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.

Underwater electrical wire explosion: Shock wave from melting being overtaken by shock wave from vaporization

Science.gov (United States)

Li, Liuxia; Qian, Dun; Zou, Xiaobing; Wang, Xinxin

2018-05-01

The shock waves generated by an underwater electrical wire explosion were investigated. A microsecond time-scale pulsed current source was used to trigger the electrical explosion of copper wires with a length of 5 cm and a diameter of 200 μm. The energy-storage capacitor was charged to a relatively low energy so that the energy deposited onto the wire was not large enough to fully vaporize the whole wire. Two shock waves were recorded with a piezoelectric gauge that was located at a position of 100 mm from the exploding wire. The first and weak shock wave was confirmed to be the contribution from wire melting, while the second and stronger shock wave was the contribution from wire vaporization. The phenomenon whereby the first shock wave generated by melting being overtaken by the shock wave due to vaporization was observed.

Numerical Simulation of Explosive Forming Using Detonating Fuse

Directory of Open Access Journals (Sweden)

H Iyama

2017-09-01

Full Text Available The explosive forming is a characteristic method. An underwater shock wave is generated by underwater explosion of an explosive. A metal plate is affected high strain rate by the shock loading and is formed along a metal die. Although this method has the advantage of mirroring the shape of the die, a free forming was used in this paper. An expensive metal die is not necessary for this free forming. It is possible that a metal plate is formed with simple supporting parts. However, the forming shape is depend on the shock pressure distribution act on the metal plate. This pressure distribution is able to change by the shape of explosive, a mass of explosive and a shape of pressure vessel. On the other hand, we need the pressure vessel for food processing by the underwater shock wave. Therefore, we propose making the pressure vessel by this explosive forming. One design suggestion of pressure vessel made of stainless steel was considered. However, we cannot decide suitable conditions, the mass of the explosive and the distance between the explosive and the metal plate to make the pressure vessel. In order to decide these conditions, we have tried the numerical simulation on this explosive forming. The basic simulation method was ALE (Arbitrary Laglangian Eulerian method including with Mie-Grümeisen EOS (equation of state, JWL EOS, Johnson-Cook constitutive equation for a material model. In this paper, the underwater pressure contours to clear the propagations of the underwater shock wave, forming processes and deformation velocity of the metal plate is shown and it will be discussed about those results.

Characteristics of brain injury induced by shock wave propagation in solids after underwater explosion in rats

Directory of Open Access Journals (Sweden)

Xin-ling LI

2016-09-01

Full Text Available Objective 　To observe the characteristics of rat brain injury induced by shock wave propagation in solids resulting from underwater explosion and explore the related mechanism. Methods 　Explosion source outside the simulated ship cabin underwater was detonated for establishing a model of brain injury in rats by shock wave propagation in solid; 72 male SD rats were randomly divided into normal control group (n=8, injury group 1 (600mg RDX paper particle explosion source, n=32, injury group 2 (800mg RDX paper particle explosion source, n=32. The each injury group was randomly divided into 4 subgroups (n=8, 3, 6, 24 and 72h groups. The division plate as a whole and the head of 8 rats in each injury group were measured for the peak value of the solid shock wave, its rising time and the duration time of shock wave propagation in solid. To observe the physiological changes of animals after injury, plasma samples were collected for determination of brain damage markers, NSE and S-100β. All the animals were sacrificed, the right hemisphere of the brain was taken in each group of animals, weighting after baking, and the brain water content was calculated. Pathological examination was performed for left cerebral hemisphere in 24-h group. The normal pyramidal cells in the hippocampal CA1 region were counted. Results 　The peak value, rising time and duration time of shock wave propagation on the division plate and head were 1369.74±91.70g, 0.317±0.037ms and 24.85±2.53ms, 26.83±3.09g, 0.901±0.077ms and 104.21±6.26ms respectively in injury group 1, 1850.11±83.86g, 0.184±0.031ms and 35.61±2.66ms, 39.75±3.14g, 0.607±0.069ms and 132.44±7.17ms in injury group 2 (P<0.01. After the injury, there was no abnormality in the anatomy, and brain damage markers NSE, S-100β increased, reached the peak at 24 h, and they were highest in injury group 2 and lowest in control group with a statistically significant difference (P<0.05. The brain water content

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.)

