press, 2000. 10. A. B. Arons , “Underwater Explosions Shock Wave Parameters at Large Distances from the Charge,” The Journal of

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

    International Nuclear Information System (INIS)

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

    2008-01-01

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

  3. Analytical Solutions for Predicting Underwater Explosion Gas Bubble Behaviour

    Science.gov (United States)

    2010-11-01

    décrit différents modèles analytiques élaborés antérieurement pour prévoir la croissance et l’implosion radiales en champ libre des bulles gazeuses...rapport compare divers modèles analytiques servant à prévoir la croissance et l’implosion d’une bulle gazeuse créée par une explosion sous-marine. Ces...élaborés antérieurement pour prévoir la croissance et l’implosion radiales en champ libre des bulles gazeuses créées par une explosion sous-marine

  4. Resistance of GPS samples to non-contact underwater explosion

    Science.gov (United States)

    Dulnev, A. I.; Nekliudova, E. A.

    2017-11-01

    Test data obtained from experiments on GRP test samples in the explosion chamber of Krylov State Research Centre are given. Characteristic features of material damage accumulation and failure processes are discussed based on the experimental data. The sample material damage is assessed versus three indicative effects (criteria): binder failure, fiber rupture, through-thickness penetration (hole). Finite element modelling of the experiments is used for a more detailed analysis of stress-strain state of material samples.

  5. A velocity probe-based method for continuous detonation and shock measurement in near-field underwater explosion

    Science.gov (United States)

    Li, Kebin; Li, Xiaojie; Yan, Honghao; Wang, Xiaohong; Miao, Yusong

    2017-12-01

    A new velocity probe which permits recording the time history of detonation and shock waves has been developed by improving the commercial on principle and structure. A method based on the probe is then designed to measure the detonation velocity and near-field shock parameters in a single underwater explosion, by which the oblique shock wave front of cylindrical charges and the peak pressure attenuation curve of spherical explosive are obtained. A further derivation of detonation pressure, adiabatic exponent, and other shock parameters is conducted. The present method offers a novel and reliable parameter determination for near-field underwater explosion.

  6. High-speed photography of underwater sympathetic detonation of high explosives

    Science.gov (United States)

    Kubota, Shiro; Shimada, Hideki; Matsui, Kikuo; Liu, Zhi-Yue; Itoh, Shigeru

    2001-04-01

    The donor and the acceptor charges are arranged into the water with the interval. The donor charge has a cylindrical geometry with 30 mm diameter and 50 mm long. The acceptor has a disk form with 100 mm diameter and 10 or 5 mm thickness. Composition B is used for both of the donor and acceptor charges. The propagation processes of underwater shock waves from the top end of acceptor charge along the axis of charges are taken by the image converter camera under the intervals of 10, 15, 20 and 25 mm. In the case of 10 mm thick acceptor charge, the velocities of the underwater shock wave are the almost the same up to the interval of 20 mm. However, in the case of 25 mm the underwater shock wave has remarkable low velocity compared to the other cases. In the case of 20 mm interval, the velocity of the underwater shock wave in the case of the 5 mm thick acceptor is slower than that of 10 mm. Furthermore, the numerical simulations are conducted. The reaction rate law of the high explosive is a phenomenological model that is proposed by Lee and Tarver. The results of the optical measurement and numerical simulation demonstrate a good agreement.

  7. Behavioural effects of exposure to underwater explosions in humpback whales (Megaptera novaeangliae)

    Energy Technology Data Exchange (ETDEWEB)

    Todd, S.; Lien, J.; Marques, F. [Memorial Univ. of Newfoundland, St. John`s, NF (Canada); Stevick, P. [College of the Atlantic, Bar Harbor, ME (United States); Ketten, D. [Harvard Univ., Cambridge, MA (United States). Medical School

    1996-09-01

    Findings of a study of high rate of entrapment in nets of humpback whales off the coast of northeastern Newfoundland in 1991-92 were reported. The entrapments took place in the southern portion of Trinity Bay, a site associated with construction operations, including explosions and drilling, that was assumed to have modified the underwater acoustic environment. Results indicated few behavioural reactions to detonations by the whales when measured in terms of decreased residency, overall movements, or general behaviour. However, there is tentative evidence that the increased entrapment rate may have been influenced by the long-term effects of exposure to abnormally high sound levels. 46 refs.

  8. Transient Interaction of a Spherical Shell with an Underwater Explosion Shock Wave and Subsequent Pulsating Bubble

    Directory of Open Access Journals (Sweden)

    H. Huang

    1995-01-01

    Full Text Available The nonlinear interaction problem is analyzed by simultaneously solving the mass, momentum, and energy conservation equations together .with appropriate material constitutive equations governing the fluid dynamics of the explosion gaseous product and the water and the structural dynamics of the compliant shell. A finite difference technique in a coupled Eulerian–Lagrangian scheme is used. The computer program PISCES 2DELK is employed to carry out the numerical computations. The results demonstrate that to rigorously analyze the response of a submerged structure to a nearby explosion, the interactions among the explosion shock wave, the structure, its surrounding media, and the explosion bubble need to be considered.

  9. Numerical computation of underwater explosions due to fuel-coolant interactions

    International Nuclear Information System (INIS)

    Lee, J.H.S.; Frost, D.L.; Knystautas, R.; Teodorczyk, A.; Ciccarelli, G.; Thibault, P.; Penrose, J.

    1989-03-01

    If coarse molten material is released into a coolant the possibility exists for a violent steam explosion. A detailed quantitative description of the processes involved in steam explosions is currently beyond the capabilities of the scientific community. However, a conservative estimate of the pressure transients resulting from a steam explosion can be obtained by studying the dynamics of the shock associated with the expansion of a high-pressure vapour bubble. In this study, the hydrodynamic equations governing the shock propagation of an expanding bubble were integrated numerically using the Flux Corrected Transport code. Simpler acoustic models based on experience with underwater explosions were also developed and used to estimate pressure transients and to calculate the peak pressures for benchmark cases. The results were found to be an order of magnitude higher than the corresponding pressures obtained using a complex model developed by Henry. A simplified version of the Henry model was developed by neglecting the complex description of the two-phase flow inside the ruptured tube and the arbitrarily assumed heat transfer and condensation rates. Results from the simplified model were found to be generally similar to, but had higher peak pressures than those obtained using the Henry model. It is concluded that the results produced by simple acoustic models, or by a simplified Henry model, are more conservative than the corresponding results obtained with the original Henry model

  10. Evaluation of Accelerometer Mechanical Filters on Submerged Cylinders Near an Underwater Explosion

    Directory of Open Access Journals (Sweden)

    G. Yiannakopoulos

    1998-01-01

    Full Text Available An accelerometer, mounted to a structure near an explosion to measure elasto-plastic deformation, can be excited at its resonant frequency by impulsive stresses transmitted within the structure. This results in spurious high peak acceleration levels that can be much higher than acceleration levels from the explosion itself. The spurious signals also have higher frequencies than the underlying signal from the explosion and can be removed by a low pass filter. This report assesses the performance of four accelerometer and filter assemblies. The assessment involves measurements of the response of a mild steel cylinder to an underwater explosion, in which each assembly is mounted onto the interior surface of the cylinder. Three assemblies utilise a piezoresistive accelerometer in which isolation is provided mechanically. In the fourth assembly, a piezoelectric accelerometer, with a built-in filter, incorporates both mechanical and electronic filtering. This assembly is found to be more suitable because of its secure mounting arrangement, ease of use, robustness and noise free results.

  11. An integrated wave-effects model for an underwater explosion bubble.

    Science.gov (United States)

    Geers, Thomas L; Hunter, Kendall S

    2002-04-01

    A model for a moderately deep underwater explosion bubble is developed that integrates the shock wave and oscillation phases of the motion. A hyperacoustic relationship is formulated that relates bubble volume acceleration to far-field pressure profile during the shock-wave phase, thereby providing initial conditions for the subsequent oscillation phase. For the latter, equations for bubble-surface response are derived that include wave effects in both the external liquid and the internal gas. The equations are then specialized to the case of a spherical bubble, and bubble-surface displacement histories are calculated for dilational and translational motion. Agreement between these histories and experimental data is found to be substantially better than that produced by previous models.

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

    Directory of Open Access Journals (Sweden)

    Feng Xiao

    2014-01-01

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

  13. Application of high explosion cratering data to planetary problems

    Science.gov (United States)

    Oberbeck, V. R.

    1977-01-01

    The present paper deals with the conditions of explosion or nuclear cratering required to simulate impact crater formation. Some planetary problems associated with three different aspects of crater formation are discussed, and solutions based on high-explosion data are proposed. Structures of impact craters and some selected explosion craters formed in layered media are examined and are related to the structure of lunar basins. The mode of ejection of material from impact craters is identified using explosion analogs. The ejection mode is shown to have important implications for the origin of material in crater and basin deposits. Equally important are the populations of secondary craters on lunar and planetary surfaces.

  14. Problem of evaluating the safety of an explosive

    International Nuclear Information System (INIS)

    Smith, L.C.

    1977-01-01

    Some general considerations on the problem of evaluating the safety of an explosive lead to the reasons why the much-criticized drop-weight impact machine remains an important tool in most explosive research and development laboratories. Problems related to the design, calibration, and use of such machines, and certain misconceptions concerning the interpretation of the test data, are discussed. The results of an unsuccessful attempt to construct a more comprehensive hazards scale also are described

  15. Chemical Explosions and the Discrimination Problem

    Science.gov (United States)

    1991-11-26

    et al. (1989). The events are near the eastern Kazakhstan nuclear test site and include two chemical explosions ( Chemex I and 2; see Given et al...0.75 times window length) between successive windows. Chemex I consisted of a linear array of 30 boreholes with about 10 m spacing between each hole...all subshots were contained underground. Thus, the event was a typical multiple-hole instantaneous shot. The spectrograms from Chemex 1 (Figure 2) are

  16. The Influence of Shock-Induced Air Bubble Collapse Resulting from Underwater Explosive Events

    Science.gov (United States)

    2012-06-01

    this process occurs, the sphere migrates towards the water surface due to Archimedes ’ principle . 7 Figure 2 provides a good visualization of the... application , this bubble layer would be made up of countless individual bubbles delivered by a hull-mounted pressurized air system. The computer...4]) 6 1. Explosive Materials Common explosive materials used in naval applications include Trinitrotoluene (TNT), Torpedo Explosive (TORPEX

  17. Signal Analysis and Waveform Reconstruction of Shock Waves Generated by Underwater Electrical Wire Explosions with Piezoelectric Pressure Probes

    Directory of Open Access Journals (Sweden)

    Haibin Zhou

    2016-04-01

    Full Text Available Underwater shock waves (SWs generated by underwater electrical wire explosions (UEWEs have been widely studied and applied. Precise measurement of this kind of SWs is important, but very difficult to accomplish due to their high peak pressure, steep rising edge and very short pulse width (on the order of tens of μs. This paper aims to analyze the signals obtained by two kinds of commercial piezoelectric pressure probes, and reconstruct the correct pressure waveform from the distorted one measured by the pressure probes. It is found that both PCB138 and Müller-plate probes can be used to measure the relative SW pressure value because of their good uniformities and linearities, but none of them can obtain precise SW waveforms. In order to approach to the real SW signal better, we propose a new multi-exponential pressure waveform model, which has considered the faster pressure decay at the early stage and the slower pressure decay in longer times. Based on this model and the energy conservation law, the pressure waveform obtained by the PCB138 probe has been reconstructed, and the reconstruction accuracy has been verified by the signals obtained by the Müller-plate probe. Reconstruction results show that the measured SW peak pressures are smaller than the real signal. The waveform reconstruction method is both reasonable and reliable.

  18. Explosion Power and Pressure Desensitization Resisting Property of Emulsion Explosives Sensitized by MgH2

    Science.gov (United States)

    Cheng, Yangfan; Ma, Honghao; Liu, Rong; Shen, Zhaowu

    2014-07-01

    Due to low detonation power and pressure desensitization problems that traditional emulsion explosives encounter in utilization, a hydrogen-based emulsion explosives was devised. This type of emulsion explosives is sensitized by hydrogen-containing material MgH2, and MgH2 plays a double role as a sensitizer and an energetic material in emulsion explosives. Underwater explosion experiments and shock wave desensitization experiments show that an MgH2 emulsion explosives has excellent detonation characteristics and is resistant to pressure desensitization. The pressure desensitization-resistant mechanism of MgH2 emulsion explosives was investigated using scanning electron microscopy.

  19. Underwater robots

    CERN Document Server

    Antonelli, Gianluca

    2014-01-01

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

  20. Influence of water conductivity on shock waves generated by underwater electrical wire explosion

    Science.gov (United States)

    Liu, Ben; Wang, Deguo; Guo, Yanbao

    2018-01-01

    The new application of electrical explosion of wire (EEW) used in petroleum industry is to enhance oil recovery (EOR). Because of the complex environment underground, the effect of underground water conductivity on EEW should be considered. This work describes the effect of water conductivities on discharge current, voltage and shock waves. It was found that the effect of water conductivity contains two parts. One is the shunt effect of saline water, which can be considered as a parallel load with the copper wire between the electrodes connected to the discharge circuit. The peak pressure of shock waves are gradually decrease with the increase of water conductivity. The other is the current loss through saline water directly to the ground ends without flowing through the electrodes. The shunt effect is the main factor affecting the wire discharge process. As the charging voltage increased, the energy loss caused by these two parts are all reduced. These indicate that increasing the charging voltage to a certain value will increase the energy efficiency to generate a more powerful shock waves in conductive water.

  1. Hydrodynamics of Explosion Experiments and Models

    CERN Document Server

    Kedrinskii, Valery K

    2005-01-01

    Hydronamics of Explosion presents the research results for the problems of underwater explosions and contains a detailed analysis of the structure and the parameters of the wave fields generated by explosions of cord and spiral charges, a description of the formation mechanisms for a wide range of cumulative flows at underwater explosions near the free surface, and the relevant mathematical models. Shock-wave transformation in bubbly liquids, shock-wave amplification due to collision and focusing, and the formation of bubble detonation waves in reactive bubbly liquids are studied in detail. Particular emphasis is placed on the investigation of wave processes in cavitating liquids, which incorporates the concepts of the strength of real liquids containing natural microinhomogeneities, the relaxation of tensile stress, and the cavitation fracture of a liquid as the inversion of its two-phase state under impulsive (explosive) loading. The problems are classed among essentially nonlinear processes that occur unde...

  2. Underwater fuel handling equipment maintenance. Verification of design assumptions, specific problems and tools, case study

    International Nuclear Information System (INIS)

    Kurek, J.B.

    1995-01-01

    The majority of CANDU Fuel Transfer System equipment at Pickering is located under fourteen feet of water, as dictated by the containment and shielding requirements. Such arrangement, however, creates specific problems with equipment maintenance. Each single piece of equipment serves two generating units, which means in case of defect- double losses on production, or two units shut down simultaneously for planned maintenance. The requirement for underwater maintenance was not anticipated at the design stage, which multiples the level of difficulty, and creates requirement for developing special tools for each work. Removal of the damaged fuel from the receiving bays and decontamination of submerged equipment is also part of the problem. The purpose of this presentation is to share our experience with the designers, operators, maintenance mechanics and technical personnel of the other CANDU generating stations

  3. Practical problems of experimenting with an underwater wireless sensor node platform

    NARCIS (Netherlands)

    Zhang, Kui; Climent, Salvador; Meratnia, Nirvana; Havinga, Paul J.M.

    2011-01-01

    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

  4. Problems of geodynamics of deep underground explosions and prognosis of efficiency of blasting in wells

    Energy Technology Data Exchange (ETDEWEB)

    Hobler, M.; Michaluk, A.W.; Wowk, A.A.

    1978-09-01

    The basic problems which determine the efficiency of application of underground explosions for increasing the productivity of wells is studied. The change of crack porosity and permeability of rocks and their influence on the hydrodynamics of fluids in the zone of blast action is shown. Some data on the influence of rock and seam pressures on rock fracturing near the shot point are cited. The perspectives of application of single-round, group, and sequential explosions for an assigned change of rock properties are considered with regard for pecularities of mechanical behavior or rocks under dynamic loading. 37 references.

  5. "Boxnep" advanced modular underwater robot

    OpenAIRE

    Buluev, Ilia

    2016-01-01

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

  6. Relationships between inherent optical properties in the Baltic Sea for application to the underwater imaging problem

    Directory of Open Access Journals (Sweden)

    Sławomir Sagan

    2013-02-01

    Full Text Available Statistical relationships between coefficients of light attenuation, scattering and backscattering at wavelength 550 nm derived from series of optical measurements performed in Baltic Sea waters are presented. The relationships were derived primarily to support data analysis from underwater imaging systems. Comparison of these relations with analogous empirical data from the Atlantic and Pacific Oceans shows that the two sets of relationships are similar, despite the different water types and the various experimental procedures and instrumentation applied. The apparently universal character of the relationships enables an approximate calculation of other optical properties and subsequently of the contrast, signal/noise ratio, visibility range and spatial resolution of underwater imaging systems based on attenuation coefficients at wavelength 550 nm only.

  7. Spallation reactions in shock waves at supernova explosions and related problems

    Energy Technology Data Exchange (ETDEWEB)

    Ustinova, G. K., E-mail: ustinova@dubna.net.ru [RAS, V.I. Vernadsky Institute of Geochemistry and Analytical Chemistry (Russian Federation)

    2013-05-15

    The isotopic anomalies of some extinct radionuclides testify to the outburst of a nearby supernova just before the collapse of the protosolar nebula, and to the fact that the supernova was Sn Ia, i.e. the carbon-detonation supernova. A key role of spallation reactions in the formation of isotopic anomalies in the primordial matter of the Solar System is revealed. It is conditioned by the diffusive acceleration of particles in the explosive shock waves, which leads to the amplification of rigidity of the energy spectrum of particles and its enrichment with heavier ions. The quantitative calculations of such isotopic anomalies of many elements are presented. It is well-grounded that the anomalous Xe-HL in meteoritic nanodiamonds was formed simultaneously with nanodiamonds themselves during the shock wave propagation at the Sn Ia explosion. The possible effects of shock wave fractionation of noble gases in the atmosphere of planets are considered. The origin of light elements Li, Be and B in spallation reactions, predicted by Fowler in the middle of the last century, is argued. All the investigated isotopic anomalies give the evidence for the extremely high magnetohydrodynamics (MHD) conditions at the initial stage of free expansion of the explosive shock wave from Sn Ia, which can be essential in solution of the problem of origin of cosmic rays. The specific iron-enriched matter of Sn Ia and its MHD-separation in turbulent processes must be taking into account in the models of origin of the Solar System.

  8. mathematical model of thermal explosion, the dual variational formulation of nonlinear problem, alternative functional

    Directory of Open Access Journals (Sweden)

    V. S. Zarubin

    2016-01-01

    in its plane, and in the circular cylinder unlimited in length.An approximate numerical solution of the differential equation that is included in a nonlinear mathematical model of the thermal explosion enables us to obtain quantitative estimates of combination of determining parameters at which the limit state occurs in areas of not only canonical form. A capability to study of the thermal explosion state can be extended in the context of development of mathematical modeling methods, including methods of model analysis to describe the thermal state of solids.To analyse a mathematical model of the thermal explosion in a homogeneous solid the paper uses a variational approach based on the dual variational formulation of the appropriate nonlinear stationary problem of heat conduction in such a body. This formulation contains two alternative functional reaching the matching values in their stationary points corresponding to the true temperature distribution. This functional feature allows you to not only get an approximate quantitative estimate of the combination of parameters that determine the thermal explosion state, but also to find the greatest possible error in such estimation.

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

    National Research Council Canada - National Science Library

    Lazauski, Colin J

    2007-01-01

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

  10. Google™ underwater

    Science.gov (United States)

    Showstack, Randy

    2012-10-01

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

  11. Underwater Vehicle

    National Research Council Canada - National Science Library

    Dick, James L

    2007-01-01

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

  12. 76 FR 31233 - Safety Zone; Underwater Hazard, Gravesend Bay, Brooklyn, NY

    Science.gov (United States)

    2011-05-31

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

  13. Dust explosion problems during cutting of spent fuel elements in reprocessing plants

    International Nuclear Information System (INIS)

    Hensel, W.

    1988-01-01

    Zircaloy fines of the kind inevitably produced when cutting fuel cans in a reprocessing plant can give rise to the risk of dust fires and explosions. To promote the safe handling of the Zircaloy fines an experimental programme was conducted under which the fire and explosion hazards were assessed. The investigations were carried out in cooperation with Kernforschungszentrum Karlsruhe and Kraftwerk Union with the dominant participation of BAM. Based on the results, recommendations for the safe handling of Zircaloy fine material under the conditions of reprocessing have been developed. (orig./HP) [de

  14. Development of active guidance systems to overcome problems of disorientation and low visibility following severe explosions.

    CSIR Research Space (South Africa)

    Phillips, HR

    1995-01-01

    Full Text Available The objective of this research project was to review methods of overcoming the disorientation of underground mine workers following an explosion or severe fire. The results of this project indicate that different strategies may be required for fires...

  15. Network Computing for Distributed Underwater Acoustic Sensors

    Science.gov (United States)

    2014-03-31

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

  16. Underwater manipulator

    Science.gov (United States)

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

    1993-04-20

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

  17. Underwater manipulator

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  18. Design of Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Tadahiro Hyakudome

    2011-03-01

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

  19. [The application of new technologies to solving maths problems for students with learning disabilities: the 'underwater school'].

    Science.gov (United States)

    Miranda-Casas, A; Marco-Taverner, R; Soriano-Ferrer, M; Melià de Alba, A; Simó-Casañ, P

    2008-01-01

    Different procedures have demonstrated efficacy to teach cognitive and metacognitive strategies to problem solving in mathematics. Some studies have used computer-based problem solving instructional programs. To analyze in students with learning disabilities the efficacy of a cognitive strategies training for problem solving, with three instructional delivery formats: a teacher-directed program (T-D), a computer-assisted instructional (CAI) program, and a combined program (T-D + CAI). Forty-four children with mathematics learning disabilities, between 8 and 10 years old participated in this study. The children were randomly assigned to one of the three instructional formats and a control group without cognitive strategies training. In the three instructional conditions which were compared all the students learnt problems solving linguistic and visual cognitive strategies trough the self-instructional procedure. Several types of measurements were used for analysing the possible differential efficacy of the three instructional methods implemented: solving problems tests, marks in mathematics, internal achievement responsibility scale, and school behaviours teacher ratings. Our findings show that the T-D training group and the T-D + CAI group improved significantly on math word problem solving and on marks in Maths from pre- to post-testing. In addition, the results indicated that the students of the T-D + CAI group solved more real-life problems and developed more internal attributions compared to both control and CAI groups. Finally, with regard to school behaviours, improvements in school adjustment and learning problems were observed in the students of the group with a combined instructional format (T-D + CAI).

  20. Underwater Sound Reference Division

    Data.gov (United States)

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

  1. Design and implementation of an underwater sound recording device

    Energy Technology Data Exchange (ETDEWEB)

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

    2011-09-19

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

  2. Explosions and static electricity

    DEFF Research Database (Denmark)

    Jonassen, Niels M

    1995-01-01

    The paper deals with the problem of electrostatic discharges as causes of ignition of vapor/gas and dust/gas mixtures. A series of examples of static-caused explosions will be discussed. The concepts of explosion limits, the incendiveness of various discharge types and safe voltages are explained...

  3. Underwater Geotechnical Foundations

    National Research Council Canada - National Science Library

    Lee, Landris

    2001-01-01

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

  4. Research on Initiation Sensitivity of Solid Explosive and Planer Initiation System

    OpenAIRE

    N Matsuo; M Otuka; H Hamasima; K Hokamoto; S Itoh

    2016-01-01

    Firstly, recently, there are a lot of techniques being demanded for complex process, various explosive initiation method and highly accurate control of detonation are needed. In this research, the metal foil explosion using high current is focused attention on the method to obtain linear or planate initiation easily, and the main evaluation of metal foil explosion to initiate explosive was conducted. The explosion power was evaluated by observing optically the underwater shock wave generated ...

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

    NARCIS (Netherlands)

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

    2016-01-01

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

  6. Underwater Scene Composition

    Science.gov (United States)

    Kim, Nanyoung

    2009-01-01

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

  7. Penetration Evaluation of Explosively Formed Projectiles Through Air and Water Using Insensitive Munition: Simulative and Experimental Studies

    OpenAIRE

    Ahmed, M.; Malik, A. Q.; Rofi, S. A.; Huang, Z. X.

    2016-01-01

    The process of formation, flying, penetration of explosively-formed projectiles (EFP) and the effect of water on performance of the charge for underwater applications is simulated by Ansysis Autodyn 2D-Hydro code. The main objective of an explosively formed projectile designed for underwater applications is to disintegrate the target at longer standoff distances. In this paper we have simulated the explosively formed projectile from OFHC-Copper liner for 1200 conical angle. The Affect of wate...

  8. Underwater 3D filming

    Directory of Open Access Journals (Sweden)

    Roberto Rinaldi

    2014-12-01

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

  9. Underwater Glider System Study

    OpenAIRE

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

    2003-01-01

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

  10. Underwater Coatings for Contamination Control

    International Nuclear Information System (INIS)

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

    2004-01-01

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

  11. Underground Explosions

    Science.gov (United States)

    2015-09-09

    Chile (1960, mb = 9.4), and Anchorage (1964, mb = 9.1). In the 21st century Sumatra-Andaman earthquake (mb = 9.3) occurred on December 26, 2004 caused a...explosion source mechanism is less complex than the earthquake source mechanism. Therefore, the waves produced by explosions have more impulsive first...Seismic waves generated by nuclear and chemical explosions are comparable with natural earthquakes in their intensity and (for industrial chemical

  12. Liquid explosives

    CERN Document Server

    Liu, Jiping

    2015-01-01

    The book drawing on the author's nearly half a century of energetic materials research experience intends to systematically review the global researches on liquid explosives. The book focuses on the study of the conception, explosion mechanism, properties and preparation of liquid explosives. It provides a combination of theoretical knowledge and practical examples in a reader-friendly style. The book is likely to be interest of university researchers and graduate students in the fields of energetic materials, blasting engineering and mining.

  13. Resources for Underwater Robotics Education

    Science.gov (United States)

    Wallace, Michael L.; Freitas, William M.

    2016-01-01

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

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

    Science.gov (United States)

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

    2016-05-01

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

  15. Seismic verification of underground explosions

    International Nuclear Information System (INIS)

    Glenn, L.A.

    1985-06-01

    The first nuclear test agreement, the test moratorium, was made in 1958 and lasted until the Soviet Union unilaterally resumed testing in the atmosphere in 1961. It was followed by the Limited Test Ban Treaty of 1963, which prohibited nuclear tests in the atmosphere, in outer space, and underwater. In 1974 the Threshold Test Ban Treaty (TTBT) was signed, limiting underground tests after March 1976 to a maximum yield of 250 kt. The TTBT was followed by a treaty limiting peaceful nuclear explosions and both the United States and the Soviet Union claim to be abiding by the 150-kt yield limit. A comprehensive test ban treaty (CTBT), prohibiting all testing of nuclear weapons, has also been discussed. However, a verifiable CTBT is a contradiction in terms. No monitoring technology can offer absolute assurance that very-low-yield illicit explosions have not occurred. The verification process, evasion opportunities, and cavity decoupling are discussed in this paper

  16. Terminal homing position estimation forAutonomous underwater vehicle docking

    Science.gov (United States)

    2017-06-01

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

  17. Underwater Detonations at the Silver Strand Training Complex: Effects on Marine Mammals

    Science.gov (United States)

    2009-04-30

    Effects (REFMS) hydroacoustic model. The explosive footprints were then combined with animal density and movement data to determine time-step...beluga whale but not in the bottlenose dolphin. At maximum levels created by laboratory apparatus (32 psi), TTS was not measured in the bottlenose dolphin...1974), "Swimmer Safe Standoffs from Underwater Explosions," Report NOLX-89, Naval Ordnance Laboratory , NSAP Project PHP-11-73. Clark, S. L., and J

  18. Nuclear explosive development

    International Nuclear Information System (INIS)

    Groseclose, B. Clark

    1970-01-01

    The nuclear explosive itself is the point about which the Plowshare program revolves. The energy potential of a thermal neutron fissionable material such as Pu 239 or U 235 of ∼17 kt/kg or of Li 6 D of ∼60 kt/kg is indeed impressive. Such large energy densities allow many applications for nuclear explosives that are unthinkable for conventional high explosives. This country has been involved in the design of nuclear explosives for almost thirty years. A question often asked is, 'Why do we still need design effort on nuclear explosives? Hasn't all the possible design work been done?' In a partial reply, let me give an analogy. Why work on nuclear reactors? They were successful even before the first explosive worked. Why should new accelerators be designed? They have worked for many decades. The obvious answer to these questions is that new data, new theories, new insights into the problems and thus new possibilities are found and new requirements are continually being formulated. The development of larger and faster computers has allowed an enormous increase in the design calculations for nuclear explosives. Approximations in the physics involved in the calculations must be made in order to obtain solutions in a finite time, but these approximations can be 'made more accurately as the computing capability increases. Additional calculational capability also allows the designer to examine his design under a variety of possible conditions and configurations. The net effect is a much more sophisticated design. New developments in the area of materials and material, properties open doors that have hitherto been closed. We have seen an increasing emphasis on the interaction of the explosive with its environment. Very specific applications require tailored features such as low fission yield, low fusion yield, low residual radioactivity in particular species, small diameter, low weight, low cost, etc. The Plowshare program in particular imposes stringent requirements on

  19. Wireless Underwater Monitoring Systems Based on Energy Harvestings

    Directory of Open Access Journals (Sweden)

    Sea-Hee HWANGBO

    2013-01-01

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

  20. Underwater laser detection system

    Science.gov (United States)

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

    2015-02-01

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

  1. Underwater Gliders: A Review

    Directory of Open Access Journals (Sweden)

    Javaid Muhammad Yasar

    2014-07-01

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

  2. Hybrid Underwater Vehicle: ARV Design and Development

    Directory of Open Access Journals (Sweden)

    Zhigang DENG

    2014-02-01

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

  3. Research on Initiation Sensitivity of Solid Explosive and Planer Initiation System

    Directory of Open Access Journals (Sweden)

    N Matsuo

    2016-09-01

    Full Text Available Firstly, recently, there are a lot of techniques being demanded for complex process, various explosive initiation method and highly accurate control of detonation are needed. In this research, the metal foil explosion using high current is focused attention on the method to obtain linear or planate initiation easily, and the main evaluation of metal foil explosion to initiate explosive was conducted. The explosion power was evaluated by observing optically the underwater shock wave generated from the metal foil explosion. Secondly, in high energy explosive processing, there are several applications, such as shock compaction, explosive welding, food processing and explosive forming. In these explosive applications, a high sensitive explosive has been mainly used. The high sensitive explosive is so dangerous, since it can lead to explosion suddenly. So, for developing explosives, the safety is the most important thing as well as low manufacturing cost and explosive characteristics. In this work, we have focused on the initiation sensitivity of a solid explosive and performed numerical analysis of sympathetic detonation. The numerical analysis is calculated by LS-DYNA 3D (commercial code. To understand the initiation reaction of an explosive, Lee-Tarver equation was used and impact detonation process was analyzed by ALE code. Configuration of simulation model is a quarter of circular cylinder. The donor type of explosive (SEP was used as initiation explosive. When the donor explosive is exploded, a shock wave is generated and it propagates into PMMA, air and metallic layers in order. During passing through the layers, the shock wave is attenuated and finally, it has influence on the acceptor explosive, Comp. B. Here, we evaluate the initiation of acceptor explosive and discuss about detonation pressure, reactive rate of acceptor explosive and attenuation of impact pressure.

  4. Optimal Node Placement in Underwater Acoustic Sensor Network

    KAUST Repository

    Felemban, Muhamad

    2011-10-01

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

  5. Carbon Nanotube Underwater Acoustic Thermophone

    Science.gov (United States)

    2016-09-23

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

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

    Indian Academy of Sciences (India)

    Jalaja Janardanan Kartha

    2017-09-07

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

  7. Peaceful applications of nuclear explosions

    International Nuclear Information System (INIS)

    Wallin, L.B.

    1975-12-01

    The intension of this report is to give a survey of the field of peaceful applications of nuclear explosions. As an introduction some examples of possibilities of application are given together with a simple description of nuclear explosions under ground. After a summary of what has been done and will be done in this field nationally and internationally, a short discussion of advantages and problems with peaceful application of nuclear explosions follows. The risks of spreading nuclear weapons due to this applications are also touched before the report is finished with an attempt to judge the future development in this field. (M.S.)

  8. Underwater gas tornado

    Science.gov (United States)

    Byalko, Alexey V.

    2013-07-01

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

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

    Directory of Open Access Journals (Sweden)

    Y.W. Kwon

    1994-01-01

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

  10. Thermal explosion in oscillating ambient conditions

    Science.gov (United States)

    Novozhilov, Vasily

    2016-07-01

    Thermal explosion problem for a medium with oscillating ambient temperature at its boundaries is considered. This is a new problem in thermal explosion theory, not previously considered in a distributed system formulation, but important for combustion and fire science. It describes autoignition of wide range of fires (such as but not limited to piles of biosolids and other organic matter; storages of munitions, explosives, propellants) subjected to temperature variations, such as seasonal or day/night variation. The problem is considered in formulation adopted in classical studies of thermal explosion. Critical conditions are determined by frequency and amplitude of ambient temperature oscillations, as well as by a number of other parameters. Effects of all the parameters on critical conditions are quantified. Results are presented for the case of planar symmetry. Development of thermal explosion in time is also considered, and a new type of unsteady thermal explosion development is discovered where thermal runaway occurs after several periods of temperature oscillations within the medium.

  11. Impact of Underwater Explosions on Concrete Bridge Foundations

    Science.gov (United States)

    2016-06-01

    until its energy is drained. Due to Archimedes principle , the bubble will rise to the surface of the water as it shrinks. Figure 2 shows a cross...mining applications , but also in IEDs. Additionally, this material is used to measure energy release, called TNT equivalent. As a result, the...studies will focus on the applicability of building a high fidelity model. If, for example, the foundation’s damage shows little response to changes

  12. Human Male and Female Biodynamic Response to Underwater Explosion Events.

    Science.gov (United States)

    1998-06-01

    mobility the sacrum consists of five fused, modified vertebrae, and articulates with the two ilium bones to com- plete the pelvic ring the... coccyx or tail- bone is a vestigial structure consisting of three or four fused vertebral remnants cervical thoracic lumb; ar sacrum coccyx

  13. Underwater Hearing in Turtles.

    Science.gov (United States)

    Willis, Katie L

    2016-01-01

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

  14. Three-dimensional Path Planning for Underwater Vehicles Based on an Improved Ant Colony Optimization Algorithm

    Directory of Open Access Journals (Sweden)

    L.Yang

    2015-12-01

    Full Text Available Three-dimensional path planning for underwater vehicles is an important problem that focuses on optimizing the route with consideration of various constraints in a complex underwater environment. In this paper, an improved ant colony optimization (IACO algorithm based on pheromone exclusion is proposed to solve the underwater vehicle 3D path planning problem. The IACO algorithm can balance the tasks of exploration and development in the ant search path, and enable the ants in the search process to explore initially and develop subsequently. Then, the underwater vehicle can find the safe path by connecting the chosen nodes of the 3D mesh while avoiding the threat area. This new approach can overcome common disadvantages of the basic ant colony algorithm, such as falling into local extremum, poor quality, and low accuracy. Experimental comparative results demonstrate that this proposed IACO method is more effective and feasible in underwater vehicle 3D path planning than the basic ACO model.

  15. Explosive Pleuritis

    Directory of Open Access Journals (Sweden)

    Jasdeep K Sharma

    2001-01-01

    Full Text Available The objective of the present paper is to describe the clinical and computed tomography features of 'explosive pleuritis', an entity first named by Braman and Donat in 1986, and to propose a case definition. A case report of a previously healthy, 45-year-old man admitted to hospital with acute onset pleuritic chest pain is presented. The patient arrived at the emergency room at 15:00 in mild respiratory distress; the initial chest x-ray revealed a small right lower lobe effusion. The subsequent clinical course in hospital was dramatic. Within 18 h of admission, he developed severe respiratory distress with oxygen desaturation to 83% on room air and dullness of the right lung field. A repeat chest x-ray, taken the morning after admission, revealed complete opacification of the right hemithorax. A computed tomography scan of the thorax demonstrated a massive pleural effusion with compression of pulmonary tissue and mediastinal shift. Pleural fluid biochemical analysis revealed the following concentrations: glucose 3.5 mmol/L, lactate dehydrogenase 1550 U/L, protein 56.98 g/L, amylase 68 U/L and white blood cell count 600 cells/mL. The pleural fluid cultures demonstrated light growth of coagulase-negative staphylococcus and viridans streptococcus, and very light growth of Candida albicans. Cytology was negative for malignant cells. Thoracotomy was performed, which demonstrated a loculated parapneumonic effusion that required decortication. The patient responded favourably to the empirical administration of intravenous levofloxacin and ceftriaxone, and conservative surgical methods in the management of the empyema. This report also discusses the patient's rapidly progressing pleural effusion and offers a potential case definition for explosive pleuritis. Explosive pleuritis is a medical emergency defined by the rapid development of a pleural effusion involving more than 90% of the hemithorax over 24 h, which causes compression of pulmonary tissue and

  16. Design and Evaluation Methods for Underwater Control Systems

    Energy Technology Data Exchange (ETDEWEB)

    Chi, Lin

    1996-12-31

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

  17. OFDM for underwater acoustic communications

    CERN Document Server

    Zhou, Shengli

    2014-01-01

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

  18. Hydrocarbon production with nuclear explosives

    International Nuclear Information System (INIS)

    Wade Watkins, J.

    1970-01-01

    The tremendous energy of nuclear explosives and the small dimensions of the explosive package make an ideal combination for drill-hole explosive emplacement in deep, thick hydrocarbon deposits. Potential applications exist in fracturing low permeability natural-gas and petroleum formations for stimulating production, fracturing oil shale to permit in situ retorting, and creating storage chimneys for natural gas, liquefied petroleum gas, petroleum, petroleum products, helium, and other fluids. Calculations show, for example, that less than 100 shots per year would be needed to stabilize the natural gas reserves to production ratio. Under the Government-industry Plowshare program, two experiments, Projects Gasbuggy and Rulison, were conducted to stimulate natural gas production from low-permeability formations. Incomplete information indicates that both were technically successful. Potential problems associated with the use of nuclear explosives for underground engineering applications are radioactive contamination, maximum yield limitations, high costs of detonating contained nuclear explosives, and adverse public opinion. Results at Project Gasbuggy and other considerations indicated that the problem of radioactive contamination was about as predicted and not an insurmountable one. Also, it was demonstrated that shots at adequate depths could be detonated without appreciable damage to existing surface and subsurface buildings, natural features, and equipment. However, costs must be reduced and the public must be better informed before these techniques can be widely used in field operations. On the basis of present knowledge, the potential of nuclear-explosive stimulation of hydrocarbon production appears good. Additional field experiments will be required to adequately explore that potential. (author)

  19. Underwater plasma arc cutting

    International Nuclear Information System (INIS)

    Leautier, R.; Pilot, G.

    1991-01-01

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

  20. Safety aspects for underwater vehicles

    Digital Repository Service at National Institute of Oceanography (India)

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

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

  1. Mathematical modelling of the decomposition of explosives

    International Nuclear Information System (INIS)

    Smirnov, Lev P

    2010-01-01

    Studies on mathematical modelling of the molecular and supramolecular structures of explosives and the elementary steps and overall processes of their decomposition are analyzed. Investigations on the modelling of combustion and detonation taking into account the decomposition of explosives are also considered. It is shown that solution of problems related to the decomposition kinetics of explosives requires the use of a complex strategy based on the methods and concepts of chemical physics, solid state physics and theoretical chemistry instead of empirical approach.

  2. Underwater optical wireless communication network

    Science.gov (United States)

    Arnon, Shlomi

    2010-01-01

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

  3. Explosive Formulation Pilot Plant

    Data.gov (United States)

    Federal Laboratory Consortium — The Pilot Plant for Explosive Formulation supports the development of new explosives that are comprised of several components. This system is particularly beneficial...

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

    Science.gov (United States)

    von Lukas, Uwe Freiherr

    2016-01-01

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

  5. Trajectory-tracking control of underwater inspection robot for nuclear reactor internals using Time Delay Control

    Energy Technology Data Exchange (ETDEWEB)

    Park, Joon-Young [Green Growth Laboratory, Korea Electric Power Research Institute, 65 Munjiro, Yuseong-Gu, Daejeon (Korea, Republic of)], E-mail: asura@kepco.co.kr; Cho, Byung-Hak; Lee, Jae-Kyung [Green Growth Laboratory, Korea Electric Power Research Institute, 65 Munjiro, Yuseong-Gu, Daejeon (Korea, Republic of)

    2009-11-15

    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.

  6. Trajectory-tracking control of underwater inspection robot for nuclear reactor internals using Time Delay Control

    International Nuclear Information System (INIS)

    Park, Joon-Young; Cho, Byung-Hak; Lee, Jae-Kyung

    2009-01-01

    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.

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

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

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

  8. Optimal Node Placement in Underwater Wireless Sensor Networks

    KAUST Repository

    Felamban, M.

    2013-03-25

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

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

    Science.gov (United States)

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

    2017-01-01

    Underwater dam crack detection and classification based on sonar images is a challenging task because underwater environments are complex and because cracks are quite random and diverse in nature. Furthermore, obtainable sonar images are of low resolution. To address these problems, a novel underwater dam crack detection and classification approach based on sonar imagery is proposed. First, the sonar images are divided into image blocks. Second, a clustering analysis of a 3-D feature space is used to obtain the crack fragments. Third, the crack fragments are connected using an improved tensor voting method. Fourth, a minimum spanning tree is used to obtain the crack curve. Finally, an improved evidence theory combined with fuzzy rule reasoning is proposed to classify the cracks. Experimental results show that the proposed approach is able to detect underwater dam cracks and classify them accurately and effectively under complex underwater environments. PMID:28640925

  10. Polarization Calculation and Underwater Target Detection Inspired by Biological Visual Imaging

    Directory of Open Access Journals (Sweden)

    Jie Shen

    2014-04-01

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

  11. Response of ocean bottom dwellers exposed to underwater shock waves

    Science.gov (United States)

    Hosseini, S. H. R.; Kaiho, Kunio; Takayama, Kazuyoshi

    2016-01-01

    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.

  12. Algorithm describing pressure distribution of non-contact TNT explosion

    Directory of Open Access Journals (Sweden)

    Radosław Kiciński

    2014-12-01

    Full Text Available [b]Abstract[/b]. The aim of this study is to develop a computational algorithm, describing the shock wave pressure distribution in the space induced by non-contact TNT explosion. The procedure describes pressure distribution on a damp surface of the hull. Simulations have been carried out using Abaqus/CAE. The study also shows the pressure waveform descriptions provided by various authors and presents them in charts. The formulated conclusions convince efficiency of the algorithm application.[b]Keywords:[/b] Underwater explosion, shock wave, CAE, TNT, Kobben class submarine

  13. Supernova explosions

    CERN Document Server

    Branch, David

    2017-01-01

    Targeting advanced students of astronomy and physics, as well as astronomers and physicists contemplating research on supernovae or related fields, David Branch and J. Craig Wheeler offer a modern account of the nature, causes and consequences of supernovae, as well as of issues that remain to be resolved. Owing especially to (1) the appearance of supernova 1987A in the nearby Large Magellanic Cloud, (2) the spectacularly successful use of supernovae as distance indicators for cosmology, (3) the association of some supernovae with the enigmatic cosmic gamma-ray bursts, and (4) the discovery of a class of superluminous supernovae, the pace of supernova research has been increasing sharply. This monograph serves as a broad survey of modern supernova research and a guide to the current literature. The book’s emphasis is on the explosive phases of supernovae. Part 1 is devoted to a survey of the kinds of observations that inform us about supernovae, some basic interpreta tions of such data, and an overview of t...

  14. Chemical profiling of explosives

    NARCIS (Netherlands)

    Brust, G.M.H.

    2014-01-01

    The primary goal of this thesis is to develop analytical methods for the chemical profiling of explosives. Current methodologies for the forensic analysis of explosives focus on identification of the explosive material. However, chemical profiling of explosives becomes increasingly important, as

  15. Underwater Shock Response of Circular HSLA Steel Plates

    Directory of Open Access Journals (Sweden)

    R. Rajendran

    2000-01-01

    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.

  16. Underwater cutting techniques developments

    International Nuclear Information System (INIS)

    Bach, F.-W.

    1990-01-01

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

  17. Using Gunshot Detection Systems to Fight Explosive Fishing Practices

    Science.gov (United States)

    Showen, R. L.; Dunson, J. C.; Woodman, G.; Christopher, S.; Wilson, S.

    2015-12-01

    Blast fishing (using explosives to catch fish) causes extensive damage to coral reefs, especially in the Coral Triangle in Southeast Asia. Subsistence fishermen and larger consortiums, often with criminal links, throw an explosive into a school of fish, killing all sea life within range. This unsustainable practice is becoming more prevalent, and threatens the protein supply of as many as a billion people. Ending blast fishing will require combined technical and societal methods aimed at both deterring the practice, and catching those responsible. Our work aims to significantly improve enforcement. We are re-purposing SST's ShotSpotter gunshot detection system, (trusted and valued by police around the world), substituting hydrophones for the present microphones. Using multilateration and trained human reviewers, the system can give prompt blast alerts, location data, and acoustic waveforms to law enforcement officials. We hope to establish a prototype system in Malaysia in 2015, and have already secured governmental approvals for installation and tests with local law enforcement. The Scubazoo media firm in Malaysia is working with resorts, dive operations, and celebrity sponsors, and is planning to produce videos to illustrate the severity of the problem to both governments and the public. Because there is little hard data concerning the prevalence of blast fishing in either marine protected areas or open waters, the system can also indicate to the world the actual blast rates and patterns of use. The Teng Hoi environmental NGO in Hong Kong showed in 2004 that acoustic waves from typical bombs propagate on the order of 20 km, so an underwater locator system with a small number of sensors can feasibly cover a sizable coral region. Our present plans are to mount sensors on piers, buoys, and boats, but if possible we would also like to integrate with other existing acoustic arrays to strengthen the fight against blast fishing.

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

    Science.gov (United States)

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

    2017-05-21

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

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

    Directory of Open Access Journals (Sweden)

    Xin Yuan

    2017-05-01

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

  20. Underwater laser imaging system (UWLIS)

    Energy Technology Data Exchange (ETDEWEB)

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

    1994-11-15

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

  1. Underwater measurements of muon intensity

    Science.gov (United States)

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

    1985-01-01

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

  2. Channel capacity study of underwater wireless optical communications links based on Monte Carlo simulation

    International Nuclear Information System (INIS)

    Li, Jing; Ma, Yong; Zhou, Qunqun; Zhou, Bo; Wang, Hongyuan

    2012-01-01

    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)

  3. Channel capacity study of underwater wireless optical communications links based on Monte Carlo simulation

    Science.gov (United States)

    Li, Jing; Ma, Yong; Zhou, Qunqun; Zhou, Bo; Wang, Hongyuan

    2012-01-01

    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.

  4. Validation of multi-body modelling methodology for reconfigurable underwater robots

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  5. Biological consequences of atomic explosions

    International Nuclear Information System (INIS)

    Messerschmidt, O.

    1984-01-01

    After an introductory chapter of the development and properties of nuclear weapons and the events of Hiroshima and Nagasaki, this books shows the effects of atomic explosions for man: effects of the pressure wave, thermal radiation, initial nuclear radiation alone or in conjunction and possible medical help. In addition the less massive damage caused by induced radioactivity and fallout, their prevention resp. treatment and the malignant/nonmalignant late effects are discussed. A further chapter deals with the psychological and epidemiological effects of atomic explosions, the consequences for food and water supply, and the construction of shetters. The last chapter is concerned with the problem of organising medical help. (MG) [de

  6. Understanding vented gas explosions

    Energy Technology Data Exchange (ETDEWEB)

    Lautkaski, R. [VTT Energy, Espoo (Finland). Energy Systems

    1997-12-31

    The report is an introduction to vented gas explosions for nonspecialists, particularly designers of plants for flammable gases and liquids. The phenomena leading to pressure generation in vented gas explosions in empty and congested rooms are reviewed. The four peak model of vented gas explosions is presented with simple methods to predict the values of the individual peaks. Experimental data on the external explosion of dust and gas explosions is discussed. The empirical equation relating the internal and external peak pressures in vented dust explosions is shown to be valid for gas explosion tests in 30 m{sup 3} and 550 m{sup 3} chambers. However, the difficulty of predicting the internal peak pressure in large chambers remains. Methods of explosion relief panel design and principles of vent and equipment layout to reduce explosion overpressures are reviewed. (orig.) 65 refs.

  7. Damage Analysis of Aluminium Foam Panel Subjected to Underwater Shock Loading

    Directory of Open Access Journals (Sweden)

    Xuan He

    2017-01-01

    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.

  8. An Underwater Color Image Quality Evaluation Metric.

    Science.gov (United States)

    Yang, Miao; Sowmya, Arcot

    2015-12-01

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

  9. Optimal dynamic detection of explosives

    Energy Technology Data Exchange (ETDEWEB)

    Moore, David Steven [Los Alamos National Laboratory; Mcgrane, Shawn D [Los Alamos National Laboratory; Greenfield, Margo T [Los Alamos National Laboratory; Scharff, R J [Los Alamos National Laboratory; Rabitz, Herschel A [PRINCETON UNIV; Roslund, J [PRINCETON UNIV

    2009-01-01

    The detection of explosives is a notoriously difficult problem, especially at stand-off distances, due to their (generally) low vapor pressure, environmental and matrix interferences, and packaging. We are exploring optimal dynamic detection to exploit the best capabilities of recent advances in laser technology and recent discoveries in optimal shaping of laser pulses for control of molecular processes to significantly enhance the standoff detection of explosives. The core of the ODD-Ex technique is the introduction of optimally shaped laser pulses to simultaneously enhance sensitivity of explosives signatures while reducing the influence of noise and the signals from background interferents in the field (increase selectivity). These goals are being addressed by operating in an optimal nonlinear fashion, typically with a single shaped laser pulse inherently containing within it coherently locked control and probe sub-pulses. With sufficient bandwidth, the technique is capable of intrinsically providing orthogonal broad spectral information for data fusion, all from a single optimal pulse.

  10. Target Localization in Underwater Acoustic Sensor Networks Using RSS Measurements

    Directory of Open Access Journals (Sweden)

    Shengming Chang

    2018-02-01

    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.

  11. A modified finite element procedure for underwater shock analysis

    International Nuclear Information System (INIS)

    Chan, S.K.

    1990-01-01

    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

  12. The problem of intermixing of metals possessing no mutual solubility upon explosion welding (Cu–Ta, Fe–Ag, Al–Ta)

    International Nuclear Information System (INIS)

    Greenberg, B.A.; Ivanov, M.A.; Rybin, V.V.; Elkina, O.A.; Antonova, O.V.; Patselov, A.M.; Inozemtsev, A.V.; Plotnikov, A.V.; Volkova, A.Yu.; Besshaposhnikov, Yu.P.

    2013-01-01

    On the basis of the results obtained for joints of dissimilar metals such as copper–tantalum and iron–silver, the reason of immiscible suspensions mixing upon explosion welding has been cleared out. It has been found that the interface (plain or wavy) is not smooth and contains inhomogeneities, namely, cusps and local melting zones. The role of granulating fragmentation providing partitioning of initial materials as a main channel of input energy dissipation has been revealed. It has been shown that in joints of metals possessing normal solubility the local melting zones are true solutions, but if metals possess no mutual solubility the local melting zones are colloidal solutions. Realization of either emulsion or suspension variant takes place. The results can be used in the development of new joints of metals possessing no mutual solubility. - Highlights: ► Immiscible pairs Ta/Cu and Fe/Ag are welded successfully by explosive welding. ► Fragmentation provides for partitioning as the main energy dissipation channel. ► Immiscible metals form colloidal solid solutions during solidification. ► Melting and boiling temperatures ratio determines the colloidal solution type. ► Local melting zones being in suspension form enhance welds hardening.

  13. Calibration of Underwater Sound Transducers

    OpenAIRE

    H.R.S. Sastry

    1983-01-01

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

  14. Underwater nuclear power plant structure

    International Nuclear Information System (INIS)

    Severs, S.; Toll, H.V.

    1982-01-01

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

  15. Underwater Robots Surface in Utah

    Science.gov (United States)

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

    2015-01-01

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

  16. Robust and underwater superoleophobic coating with excellent corrosion and biofouling resistance in harsh environments

    Science.gov (United States)

    Su, Mingji; Liu, Yong; Zhang, Yuhong; Wang, Zhiguo; Li, Yulin; He, Peixin

    2018-04-01

    Underwater superoleophobic surfaces are based on the surface with micro-/nanoscale roughness and hydration layer. But the self-cleaning surfaces are usually mechanically weak and will lose their underwater superoleophobicity when the surfaces are corroded or damaged. In this paper, to overcome these problems, the robust underwater superoleophobic coating (HN/ER-coating) has been fabricated successfully through MPS (methacryloxy propyl trimethoxyl silane)-SiO2/PNIPAM (N-isopropylacryamide) hybrid nanoparticles and epoxy resin (ER) via a simple solution-casting method. The SiO2/PNIPAM hybrid nanoparticles can enhance multiscale roughness and excellent abrasion-resistant property, and the epoxy resin can be used as an interlayer between hybrid nanoparticles and substrates to promote the robustness and corrosion resistance of the coating. The obtained coatings have excellent underwater superoleophobicity, and exhibit highly stability in harsh environments (including acid-base, strong ionic strength, mechanical abrasion). Moreover, this coating can provide protective effect on the substrate in corrosive solution, and may also resist bacterial attachment and subsequent biofilm formation because of the presence of high density PNIPAM polymers. Herein, the developed underwater superoleophobic coating can be applied as an effective platform for the applications in underwater instruments, underwater oil transport, marine oil platform and ships.

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

    Science.gov (United States)

    Clark, James E

    2015-01-01

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

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

    KAUST Repository

    Saeed, Nasir

    2018-02-28

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

  19. Fluid-Structure Interaction Mechanisms for Close-In Explosions

    Directory of Open Access Journals (Sweden)

    Andrew B. Wardlaw Jr.

    2000-01-01

    Full Text Available This paper examines fluid-structure interaction for close-in internal and external underwater explosions. The resulting flow field is impacted by the interaction between the reflected explosion shock and the explosion bubble. This shock reflects off the bubble as an expansion that reduces the pressure level between the bubble and the target, inducing cavitation and its subsequent collapse that reloads the target. Computational examples of several close-in interaction cases are presented to document the occurrence of these mechanisms. By comparing deformable and rigid body simulations, it is shown that cavitation collapse can occur solely from the shock-bubble interaction without the benefit of target deformation. Addition of a deforming target lowers the flow field pressure, facilitates cavitation and cavitation collapse, as well as reducing the impulse of the initial shock loading.

  20. Adaptive control of nonlinear underwater robotic systems

    Directory of Open Access Journals (Sweden)

    Thor I. Fossen

    1991-04-01

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

  1. AUV Underwater Positioning Algorithm Based on Interactive Assistance of SINS and LBL

    Directory of Open Access Journals (Sweden)

    Tao Zhang

    2015-12-01

    Full Text Available This paper studies an underwater positioning algorithm based on the interactive assistance of a strapdown inertial navigation system (SINS and LBL, and this algorithm mainly includes an optimal correlation algorithm with aided tracking of an SINS/Doppler velocity log (DVL/magnetic compass pilot (MCP, a three-dimensional TDOA positioning algorithm of Taylor series expansion and a multi-sensor information fusion algorithm. The final simulation results show that compared to traditional underwater positioning algorithms, this scheme can not only directly correct accumulative errors caused by a dead reckoning algorithm, but also solves the problem of ambiguous correlation peaks caused by multipath transmission of underwater acoustic signals. The proposed method can calibrate the accumulative error of the AUV position more directly and effectively, which prolongs the underwater operating duration of the AUV.

  2. AUV Underwater Positioning Algorithm Based on Interactive Assistance of SINS and LBL

    Science.gov (United States)

    Zhang, Tao; Chen, Liping; Li, Yao

    2015-01-01

    This paper studies an underwater positioning algorithm based on the interactive assistance of a strapdown inertial navigation system (SINS) and LBL, and this algorithm mainly includes an optimal correlation algorithm with aided tracking of an SINS/Doppler velocity log (DVL)/magnetic compass pilot (MCP), a three-dimensional TDOA positioning algorithm of Taylor series expansion and a multi-sensor information fusion algorithm. The final simulation results show that compared to traditional underwater positioning algorithms, this scheme can not only directly correct accumulative errors caused by a dead reckoning algorithm, but also solves the problem of ambiguous correlation peaks caused by multipath transmission of underwater acoustic signals. The proposed method can calibrate the accumulative error of the AUV position more directly and effectively, which prolongs the underwater operating duration of the AUV. PMID:26729120

  3. Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection

    Directory of Open Access Journals (Sweden)

    Xianbo Xiang

    2010-02-01

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

  4. AUV Underwater Positioning Algorithm Based on Interactive Assistance of SINS and LBL.

    Science.gov (United States)

    Zhang, Tao; Chen, Liping; Li, Yao

    2015-12-30

    This paper studies an underwater positioning algorithm based on the interactive assistance of a strapdown inertial navigation system (SINS) and LBL, and this algorithm mainly includes an optimal correlation algorithm with aided tracking of an SINS/Doppler velocity log (DVL)/magnetic compass pilot (MCP), a three-dimensional TDOA positioning algorithm of Taylor series expansion and a multi-sensor information fusion algorithm. The final simulation results show that compared to traditional underwater positioning algorithms, this scheme can not only directly correct accumulative errors caused by a dead reckoning algorithm, but also solves the problem of ambiguous correlation peaks caused by multipath transmission of underwater acoustic signals. The proposed method can calibrate the accumulative error of the AUV position more directly and effectively, which prolongs the underwater operating duration of the AUV.

  5. Inelastic processes in seismic wave generation by underground explosions

    Energy Technology Data Exchange (ETDEWEB)

    Rodean, H.C.

    1980-08-01

    Theories, computer calculations, and measurements of spherical stress waves from explosions are described and compared, with emphasis on the transition from inelastic to almost-elastic relations between stress and strain. Two aspects of nonspherical explosion geometry are considered: tectonic strain release and surface spall. Tectonic strain release affects the generation of surface waves; spall closure may also. The reduced-displacement potential is a common solution (the equivalent elastic source) of the forward and inverse problems, assuming a spherical source. Measured reduced-displacement potentials are compared with potentials calculated as solutions of the direct and inverse problems; there are significant differences between the results of the two types of calculations and between calculations and measurements. The simple spherical model of an explosion is not sufficient to account for observations of explosions over wide ranges of depth and yield. The explosion environment can have a large effect on explosion detection and yield estimation. The best sets of seismic observations for use in developing discrimination techniques are for high-magnitude high-yield explosions; the identification problem is most difficult for low-magnitude low-yield explosions. Most of the presently available explosion data (time, medium, depth, yield, etc.) are for explosions in a few media at the Nevada Test Site; some key questions concerning magnitude vs yield and m/sub b/ vs M/sub s/ relations can be answered only by data for explosions in other media at other locations.