Generation of ultra-fast cumulative water jets by sub-microsecond underwater electrical explosion of conical wire arrays

Energy Technology Data Exchange (ETDEWEB)

Shafer, D.; Gurovich, V. Tz.; Gleizer, S.; Gruzinsky, K.; Krasik, Ya. E. [Physics Department, Technion, Haifa 32000 (Israel)

2015-12-15

The results of experiments with underwater electrical explosion of modified conical arrays of copper and aluminum wires are presented. A pulsed generator producing a 550 kA-amplitude current with a 400 ns rise time was used in the explosion of the arrays. The array explosion generates water flows converging at the axis of the cone. This flow generates a fast-moving water jet with a velocity exceeding 1.8 × 10{sup 5 }cm/s, which was observed being ejected from the surface of the water covering the array. The positions of the water jet were measured by multiple-exposure fast framing imaging. In experiments, the apex angle of the array, the thickness of the water layer above the arrays, or the material of the wires was altered, which changed the resulting velocities and shapes of the emitted jets. A model that considers the converging stationary flow of a slightly compressible fluid is suggested. The velocities and shapes of the jets obtained by this model agree well with the experimentally measured jet velocities.

Numerical Simulation of Explosive Forming Using Detonating Fuse

OpenAIRE

H Iyama; Y Higa; M Nishi; S Itoh

2017-01-01

The explosive forming is a characteristic method. An underwater shock wave is generated by underwater explosion of an explosive. A metal plate is affected high strain rate by the shock loading and is formed along a metal die. Although this method has the advantage of mirroring the shape of the die, a free forming was used in this paper. An expensive metal die is not necessary for this free forming. It is possible that a metal plate is formed with simple supporting parts. However, the forming ...

Numerical modelling of the effect of using multi-explosives on the explosive forming of steel cones

OpenAIRE

De Vuyst, T; Kong, K; Djordjevic, N; Vignjevic, R; Campbell, JC; Hughes, K

2016-01-01

Modelling and analysis of underwater explosive forming process by using FEM and SPH formulation is presented in this work. The explosive forming of a steel cone is studied. The model setup includes a low carbon steel plate, plate holder, forming die as well as water and C4 explosive. The effect of multiple explosives on rate of targets deformation has been studied. Four different multi-explosives models have been developed and compared to the single explosive model. The formability of the ste...

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.       

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...

Applications of Arbitrary Lagrangian Eulerian (ALE) Analysis Approach to Underwater and Air Explosion Problems

National Research Council Canada - National Science Library

Trevino, Theodore

2000-01-01

...) numerical technique. The investigation primarily examined the explosive-fluid, fluid-structure, and fluid-air interaction effects, and the shock wave pressure propagation through a subjected medium, with the intent...

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

Quasi-isentropic compression using compressed water flow generated by underwater electrical explosion of a wire array

Science.gov (United States)

Gurovich, V.; Virozub, A.; Rososhek, A.; Bland, S.; Spielman, R. B.; Krasik, Ya. E.

2018-05-01

A major experimental research area in material equation-of-state today involves the use of off-Hugoniot measurements rather than shock experiments that give only Hugoniot data. There is a wide range of applications using quasi-isentropic compression of matter including the direct measurement of the complete isentrope of materials in a single experiment and minimizing the heating of flyer plates for high-velocity shock measurements. We propose a novel approach to generating quasi-isentropic compression of matter. Using analytical modeling and hydrodynamic simulations, we show that a working fluid composed of compressed water, generated by an underwater electrical explosion of a planar wire array, might be used to efficiently drive the quasi-isentropic compression of a copper target to pressures ˜2 × 1011 Pa without any complex target designs.

Underwater wireless communication system

International Nuclear Information System (INIS)

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

2009-01-01

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

Design of underwater work systems

International Nuclear Information System (INIS)

Lovelace, R.B.

1980-01-01

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

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.

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.

Human Injury Criteria for Underwater Blasts

Science.gov (United States)

2014-09-08

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

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 ...

Inhomogeneous wire explosion in water

International Nuclear Information System (INIS)

Hwangbo, C.K.; Kong, H.J.; Lee, S.S.