  6. Inelastic processes in seismic wave generation by underground explosions

    International Nuclear Information System (INIS)

    Rodean, H.C.

    1980-01-01

    Theories, computer calculations, and measurements of spherical stress waves from explosions are described and compared, with emphasis on the transition from inelastic to almost-elastic relations between stress and strain. Two aspects of nonspherical explosion geometry are considered: tectonic strain release and surface spall. Tectonic strain release affects the generation of surface waves; spall closure may also. The reduced-displacement potential is a common solution (the equivalent elastic source) of the forward and inverse problems, assuming a spherical source. Measured reduced-displacement potentials are compared with potentials calculated as solutions of the direct and inverse problems; there are significant differences between the results of the two types of calculations and between calculations and measurements. The simple spherical model of an explosion is not sufficient to account for observations of explosions over wide ranges of depth and yield. The explosion environment can have a large effect on explosion detection and yield estimation. The best sets of seismic observations for use in developing discrimination techniques are for high-magnitude high-yield explosions; the identification problem is most difficult for low-magnitude low-yield explosions. Most of the presently available explosion data (time, medium, depth, yield, etc.) are for explosions in a few media at the Nevada Test Site; some key questions concerning magnitude vs yield and m/sub b/ vs M/sub s/ relations can be answered only by data for explosions in other media at other locations

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

    Science.gov (United States)

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

    2017-12-01

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

  8. Cooperative OFDM underwater acoustic communications

    CERN Document Server

    Cheng, Xilin; Cheng, Xiang

    2016-01-01

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

  9. International Conference on Underwater Environment

    CERN Document Server

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

    2016-01-01

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

  10. New Mix Explosives for Explosive Welding

    Science.gov (United States)

    Andreevskikh, Leonid

    2011-06-01

    Suggested and tested were some mix explosives--powder mixtures of a brisant high explosive (HE = RDX, PETN) and an inert diluent (baking soda)--for use in explosive welding. RDX and PETN were selected in view of their high throwing ability and low critical diameter. Since the decomposition of baking soda yields a huge amount of gaseous products, its presence ensures (even at a low HE percentage) a throwing speed that is sufficient for realization of explosive welding, at a reduced brisant action of charge. Mix chargers containing 30-70 wt % HE (the rest baking soda) have been tested experimentally and optimized. For study of possibility to reduce critical diameter of HE mixture, the mixture was prepared where HE crystal sizes did not exceed 10 μm. The tests, which were performed with this HE, revealed that the mixture detonated stably with the velocity D ~ 2 km/s, if the layer thickness was d = 2 mm. The above explosives afford to markedly diminish deformations within the oblique impact zone and thus to carry out explosive welding of hollow items and thin metallic foils.

  11. Underwater Noise Pollution at the Strait of Istanbul (Bosphorus

    Directory of Open Access Journals (Sweden)

    Cem Gazioğlu

    2016-12-01

    Full Text Available Underwater noise pollution (UNP has become a major concern in marine habitats, which is intense anthropogenic noise in the marine (aquatic environment. It is caused by ship traffic, oceanographic experiments, and use of explosives in geophysical research, underwater construction, active sonars and seismic survey techniques. Oceans are much nosier than 1960s. Narrow and shallow channel noisy aquatic environments where noise levels reach the highest value is not surprising. The Strait of Istanbul (SoI; Bosphorus is one of the most important maritime passages (app. 50 000 vessel/year or 140 vessel/day which is situated between the Black Sea and the Aegean Sea are also biologically extremely important gateway not only it provides access to a channel. Many of the varieties of fish migration hunting value are realized through the TSS. Local maritime traffic is another important acoustic sources which are more than 3 000 elements (Kesgin and Vardar, 2001 of everyday local traffic in SoI, which are causing noise in the 2 and 10 kHz range. Large vessels create signals both in bands below 1 kHz (main engine, electrical instruments cavitation noise creates higher frequency bands. Almost all elements of marine traffic in SoI located therefore encountered UND in all bands.

  12. EVENT, Explosive Transients in Flow Networks

    International Nuclear Information System (INIS)

    Andrae, R.W.; Tang, P.K.; Bolstad, J.W.; Gregory, W.S.

    1985-01-01

    1 - Description of problem or function: A major concern of the chemical, nuclear, and mining industries is the occurrence of an explosion in one part of a facility and subsequent transmission of explosive effects through the ventilation system. An explosive event can cause performance degradation of the ventilation system or even structural failures. A more serious consequence is the release of hazardous materials to the environment if vital protective devices such as air filters, are damaged. EVENT was developed to investigate the effects of explosive transients through fluid-flow networks. Using the principles of fluid mechanics and thermodynamics, governing equations for the conservation of mass, energy, and momentum are formulated. These equations are applied to the complete network subdivided into two general components: nodes and branches. The nodes represent boundaries and internal junctions where the conservation of mass and energy applies. The branches can be ducts, valves, blowers, or filters. Since in EVENT the effect of the explosion, not the characteristics of the explosion itself, is of interest, the transient is simulated in the simplest possible way. A rapid addition of mass and energy to the system at certain locations is used. This representation is adequate for all of the network except the region where the explosion actually occurs. EVENT84 is a modification of EVENT which includes a new explosion chamber model subroutine based on the NOL BLAST program developed at the Naval Ordnance Laboratory, Silver Spring, Maryland. This subroutine calculates the confined explosion near-field parameters and supplies the time functions of energy and mass injection. Solid-phase or TNT-equivalent explosions (which simulate 'point source' explosions in nuclear facilities) as well as explosions in gas-air mixtures can be simulated. The four types of explosions EVENT84 simulates are TNT, hydrogen in air, acetylene in air, and tributyl phosphate (TBP or 'red oil

  13. Size-effect of explosive sensitivity under low velocity impact

    Science.gov (United States)

    Ma, Danzhu; Chen, Pengwan; Zhou, Qiang

    2013-06-01

    Low velocity impact may ignite the solid high explosives and cause undesired explosion incidents. The safety of high explosives under low velocity impact is one of the most important problems in handling, manufacture, storage, and transportation procedures. More and more evaluation tests have been developed for low velocity impact scenarios, including, but not limited to the drop hammer impact test, the Susan test, the Spigot test, and the Steven test, with a charge mass varying from tens of milligrams to several kilograms. The effects of specimen size on explosive sensitivity were found in our drop hammer impact test and Steven tests, including the threshold velocity/height and reaction violence. To further analyze the size effects on explosive sensitivity under low velocity impacts, we collected the impact sensitivity data of several PBX explosives in the drop hammer test, the Steven test, the Susan test and the Spigot test. The effective volume of explosive charge and the threshold specific mechanical energy were introduced to investigate the size-effect on the explosive ignition thresholds. The effective volumes of explosive charge in Steven test and Spigot test were obtained by numerical simulation, due to the localization of the impact. The threshold specific mechanical energy is closely related to the effective volume of explosive charge. The results show that, with the increase of effective volume, the specific mechanical energy needed for explosive ignition decreases and trends to reach a constant value. The mechanisms of size effects on explosive sensitivity are also discussed.

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

    Directory of Open Access Journals (Sweden)

    Pshikhopov Vyacheslav

    2015-01-01

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

  15. H∞ control of a remotely operated underwater vehicle

    International Nuclear Information System (INIS)

    Conte, G.; Serrani, A.

    1994-01-01

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

  16. Development of underwater robot for taking off marine life

    International Nuclear Information System (INIS)

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

    1983-01-01

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

  17. Free radical explosive composition

    Science.gov (United States)

    Walker, Franklin E.; Wasley, Richard J.

    1979-01-01

    An improved explosive composition is disclosed and comprises a major portion of an explosive having a detonation velocity between about 1500 and 10,000 meters per second and a minor amount of a getter additive comprising a compound or mixture of compounds capable of capturing or deactivating free radicals or ions under mechanical or electrical shock conditions and which is not an explosive. Exemplary getter additives are isocyanates, olefins and iodine.

  18. Explosives tester with heater

    Science.gov (United States)

    Del Eckels, Joel [Livermore, CA; Nunes, Peter J [Danville, CA; Simpson, Randall L [Livermore, CA; Whipple, Richard E [Livermore, CA; Carter, J Chance [Livermore, CA; Reynolds, John G [San Ramon, CA

    2010-08-10

    An inspection tester system for testing for explosives. The tester includes a body and a swab unit adapted to be removeably connected to the body. At least one reagent holder and dispenser is operatively connected to the body. The reagent holder and dispenser contains an explosives detecting reagent and is positioned to deliver the explosives detecting reagent to the swab unit. A heater is operatively connected to the body and the swab unit is adapted to be operatively connected to the heater.

  19. Intermittent Explosive Disorder

    OpenAIRE

    Lut Tamam; Meliha Zengin Eroglu; Ozlem Paltaci

    2011-01-01

    Intermittent explosive disorder is an impulse control disorder characterized by the occurrence of discrete episodes of failure to resist aggressive impulses that result in violent assault or destruction of property. Though the prevalence intermittent explosive disorder has been reported to be relatively rare in frontier studies on the field, it is now common opinion that intermittent explosive disorder is far more common than previously thought especially in clinical psychiatry settings. Etio...

  20. Chernobyl explosion bombshell

    International Nuclear Information System (INIS)

    Martin, S.; Arnott, D.

    1988-01-01

    It is suggested that the explosion at the Chernobyl-4 reactor in April 1986 was a nuclear explosion. The evidence for this is examined. The sequence of events at Chernobyl is looked at to see if the effects were like those from a nuclear explosion. The question of whether a United Kingdom reactor could go prompt critical is discussed. It is concluded that prompt criticality excursions are possible, but the specific Chernobyl sequence is impossible. (UK)

  1. Numerical Simulation and Experiment for Underwater Shock Wave in Newly Designed Pressure Vessel

    Directory of Open Access Journals (Sweden)

    M Shibuta

    2016-09-01

    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.

  2. Population explosion, social change.

    Science.gov (United States)

    Pethe, V P

    1983-01-26

    The issue of whether overpopulation is the cause of poverty or vice versa is a sham controversy. Both population explosion and poverty are symptoms of a deeper problem, i.e., the incapacity of the socioeconomic system and the international economic order to put into service modern science and technology for an optimal utilization of this planet's vast resources for economic development. There is no question that population growth cannot be allowed to go unabated for an indefinite period, yet there is no reason for alarm. History shows that human adjustments in social behavior have always restored equilibria in every crisis in the progress of humankind. Neo-Malthusians fail to see this point. Instead, they try to create a scare by making unrealistic projections. There is no need for the incorrect and dangerous neo-Malthusian theory as a way to plead for checking population growth. There are 3 simple reasons why population growth should slow down: populations in most less developed countries have a size sufficiently large to make them militarily and economically viable and will not face serious problems in economic and social management if their populations get stabilized at the current levels; there are several advantages in changing attitudes and behavior patterns in respect to matters such as marriage age, family limitation, and spacing of children, and these are desirable in their own right besides their effect on reducing fertility and population growth; and a need exists to intervene on the side of fertility in order to maintain the longrun equilibrium of population size. In the past, equilibrium between mortality and fertility was achieved through the operation of natural factors. Now, with the reduction in mortality as a result of human intervention, it has become necessary to bring about a decline in fertility through human intervention. Human intervention in the control of fertility is a difficult and complex process. The solution to the population

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

    Directory of Open Access Journals (Sweden)

    Dalhatu Muhammed

    2018-02-01

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

  4. Unified electrohydroelastic investigation of underwater energy harvesting and dynamic actuation by incorporating Morison's equation

    Science.gov (United States)

    Shahab, S.; Erturk, A.

    2015-04-01

    In this work, Macro-Fiber Composite (MFC)-based piezoelectric structures are employed for underwater mechanical base excitation (vibration energy harvesting) and electrical biomimetic actuation in bending operation at low frequencies. The MFC technology (fiber-based piezoelectric composites with interdigitated electrodes) exploits the effective 33-mode of piezoelectricity and strikes a balance between structural deformation and force levels for actuation to use in underwater locomotion, in addition to offering high power density for energy harvesting to enable battery-less underwater sensors. Following in-air electroelastic composite model development, it is aimed to establish semianalytical models that can predict the underwater dynamics of thin MFC cantilevers for different length-to-width aspect ratios. In-air analytical electroelastic dynamics of MFCs is therefore coupled with added mass and nonlinear hydrodynamic damping effects of fluid to describe the underwater electrohydroelastic dynamics in harvesting and actuation. To this end, passive plates of different aspect ratios are tested to extract and explore the repeatability of the inertia and drag coefficients in Morison's equation. The focus is placed on the first two bending modes in this semianalytical approach. Additionally, nonlinear dependence of the output power density to aspect ratio is characterized theoretically and experimentally in the underwater base excitation problem.

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

    Science.gov (United States)

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

    2018-02-01

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

  6. Experimental response of an optical sensor used to determine the moment of blast by sensing the flash of the explosion

    CSIR Research Space (South Africa)

    Roux, A

    2009-09-01

    Full Text Available of an optical sensor constructed to measure the light flash of an underwater blast to determine the moment of explosion. By measurement of the time taken between this moment and the time when the shock wave reaches the pressure sensors, accurate measurements...

  7. Explosive Technology Group

    Data.gov (United States)

    Federal Laboratory Consortium — The Explosive Technology Group (ETG) provides diverse technical expertise and an agile, integrated approach to solve complex challenges for all classes of energetic...

  8. Towards Enhanced Underwater Lidar Detection via Source Separation

    Science.gov (United States)

    Illig, David W.

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

  9. PASSIVE ACOUSTIC MONITORING OF ODONTOCETES IN THE VICINITY OF PUULOA UNDERWATER DETONATION TRAINING RANGE, HAWAII RANGE COMPLEX, OAHU

    Science.gov (United States)

    2016-09-25

    team University of Hawai’i at Manoa undergraduates was trained by graduate student researchers in MMRP experienced with acoustic data analysis. A... Behavioural effects of exposure to underwater explosions in humpback whales (Megaptera novaeangliae). Canadian Journal of Zoology, 74(9), 1661-1672...However, most of the samples recording the presence of more distant humpback whales are like this, the low frequencies travelling longer distances

  10. Cell phone explosion.

    Science.gov (United States)

    Atreya, Alok; Kanchan, Tanuj; Nepal, Samata; Pandey, Bhuwan Raj

    2016-03-01

    Cell phone explosions and resultant burn injuries are rarely reported in the scientific literature. We report a case of cell phone explosion that occurred when a young male was listening to music while the mobile was plugged in for charging. © The Author(s) 2015.

  11. Steam explosion studies review

    International Nuclear Information System (INIS)

    Hwang, Moon Kyu; Kim, Hee Dong

    1999-03-01

    When a cold liquid is brought into contact with a molten material with a temperature significantly higher than the liquid boiling point, an explosive interaction due to sudden fragmentation of the melt and rapid evaporation of the liquid may take place. This phenomenon is referred to as a steam explosion or vapor explosion. Depending upon the amount of the melt and the liquid involved, the mechanical energy released during a vapor explosion can be large enough to cause serious destruction. In hypothetical severe accidents which involve fuel melt down, subsequent interactions between the molten fuel and coolant may cause steam explosion. This process has been studied by many investigators in an effort to assess the likelihood of containment failure which leads to large scale release of radioactive materials to the environment. In an effort to understand the phenomenology of steam explosion, extensive studies has been performed so far. The report presents both experimental and analytical studies on steam explosion. As for the experimental studies, both small scale tests which involve usually less than 20 g of high temperature melt and medium/large scale tests which more than 1 kg of melt is used are reviewed. For the modelling part of steam explosions, mechanistic modelling as well as thermodynamic modelling is reviewed. (author)

  12. Explosion metal welding

    International Nuclear Information System (INIS)

    Popoff, A.A.

    1976-01-01

    Process parameters pertaining to welding similar and dissimilar metals using explosives are reviewed. The discussion centers on the interrelationship of physical parameters which play a part in achieving desirable metallurgical results. Present activities in explosion metal welding at LASL are presented and shown how they related to the interests of the ERDA community

  13. 75 FR 5545 - Explosives

    Science.gov (United States)

    2010-02-03

    .... OSHA-2007-0032 (formerly Docket Nos. OSHA-S031-2006-0665 and OSHA-S-031)] RIN 1218-AC09 Explosives AGENCY: Occupational Safety and Health Administration (OSHA); Labor. ACTION: Proposed rule; termination. SUMMARY: In this notice, OSHA is terminating the rulemaking to amend its Explosives and Blasting Agents...

  14. Polarimetry and Schlieren diagnostics of underwater exploding wires

    Science.gov (United States)

    Fedotov-Gefen, A. V.; Krasik, Ya. E.

    2009-11-01

    Nondisturbing laser-probing polarimetry (based on the Faraday and Kerr effects) and Schlieren diagnostics were used in the investigation of underwater electrical wire explosion. Measuring the polarization plane rotation angle of a probing laser beam due to the Faraday effect allows one to determine an axially resolved current flowing through the exploding wire, unlike commonly used current probes. This optical method of measuring current yields results that match those obtained using a current viewing resistor within an accuracy of 10%. The same optical setup allows simultaneous space-resolved measurement of the electric field using the Kerr effect. It was shown that the maximal amplitude of the electric field in the vicinity of the high-voltage electrode is ˜80 kV/cm and that the radial electric field is <1 MV/cm during the wire explosion. Finally, it was shown that the use of Schlieren diagnostics allows one to obtain qualitatively the density distribution behind the shock wave front, which is important for the determination of the energy transfer from the discharge channel to the generated water flow.

  15. Polarimetry and Schlieren diagnostics of underwater exploding wires

    International Nuclear Information System (INIS)

    Fedotov-Gefen, A. V.; Krasik, Ya. E.

    2009-01-01

    Nondisturbing laser-probing polarimetry (based on the Faraday and Kerr effects) and Schlieren diagnostics were used in the investigation of underwater electrical wire explosion. Measuring the polarization plane rotation angle of a probing laser beam due to the Faraday effect allows one to determine an axially resolved current flowing through the exploding wire, unlike commonly used current probes. This optical method of measuring current yields results that match those obtained using a current viewing resistor within an accuracy of 10%. The same optical setup allows simultaneous space-resolved measurement of the electric field using the Kerr effect. It was shown that the maximal amplitude of the electric field in the vicinity of the high-voltage electrode is ∼80 kV/cm and that the radial electric field is <1 MV/cm during the wire explosion. Finally, it was shown that the use of Schlieren diagnostics allows one to obtain qualitatively the density distribution behind the shock wave front, which is important for the determination of the energy transfer from the discharge channel to the generated water flow.

  16. Underground nuclear explosions

    International Nuclear Information System (INIS)

    Higgins, Gary H.

    1970-01-01

    In the Third Plowshare Symposium, held in 1964, data from a number of nuclear explosions were presented. At that time the basic elements of the nuclear explosion appeared to be well understood and relationships for predicting the gross nuclear effects were presented. Since that time, additional work has been done and many of the concepts have been extended. For example, nuclear explosions have been conducted at greater depths and with much greater yields. The physical and chemical properties of the material in which the explosions occur have been more accurately measured and related to explosion effects. Interpretation of the new information seems to indicate that the earlier relationships are valid over the ranges of energy and depths for which data is available but that effects relating to cavity and chimney sizes or fracturing had been overestimated at great depths of burst and higher yields. (author)

  17. Melt Cast High Explosives

    Directory of Open Access Journals (Sweden)

    Stanisław Cudziło

    2014-12-01

    Full Text Available [b]Abstract[/b]. This paper reviews the current state and future developments of melt-cast high explosives. First the compositions, properties and methods of preparation of trinitrotoluene based (TNT conventional mixtures with aluminum, hexogen (RDX or octogen (HMX are described. In the newer, less sensitive explosive formulations, TNT is replaced with dinitroanisole (DNANDNANDNAN and nitrotriazolone (NTONTONTO, nitroguanidine (NG or ammonium perchlorate (AP are the replacement for RDRDX and HMX. Plasticized wax or polymer-based binder systems for melt castable explosives are also included. Hydroxyl terminated polybutadiene (HPTB is the binder of choice, but polyethylene glycol, and polycaprolactone with energetic plasticizers are also used. The most advanced melt-cast explosives are compositions containing energetic thermoplastic elastomers and novel highly energetic compounds (including nitrogen rich molecules in whose particles are nanosized and practically defect-less.[b]Keywords[/b]: melt-cast explosives, detonation parameters

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

    KAUST Repository

    Saeed, Nasir

    2017-12-20

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

  19. Model based image restoration for underwater images

    Science.gov (United States)

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

    2013-04-01

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

  20. Penetration Evaluation of Explosively Formed Projectiles Through Air and Water Using Insensitive Munition: Simulative and Experimental Studies

    Directory of Open Access Journals (Sweden)

    M. Ahmed

    2016-02-01

    Full Text Available The process of formation, flying, penetration of explosively-formed projectiles (EFP and the effect of water on performance of the charge for underwater applications is simulated by Ansysis Autodyn 2D-Hydro code. The main objective of an explosively formed projectile designed for underwater applications is to disintegrate the target at longer standoff distances. In this paper we have simulated the explosively formed projectile from OFHC-Copper liner for 1200 conical angle. The Affect of water on the penetration of EFP is determined by simulations from Ansysis Autodyn 2-D Hydrocode and by varying depth of water from 1CD-5CD. The depth of penetration against steel target is measured experimentally. Flash X-Ray Radiography (FXR is used to capture EFP jet formation and its penetration against target is measured by depth of penetration experiments. Simulation results are compared with experimental results. The difference in simulated and experimental results for depth of penetration is about 7 mm, which lies within favorable range of error. The jet formation captured from FXR is quite clear and jet velocity determined from Flash X-ray radiography is the same as the ones obtained by using other high explosives. Therefore, it is indicated that Insensitive Munition (8701 can be utilized instead of Polymer Bonded Explosives (PBX for air and underwater environments with great reliability and without any hazard.

  1. 4th Pacific Rim Underwater Acoustics Conference

    CERN Document Server

    Xu, Wen; Cheng, Qianliu; Zhao, Hangfang

    2016-01-01

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

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

    Science.gov (United States)

    2017-06-01

    FOR ROBOT VISION IN AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING by Jake A. Jones June 2017 Thesis Advisor... 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

  3. 78 FR 64246 - Commerce in Explosives; List of Explosives Materials

    Science.gov (United States)

    2013-10-28

    ... the law if it otherwise meets the statutory definitions in 18 U.S.C. 841. Explosives materials are... inorganic salts and hydrocarbons. Explosive mixtures containing oxygen-releasing inorganic salts and nitro... nitro compounds of aromatic hydrocarbons. Explosive organic nitrate mixtures. Explosive powders. F Flash...

  4. Jellyfish inspired underwater unmanned vehicle

    Science.gov (United States)

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

    2009-03-01

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

  5. The gas dynamics of explosions

    CERN Document Server

    Lee,\tJohn H S

    2016-01-01

    Explosions, and the non-steady shock propagation associated with them, continue to interest researchers working in different fields of physics and engineering (such as astrophysics and fusion). Based on the author's course in shock dynamics, this book describes the various analytical methods developed to determine non-steady shock propagation. These methods offer a simple alternative to the direct numerical integration of the Euler equations and offer a better insight into the physics of the problem. Professor Lee presents the subject systematically and in a style that is accessible to graduate students and researchers working in shock dynamics, combustion, high-speed aerodynamics, propulsion and related topics.

  6. Explosive solutions of elliptic equations with absorption and non ...

    Indian Academy of Sciences (India)

    Home; Journals; Proceedings – Mathematical Sciences; Volume 112; Issue 3. Explosive Solutions of Elliptic Equations with Absorption and Non-Linear Gradient Term. Marius Ghergu Constantin Niculescu Vicenţiu Rădulescu ... Keywords. Explosive solution; semilinear elliptic problem; entire solution; maximum principle.

  7. Underwater Grass Comeback Helps Chesapeake Bay

    Science.gov (United States)

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

  8. Underwater Object Segmentation Based on Optical Features

    Directory of Open Access Journals (Sweden)

    Zhe Chen

    2018-01-01

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

  9. Sensor network architectures for monitoring underwater pipelines.

    Science.gov (United States)

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

    2011-01-01

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

  10. Intermittent Explosive Disorder

    Science.gov (United States)

    ... explosive disorder have an increased risk of: Impaired interpersonal relationships. They're often perceived by others as ... of control: Stick with your treatment. Attend your therapy sessions, practice your coping skills, and if your ...

  11. Intermittent Explosive Disorder

    Science.gov (United States)

    ... Headache Intermittent explosive disorder Symptoms & causes Diagnosis & treatment Advertisement Mayo Clinic does not endorse companies or products. ... a Job Site Map About This Site Twitter Facebook Google YouTube Pinterest Mayo Clinic is a not- ...

  12. Shock waves & explosions

    CERN Document Server

    Sachdev, PL

    2004-01-01

    Understanding the causes and effects of explosions is important to experts in a broad range of disciplines, including the military, industrial and environmental research, aeronautic engineering, and applied mathematics. Offering an introductory review of historic research, Shock Waves and Explosions brings analytic and computational methods to a wide audience in a clear and thorough way. Beginning with an overview of the research on combustion and gas dynamics in the 1970s and 1980s, the author brings you up to date by covering modeling techniques and asymptotic and perturbative methods and ending with a chapter on computational methods.Most of the book deals with the mathematical analysis of explosions, but computational results are also included wherever they are available. Historical perspectives are provided on the advent of nonlinear science, as well as on the mathematical study of the blast wave phenomenon, both when visualized as a point explosion and when simulated as the expansion of a high-pressure ...

  13. Assessment of explosion barriers

    CSIR Research Space (South Africa)

    Du Plessis, JL

    1995-09-01

    Full Text Available This report summarises the test work which has been completed on the comparison of different types of stoop flame propagation of coal dust explosions in a 200 m gallery. The research was conducted at kloppersbos research facility...

  14. Ammonium nitrate explosion hazards

    Directory of Open Access Journals (Sweden)

    Negovanović Milanka

    2015-01-01

    Full Text Available Ammonium nitrate (AN primarily is used as a fertilizer but it is also very important compound in the production of industrial explosives. The application of ammonium nitrate in the production of industrial explosives was related with the early era of Nobel dynamite and widely increased with the appearance of blasting agents such as ANFO and Slurry, in the middle of the last Century. Throughout the world millions of tons of ammonium nitrate are produced annually and handled without incident. Although ammonium nitrate generally is used safely, accidental explosions involving AN have high impact resulting in loss of lives and destruction of property. The paper presents the basic properties of ammonium nitrate as well as hazards in handling of ammonium nitrate in order to prevent accidents. Several accidents with explosions of ammonium nitrate resulted in catastrophic consequences are listed in the paper as examples of non-compliance with prescribed procedures.

  15. Intermittent Explosive Disorder

    Directory of Open Access Journals (Sweden)

    Lut Tamam

    2011-09-01

    Full Text Available Intermittent explosive disorder is an impulse control disorder characterized by the occurrence of discrete episodes of failure to resist aggressive impulses that result in violent assault or destruction of property. Though the prevalence intermittent explosive disorder has been reported to be relatively rare in frontier studies on the field, it is now common opinion that intermittent explosive disorder is far more common than previously thought especially in clinical psychiatry settings. Etiological studies displayed the role of both psychosocial factors like childhood traumas and biological factors like dysfunctional neurotransmitter systems and genetics. In differential diagnosis of the disorder, disorders involving agression as a symptom such as alcohol and drug intoxication, antisocial and borderline personality disorders, personality changes due to general medical conditions and behavioral disorder should be considered. A combination of pharmacological and psychotherapeutic approaches are suggested in the treatment of the disorder. This article briefly reviews the historical background, diagnostic criteria, epidemiology, etiology and treatment of intermittent explosive disorder.

  16. Explosive Components Facility

    Data.gov (United States)

    Federal Laboratory Consortium — The 98,000 square foot Explosive Components Facility (ECF) is a state-of-the-art facility that provides a full-range of chemical, material, and performance analysis...

  17. Parametric Explosion Spectral Model

    Energy Technology Data Exchange (ETDEWEB)

    Ford, S R; Walter, W R

    2012-01-19

    Small underground nuclear explosions need to be confidently detected, identified, and characterized in regions of the world where they have never before occurred. We develop a parametric model of the nuclear explosion seismic source spectrum derived from regional phases that is compatible with earthquake-based geometrical spreading and attenuation. Earthquake spectra are fit with a generalized version of the Brune spectrum, which is a three-parameter model that describes the long-period level, corner-frequency, and spectral slope at high-frequencies. Explosion spectra can be fit with similar spectral models whose parameters are then correlated with near-source geology and containment conditions. We observe a correlation of high gas-porosity (low-strength) with increased spectral slope. The relationship between the parametric equations and the geologic and containment conditions will assist in our physical understanding of the nuclear explosion source.

  18. Aging of civil explosives (Poster)

    NARCIS (Netherlands)

    Krabbendam-La Haye, E.L.M.; Klerk, W.P.C. de; Hoen, C. 't; Krämer, R.E.

    2014-01-01

    For the Dutch MoD and police, TNO composed sets with different kinds of civil explosives to train their detection dogs. The manufacturer of these explosives guarantees several years of stability of these explosives. These sets of explosives are used under different conditions, like temperature and

  19. Thermodynamics of explosions

    OpenAIRE

    Neergaard, Gregers; Bondorf, Jakob P.; Mishustin, Igor N.

    2000-01-01

    We present our first attempts to formulate a thermodynamics-like description of explosions. The motivation is partly a fundamental interest in non-equilibrium statistical physics, partly the resemblance of an explosion to the late stages of a heavy-ion collision. We perform numerical simulations on a microscopic model of interacting billiard-ball like particles, and we analyse the results of such simulations trying to identify collective variables describing the degree of equilibrium during t...

  20. Overview of Explosive Initiators

    Science.gov (United States)

    2015-11-01

    crystals) spherical morphology. The SLA has higher explosive performance than dextrinated lead azide (DLA) or RD1333/special purpose lead azide (SPLA...electric bridgewires for commercial electric detonators. It is known to be extremely sensitive to ESD.  Dextrinated lead azide (DLA) (refs. 4 through...incorporation of dextrin (a short-chained, starch-based polysaccharide), which helps to desensitize the explosive by preventing the formation of large

  1. Underwater photogrammetry successful in Spain and France

    International Nuclear Information System (INIS)

    Anon.

    1988-01-01

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

  2. Underwater noise levels in UK waters

    OpenAIRE

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

    2016-01-01

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

  3. Underwater gait analysis in Parkinson's disease.

    Science.gov (United States)

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

    2017-02-01

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

  4. Hyperspectral requirements for detection of trace explosives agents

    Science.gov (United States)

    Schau, Harvey C.; Jennette, Bryan D.

    2006-05-01

    The ability to remotely detect explosive devices and explosive materials has generated considerable interest over the last several years. The study of remote sensing of explosives date back many decades but recent world events have forced the technology to respond to changing events and bring new technologies to the field in shorter development times than previously thought possible. Several applications have proven both desirable and illusive to date. Most notable is the desire to sense explosives within containers, sealed or otherwise. This requires a sensing device to penetrate the walls of the container, a difficult task when the container is steel or thick cement. Another is the desire to detect explosive vapors which escape from a container into the ambient air. This has been made difficult because explosives are generally formulated to have extremely low vapor pressure. (This has made many gas detection technique not strong candidates for explosive vapor detection due to the low vapor pressure of explosive materials [1].) Because of the many difficulties in a general explosive remote detection, we have attempted to bound the problem into a series of achievable steps with the first step a simple remote detection of TNT-bearing compounds. Prior to discussing our technology, we will first discuss our choice for attacking the problem in this manner.

  5. Affordable underwater wireless optical communication using LEDs

    Science.gov (United States)

    Pilipenko, Vladimir; Arnon, Shlomi

    2013-09-01

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

  6. An underwater optical wireless communication network

    Science.gov (United States)

    Arnon, Shlomi

    2009-08-01

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

  7. Optical Module Front-End for a Neutrino Underwater Telescope PMT interface

    CERN Document Server

    Lo Presti, D; Caponetto, L

    2007-01-01

    A proposal for a new system to capture signals in the Optical Module (OM) of an Underwater Neutrino Telescope is described. It concentrates on the problem of power consumption in relation to precision. In particular, a solution for the interface between the photomultiplier (PMT) and the front-end electronics is presented.

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

    DEFF Research Database (Denmark)

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

    2018-01-01

    This paper investigates the problem of modelling a system of interconnected underwater robots with highly coupled dynamics. The objective is to develop a mathematical description of the system that captures its most significant dynamics. The proposed modelling method is based on active constraint...

  9. Underwater image quality enhancement of sea cucumbers based on improved histogram equalization and wavelet transform

    Directory of Open Access Journals (Sweden)

    Xi Qiao

    2017-09-01

    Full Text Available Sea cucumbers usually live in an environment where lighting and visibility are generally not controllable, which cause the underwater image of sea cucumbers to be distorted, blurred, and severely attenuated. Therefore, the valuable information from such an image cannot be fully extracted for further processing. To solve the problems mentioned above and improve the quality of the underwater images of sea cucumbers, pre-processing of a sea cucumber image is attracting increasing interest. This paper presents a new method based on contrast limited adaptive histogram equalization and wavelet transform (CLAHE-WT to enhance the sea cucumber image quality. CLAHE was used to process the underwater image for increasing contrast based on the Rayleigh distribution, and WT was used for de-noising based on a soft threshold. Qualitative analysis indicated that the proposed method exhibited better performance in enhancing the quality and retaining the image details. For quantitative analysis, the test with 120 underwater images showed that for the proposed method, the mean square error (MSE, peak signal to noise ratio (PSNR, and entropy were 49.2098, 13.3909, and 6.6815, respectively. The proposed method outperformed three established methods in enhancing the visual quality of sea cucumber underwater gray image.

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

    Directory of Open Access Journals (Sweden)

    Sonali Sachin Sankpal

    2016-01-01

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

  11. Modeling Explosion Induced Aftershocks

    Science.gov (United States)

    Kroll, K.; Ford, S. R.; Pitarka, A.; Walter, W. R.; Richards-Dinger, K. B.

    2017-12-01

    Many traditional earthquake-explosion discrimination tools are based on properties of the seismic waveform or their spectral components. Common discrimination methods include estimates of body wave amplitude ratios, surface wave magnitude scaling, moment tensor characteristics, and depth. Such methods are limited by station coverage and noise. Ford and Walter (2010) proposed an alternate discrimination method based on using properties of aftershock sequences as a means of earthquakeexplosion differentiation. Previous studies have shown that explosion sources produce fewer aftershocks that are generally smaller in magnitude compared to aftershocks of similarly sized earthquake sources (Jarpe et al., 1994, Ford and Walter, 2010). It has also been suggested that the explosion-induced aftershocks have smaller Gutenberg- Richter b-values (Ryall and Savage, 1969) and that their rates decay faster than a typical Omori-like sequence (Gross, 1996). To discern whether these observations are generally true of explosions or are related to specific site conditions (e.g. explosion proximity to active faults, tectonic setting, crustal stress magnitudes) would require a thorough global analysis. Such a study, however, is hindered both by lack of evenly distributed explosion-sources and the availability of global seismicity data. Here, we employ two methods to test the efficacy of explosions at triggering aftershocks under a variety of physical conditions. First, we use the earthquake rate equations from Dieterich (1994) to compute the rate of aftershocks related to an explosion source assuming a simple spring-slider model. We compare seismicity rates computed with these analytical solutions to those produced by the 3D, multi-cycle earthquake simulator, RSQSim. We explore the relationship between geological conditions and the characteristics of the resulting explosion-induced aftershock sequence. We also test hypothesis that aftershock generation is dependent upon the frequency

  12. Research on key technology of prognostic and health management for autonomous underwater vehicle

    Science.gov (United States)

    Zhou, Zhi

    2017-12-01

    Autonomous Underwater Vehicles (AUVs) are non-cable and autonomous motional underwater robotics. With a wide range of activities, it can reach thousands of kilometers. Because it has the advantages of wide range, good maneuverability, safety and intellectualization, it becomes an important tool for various underwater tasks. How to improve diagnosis accuracy of the AUVs electrical system faults, and how to repair AUVs by the information are the focus of navy in the world. In turn, ensuring safe and reliable operation of the system has very important significance to improve AUVs sailing performance. To solve these problems, in the paper the prognostic and health management(PHM) technology is researched and used to AUV, and the overall framework and key technology are proposed, such as data acquisition, feature extraction, fault diagnosis, failure prediction and so on.

  13. Tracking Controller Design for Diving Behavior of an Unmanned Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Yi-Hsiang Tseng

    2013-01-01

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

  14. Parametric geometric model and hydrodynamic shape optimization of a flying-wing structure underwater glider

    Science.gov (United States)

    Wang, Zhen-yu; Yu, Jian-cheng; Zhang, Ai-qun; Wang, Ya-xing; Zhao, Wen-tao

    2017-12-01

    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%.

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

    KAUST Repository

    Saeed, Nasir

    2017-12-26

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

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

    Directory of Open Access Journals (Sweden)

    Nasir Saeed

    2017-12-01

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

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

    Science.gov (United States)

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

    2017-12-26

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

  18. Accumulation of explosives in hair.

    Science.gov (United States)

    Oxley, Jimmie C; Smith, James L; Kirschenbaum, Louis J; Shinde, Kajal P; Marimganti, Suvarna

    2005-07-01

    The sorption of explosives (TNT, RDX, PETN, TATP, EGDN) to hair during exposure to their vapors is examined. Three colors of hair were simultaneously exposed to explosive vapor. Following exposure of hair, the sorbed explosive was removed by extraction with acetonitrile and quantified. Results show that sorption of explosives, via vapor diffusion, to black hair is significantly greater than to blond, brown or bleached hair. Furthermore, the rate of sorption is directly related to the vapor density of the explosive: EGDN > TATP >TNT > PETN > RDX. In some cases, the explosive-containing hair was subject to repeated washings with sodium dodecylsulfate or simply left out in an open area to determine the persistence of the explosive contamination. While explosive is removed from hair with time or washing, some persists. These results indicate that hair can be a useful indicator of explosive exposure/handling.

  19. Limiting Performance Analysis of Underwater Shock Isolation of a System with Biodynamic Response Using Genetic Algorithm

    Directory of Open Access Journals (Sweden)

    Z. Zong

    2000-01-01

    Full Text Available Biodynamic response of shipboard crew to underwater shock is of a major concern to navies. An underwater shock can produce very high accelerations, resulting in severe human injuries aboard a battleship. Protection of human bodies from underwater shock is implemented by installing onboard isolators. In this paper, the optimal underwater shock isolation to protect human bodies is studied. A simple shock-structure-isolator-human interaction model is first constructed. The model incorporates the effect of fluid-structure interaction, biodynamic response of human body, isolator influence. Based on this model, the optimum shock isolation is then formulated. The performance index and restriction are defined. Thirdly, GA (genetic algorithm is employed to solve the formulated optimization problem. GA is a powerful evolutionary optimization scheme suitable for large-scale and multi-variable optimization problems that are otherwise hard to be solved by conventional methods. A brief introduction to GA is given in the paper. Finally, the method is applied to an example problem and the limiting performance characteristic is obtained.

  20. Explosion triggering by an accelerating flame.

    Science.gov (United States)

    Bychkov, Vitaly; Akkerman, V'yacheslav

    2006-06-01

    The analytical theory of explosion triggering by an accelerating flame is developed. The theory describes the structure of a one-dimensional isentropic compression wave pushed by the flame front. The condition of explosion in the gas mixture ahead of the flame front is derived; the instant of the explosion is determined provided that a mechanism of chemical kinetics is known. As an example, it is demonstrated how the problem is solved in the case of a single reaction of Arrhenius type, controlling combustion both inside the flame front and ahead of the flame. The model of an Arrhenius reaction with a cutoff temperature is also considered. The limitations of the theory due to the shock formation in the compression wave are found. Comparison of the theoretical results to the previous numerical simulations shows good agreement.

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

    Directory of Open Access Journals (Sweden)

    Donatas Bagočius

    2017-09-01

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

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

    NARCIS (Netherlands)

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

    2012-01-01

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

  3. Magnetohydrodynamic underwater vehicular propulsion systems

    International Nuclear Information System (INIS)

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

    1990-01-01

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

  4. Routing strategies for underwater gliders

    Science.gov (United States)

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

    2009-02-01

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

  5. Novel high explosive compositions

    Science.gov (United States)

    Perry, D.D.; Fein, M.M.; Schoenfelder, C.W.

    1968-04-16

    This is a technique of preparing explosive compositions by the in-situ reaction of polynitroaliphatic compounds with one or more carboranes or carborane derivatives. One or more polynitroaliphatic reactants are combined with one or more carborane reactants in a suitable container and mixed to a homogeneous reaction mixture using a stream of inert gas or conventional mixing means. Ordinarily the container is a fissure, crack, or crevice in which the explosive is to be implanted. The ratio of reactants will determine not only the stoichiometry of the system, but will effect the quality and quantity of combustion products, the explosive force obtained as well as the impact sensitivity. The test values can shift with even relatively slight changes or modifications in the reaction conditions. Eighteen illustrative examples accompany the disclosure. (46 claims)

  6. A real explosion: the requirement of steam explosion pretreatment.

    Science.gov (United States)

    Yu, Zhengdao; Zhang, Bailiang; Yu, Fuqiang; Xu, Guizhuan; Song, Andong

    2012-10-01

    The severity factor is a common term used in steam explosion (SE) pretreatment that describes the combined effects of the temperature and duration of the pretreatment. However, it ignores the duration of the explosion process. This paper describes a new parameter, the explosion power density (EPD), which is independent of the severity factor. Furthermore, we present the adoption of a 5m(3) SE model for a catapult explosion mode, which completes the explosion within 0.0875 s. The explosion duration ratio of this model to a conventional model of the same volume is 1:123. The comparison between the two modes revealed a qualitative change by explosion speed, demonstrating that this real explosion satisfied the two requirements of consistency, and suggested a guiding mechanism for the design of SE devices. Copyright © 2012 Elsevier Ltd. All rights reserved.

  7. Experimental study on the influence of chemical sensitizer on pressure resistance in deep water of emulsion explosives

    Science.gov (United States)

    Liu, Lei; zhang, Zhihua; Wang, Ya; Qin, hao

    2018-03-01

    The study on the pressure resistance performance of emulsion explosives in deep water can provide theoretical basis for underwater blasting, deep-hole blasting and emulsion explosives development. The sensitizer is an important component of emulsion explosives. By using reusable experimental devices to simulate the charge environment in deep water, the influence of the content of chemical sensitizer on the deep-water pressure resistance performance of emulsion explosives was studied. The experimental results show that with the increasing of the content of chemical sensitizer, the deep-water pressure resistance performance of emulsion explosives gradually improves, and when the pressure is fairly large, the effect is particularly pronounced; in a certain range, with the increase of the content of chemical sensitizer, that emulsion explosives’ explosion performance also gradually improve, but when the content reaches a certain value, the explosion properties declined instead; under the same emulsion matrix condition, when the content of NANO2 is 0.2%, that the emulsion explosives has good resistance to water pressure and good explosion properties. The correctness of the results above was testified in model blasting.

  8. [Explosion in rectum].

    Science.gov (United States)

    Hofstad, Bjørn

    2007-06-28

    The article describes a case of gas explosion during diathermy snare resection of a polyp in the rectum, after cleansing with a sorbitol enema. Proximity to anus prevented perforation or other complications. The patient was shown to be a methane producer by a hydrogen-methane breath test. Gas explosion is a rare complication during use of diathermy in lower endoscopy, and usually occurs in patients with sub-optimal bowel cleansing. CO2 insufflation will prevent this and should be the method of choice; first of all because it reduces patient discomfort in the period after colonoscopy.

  9. Design and implementation of omni-directional light source and receiving system used in underwater wireless optical communication

    Science.gov (United States)

    Rao, Jionghui; Yao, Wenming; Chen, Nannan

    2013-08-01

    Underwater wireless optical communication is a communication mode which uses light as an information carrier and water as transmission medium. As a result of the inherent characteristics of the light waves, underwater wireless optical communication has the advantages of high transmission rate, good security, and strong anti-interference ability. It is suitable for high-speed, short-range communication between underwater mobile vehicles. Underwater optical wireless communication system designed in this paper is composed of the omni-directional communication light source and the receiving system. In the omni-directional communication light source, the laser beams with small divergence angle of 532nm wavelength produced by modulated laser are expanded through a combination refraction-reflection solid and then obtain more than 2π space divergence angle. The paper use TRACEPRO simulation tool to help design a combination solid composed of the lens, conical reflector and parabolic reflector, and test in the air and underwater, the result shows that the effect is fine. Unlike in the air, light attenuation is heavy in the water and a large range of variations in light intensity at different distances appear during underwater optical communication. In order to overcome this problem, the paper use a small photomultiplier as the detection device, design the receiving system using the automatic gain control technique. Underwater wireless optical communication system designed in this paper has the characteristics of small size, low power dissipation and the omni-directional communication function, it is suitable for application in the UUV, AUV, Swimmer Delivery Vehicle (SDV) and other underwater mobile platform, it realizes point-to-point communications and point-to-multipoint communications.

  10. Investigation on dissimilar underwater friction stir lap welding of 6061-T6 aluminum alloy to pure copper

    International Nuclear Information System (INIS)

    Zhang, Jingqing; Shen, Yifu; Yao, Xin; Xu, Haisheng; Li, Bo

    2014-01-01

    Highlights: • 6061-T6 Al and pure Cu were successfully underwater friction stir lap welded. • The underwater weld was analyzed via comparing with the classical weld. • The oxidation of Cu was prevented via the external water. • The amount of Al–Cu intermetallic was decreased by the external water. • The thickness of Al–Cu diffusion interlayer was decreased by the external water. - Abstract: Friction stir welding (classical FSW) is considered to offer advantages over the traditional fusion welding techniques in terms of dissimilar welding. However, some challenges still exist in the dissimilar friction stir lap welding of the aluminum/copper (Al/Cu) metallic couple, among which the formation of the Al–Cu intermetallic compounds is the major problem. In the present research, due to the fact that the formation and growth of the intermetallic are significantly controlled by the thermal history, the underwater friction stir welding (underwater FSW) was employed for fabricating the weld, and the weld obtained by underwater FSW (underwater weld) was analyzed via comparing with the weld obtained under same parameters by classical FSW (classical weld). In order to investigate the effect of the external water on the thermal history, the K-type thermocouple was utilized to measure the weld temperature, and it is found that the water could decrease the peak temperature and shorten the thermal cycle time. The XRD results illustrate that the interface of the welds mainly consist of the Al–Cu intermetallic compounds such as CuAl 2 and Cu 9 Al 4 together with some amounts of Al and Cu, and it is also found that the amount of the intermetallic in the underwater weld is obvious less than in the classical weld. The SEM images and the EDS line scan results also illustrate that the Al–Cu diffusion interlayer at the Al–Cu interface of the underwater weld was obviously thinner than that of the classical weld

  11. Survivability design for a hybrid underwater vehicle

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-03-10

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

  12. Survivability design for a hybrid underwater vehicle

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  13. Recent developments in underwater repair welding

    International Nuclear Information System (INIS)

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

    2001-01-01

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

  14. Ignitability and explosibility of gases and vapors

    CERN Document Server

    Ma, Tingguang

    2015-01-01

    The book provides a systematic view on flammability and a collection of solved engineering problems in the fields of dilution and purge, mine gas safety, clean burning safety and gas suppression modeling. For the first time, fundamental principles of energy conservation are used to develop theoretical flammability diagrams and are then explored to understand various safety-related mixing problems. This provides the basis for a fully-analytical solution to any flammability problem. Instead of the traditional view that flammability is a fundamental material property, here flammability is discovered to be a result of the explosibility of air and the ignitability of fuel, or a process property. By exploring the more fundamental concepts of explosibility and ignitability, the safety targets of dilution and purge can be better defined and utilized for guiding safe operations in process safety. This book provides various engineering approaches to mixture flammability, benefiting not only the safety students, but al...

  15. Explosive composition containing water

    Energy Technology Data Exchange (ETDEWEB)

    Cattermole, G.R.; Lyerly, W.M.; Cummings, A.M.

    1971-11-26

    This addition to Fr. 1,583,223, issued 31 May 1968, describes an explosive composition containing a water in oil emulsion. The composition contains an oxidizing mineral salt, a nitrate base salt as sensitizer, water, an organic fuel, a lipophilic emulsifier, and incorporates gas bubbles. The composition has a performance which is improved over and above the original patent.

  16. Efficient Modelling Methodology for Reconfigurable Underwater Robots

    DEFF Research Database (Denmark)

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

    2016-01-01

    This paper considers the challenge of applying reconfigurable robots in an underwater environment. The main result presented is the development of a model for a system comprised of N, possibly heterogeneous, robots dynamically connected to each other and moving with 6 Degrees of Freedom (DOF......). This paper presents an application of the Udwadia-Kalaba Equation for modelling the Reconfigurable Underwater Robots. The constraints developed to enforce the rigid connection between robots in the system is derived through restrictions on relative distances and orientations. To avoid singularities...... in the orientation and, thereby, allow the robots to undertake any relative configuration the attitude is represented in Euler parameters....

  17. Underwater laser cutting of metallic structures

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  18. Underwater noise from offshore oil production vessels.

    Science.gov (United States)

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

    2013-06-01

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

  19. Event Localization in Underwater Wireless Sensor Networks using Monitoring Courses

    KAUST Repository

    Debont, Matthew

    2011-11-01

    In this thesis we consider different methods to localize events in a multi-hop wireless sensor network operating underwater using acoustic modems. The network consists of surface gateway nodes and relay nodes. Localization of surface gateways can be achieved through GPS, but we cannot rely on this technology for localizing underwater nodes. Surface Gateway nodes can distribute their locations through the network using the incoming signals by the acoustic modems from the relay nodes. Relay nodes are deployed to remain static but due to water currents, floating, and the untethered nature of the nodes, they often suffer from frequent drifting which can result in a deployed network suffering link failures. In this work, we developed a novel concept of an underwater alarming system, which adapts a cyclic graph model. In the event of link failure, a series of alarm packets are broadcasted in the network. These alarms are then captured through a novel concept of underwater Monitoring Courses (M-Courses), which can also be used to assure network connectivity and identify node faults. M-Courses also allow the network to localize events and identify network issues at a local level before forwarding any results upwards to a Surface Gateway nodes. This reduces the amount of communication overhead needed and allowing for distributed management of nodes in a network which may be constantly moving. We show that the proposed algorithms can reduce the number of send operations needed for an event to be localized in a network. We have found that M-Course routing reduces the number of sends required to report an event to a Surface Gateway by up to 80% in some cases when compared to a naive routing implementation. But this is achieved by increasing the time for an event to reach a Surface Gateway. These effects are both due to the buffering effect of M-Course routing, which allows us to efficiently deal with multiple events in an local area and we find that the performance of M

  20. Numerical Simulation on Smoke Spread and Temperature Distribution in a Corn Starch Explosion

    Science.gov (United States)

    Lin, CherngShing; Hsu, JuiPei

    2018-01-01

    It is discovered from dust explosion accidents in recent years that deep causes of the accidents lies in insufficient cognition of dust explosion danger, and no understanding on danger and information of the dust explosion. In the study, Fire Dynamics Simulator (FDS) evaluation tool is used aiming at Taiwan Formosa Fun Coast explosion accidents. The calculator is used for rebuilding the explosion situation. The factors affecting casualties under explosion are studied. The injured personnel participating in the party are evaluated according to smoke diffusion and temperature distribution for numerical simulation results. Some problems noted in the fire disaster after actual explosion are proposed, rational site analysis is given, thereby reducing dust explosion risk grade.

  1. Underwater Acoustic Matched Field Imaging Based on Compressed Sensing

    Directory of Open Access Journals (Sweden)

    Huichen Yan

    2015-10-01

    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.

  2. Explosion safety in industrial electrostatics

    International Nuclear Information System (INIS)

    Szabo, S V; Kiss, I; Berta, I

    2011-01-01

    Complicated industrial systems are often endangered by electrostatic hazards, both from atmospheric (lightning phenomenon, primary and secondary lightning protection) and industrial (technological problems caused by static charging and fire and explosion hazards.) According to the classical approach protective methods have to be used in order to remove electrostatic charging and to avoid damages, however no attempt to compute the risk before and after applying the protective method is made, relying instead on well-educated and practiced expertise. The Budapest School of Electrostatics - in close cooperation with industrial partners - develops new suitable solutions for probability based decision support (Static Control Up-to-date Technology, SCOUT) using soft computing methods. This new approach can be used to assess and audit existing systems and - using the predictive power of the models - to design and plan activities in industrial electrostatics.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1998-07-01

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

  4. Studying fish near ocean energy devices using underwater video

    Energy Technology Data Exchange (ETDEWEB)

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

    2017-09-18

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

  5. Robust adaptive control of underwater vehicles: A comparative study

    Directory of Open Access Journals (Sweden)

    Thor I. Fossen

    1996-01-01

    Full Text Available Robust adaptive control of underwater vehicles in 6 DOF is analysed in the context of measurement noise. The performance of the adaptive control laws of Sadegh and Harowitz (1990 and Slotine and Benedetto (1990 are compared. Both these schemes require that all states are measured, that is the velocities and positions in surge, sway, heave, roll, pitch and yaw. However, for underwater vehicles it is difficult to measure the linear velocities whereas angular velocity measurements can be obtained by using a 3 axes angular rate sensor. This problem is addressed by designing a nonlinear observer for linear velocity state estimation. The proposed observer requires that the position and the attitude are measured, e.g. by using a hydroacoustic positioning system for linear positions, two gyros for roll and pitch and a compass for yaw. In addition angular rate measurements will be assumed available from a 3-axes rate sensor or a state estimator. It is also assumed that the measurement rate is limited to 2 Hz for all the sensors. Simulation studies with a 3 DOF AUV model are used to demonstrate the convergence and robustness of the adaptive control laws and the velocity state observer.

  6. Correction of Navigational Information Supplied to Biomimetic Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Praczyk Tomasz

    2018-03-01

    Full Text Available In order to autonomously transfer from one point of the environment to the other, Autonomous Underwater Vehicles (AUV need a navigational system. While navigating underwater the vehicles usually use a dead reckoning method which calculates vehicle movement on the basis of the information about velocity (sometimes also acceleration and course (heading provided by on-board devicesl ike Doppler Velocity Logs and Fibre Optical Gyroscopes. Due to inaccuracies of the devices and the influence of environmental forces, the position generated by the dead reckoning navigational system (DRNS is not free from errors, moreover the errors grow exponentially in time. The problem becomes even more serious when we deal with small AUVs which do not have any speedometer on board and whose course measurement device is inaccurate. To improve indications of the DRNS the vehicle can emerge onto the surface from time to time, record its GPS position, and measure position error which can be further used to estimate environmental influence and inaccuracies caused by mechanisms of the vehicle. This paper reports simulation tests which were performed to determine the most effective method for correction of DRNS designed for a real Biomimetic AUV.

  7. Accuracy of Positioning Autonomous Biomimetic Underwater Vehicle Using Additional Measurement of Distances

    Directory of Open Access Journals (Sweden)

    Naus Krzysztof

    2016-12-01

    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.

  8. Underwater Advanced Time-Domain Electromagnetic System

    Science.gov (United States)

    2017-03-03

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

  9. Underwater Adhesives Retrofit Pipelines with Advanced Sensors

    Science.gov (United States)

    2015-01-01

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

  10. Detection of Underwater UXOs in Mud

    Science.gov (United States)

    2013-04-01

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

  11. Adaptive turbo equalization for underwater acoustic communication

    NARCIS (Netherlands)

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

    2013-01-01

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

  12. Underwater noise generated by offshore pile driving

    NARCIS (Netherlands)

    Tsouvalas, A.

    2015-01-01

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

  13. Evolution: Fossil Ears and Underwater Sonar.

    Science.gov (United States)

    Lambert, Olivier

    2016-08-22

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

  14. Impacts of underwater noise on marine vertebrates

    NARCIS (Netherlands)

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

    2016-01-01

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

  15. Explosive Leidenfrost droplets

    Science.gov (United States)

    Colinet, Pierre; Moreau, Florian; Dorbolo, Stéphane

    2017-11-01

    We show that Leidenfrost droplets made of an aqueous solution of surfactant undergo a violent explosion in a wide range of initial volumes and concentrations. This unexpected behavior turns out to be triggered by the formation of a gel-like shell, followed by a sharp temperature increase. Comparing a simple model of the radial surfactant distribution inside a spherical droplet with experiments allows highlighting the existence of a critical surface concentration for the shell to form. The temperature rise (attributed to boiling point elevation with surface concentration) is a key feature leading to the explosion, instead of the implosion (buckling) scenario reported by other authors. Indeed, under some conditions, this temperature increase is shown to be sufficient to trigger nucleation and growth of vapor bubbles in the highly superheated liquid bulk, stretching the surrounding elastic shell up to its rupture limit. The successive timescales characterizing this explosion sequence are also discussed. Funding sources: F.R.S. - FNRS (ODILE and DITRASOL projects, RD and SRA positions of P. Colinet and S. Dorbolo), BELSPO (IAP 7/38 MicroMAST project).

  16. A new type of functional chemical sensitizer MgH2 for improving pressure desensitization resistance of emulsion explosives

    Science.gov (United States)

    Cheng, Y. F.; Yan, S. L.; Ma, H. H.; Shen, Z. W.; Liu, R.

    2016-03-01

    In millisecond-delay blasting and deep water blasting projects, traditional emulsion explosives sensitized by the chemical sensitizer NaNO2 often encounter incomplete explosion or misfire problems because of the "pressure desensitization" phenomenon, which seriously affects blasting safety and construction progress. A MgH2-sensitized emulsion explosive was invented to solve these problems. Experimental results show that MgH2 can effectively reduce the problem of pressure desensitization. In this paper, the factors which influence the pressure desensitization of two types of emulsion explosives are studied, and resistance to this phenomenon of MgH2-sensitized emulsion explosives is discussed.

  17. On the Initiation of High Explosives by Laser Radiation

    Energy Technology Data Exchange (ETDEWEB)

    Rubenchik, A M

    2006-03-28

    The problem of laser initiation of high explosives in munitions is considered. In this situation, the laser illuminates a small spot on the casing, and lateral thermal transport affects the initiation temperature. We use a variational method to calculate the critical temperature for explosive initiation as a function the laser spot size, for common high explosives. The effect of the dwelling time of the irradiation is then evaluated. We demonstrate that in typical situations the critical temperature is determined by the dwelling time rather than by the laser spot size.