1980-01-01

Inhomogeneous processes are observed in underwater copper wire explosion induced by a condensed capacitor discharge. The wire used is 0.1 mm in diameter and 10 mm long, and the capacitor of 2 μF is charged to 5 KV. A N 2 laser is used for the diagnostic of spatial extension of exploding copper vapour. The photographs obtained in this experiment show unambiguously the inhomogeneous explosion along the exploding wire. The quenching of plasma by the surrounding water inhibits the expansion of the vapour. It is believed the observed inhomogeneous explosion along the wire is located and localized around Goronkin's striae, which was first reported by Goronkin and discussed by Froengel as a pre-breakdown phenomenon. (author)

Inspecting the inside of underwater hull

Science.gov (United States)

Valkovic, Vladivoj; Sudac, Davorin

2009-05-01

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

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.

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.

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.

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

Communication and cooperation in underwater acoustic networks

Science.gov (United States)

Yerramalli, Srinivas

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

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.

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.

Design and Evaluation Methods for Underwater Control Systems

Energy Technology Data Exchange (ETDEWEB)

Chi, Lin

1996-12-31

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

Design and Evaluation Methods for Underwater Control Systems

Energy Technology Data Exchange (ETDEWEB)

Chi, Lin

1997-12-31

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

Augmentation of DAA Staggered – Solution Equations in Underwater Shock Problems for Singular Structural Mass Matrices

OpenAIRE

DeRuntz Jr., John A.

2005-01-01

The numerical solution of underwater shock fluid – structure interaction problems using boundary element/finite element techniques became tractable through the development of the family of Doubly Asymptotic Approximations (DAA). Practical implementation of the method has relied on the so-called augmentation of the DAA equations. The fluid and structural systems are respectively coupled by the structural acceleration vector in the surface normal direction on the right hand side of the DAA equa...

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

Directory of Open Access Journals (Sweden)

M Ide

2016-09-01

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

Diagnostics of underwater electrical wire explosion through a time- and space-resolved hard x-ray source.

Science.gov (United States)

Sheftman, D; Shafer, D; Efimov, S; Gruzinsky, K; Gleizer, S; Krasik, Ya E

2012-10-01

A time- and space-resolved hard x-ray source was developed as a diagnostic tool for imaging underwater exploding wires. A ~4 ns width pulse of hard x-rays with energies of up to 100 keV was obtained from the discharge in a vacuum diode consisting of point-shaped tungsten electrodes. To improve contrast and image quality, an external pulsed magnetic field produced by Helmholtz coils was used. High resolution x-ray images of an underwater exploding wire were obtained using a sensitive x-ray CCD detector, and were compared to optical fast framing images. Future developments and application of this diagnostic technique are discussed.

Validation of Passive Sampling Devices for Monitoring of Munitions Constituents in Underwater Environments

Science.gov (United States)

2017-09-01

and explosives of concern (MEC) corroding, breaching, and leaking MC into the water column (Darrach, Chutjian, and Plett, 1998; GMI, 2007; Lewis et...underwater UWMM have the potential to corrode, breach, and leak munitions constituents (MCs) such as 2,4,6-trinitrotoluene (TNT) and hexahydro-1,3,5...Wang et al., 2013), a number of challenges prevent accurate assessment of environmental exposure using traditional water , sediment, and tissue

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.

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.

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

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.

Underwater image mosaicking and visual odometry

Science.gov (United States)

Sadjadi, Firooz; Tangirala, Sekhar; Sorber, Scott

2017-05-01

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

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

Directory of Open Access Journals (Sweden)

A. E. Yilmaz

2009-12-01

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

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

Explosion-Induced Implosions of Cylindrical Shell Structures

Science.gov (United States)

Ikeda, C. M.; Duncan, J. H.

2010-11-01

An experimental study of the explosion-induced implosion of cylindrical shell structures in a high-pressure water environment was performed. The shell structures are filled with air at atmospheric pressure and are placed in a large water-filled pressure vessel. The vessel is then pressurized to various levels P∞=αPc, where Pc is the natural implosion pressure of the model and α is a factor that ranges from 0.1 to 0.9. An explosive is then set off at various standoff distances, d, from the model center line, where d varies from R to 10R and R is the maximum radius of the explosion bubble. High-speed photography (27,000 fps) was used to observe the explosion and resulting shell structure implosion. High-frequency underwater blast sensors recorded dynamic pressure waves at 6 positions. The cylindrical models were made from aluminum (diameter D = 39.1 mm, wall thickness t = 0.89 mm, length L = 240 mm) and brass (D = 16.7 mm, t = 0.36 mm, L=152 mm) tubes. The pressure records are interpreted in light of the high-speed movies. It is found that the implosion is induced by two mechanisms: the shockwave generated by the explosion and the jet formed during the explosion-bubble collapse. Whether an implosion is caused by the shockwave or the jet depends on the maximum bubble diameter and the standoff distance.