  18. Underwater image enhancement based on the dark channel prior and attenuation compensation

    Science.gov (United States)

    Guo, Qingwen; Xue, Lulu; Tang, Ruichun; Guo, Lingrui

    2017-10-01

    Aimed at the two problems of underwater imaging, fog effect and color cast, an Improved Segmentation Dark Channel Prior (ISDCP) defogging method is proposed to solve the fog effects caused by physical properties of water. Due to mass refraction of light in the process of underwater imaging, fog effects would lead to image blurring. And color cast is closely related to different degree of attenuation while light with different wavelengths is traveling in water. The proposed method here integrates the ISDCP and quantitative histogram stretching techniques into the image enhancement procedure. Firstly, the threshold value is set during the refinement process of the transmission maps to identify the original mismatching, and to conduct the differentiated defogging process further. Secondly, a method of judging the propagating distance of light is adopted to get the attenuation degree of energy during the propagation underwater. Finally, the image histogram is stretched quantitatively in Red-Green-Blue channel respectively according to the degree of attenuation in each color channel. The proposed method ISDCP can reduce the computational complexity and improve the efficiency in terms of defogging effect to meet the real-time requirements. Qualitative and quantitative comparison for several different underwater scenes reveals that the proposed method can significantly improve the visibility compared with previous methods.

  19. DOA Estimation for Underwater Wideband Weak Targets Based on Coherent Signal Subspace and Compressed Sensing

    Directory of Open Access Journals (Sweden)

    Jun Li

    2018-03-01

    Full Text Available Direction of arrival (DOA estimation is the basis for underwater target localization and tracking using towed line array sonar devices. A method of DOA estimation for underwater wideband weak targets based on coherent signal subspace (CSS processing and compressed sensing (CS theory is proposed. Under the CSS processing framework, wideband frequency focusing is accompanied by a two-sided correlation transformation, allowing the DOA of underwater wideband targets to be estimated based on the spatial sparsity of the targets and the compressed sensing reconstruction algorithm. Through analysis and processing of simulation data and marine trial data, it is shown that this method can accomplish the DOA estimation of underwater wideband weak targets. Results also show that this method can considerably improve the spatial spectrum of weak target signals, enhancing the ability to detect them. It can solve the problems of low directional resolution and unreliable weak-target detection in traditional beamforming technology. Compared with the conventional minimum variance distortionless response beamformers (MVDR, this method has many advantages, such as higher directional resolution, wider detection range, fewer required snapshots and more accurate detection for weak targets.

  20. Ultrasound lung comets induced by repeated breath-hold diving, a study in underwater fishermen.

    Science.gov (United States)

    Boussuges, A; Coulange, M; Bessereau, J; Gargne, O; Ayme, K; Gavarry, O; Fontanari, P; Joulia, F

    2011-12-01

    Pulmonary edema has been reported in breath-hold divers during fish-catching diving activity. The present study was designed to detect possible increases in extravascular lung water (EVLW) in underwater fishermen after a competition. Thirty healthy subjects were studied. They participated in two different 5-h fish-catching diving competitions: one organized in the winter (10 subjects) and one organized in the autumn (20 subjects). A questionnaire was used to record underwater activity and note respiratory problems. An increase in EVLW was investigated from the detection of ultrasound lung comets (ULC) by chest ultrasonography. Complementary investigations included echocardiography and pulmonary function testing. An increase in EVLW was detected in three out of 30 underwater fishermen after the competition. No signs of cardiovascular dysfunction were found in the entire population and in divers with an increase in the ULC score. Two divers with raised ULC presented respiratory disorders such as cough or shortness of breath. Impairment in spirometric parameters was recorded in these subjects. An increase in EVLW could be observed after a fish-catching diving competition in three out of 30 underwater fishermen. In two subjects, it was related to respiratory disorders and impairment in pulmonary flow. © 2011 John Wiley & Sons A/S.

  1. Hydrodynamic modeling with grey-box method of a foil-like underwater vehicle

    Science.gov (United States)

    Liu, Xin-yu; Li, Yi-ping; Wang, Ya-xing; Feng, Xi-sheng

    2017-12-01

    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.

  2. Stability analysis of hybrid-driven underwater glider

    Science.gov (United States)

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

    2017-10-01

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

  3. Underwater range-gated laser imaging enhancement based on contrast-limited adaptive histogram equalization

    Science.gov (United States)

    Sun, Liang; Wang, Xinwei; Liu, Xiaoquan; Ren, Pengdao; Lei, Pingshun; You, Ruirong; He, Jun; Zhou, Yan; Liu, Yuliang

    2016-10-01

    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.

  4. Underwater object classification using scattering transform of sonar signals

    Science.gov (United States)

    Saito, Naoki; Weber, David S.

    2017-08-01

    In this paper, we apply the scattering transform (ST)-a nonlinear map based off of a convolutional neural network (CNN)-to classification of underwater objects using sonar signals. The ST formalizes the observation that the filters learned by a CNN have wavelet-like structure. We achieve effective binary classification both on a real dataset of Unexploded Ordinance (UXOs), as well as synthetically generated examples. We also explore the effects on the waveforms with respect to changes in the object domain (e.g., translation, rotation, and acoustic impedance, etc.), and examine the consequences coming from theoretical results for the scattering transform. We show that the scattering transform is capable of excellent classification on both the synthetic and real problems, thanks to having more quasi-invariance properties that are well-suited to translation and rotation of the object.

  5. Underwater optical wireless communications: depth-dependent beam refraction.

    Science.gov (United States)

    Johnson, Laura J; Green, Roger J; Leeson, Mark S

    2014-11-01

    Global refractive gradients in seawater cause pointing problems for optical wireless communications. A refractive index depth profile of the Pacific Ocean was calculated from measured salinity, temperature, and pressure, determining the end points of a refracted and nonrefracted 200 m communication link. Numerical ray tracing was used with a point source for angles between 10° and 80° and transmission wavelengths of 500-650 nm; the maximum end-point difference found was 0.23 m. A 500 nm laser with a 0.57° full-angle FOV was traced; the nonrefracted receiver location was outside the FOV for all links angled >15° to the vertical. However, most pointing issues underwater are unlikely to be significant with suitable FOV choice and natural scattering of the source.

  6. Fuzzy Adaptive Control for Trajectory Tracking of Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Saeed Nakhkoob

    2014-01-01

    Full Text Available In this paper, the problem of the position and attitude tracking of an autonomous underwater vehicle (AUV in the horizontal plane, under the presence of ocean current disturbances is discussed. The effect of the gradual variation of the parameters is taken into account. The effectiveness of the adaptive controller is compared with a feedback linearization method and fuzzy gain control approach. The proposed strategy has been tested through simulations. Also, the performance of the propos-ed method is compared with other strategies given in some other studies. The boundedness and asymptotic converge-nce properties of the control algorithm and its semi-global stability are analytically proven using Lyapunov stability theory and Barbalat’s lemma.

  7. Energy-Efficient Channel Coding Strategy for Underwater Acoustic Networks

    Directory of Open Access Journals (Sweden)

    Grasielli Barreto

    2017-03-01

    Full Text Available Underwater acoustic networks (UAN allow for efficiently exploiting and monitoring the sub-aquatic environment. These networks are characterized by long propagation delays, error-prone channels and half-duplex communication. In this paper, we address the problem of energy-efficient communication through the use of optimized channel coding parameters. We consider a two-layer encoding scheme employing forward error correction (FEC codes and fountain codes (FC for UAN scenarios without feedback channels. We model and evaluate the energy consumption of different channel coding schemes for a K-distributed multipath channel. The parameters of the FEC encoding layer are optimized by selecting the optimal error correction capability and the code block size. The results show the best parameter choice as a function of the link distance and received signal-to-noise ratio.

  8. An Ultra-Lightweight Encryption Scheme in Underwater Acoustic Networks

    Directory of Open Access Journals (Sweden)

    Chunyan Peng

    2016-01-01

    Full Text Available We tackle a fundamental security problem in underwater acoustic networks (UANs. The S-box in the existing block encryption algorithm is more energy consuming and unsuitable for resources-constrained UANs. In this paper, instead of S-box, we present a lightweight, 8-round iteration block cipher algorithm for UANs communication based on chaotic theory and increase the key space by changing the number of iteration round. We further propose secure network architecture of UANs. By analysis, our algorithm can resist brute-force searches and adversarial attacks. Simulation results show that, compared with traditional AES-128 and PRESENT algorithms, our cryptographic algorithm can make a good trade-off between security and overhead, has better energy efficiency, and applies to UANs.

  9. Cooperative Rendezvous and Docking for Underwater Robots Using Model Predictive Control and Dual Decomposition

    DEFF Research Database (Denmark)

    Nielsen, Mikkel Cornelius; Johansen, Tor Arne; Blanke, Mogens

    2018-01-01

    This paper considers the problem of rendezvous and docking with visual constraints in the context of underwater robots with camera-based navigation. The objective is the convergence of the vehicles to a common point while maintaining visual contact. The proposed solution includes the design of a ...... of a distributed model predictive controller based on dual decomposition, which allows for optimization in a decentralized fashion. The proposed distributed controller enables rendezvous and docking between vehicles while maintaining visual contact....

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

    Digital Repository Service at National Institute of Oceanography (India)

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

  11. Gasdynamics of explosions today.

    Science.gov (United States)

    Brode, H. L.; Glass, I. I.; Oppenheim, A. K.

    1971-01-01

    A brief review is given of blast and detonation wave phenomena and some of their uses in war and peace. It is concluded that great strides have been made over the last three decades toward the physical understanding, the analytical-numerical solution, and the measurement of dynamic and thermodynamic quantities, also taking into consideration severe environments and extremely short durations. Questions of internal ballistics are discussed together with hypervelocity launchers and shock tubes, collapsing cylindrical drivers, spherical implosions, explosive weapons, dynamic response, and equation of state data.

  12. Simulation of gas explosions

    Directory of Open Access Journals (Sweden)

    Bjørn H. Hjertager

    1989-10-01

    Full Text Available Gas explosion hazard assessments in flammable gas handling operations both offshore and onshore are crucial in order to obtain an acceptable level of safety. In order to perform such assessments good predictive tools are needed, which take account of the relevant parameters, such as geometrical design variables and gas cloud type and distribution. A theoretical simulation model must therefore be tested against sufficient experimental evidence prior to becoming a useful tool. The experimental data should include both variations in geometry and gas cloud composition and the model should give reasonable predictions without use of geometry or case dependent constants.

  13. The Analysis of Drive Systems in Unmanned Underwater Vehicles Towards Identifying the Method of Drive Transmission – Part 2

    Directory of Open Access Journals (Sweden)

    Jakus Bartłomiej

    2017-10-01

    Full Text Available This is the second part of material concerned with the analysis of drive systems in remotely controlled underwater vehicles. The first part involved the problem of classification of unmanned underwater vehicles, mainly remotely controlled, as well as the nomenclature used in relation to various components of the discussed drive systems and thrusters. The functionality of particular drive systems was discussed along with the advantages and disadvantages of the analysed design technologies. This material presents the method of conducting an analysis of drive systems, its methodology and results.

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

    Directory of Open Access Journals (Sweden)

    Shaorong XIE

    2014-02-01

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

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

    Directory of Open Access Journals (Sweden)

    Safdar Hussain Bouk

    2016-01-01

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

  16. 76 FR 64974 - Commerce in Explosives; List of Explosive Materials (2011R-18T)

    Science.gov (United States)

    2011-10-19

    ... if it otherwise meets the statutory definitions in 18 U.S.C. 841. Explosive materials are listed... liquids. Explosive mixtures containing oxygen-releasing inorganic salts and hydrocarbons. Explosive... mixtures containing tetranitromethane (nitroform). Explosive nitro compounds of aromatic hydrocarbons...

  17. The concept of explosives malfunctioning in rock blasting

    Energy Technology Data Exchange (ETDEWEB)

    Liu, Q. [Canada Centre for Mineral and Energy Technology, Val d`Or, Quebec (Canada)

    1994-12-31

    The problem of cross-hole explosive malfunctioning in rock blasting (including sympathetic detonation, desensitization and cut-offs) is a function of delay and spacing in a blast which should be designed to avoid such occurrences. On a delay-spacing chart, the phenomenon of explosive malfunctioning is explained by dividing the chart into different regions, while the shape and size of each region could vary from one explosive to the other. Over seventy blasts have been carried out at the CANMET Experimental Mine to identify the malfunctioning characteristics of specific emulsion, water-gel and dynamite explosives. In each experiment, two parallel blastholes, 32 mm in diameter and 1.7 m deep, were drilled downwards in an underground drift. Full coupling was achieved by tamping the explosives in the wet holes. The receptor hole is initiated with a delay following the donor hole in order to observe the timing effect on the explosives being shocked. High frequency vibration monitoring was used to identify the detonation or failure of the receptor hole. The VOD measurement was used for donor holes but not for the receptor holes because of the cut-off at the collar as a result of donor hole cratering, which was further confirmed with high speed video recording. The spacing is varied to modify the shock pressure the receptor charges are subjected to. Results are presented for the three explosives tested.

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

    Science.gov (United States)

    2013-02-01

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

  19. On the Performance of the Underwater Acoustic Sensor Networks

    Science.gov (United States)

    2015-05-01

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

  20. Underwater laser beam welding of Alloy 690

    International Nuclear Information System (INIS)

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

    2009-01-01

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

  1. Cymbal and BB underwater transducers and arrays

    Energy Technology Data Exchange (ETDEWEB)

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

    2002-09-01

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

  2. Underwater noise modelling for environmental impact assessment

    Energy Technology Data Exchange (ETDEWEB)

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

    2016-02-15

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

  3. Ocean Research Enabled by Underwater Gliders

    Science.gov (United States)

    Rudnick, Daniel L.

    2016-01-01

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

  4. Vision-Based Autonomous Underwater Vehicle Navigation in Poor Visibility Conditions Using a Model-Free Robust Control

    Directory of Open Access Journals (Sweden)

    Ricardo Pérez-Alcocer

    2016-01-01

    Full Text Available This paper presents a vision-based navigation system for an autonomous underwater vehicle in semistructured environments with poor visibility. In terrestrial and aerial applications, the use of visual systems mounted in robotic platforms as a control sensor feedback is commonplace. However, robotic vision-based tasks for underwater applications are still not widely considered as the images captured in this type of environments tend to be blurred and/or color depleted. To tackle this problem, we have adapted the lαβ color space to identify features of interest in underwater images even in extreme visibility conditions. To guarantee the stability of the vehicle at all times, a model-free robust control is used. We have validated the performance of our visual navigation system in real environments showing the feasibility of our approach.

  5. A MAC protocol for underwater sensors networks

    OpenAIRE

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

    2015-01-01

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

  6. Passive Mode Carbon Nanotube Underwater Acoustic Transducer

    Science.gov (United States)

    2016-09-20

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

  7. Underwater suction device for irradiated materials

    International Nuclear Information System (INIS)

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

    1982-01-01

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

  8. Tethered Antennas for Unmanned Underwater Vehicles

    Science.gov (United States)

    2009-04-27

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

  9. MEDITERRANEAN: Underwater neutrinos get off the ground

    International Nuclear Information System (INIS)

    Anon.

    1992-01-01

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

  10. Role of Confined Water in Underwater Adhesion

    Science.gov (United States)

    Dhinojwala, Ali

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

  11. Obstacle avoidance in underwater glider path planning

    OpenAIRE

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

    2012-01-01

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

  12. A Recovery System for Unmanned Underwater Vehicles

    Science.gov (United States)

    2017-09-28

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

  13. Laser machining of explosives

    Science.gov (United States)

    Perry, Michael D.; Stuart, Brent C.; Banks, Paul S.; Myers, Booth R.; Sefcik, Joseph A.

    2000-01-01

    The invention consists of a method for machining (cutting, drilling, sculpting) of explosives (e.g., TNT, TATB, PETN, RDX, etc.). By using pulses of a duration in the range of 5 femtoseconds to 50 picoseconds, extremely precise and rapid machining can be achieved with essentially no heat or shock affected zone. In this method, material is removed by a nonthermal mechanism. A combination of multiphoton and collisional ionization creates a critical density plasma in a time scale much shorter than electron kinetic energy is transferred to the lattice. The resulting plasma is far from thermal equilibrium. The material is in essence converted from its initial solid-state directly into a fully ionized plasma on a time scale too short for thermal equilibrium to be established with the lattice. As a result, there is negligible heat conduction beyond the region removed resulting in negligible thermal stress or shock to the material beyond a few microns from the laser machined surface. Hydrodynamic expansion of the plasma eliminates the need for any ancillary techniques to remove material and produces extremely high quality machined surfaces. There is no detonation or deflagration of the explosive in the process and the material which is removed is rendered inert.

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

    National Research Council Canada - National Science Library

    Fratantoni, David M

    2007-01-01

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

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

    DEFF Research Database (Denmark)

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

    2016-01-01

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

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

    Science.gov (United States)

    Shortis, Mark

    2015-12-07

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

  17. Calibration Techniques for Accurate Measurements by Underwater Camera Systems

    Directory of Open Access Journals (Sweden)

    Mark Shortis

    2015-12-01

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

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

    International Nuclear Information System (INIS)

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

    1994-01-01

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

  19. Contour Tracking Control for the REMUS Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Van Reet, Alan R

    2005-01-01

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

  20. Autopilot Using Differential Thrust for ARIES Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Sarton, Christopher

    2003-01-01

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

  1. Underwater Acoustic Target Tracking: A Review.

    Science.gov (United States)

    Luo, Junhai; Han, Ying; Fan, Liying

    2018-01-02

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

  2. Underwater detection by using ultrasonic sensor

    Science.gov (United States)

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

    2017-09-01

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

  3. Modeling and Control of Underwater Robotic Systems

    Energy Technology Data Exchange (ETDEWEB)

    Schjoelberg, I:

    1996-12-31

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

  4. Underwater Noise Modelling of Wave Energy Devices

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2009-07-01

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

  5. Aspects regarding explosion risk assessment

    Directory of Open Access Journals (Sweden)

    Părăian Mihaela

    2017-01-01

    Full Text Available Explosive risk occurs in all activities involving flammable substances in the form of gases, vapors, mists or dusts which, in mixture with air, can generate an explosive atmosphere. As explosions can cause human losses and huge material damage, the assessment of the explosion risk and the establishment of appropriate measures to reduce it to acceptable levels according to the standards and standards in force is of particular importance for the safety and health of people and goods.There is no yet a recognized method of assessing the explosion risk, but regardless of the applied method, the likelihood of an explosive atmosphere occurrence has to be determined, together with the occurrence of an efficient ignition source and the magnitude of foreseeable consequences. In assessment processes, consequences analysis has a secondary importance since it’s likely that explosions would always involve considerable damage, starting from important material damages and up to human damages that could lead to death.The purpose of the work is to highlight the important principles and elements to be taken into account for a specific risk assessment. An essential element in assessing the risk of explosion in workplaces where explosive atmospheres may occur is technical installations and personal protective equipment (PPE that must be designed, manufactured, installed and maintained so that they cannot generate a source of ignition. Explosion prevention and protection requirements are governed by specific norms and standards, and a main part of the explosion risk assessment is related to the assessment of the compliance of the equipment / installation with these requirements.

  6. EXPLOSION OF ANNULAR CHARGE ON DUSTY SURFASE

    Directory of Open Access Journals (Sweden)

    A. Levin Vladimir

    2017-01-01

    Full Text Available This problem is related to the safety problem in the area of forest fires. It is well known that is possible to extinguish a fire, for example, by means of a powerful air stream. Such flow arises from the explosive shock wave. To enhance the im- pact of the blast wave can be used an explosive charge of annular shape. The shock wave, produced by the explosion, in- creased during moves to the center and can serve as a means of transportation dust in the seat of the fire. In addition, emerging after the collapse of a converging shock wave strong updraft can raise dust on a greater height and facilitate fire extinguishing, precipitating dust over a large area. This updraft can be dangerous for aircraft that are in the sky above the fire. To determine the width and height of the danger zone performed the numerical simulation of the ring of the explosion and the subsequent movement of dust and gas mixtures. The gas is considered ideal and perfect. The explosion is modeled as an instantaneous increase in the specific internal energy in an annular zone on the value of the specific heat of explosives. The flow is consid- ered as two-dimensional, and axisymmetric. The axis of symmetry perpendicular to the Earth surface. This surface is considered to be absolutely rigid and is considered as the boundary of the computational domain. On this surface is exhibited the condition of no motion. For the numerical method S. K. Godunov is used a movable grid. One system of lines of this grid is moved in accordance with movement of the shock wave. Others lines of this grid are stationary. The calculations were per- formed for different values of the radii of the annular field and for different sizes of rectangular cross-sectional of the annular field. Numerical results show that a very strong flow is occurring near the axis of symmetry and the particles rise high above the surface. These calculations allow us to estimate the sizes of the zone of danger in specific

  7. Pipelines explosion, violates Humanitarian International Right

    International Nuclear Information System (INIS)

    Carta Petrolera

    1997-01-01

    Recently and for first time, an organism of the orbit of the human rights put the finger in the wound of the problem that represents for Colombia the pipelines explosion and the social and environmental impact that those actions in this case the Defense of the People office, the institution that published a document related this denounces, in the one that sustains that the country it cannot continue of back with a serious and evident reality as the related with the explosions of pipelines. We are the only country of the world where happen these facts and enormous losses are not only causing to the Colombian economy, but rather our environmental wealth is affecting, the document, denounced the ignorance of the humanitarian international right on the part of those who apply to that class of attacks

  8. Kinetic effects in thermal explosion with oscillating ambient conditions.

    Science.gov (United States)

    Novozhilov, Vasily

    2018-03-05

    Thermal explosion problem for a medium with oscillating ambient temperature at its boundaries is a new problem which was introduced in the preceding publication by the present author. It is directly applicable to a range of practical fire autoignition scenarios (e.g. in the storages of organic matter, explosives, propellants, etc.). Effects of kinetic mechanisms, however, need be further investigated as they are expected to alter critical conditions of thermal explosion. We consider several global kinetic mechanisms: first order reaction, second order reaction, and first order autocatalysis. It is demonstrated that kinetic effects related to reactants consumption do indeed shift respective critical boundaries. Effect of kinetics on oscillatory development of thermal explosion is of particular interest. In line with conclusions of the preceding publication, it is confirmed that temperature oscillations may develop during induction phase of thermal explosion when the effect of reactants consumption is properly taken into account. Moreover, development of thermal explosion instability through the prior oscillations is an inevitable and natural scenario. This fact is confirmed by a number of examples. Besides, effects of the other relevant parameter, Zeldovich number on critical conditions are also investigated.

  9. Three-dimensional Modeling of Type Ia Supernova Explosions

    Science.gov (United States)

    Khokhlov, Alexei

    2001-06-01

    A deflagration explosion of a Type Ia Supernova (SNIa) is studied using three-dimensional, high-resolution, adaptive mesh refinement fluid dynamic calculations. Deflagration speed in an exploding Chandrasekhar-mass carbon-oxygen white dwarf (WD) grows exponentially, reaches approximately 30the speed of sound, and then declines due to a WD expansion. Outermost layers of the WD remain unburned. The explosion energy is comparable to that of a Type Ia supernova. The freezing of turbulent motions by expansion appears to be a crucial physical mechanism regulating the strength of a supernova explosion. In contrast to one-dimensional models, three-dimensional calculations predict the formation of Si-group elements and pockets of unburned CO in the middle and in central regions of a supernova ejecta. This, and the presence of unburned outer layer of carbon-oxygen may pose problems for SNIa spectra. Explosion sensitivity to initial conditions and its relation to a diversity of SNIa is discussed.

  10. Ultrafast laser based coherent control methods for explosives detection

    Energy Technology Data Exchange (ETDEWEB)

    Moore, David Steven [Los Alamos National Laboratory

    2010-12-06

    The detection of explosives is a notoriously difficult problem, especially at stand-off, due to their (generally) low vapor pressure, environmental and matrix interferences, and packaging. We are exploring Optimal Dynamic Detection of Explosives (ODD-Ex), which exploits the best capabilities of recent advances in laser technology and recent discoveries in optimal shaping of laser pulses for control of molecular processes to significantly enhance the standoff detection of explosives. The core of the ODD-Ex technique is the introduction of optimally shaped laser pulses to simultaneously enhance sensitivity to explosives signatures while dramatically improving specificity, particularly against matrix materials and background interferences. These goals are being addressed by operating in an optimal non-linear fashion, typically with a single shaped laser pulse inherently containing within it coherently locked control and probe subpulses. Recent results will be presented.

  11. Experimental studies on the deformation and rupture of thin metal plates subject to underwater shock wave loading

    Directory of Open Access Journals (Sweden)

    Chen Pengwan

    2015-01-01

    Full Text Available In this paper, the dynamic deformation and rupture of thin metal plates subject to underwater shock wave loading are studied by using high-speed 3D digital image correlation (3D-DIC. An equivalent device consist of a gas gun and a water anvil tube was used to supplying an exponentially decaying pressure in lieu of explosive detonation which acted on the panel specimen. The thin metal plate is clamped on the end of the shock tube by a flange. The deformation and rupture process of the metal plates subject to underwater shock waves are recorded by two high-speed cameras. The shape, displacement fields and strain fields of the metal plates under dynamic loading are obtained by using VIC-3D digital image correlation software. The strain gauges also were used to monitor the structural response on the selected position for comparison. The DIC data and the strain gauges results show a high level of correlation, and 3D-DIC is proven to be an effective method to measure 3D full-field dynamic response of structures under underwater impact loading. The effects of pre-notches on the failure modes of thin circular plate were also discussed.

  12. Numerical Model for Hydrovolcanic Explosions.

    Science.gov (United States)

    Mader, Charles; Gittings, Michael

    2007-03-01

    A hydrovolcanic explosion is generated by the interaction of hot magma with ground water. It is called Surtseyan after the 1963 explosive eruption off Iceland. The water flashes to steam and expands explosively. Liquid water becomes water gas at constant volume and generates pressures of about 3GPa. The Krakatoa hydrovolcanic explosion was modeled using the full Navier-Stokes AMR Eulerian compressible hydrodynamic code called SAGE [1] which includes the high pressure physics of explosions. The water in the hydrovolcanic explosion was described as liquid water heated by magma to 1100 K. The high temperature water is treated as an explosive with the hot liquid water going to water gas. The BKW [2] steady state detonation state has a peak pressure of 8.9 GPa, a propagation velocity of 5900 meters/sec and the water is compressed to 1.33 g/cc. [1] Numerical Modeling of Water Waves, Second Edition, Charles L. Mader, CRC Press 2004. [2] Numerical Modeling of Explosions and Propellants, Charles L. Mader, CRC Press 1998.

  13. Introduction to High Explosives Science

    Energy Technology Data Exchange (ETDEWEB)

    Skidmore, Cary Bradford [Los Alamos National Lab. (LANL), Los Alamos, NM (United States); Preston, Daniel N. [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2016-11-17

    These are a set of slides for educational outreach to children on high explosives science. It gives an introduction to the elements involved in this science: carbon, hydrogen, nitrogen, and oxygen. Combined, these form the molecule HMX. Many pictures are also included to illustrate explosions.

  14. Harbour porpoise movement strategy affects cumulative number of animals acoustically exposed to underwater explosions

    NARCIS (Netherlands)

    Aarts,G.; Benda-Beckmann, A.M. von; Lucke, K.; Özkan Sertlek, H.; Bemmelen, R. van; Geelhoed, S.C.V.; Brasseur, S.; Scheidat, M.; Lam, F.P.A.; Slabbekoorn, H.; Kirkwood, R.

    2016-01-01

    Anthropogenic sound in the marine environment can have negative consequences for marine fauna. Since most sound sources are intermittent or continuous, estimating how many individuals are exposed over time remains challenging, as this depends on the animals’ mobility. Here we explored how animal

  15. Harbour porpoise movement strategy affects cumulative number of animals acoustically exposed to underwater explosions

    NARCIS (Netherlands)

    Aarts, Geert; Benda-Beckmann, Von Alexander M.; Lucke, K.; Özkan Sertlek, H.; Bemmelen, Van Rob; Geelhoed, Steve C.V.; Brasseur, Sophie; Scheidat, Meike; Lam, Frans Peter A.; Slabbekoorn, Hans; Kirkwood, Roger

    2016-01-01

    Anthropogenic sound in the marine environment can have negative consequences for marine fauna. Since most sound sources are intermittent or continuous, estimating how many individuals are exposed over time remains challenging, as this depends on the animals' mobility. Here we explored how animal

  16. Relationship between energy deposition and shock wave phenomenon in an underwater electrical wire explosion

    Science.gov (United States)

    Han, Ruoyu; Zhou, Haibin; Wu, Jiawei; Qiu, Aici; Ding, Weidong; Zhang, Yongmin

    2017-09-01

    An experimental study of pressure waves generated by an exploding copper wire in a water medium is performed. We examined the effects of energy deposited at different stages on the characteristics of the resulting shock waves. In the experiments, a microsecond time-scale pulsed current source was used to explode a 300-μm-diameter, 4-cm-long copper wire with initial stored energies ranging from 500 to 2700 J. Our experimental results indicated that the peak pressure (4.5-8.1 MPa) and energy (49-287 J) of the shock waves did not follow a simple relationship with any electrical parameters, such as peak voltage or deposited energy. Conversely, the impulse had a quasi-linear relationship with the parameter Π. We also found that the peak pressure was mainly influenced by the energy deposited before separation of the shock wave front and the discharge plasma channel (DPC). The decay time constant of the pressure waveform was affected by the energy injection after the separation. These phenomena clearly demonstrated that the deposited energy influenced the expansion of the DPC and affected the shock wave characteristics.

  17. Fluid-Interaction and Cavitation Effects on a Surface Ship Model Due to an Underwater Explosion.

    Science.gov (United States)

    1996-09-01

    itself is conducting the solution process which would normally be a SOL 109 transient analysis process in MSC/ NASTRAN . Appendix B provides the DMAP ... NASTRAN [Ref. 6], the engineer has a greater ability to improve ship modeling and predict the vibrational response of ship hulls and internal equipment...specifically associated by the MAT field in the NASTRAN ASCII input file. Because of the numerical processing in the USA code, node numbering needs to be

  18. Dynamic Response of a Catamaran-Hull Ship Subjected to Underwater Explosions

    National Research Council Canada - National Science Library

    Ucar, Hakan

    2006-01-01

    .... While these trials are necessary in order to evaluate the vulnerability and survivability of the ship, they are very expensive, require extensive time for planning and coordination, and pose serious...

  19. The numerical study the rising of the explosion clouds in the uniform atmosphere

    International Nuclear Information System (INIS)

    Li Xiaoli; Zheng Yi; Chao Ying

    2010-01-01

    This paper is to study the rising of the explosion clouds in the uniform atmosphere, the numerical model is based on the assumption that effects the clouds are gravity and buoyancy. The model is testified by Rayleigh-Taylor unsteady problem. The evolution of the density and the velocity during the rising of the explosion clouds are provided, and the computational results are reasonable compared to the rising of the real nuclear explosion cloud. (authors)

  20. An efficient method to measure reliability of underwater acoustic communication links

    Directory of Open Access Journals (Sweden)

    Roee Diamant

    2016-04-01

    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.

  1. Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals

    Science.gov (United States)

    Duecker, Daniel-André; Geist, A. René; Hengeler, Michael; Kreuzer, Edwin; Pick, Marc-André; Rausch, Viktor; Solowjow, Eugen

    2017-01-01

    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

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

    Directory of Open Access Journals (Sweden)

    Phlypo Ronald

    2010-01-01

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

  3. A study on the behavior of underwater shock waves generated in a water container and its application to magnetic refrigeration material

    Directory of Open Access Journals (Sweden)

    Young Kook Kim

    2007-09-01

    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.

  4. Optical detection of explosives: spectral signatures for the explosive bouquet

    Science.gov (United States)

    Osborn, Tabetha; Kaimal, Sindhu; Causey, Jason; Burns, William; Reeve, Scott

    2009-05-01

    Research with canines suggests that sniffer dogs alert not on the odor from a pure explosive, but rather on a set of far more volatile species present in an explosive as impurities. Following the explosive trained canine example, we have begun examining the vapor signatures for many of these volatile impurities utilizing high resolution spectroscopic techniques in several molecular fingerprint regions. Here we will describe some of these high resolution measurements and discuss strategies for selecting useful spectral signature regions for individual molecular markers of interest.

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

    Indian Academy of Sciences (India)

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

  6. Visual-adaptation-mechanism based underwater object extraction

    Science.gov (United States)

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

    2014-03-01

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

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

    International Nuclear Information System (INIS)

    Kobayashi, Futoshi; Kojima, Fumio

    2007-01-01

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

  8. WODA technical guidance on underwater sound from dredging

    NARCIS (Netherlands)

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

    2016-01-01

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

  9. Characterization of ships as sources of underwater noise

    NARCIS (Netherlands)

    Jong, C.A.F. de

    2009-01-01

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

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

    NARCIS (Netherlands)

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

    2013-01-01

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

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

    Indian Academy of Sciences (India)

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

  12. High-rate wireless data communications: An underwater acoustic communications framework at the physical layer

    Directory of Open Access Journals (Sweden)

    Bessios Anthony G.

    1996-01-01

    Full Text Available A variety of signal processing functions are performed by Underwater Acoustic Systems. These include: 1 detection to determine presence or absence of information signals in the presence of noise, or an attempt to describe which of a predetermined finite set of possible messages { m i , i , ... , M } the signal represents; 2 estimation of some parameter θ ˆ associated with the received signal (i.e. range, depth, bearing angle, etc.; 3 classification and source identification; 4 dynamics tracking; 5 navigation (collision avoidance and terminal guidance; 6 countermeasures; and 7 communications. The focus of this paper is acoustic communications. There is a global current need to develop reliable wireless digital communications for the underwater environment, with sufficient performance and efficiency to substitute for costly wired systems. One possible goal is a wireless system implementation that insures underwater terminal mobility. There is also a vital need to improve the performance of the existing systems in terms of data-rate, noise immunity, operational range, and power consumption, since, in practice, portable high-speed, long range, compact, low-power systems are desired. We concede the difficulties associated with acoustic systems and concentrate on the development of robust data transmission methods anticipating the eventual need for real time or near real time video transmission. An overview of the various detection techniques and the general statistical digital communication problem is given based on a statistical decision theory framework. The theoretical formulation of the underwater acoustic data communications problem includes modeling of the stochastic channel to incorporate a variety of impairments and environmental uncertainties, and proposal of new compensation strategies for an efficient and robust receiver design.

  13. Underwater piercing of a tunnel

    Energy Technology Data Exchange (ETDEWEB)

    Solvik, O.

    1984-11-01

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

  14. Noise-abatement method for explosives testing.

    Science.gov (United States)

    Pfeifer, H E; Odell, B N; Arganbright, V E

    1980-09-01

    When Lawrence Livermore Laboratory started detonating explosives at its Site 300 test location in the sparsely populated hills east of the Laboratory, residents in neighboring areas complained of sudden loud noises. A combined literature and research study, coupled with an experimental test program, indicated the combination of air temperatures and winds at various elevations was primarily responsible for blast or sound waves being returned to the surface. To solve the noise problem, the Laboratory devised a method for determining the maximum amount of explosives that could be detonated aboveground under various atmospheric conditions without creating excessive noise in populated areas. This method for predicting explosives weight limits using pressure-distance-weight nomograms and the slope of a sound-velocity curve is described in this paper. The sound-velocity curve is computed with temperature information from the U.S. Weather Bureau and wind data from a target-acquisition radar system. By following this method, the Laboratory has been able to detonate thousands of shots without creating excessive noise in nearby communities.

  15. Safety vessels for explosive fusion reactor

    International Nuclear Information System (INIS)

    Mineev, V.

    1994-01-01

    The failure of several types of geometrically similar cylindrical and spherical steel and glass fibers vessels filled with water or air was investigated when an explosive charge of TNT was detonated in the center. Vessels had radius 50-1000 mm, thickness of walls 2-20%. The detonation on TNT imitated energy release. The parameter: K = M/mf is a measure of the strength of the vessel where M is the mass of the vessel, and mf is the mass of TNT for which the vessel fails. This demanded 2-4 destroyed and nondestroyed shots. It may be showed that: K=A/σ f where σ f is the fracture stress of the material vessel, and A = const = F(energy TNT, characteristic of elasticity of vessel material). The chief results are the following: (1) A similar increase in the geometrical dimensions of steel vessels by a factor of 10 leads to the increase of parameter K in about 5 times and to decrease of failure deformation in 7 times (scale effect). (2) For glass fibers, scale effect is absent. (3) This problem is solved in terms of theory energetic scale effect. (4) The concept of TNT equivalent explosive makes it possible to use these investigations to evaluate the response of safety vessels for explosive fusion reactor

  16. Explosive signatures: Pre & post blast

    Science.gov (United States)

    Bernier, Evan Thomas

    Manuscripts 1 and 2 of this dissertation both involve the pre-blast detection of trace explosive material. The first manuscript explores the analysis of human hair as an indicator of exposure to explosives. Field analysis of hair for trace explosives is quick and non-invasive, and could prove to be a powerful linkage to physical evidence in the form of bulk explosive material. Individuals tested were involved in studies which required handling or close proximity to bulk high explosives such as TNT, PETN, and RDX. The second manuscript reports the results of research in the design and application of canine training aids for non-traditional, peroxide-based explosives. Organic peroxides such as triacetonetriperoxide (TATP) and hexamethylenetriperoxidediamine (HMTD) can be synthesized relatively easily with store-bought ingredients and have become popular improvised explosives with many terrorist groups. Due to the hazards of handling such sensitive compounds, this research established methods for preparing training aids which contained safe quantities of TATP and HMTD for use in imprinting canines with their characteristic odor. Manuscripts 3 and 4 of this dissertation focus on research conducted to characterize pipe bombs during and after an explosion (post-blast). Pipe bombs represent a large percentage of domestic devices encountered by law enforcement. The current project has involved the preparation and controlled explosion of over 90 pipe bombs of different configurations in order to obtain data on fragmentation patterns, fragment velocity, blast overpressure, and fragmentation distance. Physical data recorded from the collected fragments, such as mass, size, and thickness, was correlated with the relative power of the initial device. Manuscript 4 explores the microstructural analysis of select pipe bomb fragments. Shock-loading of the pipe steel led to plastic deformation and work hardening in the steel grain structure as evidenced by optical microscopy and

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

    Directory of Open Access Journals (Sweden)

    Jinlong Song

    2015-09-01

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

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

    Science.gov (United States)

    Jiang, Peng; Feng, Yang; Wu, Feng

    2016-10-21

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

  19. A man-made object detection for underwater TV

    Science.gov (United States)

    Cheng, Binbin; Wang, Wenwu; Chen, Yao

    2018-03-01

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

  20. Warfare Ecology on an Underwater Demolition Range: Acoustic Observations of Marine Life and Shallow Water Detonations in Hawai`i

    Science.gov (United States)

    Shannon, Lee H.

    Most studies investigating the effects of military-associated anthropogenic noise concentrate on deep sea or open ocean propagation of sonar and its effect on marine mammals. In littoral waters, U.S. military special operations units regularly conduct shallow water explosives training, yet relatively little attention has been given to the potential impact on nearshore marine ecosystems from these underwater detonations. This dissertation research focused on the Pu'uloa Underwater Detonation Range off the coast of O`ahu, and examined multiple aspects of the surrounding marine ecosystem and the effects of detonations using acoustic monitoring techniques. The soundscape of a nearshore reef ecosystem adjacent to the UNDET range was characterized through analysis of passive acoustic recordings collected over the span of 6 years. Snapping shrimp were the predominant source of noise, and a diel pattern was present, with increased sound energy during the night hours. Results revealed a difference of up to 7dB between two Ecological Acoustic Recorder locations 2.5km apart along the 60ft isobath. Passive acoustic recording files were searched visually and aurally for odontocete whistles. Whistles were detected in only 0.6% of files analyzed, indicating this area is not frequently transited by coastal odontocete emitting social sounds. The study also opportunistically captured a humpback whale singing during a detonation event, during which the animal showed no obvious alteration of its singing behavior. Four separate underwater detonation events were recorded using a surface deployed F-42C transducer, and the resulting analysis showed no measurable drop in the biologically produced acoustic energy in reaction to the explosive events. Coral reef fishes were recorded visually and acoustically during detonation events at a known distance and bearing from a known explosive sound source. Individual fish behavioral responses to the explosion varied, and a sharp uptick in fish

  1. Pyroshock Prediction of Ridge-Cut Explosive Bolts Using Hydrocodes

    Directory of Open Access Journals (Sweden)

    Juho Lee

    2016-01-01

    Full Text Available Pyrotechnic release devices such as explosive bolts are prevalent for many applications due to their merits: high reliability, high power-to-weight ratio, reasonable cost, and more. However, pyroshock generated by an explosive event can cause failures in electric components. Although pyroshock propagations are relatively well understood through many numerical and experimental studies, the prediction of pyroshock generation is still a very difficult problem. This study proposes a numerical method for predicting the pyroshock of a ridge-cut explosive bolt using a commercial hydrocode (ANSYS AUTODYN. A numerical model is established by integrating fluid-structure interaction and complex material models for high explosives and metals, including high explosive detonation, shock wave transmission and propagation, and stress wave propagation. To verify the proposed numerical scheme, pyroshock measurement experiments of the ridge-cut explosive bolts with two types of surrounding structures are performed using laser Doppler vibrometers (LDVs. The numerical analysis results provide accurate prediction in both the time (acceleration and frequency domains (maximax shock response spectra. In maximax shock response spectra, the peaks due to vibration modes of the structures are observed in both the experimental and numerical results. The numerical analysis also helps to identify the pyroshock generation source and the propagation routes.

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

    International Nuclear Information System (INIS)

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

    2002-01-01

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

  3. Hemispherical optical dome for underwater communication

    Science.gov (United States)

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

    2017-08-01

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

  4. Underwater Sound Propagation from Marine Pile Driving.

    Science.gov (United States)

    Reyff, James A

    2016-01-01

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

  5. Radon dynamics in underwater thermal radon therapy

    International Nuclear Information System (INIS)

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

    1998-01-01

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

  6. Navigation System Fault Diagnosis for Underwater Vehicle

    DEFF Research Database (Denmark)

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

    2014-01-01

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

  7. Adaptive Target Tracking for Underwater Maneuvering Targets.

    Science.gov (United States)

    1979-12-01

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

  8. Testing of Confining Pressure Impacton Explosion Energy of Explosive Materials

    Science.gov (United States)

    Drzewiecki, Jan; Myszkowski, Jacek; Pytlik, Andrzej; Pytlik, Mateusz

    2017-06-01

    This paper presents the results of testing the explosion effects of two explosive charges placed in an environment with specified values of confining pressure. The aim of this study is to determine the impact of variable environmental conditions on the suitability of particular explosives for their use in the prevention of natural hazards in hard coal mining. The research results will contribute to improving the efficiency of currently adopted technologies of natural hazard prevention and aid in raising the level of occupational safety. To carry out the subject matter measurements, a special test stand was constructed which allows the value of the initial pressure inside the chamber, which constitutes its integral part, to be altered before the detonation of the charge being tested. The obtained characteristics of the pressure changes during the explosion of the analysed charge helped to identify the work (energy) which was produced during the process. The test results are a valuable source of information, opening up new possibilities for the use of explosives, the development of innovative solutions for the construction of explosive charges and their initiation.

  9. 46 CFR 115.650 - Alternative Hull Examination (AHE) Program options: Divers or underwater ROV.

    Science.gov (United States)

    2010-10-01

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

  10. Discrimination between underground explosions and earthquakes using discriminant functions: Examples for Eurasia and North America

    International Nuclear Information System (INIS)

    Nowroozi, A.A.

    1986-01-01

    Discriminant functions are extensively used as a technical tool in educational and psychological research as well as in some branches of geological sciences. The application of this technique to the problem of discrimination between underground nuclear explosions and earthquakes has been reported. Here we apply this technique to a known population of underground nuclear explosions and earthquakes for the determination of various statistical parameters needed for setting up the discriminant function equations for discrimination between unknown population of earthquakes, anomalous events, and underground explosions, then we classify earthquakes, explosions and anomalous events in Eurasia and North America

  11. Nuclear Explosives in Peacetime, A Scientists' Institute for Public Information Workbook.

    Science.gov (United States)

    Brodine, Virginia, Ed.; Bradford, Albert, Ed.

    Discussed are the commercial uses of nuclear explosives as well as the testing of nuclear weapons. Case histories of the use of nuclear explosives to stimulate oil and natural gas production are examined, and problems associated with nuclear blasting are discussed with special reference to canal construction. Effects of nuclear weapons testing are…

  12. Explosive actuated valve

    International Nuclear Information System (INIS)

    Byrne, K.G.

    1983-01-01

    1. A device of the character described comprising the combination of a housing having an elongate bore and including a shoulder extending inwardly into said bore, a single elongate movable plunger disposed in said bore including an outwardly extending flange adjacent one end thereof overlying said shoulder, normally open conduit means having an inlet and an outlet perpendicularly piercing said housing intermediate said shoulder and said flange and including an intermediate portion intersecting and normally openly communicating with said bore at said shoulder, normally closed conduit means piercing said housing and intersecting said bore at a location spaced from said normally open conduit means, said elongate plunger including a shearing edge adjacent the other end thereof normally disposed intermediate both of said conduit means and overlying a portion of said normally closed conduit means, a deformable member carried by said plunger intermediate said flange and said shoulder and normally spaced from and overlying the intermediate portion of said normally open conduit means, and means on the housing communicating with the bore to retain an explosive actuator for moving said plunger to force the deformable member against the shoulder and extrude a portion of the deformable member out of said bore into portions of the normally open conduit means for plugging the same and to effect the opening of said normally closed conduit means by the plunger shearing edge substantially concomitantly with the plugging of the normally open conduit means

  13. Furball Explosive Breakout Test

    Energy Technology Data Exchange (ETDEWEB)

    Carroll, Joshua David [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2015-08-05

    For more than 30 years the Onionskin test has been the primary way to study the surface breakout of a detonation wave. Currently the Onionskin test allows for only a small, one dimensional, slice of the explosive in question to be observed. Asymmetrical features are not observable with the Onionskin test and its one dimensional view. As a result, in 2011, preliminary designs for the Hairball and Furball were developed then tested. The Hairball used shorting pins connected to an oscilloscope to determine the arrival time at 24 discrete points. This limited number of data points, caused by the limited number of oscilloscope channels, ultimately led to the Hairball’s demise. Following this, the Furball was developed to increase the number of data points collected. Instead of shorting pins the Furball uses fiber optics imaged by a streak camera to determine the detonation wave arrival time for each point. The original design was able to capture the detonation wave’s arrival time at 205 discrete points with the ability to increase the number of data points if necessary.

  14. The Cambrian explosion.

    Science.gov (United States)

    Briggs, Derek E G

    2015-10-05

    The sudden appearance of fossils that marks the so-called 'Cambrian explosion' has intrigued and exercised biologists since Darwin's time. In On the Origin of Species, Darwin made it clear that he believed that ancestral forms 'lived long before' their first fossil representatives. While he considered such an invisible record necessary to explain the level of complexity already seen in the fossils of early trilobites, Darwin was at a loss to explain why there were no corresponding fossils of these earlier forms. In chapter 9 of the Origin, entitled 'On the imperfection of the geological record', he emphasized the 'poorness of our palaeontological collections' and stated categorically that 'no organism wholly soft can be preserved'. Fortunately much has been discovered in the last 150 years, not least multiple examples of Cambrian and Precambrian soft-bodied fossils. We now know that the sudden appearance of fossils in the Cambrian (541-485 million years ago) is real and not an artefact of an imperfect fossil record: rapid diversification of animals coincided with the evolution of biomineralized shells. And although fossils in earlier rocks are rare, they are not absent: their rarity reflects the low diversity of life at this time, as well as the low preservation potential of Precambrian organisms (see Primer by Butterfield, in this issue). Copyright © 2015 Elsevier Ltd. All rights reserved.

  15. Suppression of stratified explosive interactions

    Energy Technology Data Exchange (ETDEWEB)

    Meeks, M.K.; Shamoun, B.I.; Bonazza, R.; Corradini, M.L. [Wisconsin Univ., Madison, WI (United States). Dept. of Nuclear Engineering and Engineering Physics

    1998-01-01

    Stratified Fuel-Coolant Interaction (FCI) experiments with Refrigerant-134a and water were performed in a large-scale system. Air was uniformly injected into the coolant pool to establish a pre-existing void which could suppress the explosion. Two competing effects due to the variation of the air flow rate seem to influence the intensity of the explosion in this geometrical configuration. At low flow rates, although the injected air increases the void fraction, the concurrent agitation and mixing increases the intensity of the interaction. At higher flow rates, the increase in void fraction tends to attenuate the propagated pressure wave generated by the explosion. Experimental results show a complete suppression of the vapor explosion at high rates of air injection, corresponding to an average void fraction of larger than 30%. (author)

  16. Explosive Blast Neuropathology and Seizures

    Directory of Open Access Journals (Sweden)

    S. Krisztian eKovacs

    2014-04-01

    Full Text Available Traumatic brain injury (TBI due to explosive blast exposure is a leading combat casualty. It is also implicated as a key contributor to war related mental health diseases. A clinically important consequence of all types of TBI is a high risk for development of seizures and epilepsy. Seizures have been reported in patients who have suffered blast injuries in the Global War on Terror but the exact prevalence is unknown. The occurrence of seizures supports the contention that explosive blast leads to both cellular and structural brain pathology. Unfortunately, the exact mechanism by which explosions cause brain injury is unclear, which complicates development of meaningful therapies and mitigation strategies. To help improve understanding, detailed neuropathological analysis is needed. For this, histopathological techniques are extremely valuable and indispensable. In the following we will review the pathological results, including those from immunohistochemical and special staining approaches, from recent preclinical explosive blast studies.

  17. Explosives mimic for testing, training, and monitoring

    Energy Technology Data Exchange (ETDEWEB)

    Reynolds, John G.; Durban, Matthew M.; Gash, Alexander E.; Grapes, Michael D.; Kelley, Ryan S.; Sullivan, Kyle T.

    2018-02-13

    Additive Manufacturing (AM) is used to make mimics for explosives. The process uses mixtures of explosives and matrices commonly used in AM. The explosives are formulated into a mixture with the matrix and printed using AM techniques and equipment. The explosive concentrations are kept less than 10% by wt. of the mixture to conform to requirements of shipping and handling.

  18. 30 CFR 77.1301 - Explosives; magazines.

    Science.gov (United States)

    2010-07-01

    ... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Explosives; magazines. 77.1301 Section 77.1301... and Blasting § 77.1301 Explosives; magazines. (a) Detonators and explosives other than blasting agents shall be stored in magazines. (b) Detonators shall not be stored in the same magazine with explosives...

  19. Lidar Detection of Explosives Traces

    Directory of Open Access Journals (Sweden)

    Bobrovnikov Sergei M.

    2016-01-01

    Full Text Available The possibility of remote detection of traces of explosives using laser fragmentation/laser-induced fluorescence (LF/LIF is studied. Experimental data on the remote visualization of traces of trinitrotoluene (TNT, hexogen (RDX, trotyl-hexogen (Comp B, octogen (HMX, and tetryl with a scanning lidar detector of traces of nitrogen-containing explosives at a distance of 5 m are presented.

  20. Gas explosion during diathermy gastrotomy.

    Science.gov (United States)

    Joyce, F S; Rasmussen, T N

    1989-02-01

    The first report of rupture of the stomach due to diathermy-elicited gas explosion during gastrotomy in a patient with intestinal ischemia resulting in obstruction and jejunal and gastric dilatation is presented. In the obstructed stomach or small bowel, a proliferation of hydrogen- and methane-producing bacteria can occur, leading to the accumulation of these combustible gases in explosive concentrations. In cases of gastrointestinal tract obstruction, the diathermy knife should not be used in entering the gastrointestinal lumen.

  1. Intraperitoneal explosion following gastric perforation

    OpenAIRE

    K. Mansfield, Scott; Roderick Borrowdale, Roderick Borrowdale

    2017-01-01

    The object of this study is to report a rare case of explosion during laparotomy where diathermy ignited intraperitoneal gas from a spontaneous stomach perforation. Fortunately, the patient survived but the surgeon experienced a finger burn. A literature review demonstrates other examples of intraoperative explosion where gastrointestinal gases were the fuel source. Lessons learned from these cases provide recommendations to prevent this potentially lethal event from occurring.

  2. Intraperitoneal explosion following gastric perforation.

    Science.gov (United States)

    Mansfield, Scott K; Borrowdale, Roderick

    2014-04-01

    The object of this study is to report a rare case of explosion during laparotomy where diathermy ignited intraperitoneal gas from a spontaneous stomach perforation. Fortunately, the patient survived but the surgeon experienced a finger burn. A literature review demonstrates other examples of intraoperative explosion where gastrointestinal gases were the fuel source. Lessons learned from these cases provide recommendations to prevent this potentially lethal event from occurring. Copyright © 2012. Published by Elsevier B.V.

  3. Intraperitoneal explosion following gastric perforation

    Directory of Open Access Journals (Sweden)

    Scott K. Mansfield

    2014-04-01

    Full Text Available The object of this study is to report a rare case of explosion during laparotomy where diathermy ignited intraperitoneal gas from a spontaneous stomach perforation. Fortunately, the patient survived but the surgeon experienced a finger burn. A literature review demonstrates other examples of intraoperative explosion where gastrointestinal gases were the fuel source. Lessons learned from these cases provide recommendations to prevent this potentially lethal event from occurring.

  4. Safety engineering experiments of explosives

    Energy Technology Data Exchange (ETDEWEB)

    Ishikawa, Noboru

    1987-07-24

    The outline of large scale experiments carried out every year since 1969 to obtain fundamental data and then establish the safety engineering standards concerning the manufacturing, storage and transportation, etc. of all explosives was described. Because it becomes recently difficult to ensure the safety distance in powder magazines and powder plants, the sandwich structure with sand is thought to be suitable as the neighboring barrier walls. The special vertical structure for embankments to provide against a emergency explosion is effective to absorb the blast. Explosion behaviors such as initiating sensitivity, detonation, sympathetic detonation, and shock occurence of the ANFO explosives in place of dynamite and the slurry explosives were studied. The safety engineering standards for the manufacturing and application of explosives were studied to establish because accidents by tabacco fire are not still distinguished. Much data concerning early stage fire fighting, a large quantity of flooding and shock occurence from a assumption of ignition during machining in the propellants manufacturing plant, could be obtained. Basic studies were made to prevent pollution in blasting sites. Collected data are utilized for the safety administration after sufficient discussion. (4 figs, 2 tabs, 3 photos, 17 refs)

  5. Explosive Characteristics of Carbonaceous Nanoparticles

    Science.gov (United States)

    Turkevich, Leonid; Fernback, Joseph; Dastidar, Ashok

    2013-03-01

    Explosion testing has been performed on 20 codes of carbonaceous particles. These include SWCNTs (single-walled carbon nanotubes), MWCNTs (multi-walled carbon nanotubes), CNFs (carbon nanofibers), graphene, diamond, fullerene, carbon blacks and graphites. Explosion screening was performed in a 20 L explosion chamber (ASTM E1226-10 protocol), at a (dilute) concentration of 500 g/m3, using a 5 kJ ignition source. Time traces of overpressure were recorded. Samples exhibited overpressures of 5-7 bar, and deflagration index KSt = V1/3 (dp/pt)max ~ 10 - 80 bar-m/s, which places these materials in European Dust Explosion Class St-1 (similar to cotton and wood dust). There was minimal variation between these different materials. The explosive characteristics of these carbonaceous powders are uncorrelated with particle size (BET specific surface area). Additional tests were performed on selected materials to identify minimum explosive concentration [MEC]. These materials exhibit MEC ~ 101 -102 g/m3 (lower than the MEC for coals). The concentration scans confirm that the earlier screening was performed under fuel-rich conditions (i.e. the maximum over-pressure and deflagration index exceed the screening values); e.g. the true fullerene KSt ~ 200 bar-m/s, placing it borderline St-1/St-2. Work supported through the NIOSH Nanotechnology Research Center (NTRC)

  6. Underwater pipeline impact localization using piezoceramic transducers

    Science.gov (United States)

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

    2017-10-01

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

  7. GAS FLOW IN UNDERWATER BREATHING INSTALLATIONS

    Directory of Open Access Journals (Sweden)

    Anca CONSTANTIN

    2017-11-01

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

  8. An explanatory model of underwater adaptation

    Directory of Open Access Journals (Sweden)

    Joaquín Colodro

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

  9. Modelling cavitating flow around underwater missiles

    Directory of Open Access Journals (Sweden)

    Fabien Petitpas

    2011-12-01

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

  10. Hydrogel microphones for stealthy underwater listening

    Science.gov (United States)

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

    2016-08-01

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

  11. Software architecture of biomimetic underwater vehicle

    Science.gov (United States)

    Praczyk, Tomasz; Szymak, Piotr

    2016-05-01

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

  12. STABILITY OF UNDERWATER STRUCTURE UNDER WAVE ATTACK

    Directory of Open Access Journals (Sweden)

    C. Paotonan

    2012-02-01

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

  13. Underwater noise levels in UK waters.

    Science.gov (United States)

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

    2016-11-10

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

  14. Underwater Wireless Acousto-Optic Waveguide (UWAOW)

    Science.gov (United States)

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

    2017-10-01

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

  15. AUV Positioning Method Based on Tightly Coupled SINS/LBL for Underwater Acoustic Multipath Propagation

    Directory of Open Access Journals (Sweden)

    Tao Zhang

    2016-03-01

    Full Text Available This paper researches an AUV (Autonomous Underwater Vehicle positioning method based on SINS (Strapdown Inertial Navigation System/LBL (Long Base Line tightly coupled algorithm. This algorithm mainly includes SINS-assisted searching method of optimum slant-range of underwater acoustic propagation multipath, SINS/LBL tightly coupled model and multi-sensor information fusion algorithm. Fuzzy correlation peak problem of underwater LBL acoustic propagation multipath could be solved based on SINS positional information, thus improving LBL positional accuracy. Moreover, introduction of SINS-centered LBL locating information could compensate accumulative AUV position error effectively and regularly. Compared to loosely coupled algorithm, this tightly coupled algorithm can still provide accurate location information when there are fewer than four available hydrophones (or within the signal receiving range. Therefore, effective positional calibration area of tightly coupled system based on LBL array is wider and has higher reliability and fault tolerance than loosely coupled. It is more applicable to AUV positioning based on SINS/LBL.

  16. The Research on Improved Companding Transformation for Reducing PAPR in Underwater Acoustic OFDM Communication System

    Directory of Open Access Journals (Sweden)

    Jinqiu Wu

    2016-01-01

    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.

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

    Directory of Open Access Journals (Sweden)

    Zhibin Yu

    2017-01-01

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

  18. Polar Cooperative Navigation Algorithm for Multi-Unmanned Underwater Vehicles Considering Communication Delays

    Directory of Open Access Journals (Sweden)

    Zheping Yan

    2018-03-01

    Full Text Available To solve the navigation accuracy problems of multi-Unmanned Underwater Vehicles (multi-UUVs in the polar region, a polar cooperative navigation algorithm for multi-UUVs considering communication delays is proposed in this paper. UUVs are important pieces of equipment in ocean engineering for marine development. For UUVs to complete missions, precise navigation is necessary. It is difficult for UUVs to establish true headings because of the rapid convergence of Earth meridians and the severe polar environment. Based on the polar grid navigation algorithm, UUV navigation in the polar region can be accomplished with the Strapdown Inertial Navigation System (SINS in the grid frame. To save costs, a leader-follower type of system is introduced in this paper. The leader UUV helps the follower UUVs to achieve high navigation accuracy. Follower UUVs correct their own states based on the information sent by the leader UUV and the relative position measured by ultra-short baseline (USBL acoustic positioning. The underwater acoustic communication delay is quantized by the model. In this paper, considering underwater acoustic communication delay, the conventional adaptive Kalman filter (AKF is modified to adapt to polar cooperative navigation. The results demonstrate that the polar cooperative navigation algorithm for multi-UUVs that considers communication delays can effectively navigate the sailing of multi-UUVs in the polar region.