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

Directory of Open Access Journals (Sweden)

Theodore G. Jones

2003-01-01

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

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.

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.

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

Optimization of an Intelligent Controller for an Unmanned Underwater Vehicle

Directory of Open Access Journals (Sweden)

M. Fauzi Nor Shah

2011-08-01

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

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

Science.gov (United States)

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

2016-05-01

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

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

Directory of Open Access Journals (Sweden)

Xin Liu

2018-01-01

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

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.

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.

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.

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

OpenAIRE

Li, Chongyi; Guo, Jichang; Guo, Chunle

2017-01-01

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

Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization

Directory of Open Access Journals (Sweden)

Nasir Saeed

2017-12-01

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

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

Science.gov (United States)

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

2017-12-26

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

Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization

KAUST Repository

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

2017-01-01

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

Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization

KAUST Repository

Saeed, Nasir

2017-12-26

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

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.

Augmentation of DAA Staggered – Solution Equations in Underwater Shock Problems for Singular Structural Mass Matrices

Directory of Open Access Journals (Sweden)

John A. DeRuntz Jr.

2005-01-01

Full Text Available The numerical solution of underwater shock fluid – structure interaction problems using boundary element/finite element techniques became tractable through the development of the family of Doubly Asymptotic Approximations (DAA. Practical implementation of the method has relied on the so-called augmentation of the DAA equations. The fluid and structural systems are respectively coupled by the structural acceleration vector in the surface normal direction on the right hand side of the DAA equations, and the total pressure applied to the structural equations on its right hand side. By formally solving for the acceleration vector from the structural system and substituting it into its place in the DAA equations, the augmentation introduces a term involving the inverse of the structural mass matrix. However there exist at least two important classes of problems in which the structural mass matrix is singular. This paper develops a method to carry out the augmentation for such problems using a generalized inverse technique.

Class and Home Problems. Modeling an Explosion: The Devil Is in the Details

Science.gov (United States)

Hart, Peter W.; Rudie, Alan W.

2011-01-01

Within the past 15 years, three North American pulp mills experienced catastrophic equipment failures while using 50 wt% hydrogen peroxide. In two cases, explosions occurred when normal pulp flow was interrupted due to other process problems. To understand the accidents, a kinetic model of alkali-catalyzed decomposition of peroxide was developed.…

Application of Underwater Shock Wave Focusing to the Development of Extracorporeal Shock Wave Lithotripsy

Science.gov (United States)

Takayama, Kazuyoshi

1993-05-01

This paper describes a summary of a research project for the development of extracorporeal shock wave lithotripsy (ESWL), which has been carried out, under close collaboration between the Shock Wave Research Center of Tohoku University and the School of Medicine, Tohoku University. The ESWL is a noninvasive clinical treatment of disintegrating human calculi and one of the most peaceful applications of shock waves. Underwater spherical shock waves were generated by explosion of microexplosives. Characteristics of the underwater shock waves and of ultrasound focusing were studied by means of holographic interferometric flow visualization and polyvinyliden-difluoride (PVDF) pressure transducers. These focused pressures, when applied to clinical treatments, could effectively and noninvasively disintegrate urinary tract stones or gallbladder stones. However, despite clincal success, tissue damage occurs during ESWL treatments, and the possible mechanism of tissue damage is briefly described.

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.

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.

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.

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.

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...

Detection of Buried Objects : The MUD Project

NARCIS (Netherlands)

Quesson, B.A.J.; Vossen, R. van; Zampolli, M.; Beckers, A.L.D.

2011-01-01

The aim of the Mine Underwater Detection (MUD) project at TNO is to experimentally investigate the acoustic and magnetic detection of explosives underwater, buried in a soft sediment layer. This problem is relevant for the protection of harbors and littoral assets against terrorist attacks and for

Microcontroller-based underwater acoustic ECG telemetry system.

Science.gov (United States)

Istepanian, R S; Woodward, B

1997-06-01

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

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

Science.gov (United States)

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

2017-01-01

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

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

Directory of Open Access Journals (Sweden)

Pengfei Shi

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

Taiwan's underwater cultural heritage documentation management

Science.gov (United States)

Tung, Y.-Y.