  19. Polar Cooperative Navigation Algorithm for Multi-Unmanned Underwater Vehicles Considering Communication Delays.

    Science.gov (United States)

    Yan, Zheping; Wang, Lu; Wang, Tongda; Yang, Zewen; Chen, Tao; Xu, Jian

    2018-03-30

    To solve the navigation accuracy problems of multi-Unmanned Underwater Vehicles (multi-UUVs) in the polar region, a polar cooperative navigation algorithm for multi-UUVs considering communication delays is proposed in this paper. UUVs are important pieces of equipment in ocean engineering for marine development. For UUVs to complete missions, precise navigation is necessary. It is difficult for UUVs to establish true headings because of the rapid convergence of Earth meridians and the severe polar environment. Based on the polar grid navigation algorithm, UUV navigation in the polar region can be accomplished with the Strapdown Inertial Navigation System (SINS) in the grid frame. To save costs, a leader-follower type of system is introduced in this paper. The leader UUV helps the follower UUVs to achieve high navigation accuracy. Follower UUVs correct their own states based on the information sent by the leader UUV and the relative position measured by ultra-short baseline (USBL) acoustic positioning. The underwater acoustic communication delay is quantized by the model. In this paper, considering underwater acoustic communication delay, the conventional adaptive Kalman filter (AKF) is modified to adapt to polar cooperative navigation. The results demonstrate that the polar cooperative navigation algorithm for multi-UUVs that considers communication delays can effectively navigate the sailing of multi-UUVs in the polar region.

  20. Research on Design of Plate-type Electromagnetic Coupler in Underwater Inductive Power Transmission

    Directory of Open Access Journals (Sweden)

    Qu Li-yan

    2015-01-01

    Full Text Available Magnetic coupler has a good application in the field of underwater sensor. Magnetic coupler at work, interference by underwater complex situation, stability and efficiency of charging device of the gap is larger fluctuations. The traditional electromagnetic coupling is charging for the stability of the clearance to demand higher. Charging for underwater, as a result of the existence of ocean currents, electromagnetic coupling clearance may not remain very stable. When there is deviation gap, a larger electromagnetic coupling performance deviation. On this particular problem, it puts forward the design method of a new type of plate type electromagnetic coupling. First of all, the leakage inductance of the finite element method to calculate system and excitation inductance, establish electromagnetic coupler with compensation capacitor equivalent circuit, and the primary circuit and secondary circuit was designed. On the basis, the voltage gain and efficiency of the system are carrying on the theoretical derivation and calculation. The simulation experimental results show that the magnetic coupler has a stable voltage gain and charging efficiency, when the partial core within 10 mm, voltage gain remains steady at 5.8%, efficiency remain at around 90%.

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

    Science.gov (United States)

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

    2017-01-01

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

  2. Low complexity adaptive equalizers for underwater acoustic communications

    Science.gov (United States)

    Soflaei, Masoumeh; Azmi, Paeiz

    2014-08-01

    Interference signals due to scattering from surface and reflecting from bottom is one of the most important problems of reliable communications in shallow water channels. To solve this problem, one of the best suggested ways is to use adaptive equalizers. Convergence rate and misadjustment error in adaptive algorithms play important roles in adaptive equalizer performance. In this paper, affine projection algorithm (APA), selective regressor APA(SR-APA), family of selective partial update (SPU) algorithms, family of set-membership (SM) algorithms and selective partial update selective regressor APA (SPU-SR-APA) are compared with conventional algorithms such as the least mean square (LMS) in underwater acoustic communications. We apply experimental data from the Strait of Hormuz for demonstrating the efficiency of the proposed methods over shallow water channel. We observe that the values of the steady-state mean square error (MSE) of SR-APA, SPU-APA, SPU-normalized least mean square (SPU-NLMS), SPU-SR-APA, SM-APA and SM-NLMS algorithms decrease in comparison with the LMS algorithm. Also these algorithms have better convergence rates than LMS type algorithm.

  3. Evaluation of the contact switch materials in high voltage power supply for generate of underwater shockwave by electrical discharge

    Directory of Open Access Journals (Sweden)

    K Higa

    2016-10-01

    Full Text Available We have developed the high voltage power-supply unit by Cockcroft-Walton circuit for ingenerate high pressure due to underwater shockwave by electrical discharge. This high voltage power supply has the problem of the metal contact switch operation that contact switch stop by melting and bonding due to electrical spark. We have studied the evaluation of materials of contact switch for the reducing electrical energy loss and the problem of contact switch operation. In this research, measurement of discharge voltage and high pressure due to underwater shockwave was carried out using the contact switch made of different materials as brass plate, brass-carbon plate-brass and carbon block. The contact switch made of carbon is effective to reduce energy loss and problem of contactor switch operation.

  4. Analysis of recordings from underwater controlled sources in the Pacific Ocean received by the International Monitoring System (IMS) of the Comprehensive Nuclear-Test-Ban Treaty Organization (CTBTO)

    Science.gov (United States)

    Yamada, Tomoaki; Zampolli, Mario; Haralabus, Georgios; Heaney, Kevin; Prior, Mark; Isse, Takeshi

    2016-04-01

    Controlled impulsive scientific underwater sound sources in the Northwestern Pacific were observed at two IMS hydroacoustic stations in the Pacific Ocean. Although these experiments were conducted with the aim of studying the physical properties of the plate boundaries inside the Earth, they are also suitable for the investigation of long range underwater acoustic detections. In spite of the fact that the energy of these controlled impulsive scientific sources is significantly smaller than that of nuclear explosions, the signals were obtained by IMS hydrophone stations thousands of kilometres away and also by distant ocean bottom instruments operated by various Institutes, such as the Earthquake Research Institute, University of Tokyo. These experiments provide calibrated (yield, time, location) long-range acoustic transmissions, which enable one to examine the physics of long-range acoustic propagation and to verify the capabilities of the CTBTO IMS network to detect even small explosions.The two IMS stations used are H03 (Juan Fernandez Island, Chile) off the coast of Chile in the Southeastern Pacific and H11 (Wake Island, USA) in the Western Pacific. Both stations consist of two triplets of hydrophones in the SOFAR channel, which monitor the oceans for signs of nuclear explosions. H03 detected low-yield explosions above flat terrain at distances of 15,000 km across the Pacific as well as explosions above the landward slope off the coast of Japan at distances above 16,000 km across the Pacific. These records showed that source signatures, such as short duration and bubble pulses, were preserved over the long propagation distances. It was found that the observed maximum amplitudes from each source exhibit order of magnitude variations even when the yield and detonation depth are the same. The experimental data and transmission loss simulations suggest that bathymetric features around the sources and between the sources and the receivers are the main causes for

  5. Sources of underwater sound and their characterization

    NARCIS (Netherlands)

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

    2016-01-01

    Because of the history of sonar and sonar engineering, the concept of “source level” is widely used to characterize anthropogenic sound sources, but is it useful for sources other than sonar transmitters? The concept and applicability of source level are reviewed for sonar, air guns, explosions,

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

    OpenAIRE

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

    2015-01-01

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

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

    International Nuclear Information System (INIS)

    Takayama, Kazuhiko.

    1997-01-01

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

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

    Science.gov (United States)

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

    2017-11-01

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

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

    Directory of Open Access Journals (Sweden)

    Xin Li

    2017-02-01

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

  10. Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves †

    Directory of Open Access Journals (Sweden)

    Wenyu Cai

    2017-07-01

    Full Text Available This paper investigates the task assignment and path planning problem for multiple AUVs in three dimensional (3D underwater wireless sensor networks where nonholonomic motion constraints of underwater AUVs in 3D space are considered. The multi-target task assignment and path planning problem is modeled by the Multiple Traveling Sales Person (MTSP problem and the Genetic Algorithm (GA is used to solve the MTSP problem with Euclidean distance as the cost function and the Tour Hop Balance (THB or Tour Length Balance (TLB constraints as the stop criterion. The resulting tour sequences are mapped to 2D Dubins curves in the X − Y plane, and then interpolated linearly to obtain the Z coordinates. We demonstrate that the linear interpolation fails to achieve G 1 continuity in the 3D Dubins path for multiple targets. Therefore, the interpolated 3D Dubins curves are checked against the AUV dynamics constraint and the ones satisfying the constraint are accepted to finalize the 3D Dubins curve selection. Simulation results demonstrate that the integration of the 3D Dubins curve with the MTSP model is successful and effective for solving the 3D target assignment and path planning problem.

  11. A Dynamic Bioinspired Neural Network Based Real-Time Path Planning Method for Autonomous Underwater Vehicles.

    Science.gov (United States)

    Ni, Jianjun; Wu, Liuying; Shi, Pengfei; Yang, Simon X

    2017-01-01

    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.

  12. A Dynamic Bioinspired Neural Network Based Real-Time Path Planning Method for Autonomous Underwater Vehicles

    Science.gov (United States)

    2017-01-01

    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

  13. Information resource explosion and low acquisition in academic ...

    African Journals Online (AJOL)

    The paper essentially discusses issues and strategies of combating the problems of information explosion which have launched the world into an information age that could be labelled tsunami vis-à-vis low acquisition of library resources in Nigerian academic libraries. Information is seriously exploding at a geometric ...

  14. Bionical profiled explosion-induced compression of matter

    International Nuclear Information System (INIS)

    Kaliski, S.

    1978-01-01

    The problem is considered of hypercompression of matter in a biconical cumulation system by using the concept of profiled explosion. For U-235, for instance, the possibility is assessed of compression of the order of 5 - 7, which permits the critical mass to be reduced by over 2 orders of magnitudes. (author)

  15. Fire and explosion security in the petroleum sector

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2005-07-01

    The conference has 12 presentations on topics regarding fire fighting, explosions and development scenarios, safety and security aspects, management of safety issues and measures and preparedness. Some accidents and fires are discussed. Some important problems with LNG with respects to plants, transport, fires and risk assessment are presented.

  16. Explosive solutions of elliptic equations with absorption and non ...

    Indian Academy of Sciences (India)

    R. Narasimhan (Krishtel eMaging) 1461 1996 Oct 15 13:05:22

    N. , provided that p, q are non-negative continuous functions so that any zero ofp is surrounded by a surface strictly included in on which p is positive. Under additional hypotheses on p we deduce the existence of solutions if is unbounded. Keywords. Explosive solution; semilinear elliptic problem; entire solution; maximum.

  17. Feasibility of underwater welding of highly irradiated in-vessel components of boiling-water reactors: A literature review

    Energy Technology Data Exchange (ETDEWEB)

    Lund, A.L.

    1997-11-01

    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.

  18. Transverse fracture of the stapes anterior crus caused by the blast pressure from a land mine explosion.

    Science.gov (United States)

    Hong, Seok Min; Lee, Jun Ho; Park, Chan Hum; Kim, Hyung-Jong

    2014-12-01

    Stapes fractures without other ossicle problems are rare and ossicle problems due to explosion pressure are also rare. We describe a very rare case of stapes anterior crural fracture resulting from a land mine explosion. As this case suggests, a close examination of the ossicles is necessary during an exploration tympanotomy.

  19. Transverse Fracture of the Stapes Anterior Crus Caused by the Blast Pressure from a Land Mine Explosion

    OpenAIRE

    Hong, Seok Min; Lee, Jun Ho; Park, Chan Hum; Kim, Hyung-Jong

    2014-01-01

    Stapes fractures without other ossicle problems are rare and ossicle problems due to explosion pressure are also rare. We describe a very rare case of stapes anterior crural fracture resulting from a land mine explosion. As this case suggests, a close examination of the ossicles is necessary during an exploration tympanotomy.

  20. A Secure Communication Suite for Underwater Acoustic Sensor Networks

    Directory of Open Access Journals (Sweden)

    Angelica Lo Duca

    2012-11-01

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

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

    International Nuclear Information System (INIS)

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

    2002-01-01

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

  2. Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

    DEFF Research Database (Denmark)

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

    2015-01-01

    The present paper introduces an approach to fault-tolerant reconfiguration for collaborating underwater robots. Fault-tolerant reconfiguration is obtained using the virtual actuator approach, Steen (2005). The paper investigates properties of a centralised versus a decentralised implementation...... an underwater drill needs to be transported and positioned by three collaborating robots as part of an underwater autonomous operation....... and assesses the capabilities under communication constraints between the individual robots. In the centralised case, each robot sends information related to its own status to a unique virtual actuator that computes the necessary reconfiguration. In the decentralised case, each robot is equipped with its own...

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

    Directory of Open Access Journals (Sweden)

    Carrick Detweiler

    2014-05-01

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

  4. A COMPARISON BETWEEN ACTIVE AND PASSIVE TECHNIQUES FOR UNDERWATER 3D APPLICATIONS

    Directory of Open Access Journals (Sweden)

    G. Bianco

    2012-09-01

    Full Text Available In the field of 3D scanning, there is an increasing need for more accurate technologies to acquire 3D models of close range objects. Underwater exploration, for example, is very hard to perform due to the hostile conditions and the bad visibility of the environment. Some application fields, like underwater archaeology, require to recover tridimensional data of objects that cannot be moved from their site or touched in order to avoid possible damages. Photogrammetry is widely used for underwater 3D acquisition, because it requires just one or two digital still or video cameras to acquire a sequence of images taken from different viewpoints. Stereo systems composed by a pair of cameras are often employed on underwater robots (i.e. ROVs, Remotely Operated Vehicles and used by scuba divers, in order to survey archaeological sites, reconstruct complex 3D structures in aquatic environment, estimate in situ the length of marine organisms, etc. The stereo 3D reconstruction is based on the triangulation of corresponding points on the two views. This requires to find in both images common points and to match them (correspondence problem, determining a plane that contains the 3D point on the object. Another 3D technique, frequently used in air acquisition, solves this point-matching problem by projecting structured lighting patterns to codify the acquired scene. The corresponding points are identified associating a binary code in both images. In this work we have tested and compared two whole-field 3D imaging techniques (active and passive based on stereo vision, in underwater environment. A 3D system has been designed, composed by a digital projector and two still cameras mounted in waterproof housing, so that it can perform the various acquisitions without changing the configuration of optical devices. The tests were conducted in a water tank in different turbidity conditions, on objects with different surface properties. In order to simulate a typical

  5. Molecular Outflows: Explosive versus Protostellar

    Energy Technology Data Exchange (ETDEWEB)

    Zapata, Luis A.; Rodríguez, Luis F.; Palau, Aina; Loinard, Laurent [Instituto de Radioastronomía y Astrofísica, UNAM, Apdo. Postal 3-72 (Xangari), 58089 Morelia, Michoacán, México (Mexico); Schmid-Burgk, Johannes [Max-Planck-Institut für Radioastronomie, Auf dem Hügel 69, D-53121, Bonn (Germany)

    2017-02-10

    With the recent recognition of a second, distinctive class of molecular outflows, namely the explosive ones not directly connected to the accretion–ejection process in star formation, a juxtaposition of the morphological and kinematic properties of both classes is warranted. By applying the same method used in Zapata et al., and using {sup 12}CO( J = 2-1) archival data from the Submillimeter Array, we contrast two well-known explosive objects, Orion KL and DR21, to HH 211 and DG Tau B, two flows representative of classical low-mass protostellar outflows. At the moment, there are only two well-established cases of explosive outflows, but with the full availability of ALMA we expect that more examples will be found in the near future. The main results are the largely different spatial distributions of the explosive flows, consisting of numerous narrow straight filament-like ejections with different orientations and in almost an isotropic configuration, the redshifted with respect to the blueshifted components of the flows (maximally separated in protostellar, largely overlapping in explosive outflows), the very-well-defined Hubble flow-like increase of velocity with distance from the origin in the explosive filaments versus the mostly non-organized CO velocity field in protostellar objects, and huge inequalities in mass, momentum, and energy of the two classes, at least for the case of low-mass flows. Finally, all the molecular filaments in the explosive outflows point back to approximately a central position (i.e., the place where its “exciting source” was located), contrary to the bulk of the molecular material within the protostellar outflows.

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

    Directory of Open Access Journals (Sweden)

    Yueyue Deng

    2013-01-01

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

  7. Airbag for the closing of pipelines on explosions and leakages

    DEFF Research Database (Denmark)

    Eisenreich, N.; Neutz, J.; Seiler, F.

    2007-01-01

    This paper is a result of international effort aimed at the construction of a device for quick closing of pipelines in the case of explosion propagation and/or chemical leakage. Such a problem exists in industries where flammable substances are transported by pipelines. The basic solution principle...... was the idea to use airbags similar to those utilized in cars. Two pipeline applications were taken into consideration: a low-pressure module able to suppress explosion propagation and a high-pressure module to stop leakages from, e.g. natural gas pipeline capable to be used for duct diameters up to 0.6 m...

  8. Damage caused to houses and equipment by underground nuclear explosions

    International Nuclear Information System (INIS)

    Delort, F.; Guerrini, C.

    1969-01-01

    A description is given of the damaged caused to various structures, buildings, houses, mechanical equipment and electrical equipment by underground nuclear explosions in granite. For each type of equipment or building are given the limiting distances for a given degree of damage. These distances have been related to a parameter characterizing the movement of the medium; it is thus possible to generalize the results obtained in granite, for different media. The problem of estimating the damage caused at a greater distance from the explosion is considered. (authors) [fr

  9. General phenomenology of underground nuclear explosions

    International Nuclear Information System (INIS)

    Derlich, S.; Supiot, F.

    1969-01-01

    An essentially qualitatively description is given of the phenomena related to underground nuclear explosions (explosion of a single unit, of several units in line, and simultaneous explosions). In the first chapter are described the phenomena which are common to contained explosions and to explosions forming craters (formation and propagation of a shock-wave causing the vaporization, the fusion and the fracturing of the medium). The second chapter describes the phenomena related to contained explosions (formation of a cavity with a chimney). The third chapter is devoted to the phenomenology of test explosions which form a crater; it describes in particular the mechanism of formation and the different types of craters as a function of the depth of the explosion and of the nature of the ground. The aerial phenomena connected with explosions which form a crater: shock wave in the air and focussing at a large distance, and dust clouds, are also dealt with. (authors) [fr

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

    Science.gov (United States)

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

    2013-04-01

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

  11. Atmospheric emission of NOx from mining explosives: A critical review

    Science.gov (United States)

    Oluwoye, Ibukun; Dlugogorski, Bogdan Z.; Gore, Jeff; Oskierski, Hans C.; Altarawneh, Mohammednoor

    2017-10-01

    High-energy materials such as emulsions, slurries and ammonium-nitrate fuel-oil (ANFO) explosives play crucial roles in mining, quarrying, tunnelling and many other infrastructure activities, because of their excellent transport and blasting properties. These explosives engender environmental concerns, due to atmospheric pollution caused by emission of dust and nitrogen oxides (NOx) from blasts, the latter characterised by the average emission factor of 5 kg (t AN explosive)-1. This first-of-its-kind review provides a concise literature account of the formation of NOx during blasting of AN-based explosives, employed in surface operations. We estimate the total NOx emission rate from AN-based explosives as 0.05 Tg (i.e., 5 × 104 t) N per annum, compared to the total global annual anthropogenic NOx emissions of 41.3 × 106 t N y-1. Although minor in the global sense, the large localised plumes from blasting exhibit high NOx concentration (500 ppm) exceeding up to 3000 times the international standards. This emission has profound consequences at mining sites and for adjacent atmospheric environment, necessitating expensive management of exclusion zones. The review describes different types of AN energetic materials for civilian applications, and summarises the essential properties and terminologies pertaining to their use. Furthermore, we recapitulate the mechanisms that lead to the formation of the reactive nitrogen species in blasting of AN-based explosives, review their implications to atmospheric air pollution, and compare the mechanisms with those experienced in other thermal and combustion operations. We also examine the mitigation approaches, including guidelines and operational-control measures. The review discusses the abatement technologies such as the formulation of new explosive mixtures, comprising secondary fuels, spin traps and other additives, in light of their effectiveness and efficiency. We conclude the review with a summary of unresolved problems

  12. Status of the ANTARES underwater neutrino telescope

    CERN Document Server

    Hallewell, G D

    2003-01-01

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

  13. Transducers and arrays for underwater sound

    CERN Document Server

    Butler, John L

    2016-01-01

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

  14. The NESTOR underwater neutrino telescope project

    Energy Technology Data Exchange (ETDEWEB)

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

    2009-04-11

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

  15. A Validation Process for Underwater Localization Algorithms

    Directory of Open Access Journals (Sweden)

    Marc Hildebrandt

    2014-09-01

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

  16. Improved Underwater Excitation-Emission Matrix Fluorometer

    Science.gov (United States)

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

    2007-01-01

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

  17. Collision Detection for Underwater ROV Manipulator Systems.

    Science.gov (United States)

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

    2018-04-06

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

  18. The NESTOR underwater neutrino telescope project

    International Nuclear Information System (INIS)

    Rapidis, Petros A.

    2009-01-01

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

  19. Morphing hull implementation for unmanned underwater vehicles

    International Nuclear Information System (INIS)

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

    2013-01-01

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

  20. On sampling the ocean using underwater gliders

    Science.gov (United States)

    Rudnick, Daniel L.; Cole, Sylvia T.

    2011-08-01

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

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

    African Journals Online (AJOL)

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

  2. Digital sonar design in underwater acoustics principles and applications

    CERN Document Server

    Li, Qihu

    2012-01-01

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

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

    National Research Council Canada - National Science Library

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

    2007-01-01

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

  4. Trade-off Analysis of Underwater Acoustic Sensor Networks

    Science.gov (United States)

    Tuna, G.; Das, R.

    2017-09-01

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

  5. Object detection from images obtained through underwater turbulence medium

    Science.gov (United States)

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

    2017-09-01

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

  6. Filming Underwater in 3d Respecting Stereographic Rules

    Science.gov (United States)

    Rinaldi, R.; Hordosch, H.

    2015-04-01

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

  7. Collision Avoidance of Moving Obstacles for Underwater Robots

    Directory of Open Access Journals (Sweden)

    KWON KYOUNG YOUB

    2006-10-01

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

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

    Directory of Open Access Journals (Sweden)

    Ahmed Hawass

    2015-12-01

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

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

    Science.gov (United States)

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

    2017-11-01

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

  10. Navigation of autonomous underwater vehicle using extended kalman filter

    Digital Repository Service at National Institute of Oceanography (India)

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

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

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

    Science.gov (United States)

    Hu, Han

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

  12. Strong explosions impact on buildings representative of an industrial facility

    International Nuclear Information System (INIS)

    Trelat, S.

    2006-12-01

    The goal of this study is to focus on the analysis of blast wave damage to structures when blast wave is consequence of explosive charge detonation. The objective is to propose useful tools to predict charges on structure. All experiences are realized in laboratory. The experimental investigation consists in simulating a detonation of a stoichiometric propane-oxygen mixture at ground level or at higher altitude. The study is going to give us experimental data on blast wave effects on a structure. For that, two types of structures frequently found on industrial site are going to be used: a parallelepipedal structure and a cylindrical structure, both with known dimensions. Finally, the important point of the problem is to determine an energetic equivalence between TNT and gas used in the experiments, in order to model TNT explosions at full scale by gaseous explosions at reduced scale. (author)

  13. Seismic coupling of nuclear explosions

    International Nuclear Information System (INIS)

    Larson, D.B.

    1989-01-01

    The new Giant Magnet Experimental Facility employing digital recording of explosion induced motion has been constructed and successfully tested. Particle velocity and piezoresistance gage responses can be measured simultaneously thus providing the capability for determining the multi-component stress-strain history in the test material. This capability provides the information necessary for validation of computer models used in simulation of nuclear underground testing, chemical explosion testing, dynamic structural response, earth penetration response, and etc. This report discusses fully coupled and cavity decoupled explosions of the same energy (0.622 kJ) were carried out as experiments to study wave propagation and attenuation in polymethylmethacrylate (PMMA). These experiments produced particle velocity time histories at strains from 2 x 10 -3 to as low as 5.8 x 10 -6 . Other experiments in PMMA, reported recently by Stout and Larson 8 provide additional particle velocity data to strains of 10 -1

  14. The vapor pressures of explosives

    Energy Technology Data Exchange (ETDEWEB)

    Ewing, Robert G.; Waltman, Melanie J.; Atkinson, David A.; Grate, Jay W.; Hotchkiss, Peter

    2013-01-05

    The vapor pressures of many explosive compounds are extremely low and thus determining accurate values proves difficult. Many researchers, using a variety of methods, have measured and reported the vapor pressures of explosives compounds at single temperatures, or as a function of temperature using vapor pressure equations. There are large variations in reported vapor pressures for many of these compounds, and some errors exist within individual papers. This article provides a review of explosive vapor pressures and describes the methods used to determine them. We have compiled primary vapor pressure relationships traceable to the original citations and include the temperature ranges for which they have been determined. Corrected values are reported as needed and described in the text. In addition, after critically examining the available data, we calculate and tabulate vapor pressures at 25 °C.

  15. Model-based processing for underwater acoustic arrays

    CERN Document Server

    Sullivan, Edmund J

    2015-01-01

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

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

    OpenAIRE

    Jesus, S. M.

    2013-01-01

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

  17. Estimation of underwater acoustic fields at high frequencies

    OpenAIRE

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

    2001-01-01

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

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

    Science.gov (United States)

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

    2007-06-01

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

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

    OpenAIRE

    Li, Daijin; Qin, Kan; Luo, Kai

    2015-01-01

    Stirling engines are regarded as an efficient and promising power system for underwater devices. Currently, many researches on one-dimensional model is used to evaluate thermodynamic performance of Stirling engine, but in which there are still some aspects which cannot be modeled with proper mathematical models such as mechanical loss or auxiliary power. In this paper, a four-cylinder double-acting Stirling engine for Unmanned Underwater Vehicles (UUVs) is discussed. And a one-dimensional mod...

  20. Characterization of ships as sources of underwater noise

    OpenAIRE

    Jong, C.A.F. de

    2009-01-01

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

  1. Remote Underwater Characterization System - Innovative Technology Summary Report

    International Nuclear Information System (INIS)

    Willis, Walter David

    1999-01-01

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

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

    OpenAIRE

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

    2013-01-01

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

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

    OpenAIRE

    Kraus, Robert J.

    2010-01-01

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

  4. An Observability Metric for Underwater Vehicle Localization Using Range Measurements

    Directory of Open Access Journals (Sweden)

    Filippo Arrichiello

    2013-11-01

    Full Text Available The paper addresses observability issues related to the general problem of single and multiple Autonomous Underwater Vehicle (AUV localization using only range measurements. While an AUV is submerged, localization devices, such as Global Navigation Satellite Systems, are ineffective, due to the attenuation of electromagnetic waves. AUV localization based on dead reckoning techniques and the use of affordable motion sensor units is also not practical, due to divergence caused by sensor bias and drift. For these reasons, localization systems often build on trilateration algorithms that rely on the measurements of the ranges between an AUV and a set of fixed transponders using acoustic devices. Still, such solutions are often expensive, require cumbersome calibration procedures and only allow for AUV localization in an area that is defined by the geometrical arrangement of the transponders. A viable alternative for AUV localization that has recently come to the fore exploits the use of complementary information on the distance from the AUV to a single transponder, together with information provided by on-board resident motion sensors, such as, for example, depth, velocity and acceleration measurements. This concept can be extended to address the problem of relative localization between two AUVs equipped with acoustic sensors for inter-vehicle range measurements. Motivated by these developments, in this paper, we show that both the problems of absolute localization of a single vehicle and the relative localization of multiple vehicles can be treated using the same mathematical framework, and tailoring concepts of observability derived for nonlinear systems, we analyze how the performance in localization depends on the types of motion imparted to the AUVs. For this effect, we propose a well-defined observability metric and validate its usefulness, both in simulation and by carrying out experimental tests with a real marine vehicle during which the

  5. Impact of sea waves on underwater fish-breeding cages

    Directory of Open Access Journals (Sweden)

    Pilyaev Sergey Ivanovich

    2014-02-01

    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

  6. U. S. S. Iowa Explosion

    Energy Technology Data Exchange (ETDEWEB)

    1991-08-01

    In assessing the Navy's technical investigation of the April 1989 explosion aboard the U.S.S. Iowa, GAO enlisted the assistance of the Department of Energy's Sandia National Laboratories. This report contains Sandia's final report, which concludes that it is unclear whether the turret explosion that killed 47 sailors was due to sabotage or an accident. In fact, Sandia suggests as a possible cause the excessive speed of ramming powder bags into the chamber of a 16-inch gun.

  7. ICPP custom dissolver explosion recovery

    International Nuclear Information System (INIS)

    Demmer, R.; Hawk, R.

    1992-01-01

    This report discusses the recovery from the February 9, 1991 small scale explosion in a custom processing dissolver at the Idaho Chemical Processing Plant. Custom processing is a small scale dissolution facility which processes nuclear material in an economical fashion. The material dissolved in this facility was uranium metal, uranium oxides, and uranium/fissium alloy in nitric acid. The paper explained the release of fission material, and the decontamination and recovery of the fuel material. The safety and protection procedures were also discussed. Also described was the chemical analysis which was used to speculate the most probable cause of the explosion. (MB)

  8. System for detecting nuclear explosions

    International Nuclear Information System (INIS)

    Rawls, L.E.