2015-09-01

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

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.

Development of underwater laser cutting technology

International Nuclear Information System (INIS)

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

2015-01-01

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

Blind equalization for underwater communications

NARCIS (Netherlands)

Blom, K.C.H.

2014-01-01

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

Some applications of the moving finite element method to fluid flow and related problems

International Nuclear Information System (INIS)

Berry, R.A.; Williamson, R.L.

1983-01-01

The Moving Finite Element (MFE) method is applied to one-dimensional, nonlinear wave type partial differential equations which are characteristics of fluid dynamic and related flow phenomena problems. These equation systems tend to be difficult to solve because their transient solutions exhibit a spacial stiffness property, i.e., they represent physical phenomena of widely disparate length scales which must be resolved simultaneously. With the MFE method the node points automatically move (in theory) to optimal locations giving a much better approximation than can be obtained with fixed mesh methods (with a reasonable number of nodes) and with significantly reduced artificial viscosity or diffusion content. Three applications are considered. In order of increasing complexity they are: (1) a thermal quench problem, (2) an underwater explosion problem, and (3) a gas dynamics shock tube problem. The results are briefly shown

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.

Relating pressure measurements to phenomena observed in high speed video recordings during tests of explosive charges in a semi-confined blast chamber

CSIR Research Space (South Africa)

Mostert, FJ

2012-09-01

Full Text Available initiation of the charge. It was observed in the video recordings that the detonation product cloud exhibited pulsating behaviour due to the reflected shocks in the chamber analogous to the behaviour of the gas bubble in underwater explosions. This behaviour...

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...

Fast neutron sensor for detection of explosives and chemical warfare agents

International Nuclear Information System (INIS)

Valkovic, Vladivoj; Sudac, Davorin; Matika, Dario

2010-01-01

Once the presence of the anomaly on the bottom of the shallow coastal sea water has been confirmed it is necessary to establish if it contains explosive or chemical warfare charge. We propose that this be performed by using neutron sensor installed within an underwater vessel. When positioned above the object, or to its side, the system can inspect the object for the presence of the threat materials by using alpha particle tagged neutrons from the sealed tube d+t neutron generator.

Fast neutron sensor for detection of explosives and chemical warfare agents

Energy Technology Data Exchange (ETDEWEB)

Valkovic, Vladivoj [A.C.T.d.o.o., Prilesje 4, 10000 Zagreb (Croatia)], E-mail: valkovic@irb.hr; Sudac, Davorin [Institute Ruder Boskovic, Bijenicka c.54, 10000 Zagreb (Croatia); Matika, Dario [Institute for Researches and Development of Defense Systems, Ilica 256b, 10000 Zagreb (Croatia)

2010-04-15

Once the presence of the anomaly on the bottom of the shallow coastal sea water has been confirmed it is necessary to establish if it contains explosive or chemical warfare charge. We propose that this be performed by using neutron sensor installed within an underwater vessel. When positioned above the object, or to its side, the system can inspect the object for the presence of the threat materials by using alpha particle tagged neutrons from the sealed tube d+t neutron generator.

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.

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.

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

KAUST Repository

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

2018-01-01

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

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

KAUST Repository

Saeed, Nasir

2018-02-28

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

Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection

Directory of Open Access Journals (Sweden)

Xianbo Xiang

2010-02-01

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

Underwater 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…

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

Directory of Open Access Journals (Sweden)

S Tanaka

2016-09-01

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

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…

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

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...

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

Science.gov (United States)

2017-06-01

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

Latest Trends in the Monitoring of Ships’s Hull Underwater Part and Analysis of Its Effectiveness

OpenAIRE

Urbahs, A; Carjova, K; Vulans, P; Straume, R

2012-01-01

Ship operation is not possible without regular maintenance, inspection and certification, established by international and domestic law, where one of the main goals is an effective operation of a ship. To achieve this, it is important to reduce time and costs involved in carrying out the surveys. This paper explores the law under which it’s required for ship to have inspection of underwater part; identifies problems of ship’s hull underwater part; analyze latest trends in ship's hull underwat...

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.

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.

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.

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

ROV Based Underwater Blurred Image Restoration

Institute of Scientific and Technical Information of China (English)

LIU Zhishen; DING Tianfu; WANG Gang

2003-01-01

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

Underwater 3D filming

Directory of Open Access Journals (Sweden)

Roberto Rinaldi

2014-12-01

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

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.

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

KAUST Repository

Lu, Yimeng

2018-05-01

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

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

Directory of Open Access Journals (Sweden)

Sonali Sachin Sankpal

2016-01-01

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

Underwater welding of steel

International Nuclear Information System (INIS)

Ibarra, S.; Olson, D.L.

1992-01-01

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

Colour reconstruction of underwater images

OpenAIRE

Hoth, Julian; Kowalczyk, Wojciech

2017-01-01

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

Quantum imaging for underwater arctic navigation

Science.gov (United States)

Lanzagorta, Marco

2017-05-01

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

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.

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

Science.gov (United States)

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

2018-02-01

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

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

Directory of Open Access Journals (Sweden)

Dalhatu Muhammed

2018-02-01

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

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

Science.gov (United States)

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

2018-01-01

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

Autonomous Underwater Gliders

OpenAIRE

Wood,; Stephen,

2009-01-01

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

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

Science.gov (United States)

Chen, Xinhua; Zhang, Hongmei; Feng, Jie

2018-01-01

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

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.

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

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.)

Efficient Underwater RSS Value to Distance Inversion Using the Lambert Function

Directory of Open Access Journals (Sweden)

Majid Hosseini

2014-01-01

Full Text Available There are many applications for using wireless sensor networks (WSN in ocean science; however, identifying the exact location of a sensor by itself (localization is still a challenging problem, where global positioning system (GPS devices are not applicable underwater. Precise distance measurement between two sensors is a tool of localization and received signal strength (RSS, reflecting transmission loss (TL phenomena, is widely used in terrestrial WSNs for that matter. Underwater acoustic sensor networks have not been used (UASN, due to the complexity of the TL function. In this paper, we addressed these problems by expressing underwater TL via the Lambert W function, for accurate distance inversion by the Halley method, and compared this to Newton-Raphson inversion. Mathematical proof, MATLAB simulation, and real device implementation demonstrate the accuracy and efficiency of the proposed equation in distance calculation, with fewer iterations, computation stability for short and long distances, and remarkably short processing time. Then, the sensitivities of Lambert W function and Newton-Raphson inversion to alteration in TL were examined. The simulation results showed that Lambert W function is more stable to errors than Newton-Raphson inversion. Finally, with a likelihood method, it was shown that RSS is a practical tool for distance measurement in UASN.

LAKE BAIKAL: Underwater neutrino detector

International Nuclear Information System (INIS)

Anon.

1991-01-01

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

Underwater Acoustic Networking Techniques

CERN Document Server

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

2012-01-01

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

OFDM for underwater acoustic communications

CERN Document Server

Zhou, Shengli

2014-01-01

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

Working underwater: deepwater drilling support by ROV

Energy Technology Data Exchange (ETDEWEB)

1958-01-01

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

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.

Underwater Acoustic Tracer System

Science.gov (United States)

2009-03-13

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

'Surveyor': An Underwater System for Threat Material Detection

International Nuclear Information System (INIS)

Valkovic, Vladivoj; Sudac, Davorin; Nad, Karlo; Obhodas, Jasmina; Matika, Dario; Kollar, Robert

2010-01-01

The bottoms of the coastal seas, and oceans as well, are contaminated by many man-made objects including a variety of ammunition. This contamination is world wide spread with some areas being highly polluted presenting a serious threat to local population and to visitors as well. All littoral nations are investing lots of effort into the remediation of their coastal areas. Once the presence of the anomaly on the bottom of the shallow coastal sea water is confirmed (by visual identification and by using one or several sensors, namely magnetometer, sonar and optical cameras) it is necessary to establish if it contains explosive/chemical warfare charge. In our work we propose this to be performed by using neutron sensor installed within an underwater vessel - 'Surveyor'. When positioned above the object, or to its side, the system inspects the object for the presence of the threat material by using alpha particle tagged neutrons from the sealed tube d+t neutron generator. (author)

Maximization of the Supportable Number of Sensors in QoS-Aware Cluster-Based Underwater Acoustic Sensor Networks

Directory of Open Access Journals (Sweden)

Thi-Tham Nguyen

2014-03-01

Full Text Available This paper proposes a practical low-complexity MAC (medium access control scheme for quality of service (QoS-aware and cluster-based underwater acoustic sensor networks (UASN, in which the provision of differentiated QoS is required. In such a network, underwater sensors (U-sensor in a cluster are divided into several classes, each of which has a different QoS requirement. The major problem considered in this paper is the maximization of the number of nodes that a cluster can accommodate while still providing the required QoS for each class in terms of the PDR (packet delivery ratio. In order to address the problem, we first estimate the packet delivery probability (PDP and use it to formulate an optimization problem to determine the optimal value of the maximum packet retransmissions for each QoS class. The custom greedy and interior-point algorithms are used to find the optimal solutions, which are verified by extensive simulations. The simulation results show that, by solving the proposed optimization problem, the supportable number of underwater sensor nodes can be maximized while satisfying the QoS requirements for each class.