    1978-01-01

    Apparatus for detecting underground nuclear explosions is described that is comprised of an antenna located in the dielectric substance of a deep waveguide in the earth and adapted to detect low frequency electromagnetic waves generated by a nuclear explosion, the deep waveguide comprising the high conductivity upper sedimentary layers of the earth, the dielectric basement rock, and a high conductivity layer of basement rock due to the increased temperature thereof at great depths, and means for receiving the electromagnetic waves detected by said antenna means

  9. Elaboration of the Charge Constructions of Explosives for the Structure of Facing Stone

    Science.gov (United States)

    Khomeriki, Sergo; Mataradze, Edgar; Chikhradze, Nikoloz; Losaberidze, Marine; Khomeriki, Davit; Shatberashvili, Grigol

    2017-12-01

    Increased demand for high-strength facing material caused the enhancement of the volume of explosives use in modern technologies of blocks production. The volume of broken rocks and crushing quality depends on the rock characteristics and on the properties of the explosive, in particular on its brisance and serviceability. Therefore, the correct selection of the explosive for the specific massif is of a considerable practical importance. For efficient mining of facing materials by explosion method the solving of such problems as determination of the method of blasthole drilling as well as of the regime and charge values, selection of the explosive, blastholes distribution in the face and their order is necessary. This paper focuses on technical solutions for conservation of rock natural structure in the blocks of facing material, mined by the use of the explosives. It has been established that the efficient solving of mentioned problem is attained by reducing of shock pulse duration. In such conditions the rigidity of crystalline lattice increases in high pressure area. As a result, the hazard if crack formation in structural unites and the increases of natural cracks are excluded. Short-time action of explosion pulse is possible only by linear charges of the explosives, characterized by high detonation velocity which detonate by the velocity of 7-7.5 km/sec and are characterized by very small critical diameter.

  10. Some Considerations on an Underwater Robotic Manipulator Subjected to the Environmental Disturbances Caused by Water Current

    Directory of Open Access Journals (Sweden)

    Kołodziejczyk Waldemar

    2016-03-01

    Full Text Available The objective of this paper is to discuss some of the issues associated with environmental load on the three-link serial manipulator caused by underwater current. We have conducted CFD simulations to investigate hydrodynamic effects induced by changing current direction and changing with time current speed in order to better understand the physics of the problem. The results are presented in terms of moments of hydrodynamic forces plotted against relative position of the current and the robotic arm. Time history of hydrodynamic loads according to periodically changing current speed is presented and discussed.

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

    Directory of Open Access Journals (Sweden)

    Gang Hu

    2018-01-01

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

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

    Science.gov (United States)

    Blackwell, Susanna B.; Greene, Charles R.

    2005-12-01

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

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

    Directory of Open Access Journals (Sweden)

    Samuela PERSIA

    2016-04-01

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

  14. An Alignment Method for the Integration of Underwater 3D Data Captured by a Stereovision System and an Acoustic Camera

    OpenAIRE

    Lagudi, Antonio; Bianco, Gianfranco; Muzzupappa, Maurizio; Bruno, Fabio

    2016-01-01

    The integration of underwater 3D data captured by acoustic and optical systems is a promising technique in various applications such as mapping or vehicle navigation. It allows for compensating the drawbacks of the low resolution of acoustic sensors and the limitations of optical sensors in bad visibility conditions. Aligning these data is a challenging problem, as it is hard to make a point-to-point correspondence. This paper presents a multi-sensor registration for the automatic integration...

  15. A Support Vector Learning-Based Particle Filter Scheme for Target Localization in Communication-Constrained Underwater Acoustic Sensor Networks.

    Science.gov (United States)

    Li, Xinbin; Zhang, Chenglin; Yan, Lei; Han, Song; Guan, Xinping

    2017-12-21

    Target localization, which aims to estimate the location of an unknown target, is one of the key issues in applications of underwater acoustic sensor networks (UASNs). However, the constrained property of an underwater environment, such as restricted communication capacity of sensor nodes and sensing noises, makes target localization a challenging problem. This paper relies on fractional sensor nodes to formulate a support vector learning-based particle filter algorithm for the localization problem in communication-constrained underwater acoustic sensor networks. A node-selection strategy is exploited to pick fractional sensor nodes with short-distance pattern to participate in the sensing process at each time frame. Subsequently, we propose a least-square support vector regression (LSSVR)-based observation function, through which an iterative regression strategy is used to deal with the distorted data caused by sensing noises, to improve the observation accuracy. At the same time, we integrate the observation to formulate the likelihood function, which effectively update the weights of particles. Thus, the particle effectiveness is enhanced to avoid "particle degeneracy" problem and improve localization accuracy. In order to validate the performance of the proposed localization algorithm, two different noise scenarios are investigated. The simulation results show that the proposed localization algorithm can efficiently improve the localization accuracy. In addition, the node-selection strategy can effectively select the subset of sensor nodes to improve the communication efficiency of the sensor network.

  16. Determination of Spatial Configuration of an Underwater Swarm with Minimum Data

    Directory of Open Access Journals (Sweden)

    Ramiro dell'Erba

    2015-07-01

    Full Text Available This paper is the extension of work presented at the IARP Conference “Bio inspired robotics” held in Frascati (Italy, 14 May 2014. The subject is the localization problem of an underwater swarm of autonomous underwater robots (AUV, in the frame of the HARNESS project; by localization, we mean the relative swarm configuration, i.e., the geometrical shape of the group. The result is achieved by using the signals that the robots exchange. The swarm is organized by rules and conceived to perform tasks, ranging from environmental monitoring to terrorism-attack surveillance. Two methods of determining the shape of the swarm, both based on trilateration calculation, are proposed. The first method focuses on the robot's speed. In this case, we use our knowledge of the speeds and distances between the machines, while the second method considers only distances and the orientation angles of the robots. Unlike a trilateration problem, we do not know the position of the beacons and this renders the problem a difficult one. Moreover, we have very few data. More than one step of motion is needed to resolve the multiple solutions found, owing to the symmetries of the system and optimization process of one or more objective functions leading to the final configuration. We subsequently checked our algorithm using a simulator taking into account random errors affecting the measurements.

  17. Risperidone and Explosive Aggressive Autism.

    Science.gov (United States)

    Horrigan, Joseph P.; Barnhill, L. Jarrett

    1997-01-01

    In this study, 11 males with autism and mental retardation were administered risperidone. Substantial clinical improvement was noted almost immediately; patients with aggression, self-injury, explosivity, and poor sleep hygiene were most improved. The modal dose for optimal response was 0.5 mg bid. Weight gain was a significant side effect.…

  18. Lead-free primary explosives

    Science.gov (United States)

    Huynh, My Hang V.

    2010-06-22

    Lead-free primary explosives of the formula (cat).sub.Y[M.sup.II(T).sub.X(H.sub.2O).sub.6-X].sub.Z, where T is 5-nitrotetrazolate, and syntheses thereof are described. Substantially stoichiometric equivalents of the reactants lead to high yields of pure compositions thereby avoiding dangerous purification steps.

  19. Explosion mitigation by water mist

    NARCIS (Netherlands)

    Wal, R. van der; Cargill, S.; Longbottom, A.; Rhijnsburger, M.P.M.; Erkel, A.G. van

    2010-01-01

    The internal explosion of an anti-ship missile or stored ammunition is a potentially catastrophic threat for a navy vessel. These events generally cause heavy blast loading and fragments to perforate the ship structure. As a solution to reduce the blast loading, the compartment can be filled with

  20. Experimental approach to explosive nucleosynthesis

    International Nuclear Information System (INIS)

    Kubono, S.

    1991-07-01

    Recent development of experimental studies on explosive nucleosynthesis, especially the rapid proton process and the primordial nucleosynthesis were discussed with a stress on unstable nuclei. New development in the experimental methods for the nuclear astrophysics is also discussed which use unstable nuclear beams. (author)

  1. Excavation research with chemical explosives

    International Nuclear Information System (INIS)

    Vandenberg, William E.; Day, Walter C.

    1970-01-01

    The US Army Engineer Nuclear Cratering Group (NCG) is located at the Lawrence Radiation Laboratory in Livermore, California. NCG was established in 1962 and assigned responsibility for technical program direction of the Corps of Engineers Nuclear Excavation Research Program. The major part of the experimental program has been the execution of chemical explosive excavation experiments. In the past these experiments were preliminary to planned nuclear excavation experiments. The experience gained and technology developed in accomplishing these experiments has led to an expansion of NCG's research mission. The overall research and development mission now includes the development of chemical explosive excavation technology to enable the Corps of Engineers to more economically accomplish Civil Works Construction projects of intermediate size. The current and future chemical explosive excavation experiments conducted by NCG will be planned so as to provide data that can be used in the development of both chemical and nuclear excavation technology. In addition, whenever possible, the experiments will be conducted at the specific sites of authorized Civil Works Construction Projects and will be designed to provide a useful portion of the engineering structures planned in that project. Currently, the emphasis in the chemical explosive excavation program is on the development of design techniques for producing specific crater geometries in a variety of media. Preliminary results of two such experiments are described in this paper; Project Pre-GONDOLA III, Phase III, Reservoir Connection Experiment; and a Safety Calibration Series for Project TUGBOAT, a small boat harbor excavation experiment

  2. Explosion-proof scintillation counter

    International Nuclear Information System (INIS)

    Opitts, P.; Borkert, R.

    1979-01-01

    It is noted that measuring devices used in the research works conducted with the help of radioactive isotopes on the chemical industry installations dangerous from the point of view of explosions, especially on the installations of the petrochemistry industry, must not limit the exploitation safety of these installations. The said especially concerns with the Geiger-Mueller type counters and scintillation detectors, located immediately in the places of measurements on the installations and supplied by high voltage power supply. It has been shown that electronic circuits for the detector's signals processing and obtaining working voltages can be located out of the explosive dangerous premices, for example, in the car trailer. Description is given of the device, with the help of which explosion safety is provided for the serially produced scintillation counter with forced ventilation (counter of the VA-S-50 type). Due to this device application, the exploitation parameters of the counter do not go down and there is no need for any changes in its design. Description is given of the device for external power supply and control of the counter which can swich off the power supply in the case of an accident, dangerous from the point of view of violation of the explosion safety conditions. The device is described for providing service to 10 measuring chanels, mounted on the car trailer [ru

  3. Gas explosion during colonic surgery.

    Science.gov (United States)

    De Wilt, J H; Borel Rinkes, I H; Brouwer, K J

    1996-12-01

    Explosions of the colon as a result of the use of diathermy in the presence of gas mixtures of oxygen, hydrogen and/or methane have been previously described in the literature. This danger is present during colonoscopic polypectomy as well as during colonic surgery. The following case is presented to alert to the potential hazards of bowel gas during electrosurgery.

  4. Air Blasts from Cased and Uncased Explosives

    Energy Technology Data Exchange (ETDEWEB)

    Glenn, L. A. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States)

    2016-04-12

    The problem of a spherical blast in air is solved using the STUN code. For bare charges, the calculations are shown to be in excellent agreement with previous published results. It is demonstrated that, for an unconfined (uncased) chemical explosive, both range and time to effect scale inversely as the cube root of the yield and directly as the cube root of the ambient air density. It is shown that the peak overpressure decays to roughly 1/10 of ambient pressure in a scaled range of roughly 10 m/kg1/3 at sea level. At a height of 30 km, where the ambient density is a factor of 64 less, the range to the same decay increases to 40 m/kg1/3 . As a direct result of the scaling a single calculation suffices for all charge sizes and altitudes. Although the close-in results are sensitive to the nature of the explosive source and the equation of state of the air, this sensitivity is shown to virtually disappear at scaled ranges > 0.5 m/kg1/3 . For cased explosives the case thickness introduces an additional scale factor. Moreover, when the blast wave arrives at the inner case radius the case begins to expand. Fracture occurs when a critical value of the resulting hoop strain is reached, causing the case to shatter into fragments. A model is proposed to describe the size distribution of the fragments and their subsequent motion via drag interaction with the explosion products and ambient air. It is shown that a significant fraction of the charge energy is initially transmitted to the case fragments in the form of kinetic energy; for example, a 1 kg spherical charge with a 5 mm thick steel case has almost 29% of the total charge energy as initial kinetic energy of case fragments. This percentage increases with increasing case thickness and decreases with increasing charge size. The peak overpressure at a given range is 70-85% for cased explosives as compared with uncased and the peak impulse per unit area is 90-95%. The peak overpressure and

  5. 75 FR 1085 - Commerce in Explosives; List of Explosive Materials (2009R-18T)

    Science.gov (United States)

    2010-01-08

    ... if it otherwise meets the statutory definitions in 18 U.S.C. 841. Explosive materials are listed... inorganic salts and hydrocarbons. Explosive mixtures containing oxygen-releasing inorganic salts and nitro... nitro compounds of aromatic hydrocarbons. Explosive organic nitrate mixtures. Explosive powders. F Flash...

  6. 77 FR 58410 - Commerce in Explosives; List of Explosive Materials (2012R-10T)

    Science.gov (United States)

    2012-09-20

    ... coverage of the law if it otherwise meets the statutory definitions in 18 U.S.C. 841. Explosive materials... liquids. Explosive mixtures containing oxygen-releasing inorganic salts and hydrocarbons. Explosive... mixtures containing tetranitromethane (nitroform). Explosive nitro compounds of aromatic hydrocarbons...

  7. Application of heat-balance integral method to conjugate thermal explosion

    Directory of Open Access Journals (Sweden)

    Novozhilov Vasily

    2009-01-01

    Full Text Available Conjugate thermal explosion is an extension of the classical theory, proposed and studied recently by the author. The paper reports application of heat-balance integral method for developing phase portraits for systems undergoing conjugate thermal explosion. The heat-balance integral method is used as an averaging method reducing partical differential equation problem to the set of first-order ordinary differential equations. The latter reduced problem allows natural interpretation in appropriately chosen phase space. It is shown that, with the help of heat-balance integral technique, conjugate thermal explosion problem can be described with a good accuracy by the set of non-linear first-order differential equations involving complex error function. Phase trajectories are presented for typical regimes emerging in conjugate thermal explosion. Use of heat-balance integral as a spatial averaging method allows efficient description of system evolution to be developed.

  8. Behavior of explosion debris clouds

    International Nuclear Information System (INIS)

    Anon.

    1986-01-01

    In the normal course of events the behavior of debris clouds created by explosions will be of little concern to the atomic energy industry. However, two situations, one of them actual and one postulated, exist where the rise and spread of explosion clouds can affect site operations. The actual occurrence would be the detonation of nuclear weapons and the resultant release and transport of radioactive debris across the various atomic energy installations. Although the activity of the diffusing cloud is not of biological concern, it may still be sufficiently above background to play havoc with the normal readings of sensitive monitoring instruments. If it were not known that these anomalous readings resulted from explosion debris, considerable time and expense might be required for on-site testing and tracing. Fortunately it is usually possible, with the use of meteorological data and forecasts, to predict when individual sites are affected by nuclear weapon debris effects. The formation rise, and diffusion of weapon clouds will be discussed. The explosion of an atomic reactor is the postulated situation. It is common practice in reactor hazard analysis to assume a combination of circumstances which might result in a nuclear incident with a release of material to the atmosphere. It is not within the scope of this report to examine the manifold plausibilities that might lead to an explosion or the possible methods of release of gaseous and/or particulates from such an occurrence. However, if the information of a cloud is assumed and some idea of its energy content is obtainable, estimates of the cloud behavior in the atmosphere can be made

  9. Gas explosion in domestic buildings. The vented gas explosion[sub][/sub

    Directory of Open Access Journals (Sweden)

    Tadeusz Chyży

    2014-08-01

    Full Text Available In this paper, the basic information, related to the so-called vented gas explosion, has been presented. The vented explosion it is an explosion, during which the destruction of the weakest elements of the structure occurs. Through the resulting holes (decompressing surfaces can flow both combustion products and non-burned gas mixture. In consequence, reduction of the maximum explosion pressure[i] P[sub]red [/sub][/i] may be significant. Often, a gas explosion occurs inside residential buildings. In this case, natural vents are window and door openings.[b]Keywords[/b]: gas, explosion, combustion, explosion vents

  10. Effects of Aluminum Powder on Ignition Performance of RDX, HMX, and CL-20 Explosives

    Directory of Open Access Journals (Sweden)

    Xiaoxiang Mao

    2018-01-01

    Full Text Available As a kind of high explosives, aluminized explosive cannot release the energy maximumly, which is a key problem. Using DTA-TG equipment, the ignition performance of three kinds of aluminized explosives (RDX, HMX, and CL-20 with different mass percentages of aluminum powder (0%, 10 wt.%, 20 wt.%, and 30 wt.% was investigated. The results showed that the energy release of the HMX/Al composite explosive with 10 wt.%, 20 wt.%, and 30 wt.% aluminum powder was only equivalent to 80%, 65%, and 36% of pure HMX, respectively. It was similar to RDX/Al and CL-20/Al composite explosives, except the CL-20/Al mixture with 10% aluminum powder. Rather than participating in the ignition and combustion, the aluminum powder does effect the complete reaction of RDX, HMX, and CL-20 in the initial stage of ignition or in the lower temperature area of the boundary.

  11. Numerical Simulation of the Micro-explosion during Ho:YAG laser lithotripsy

    International Nuclear Information System (INIS)

    Yao Yucheng; Huang Chuyun; Xu Guowang; Yan Xudong; Wang Yanlin

    2011-01-01

    The micro-explosion during Ho:YAG laser lithotripsy may cause calculus fragmentation and migration. It plays an important role to the surgery. A numerical simulation of the micro-explosion during Ho:YAG laser lithotripsy has been developed. The explosion problem in water environment was solved by the Euler algorithm and the piecewise parabolic method (PPM) was selected in the calculation. This simulation investigated the explosion dynamics evolution in the lithotripsy area. The pressure and intensity of the calculus surface were calculated for different laser pulse energy and different distance between calculus and fiber tip. The calculation results indicate that the micro-explosion's properties are determined by the pulse energy, pulse duration and the water distance. Though Short pulse duration and large pulse energy cause high ablation efficiency, it mains more calculus retropulsion at the same time. The ideal surgery results need property laser parameters.

  12. Autonomous Underwater Vehicle Magnetic Mapping System

    Science.gov (United States)

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

    2012-12-01

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

  13. Underwater Animal Monitoring Magnetic Sensor System

    KAUST Repository

    Kaidarova, Altynay

    2017-10-01

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

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

    Science.gov (United States)

    Saini, P. Sri; Prince, Shanthi

    2011-10-01

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

  15. Underwater acoustic sensor networks: Medium access control, routing and reliable transfer

    Science.gov (United States)

    Xie, Peng

    Recently there have been growing interests in monitoring aquatic environments for scientific exploration, commercial exploitation and coastline protection. The ideal vehicle for this type of extensive monitoring is a mobile underwater sensor network (M-UWSN), consisting of a large number of low cost underwater sensors that can move with water currents and dispersion. M-UWSNs are significantly different from terrestrial sensor networks: (1) Radio channels do not work well under water. They must be replaced by acoustic channels, which feature long propagation delays, low communication bandwidth and high channel error rates; (2) While most ground sensors are static, underwater sensor nodes may move with water currents (and other underwater activities), as introduces passive sensor mobility. Due to the very different environment properties and the unique characteristics of acoustic channels, the protocols developed for terrestrial sensor networks are not applicable to M-UWSNs, and new research at every level of the protocol suite is demanded. In this dissertation work, we investigate three fundamental networking problems in M-UWSN design: medium access control, multi-hop routing and reliable data transfer. (1) Medium access control (MAC): the long propagation delays and narrow communication bandwidth of acoustic channels pose the major challenges to the energy-efficient MAC design in M-UWSNs. For the first time, we formally investigate the random access and RTS/CTS techniques in networks with long propagation delays and low communication bandwidth (as in M-UWSNs). Based on this study, we propose a novel reservation-based MAC approach, called R-MAC, for dense underwater sensor networks with unevenly distributed (spatially and temporally) traffic. Simulation results show that R-MAC is not only energy efficient but also supports fairness. (2) Multi-hop routing: In M-UWSNs, energy efficiency and mobility handling are the two major concerns for multi-hop routing, which have

  16. Gas explosion in domestic buildings. The vented gas explosion[sub][/sub

    OpenAIRE

    Tadeusz Chyży

    2014-01-01

    In this paper, the basic information, related to the so-called vented gas explosion, has been presented. The vented explosion it is an explosion, during which the destruction of the weakest elements of the structure occurs. Through the resulting holes (decompressing surfaces) can flow both combustion products and non-burned gas mixture. In consequence, reduction of the maximum explosion pressure[i] P[sub]red [/sub][/i] may be significant. Often, a gas explosion occurs inside residential build...

  17. Premixing and steam explosion phenomena in the tests with stratified melt-coolant configuration and binary oxidic melt simulant materials

    Energy Technology Data Exchange (ETDEWEB)

    Kudinov, Pavel, E-mail: pavel@safety.sci.kth.se; Grishchenko, Dmitry, E-mail: dmitry@safety.sci.kth.se; Konovalenko, Alexander, E-mail: kono@kth.se; Karbojian, Aram, E-mail: karbojan@kth.se

    2017-04-01

    Highlights: • Steam explosion in stratified melt-coolant configuration is studied experimentally. • Different binary oxidic melt simulant materials were used. • Five spontaneous steam explosions were observed. • Instability of melt-coolant interface and formation of premixing layer was observed. • Explosion strength is influenced by melt superheat and water subcooling. - Abstract: Steam explosion phenomena in stratified melt-coolant configuration are considered in this paper. Liquid corium layer covered by water on top can be formed in severe accident scenarios with (i) vessel failure and release of corium melt into a relatively shallow water pool; (ii) with top flooding of corium melt layer. In previous assessments of potential energetics in stratified melt-coolant configuration, it was assumed that melt and coolant are separated by a stable vapor film and there is no premixing prior to the shock wave propagation. This assumption was instrumental for concluding that the amount of energy that can be released in such configuration is not of safety importance. However, several recent experiments carried out in Pouring and Under-water Liquid Melt Spreading (PULiMS) facility with up to 78 kg of binary oxidic corium simulants mixtures have resulted in spontaneous explosions with relatively high conversion ratios (order of one percent). The instability of the melt-coolant interface, melt splashes and formation of premixing layer were observed in the tests. In this work, we present results of experiments carried out more recently in steam explosion in stratified melt-coolant configuration (SES) facility in order to shed some light on the premixing phenomena and assess the influence of the test conditions on the steam explosion energetics.

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

    National Research Council Canada - National Science Library

    Gooding, Trent

    2001-01-01

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

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

    NARCIS (Netherlands)

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

    2011-01-01

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

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

    National Research Council Canada - National Science Library

    Kato, Naomi

    2004-01-01

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

  1. Multistage reaction pathways in detonating high explosives

    International Nuclear Information System (INIS)

    Li, Ying; Kalia, Rajiv K.; Nakano, Aiichiro; Nomura, Ken-ichi; Vashishta, Priya

    2014-01-01

    Atomistic mechanisms underlying the reaction time and intermediate reaction products of detonating high explosives far from equilibrium have been elusive. This is because detonation is one of the hardest multiscale physics problems, in which diverse length and time scales play important roles. Here, large spatiotemporal-scale reactive molecular dynamics simulations validated by quantum molecular dynamics simulations reveal a two-stage reaction mechanism during the detonation of cyclotrimethylenetrinitramine crystal. Rapid production of N 2 and H 2 O within ∼10 ps is followed by delayed production of CO molecules beyond ns. We found that further decomposition towards the final products is inhibited by the formation of large metastable carbon- and oxygen-rich clusters with fractal geometry. In addition, we found distinct unimolecular and intermolecular reaction pathways, respectively, for the rapid N 2 and H 2 O productions

  2. Shape optimisation of an underwater Bernoulli gripper

    Science.gov (United States)

    Flint, Tim; Sellier, Mathieu

    2015-11-01

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

  3. Underwater radiated noise from modern commercial ships.

    Science.gov (United States)

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

    2012-01-01

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

  4. The Modular Optical Underwater Survey System

    Directory of Open Access Journals (Sweden)

    Ruhul Amin

    2017-10-01

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

  5. Autonomous Underwater Vehicle Thermoelectric Power Generation

    Science.gov (United States)

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

    2013-07-01

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

  6. Data extraction system for underwater particle holography

    Science.gov (United States)

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

    2000-08-01

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

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

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  8. An Obstacle Recognizing Mechanism for Autonomous Underwater Vehicles Powered by Fuzzy Domain Ontology and Support Vector Machine

    Directory of Open Access Journals (Sweden)

    Zhen-Shu Mi

    2014-01-01

    Full Text Available The autonomous underwater vehicle (AUV and the problems associated with its safe navigation have been studied for the last two decades. The real-time underwater obstacle recognition procedure still has many complications associated with it and the issue becomes worse with vague sensor data. These problems can be coped with the merger of a robust classification mechanism and a domain knowledge acquisition technique. In this paper, we introduce a hybrid mechanism to recognize underwater obstacles for AUV based on fuzzy domain ontology and support vector machine (SVM. SVM is an efficient algorithm that was developed for recognizing 3D object in recent years and is a new generation learning system based on recent advances in statistical learning theory. The amalgamation of fuzzy domain ontology with SVM boosts the performance of the obstacle recognition module by providing the timely semantic domain information of the surrounding circumstances. Also the reasoning ability of the fuzzy domain ontology can expedite the obstacle avoidance process. In order to evaluate the performance of the system, we developed a prototype simulator based on OpenGL and VC++. We compared the outcomes of our proposed technique with backpropagation algorithm and classic SVM based techniques.

  9. A Study for Optimum Survey Method of Underwater Structure Using the Dual Sonar Sensor

    Directory of Open Access Journals (Sweden)

    Youngseok Kim

    2017-01-01

    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.

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

    OpenAIRE

    Sumit Kumar; Sunil Kumar; Chandan Deep Singh

    2015-01-01

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

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

    Science.gov (United States)

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

    2011-01-01

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

  12. Design and Implementation of an Underwater Sound Recording Device

    Directory of Open Access Journals (Sweden)

    Christa M. Woodley

    2011-09-01

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

  13. Underwater topography acquired by remote sensing based on SOFM

    Science.gov (United States)

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

    2008-12-01

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

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

    Science.gov (United States)

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

    2017-03-29

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

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

    Science.gov (United States)

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

    2017-09-01

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

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

    Directory of Open Access Journals (Sweden)

    Emily Chua

    2016-11-01

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

  17. Sensitivity to friction for primary explosives.

    Science.gov (United States)

    Matyáš, Robert; Šelešovský, Jakub; Musil, Tomáš

    2012-04-30

    The sensitivity to friction for a selection of primary explosives has been studied using a small BAM friction apparatus. The probit analysis was used for the construction of a sensitivity curve for each primary explosive tested. Two groups of primary explosives were chosen for measurement (a) the most commonly used industrially produced primary explosives (e.g. lead azide, tetrazene, dinol, lead styphnate) and (b) the most produced improvised primary explosives (e.g. triacetone triperoxide, hexamethylenetriperoxide diamine, mercury fulminate, acetylides of heavy metals). A knowledge of friction sensitivity is very important for determining manipulation safety for primary explosives. All the primary explosives tested were carefully characterised (synthesis procedure, shape and size of crystals). The sensitivity curves obtained represent a unique set of data, which cannot be found anywhere else in the available literature. Copyright © 2012 Elsevier B.V. All rights reserved.

  18. Spot test kit for explosives detection

    Science.gov (United States)

    Pagoria, Philip F; Whipple, Richard E; Nunes, Peter J; Eckels, Joel Del; Reynolds, John G; Miles, Robin R; Chiarappa-Zucca, Marina L

    2014-03-11

    An explosion tester system comprising a body, a lateral flow membrane swab unit adapted to be removeably connected to the body, a first explosives detecting reagent, a first reagent holder and dispenser operatively connected to the body, the first reagent holder and dispenser containing the first explosives detecting reagent and positioned to deliver the first explosives detecting reagent to the lateral flow membrane swab unit when the lateral flow membrane swab unit is connected to the body, a second explosives detecting reagent, and a second reagent holder and dispenser operatively connected to the body, the second reagent holder and dispenser containing the second explosives detecting reagent and positioned to deliver the second explosives detecting reagent to the lateral flow membrane swab unit when the lateral flow membrane swab unit is connected to the body.

  19. RANCHERO explosive pulsed power experiments

    CERN Document Server

    Goforth, J H; Armijo, E V; Atchison, W L; Bartos, Yu; Clark, D A; Day, R D; Deninger, W J; Faehl, R J; Fowler, C M; García, F P; García, O F; Herrera, D H; Herrera, T J; Keinigs, R K; King, J C; Lindemuth, I R; López, E; Martínez, E C; Martínez, D; McGuire, J A; Morgan, D; Oona, H; Oro, D M; Parker, J V; Randolph, R B; Reinovsky, R E; Rodríguez, G; Stokes, J L; Sena, F C; Tabaka, L J; Tasker, D G; Taylor, A J; Torres, D T; Anderson, H D; Broste, W B; Johnson, J B; Kirbie, H C

    1999-01-01

    The authors are developing the RANCHERO high explosive pulsed power (HEPP) system to power cylindrically imploding solid-density liners for hydrodynamics experiments. Their near-term goal is to conduct experiments in the regime pertinent to the Atlas capacitor bank. That is, they will attempt to implode liners of ~50 g mass at velocities approaching 15 km/sec. The basic building block of the HEPP system is a coaxial generator with a 304.8 mm diameter stator, and an initial armature diameter of 152 mm. The armature is expanded by a high explosive (HE) charge detonated simultaneously along its axis. The authors have reported a variety of experiments conducted with generator modules 43 cm long and have presented an initial design for hydrodynamic liner experiments. In this paper, they give a synopsis of their first system test, and a status report on the development of a generator module that is 1.4 m long. (6 refs).

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

    KAUST Repository

    Oubei, Hassan M.

    2018-01-09

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