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

Science.gov (United States)

2011-03-01

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

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.

Determining spherical lens correction for astronaut training underwater.

Science.gov (United States)

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

2011-09-01

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

Thermal explosion models

Energy Technology Data Exchange (ETDEWEB)

Ping, Tso Chin [Malaya Univ., Kuala Lumpur (Malaysia)

1984-12-01

The phenomenon of thermal explosion arises in several important safety problems, yet scientists are still baffled by its origin. This article reviews some of the models that have been proposed to explain the phenomenon.

Dynamics and Control of Underwater Gliders I: Steady Motions

OpenAIRE

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

2007-01-01

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

Underwater welding and repair technologies applied in PWR environment

International Nuclear Information System (INIS)

Scandella, Fabrice; Carpreau, Jean-Michel

2012-01-01

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

Thermal explosion models

International Nuclear Information System (INIS)

Tso Chin Ping

1984-01-01

The phenomenon of thermal explosion arises in several important safety problems, yet scientists are still baffled by its origin. This article reviews some of the models that have been proposed to explain the phenomenon. (author)

Human Injury Criteria for Underwater Blasts.

Directory of Open Access Journals (Sweden)

Rachel M Lance

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

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

OpenAIRE

Radolko, Martin

2015-01-01

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

Underwater Gliders by Dr. Kevin Smith [video

OpenAIRE

Naval Postgraduate School Physics

2015-01-01

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

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)

Hydrocarbon production with nuclear explosives

Energy Technology Data Exchange (ETDEWEB)

Wade Watkins, J [Petroleum Research, Bureau of Mines, U.S. Department of the Interior, Washington, DC (United States)

1970-05-01

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)

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.

Underwater Ranging

OpenAIRE

S. P. Gaba

1984-01-01

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

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.)

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.

UNDERWATER COATINGS FOR CONTAMINATION CONTROL

International Nuclear Information System (INIS)

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

2004-01-01

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

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.

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

Steam explosions of single drops of pure and alloyed molten aluminum

International Nuclear Information System (INIS)

Nelson, L.S.

1995-01-01

Studies of steam explosion phenomena have been performed related to the hypothetical meltdown of the core and other components of aluminum alloy-fueled production reactors. Our objectives were to characterise the triggers, if any, required to initiate these explosions and to determine the energetics and chemical processes associated with these events. Three basic studies have been carried out with 1-10 g single drops of molten aluminum or aluminum-based alloys: untriggered experiments in which drops of melt were released into water; triggered experiments in which thermal-type steam explosions occurred; and one triggered experiment in which an ignition-type steam explosion occurred. In untriggered experiments, spontaneous steam explosions never occurred during the free fall through water of single drops of pure Al or of the alloys studied here. Moreover, spontaneous explosions never occurred upon or during contact of the globules with several underwater surfaces. When Li was present in the alloy, H 2 was generated as a stream of bubbles as the globules fell through the water, and also as they froze on the bottom surface of the chamber. The triggered experiments were performed with pure Al and the 6061 alloy. Bare bridgewire discharges and those focused with cylindrical reflectors produced a small first bubble that collapsed and was followed by a larger second bubble. When the bridgewire was discharged at one focus of an ellipsoidal reflector, a melt drop at the other focus triggered only very mildly in spite of a 30-fold increase in peak pressure above that of the bridgewire discharge without the reflector. Experiments were also performed with globules of high purity Al in which the melt release temperature was progressively increased. Moderate thermal-type explosions were produced over the temperature range 1273-1673 K. At about 1773 K, however, one experiment produced a brilliant flash of light and bubble growth about an order of magnitude faster than normal; it

Underwater Gliders: A Review

OpenAIRE

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

2014-01-01

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

Underwater Calibration of Dome Port Pressure Housings

Science.gov (United States)

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

2016-03-01

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

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.

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.

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

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)

Study on the pressure self-adaptive water-tight junction box in underwater vehicle

Directory of Open Access Journals (Sweden)

Haocai Huang

2012-09-01

Full Text Available Underwater vehicles play a very important role in underwater engineering. Water-tight junction box (WJB is one of the key components in underwater vehicle. This paper puts forward a pressure self-adaptive water-tight junction box (PSAWJB which improves the reliability of the WJB significantly by solving the sealing and pressure problems in conventional WJB design. By redundancy design method, the pressure self-adaptive equalizer (PSAE is designed in such a way that it consists of a piston pressure-adaptive compensator (PPAC and a titanium film pressure-adaptive compensator (TFPAC. According to hydro-mechanical simulations, the operating volume of the PSAE is more than or equal to 11.6 % of the volume of WJB liquid system. Furthermore, the required operating volume of the PSAE also increases as the gas content of oil, hydrostatic pressure or temperature difference increases. The reliability of the PSAWJB is proved by hyperbaric chamber tests.

Problem of the influence of an atomic explosion on the state of the atmosphere

Energy Technology Data Exchange (ETDEWEB)

Smirnov, N S

1956-01-01

The author reviews briefly various American, Western European, and Japanese studies dealing with the effect of atomic explosions upon the state of atmosphere. He then considers the possible changes in the radiation radioactive properties of the atmosphere that can be caused by the explosion of one atomic bomb, how the increase in radioactivity can influence the radiation balance of the earth, the effect of atomic explosions upon the dust, ion and aerosol content of the atmosphere and the meteorological effects of atomic explosions such as the occurrence of fogs, etc.

Underwater 3D filming

OpenAIRE

Rinaldi, Roberto

2014-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

1998-07-01

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

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%.

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.

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.

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.

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

Pressure Measurements on a Deforming Surface in Response to an Underwater Explosion in a Water-Filled Aluminum Tube

Directory of Open Access Journals (Sweden)

G. Chambers

2001-01-01

Full Text Available Experiments have been conducted to benchmark DYSMAS computer code calculations for the dynamic interaction of water with cylindrical structures. Small explosive charges were suspended using hypodermic needle tubing inside Al tubes filled with distilled water. Pressures were measured during shock loading by tourmaline crystal, carbon resistor and ytterbium foil gages bonded to the tube using a variety of adhesives. Comparable calculated and measured pressures were obtained for the explosive charges used, with some gages surviving long enough to record results after cavitation with the tube wall.

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.

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

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

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.

An Underwater Image Enhancement Algorithm for Environment Recognition and Robot Navigation

Directory of Open Access Journals (Sweden)

Kun Xie

2018-03-01

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

Underwater fiber-wireless communication with a passive front end

Science.gov (United States)

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

2017-11-01

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

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.

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.

3D Laser Scanner for Underwater Manipulation.

Science.gov (United States)

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

2018-04-04

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

3D DOCUMENTATION OF ARCHEOLOGICAL REMAINS IN THE UNDERWATER PARK OF BAIAE

Directory of Open Access Journals (Sweden)

F. Bruno

2015-04-01

Full Text Available This paper presents some experimentations, which have been conducted in the submerged archeological Park of Baiae, aimed to identify the problems related to the underwater 3D documentation process. The first test has been addressed to verify if a dense stereo mapping technique, usually employed in terrestrial and aerial applications, might be employed in critical underwater conditions by assessing the influence of different factors on the results. In the second test, the accuracy of the 3D model obtained through this technique has been evaluated. The third test deals with the geo-localization of the 3D models, conducted by merging the optical and acoustic data, through a multi-resolution bathymetric map of the site as a reference.

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.

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...

Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle

Directory of Open Access Journals (Sweden)

Francisco García-Córdova

2013-04-01

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

Explosion hazard in liquid nitrogen cooled fusion systems

International Nuclear Information System (INIS)

Brereton, S.J.

1988-01-01

The explosion hazard associated with the use of liquid nitrogen in a radiation environment in fusion facilities has been investigated. The principal product of irradiating liquid nitrogen is thought to be ozone, resulting from the action of radiation on oxygen impurity. Ozone is a very unstable material, and explosions may occur as it rapidly decomposes to oxygen. Occurrences of this problem in irradiated liquid nitrogen systems are reviewed. An empirical expression, from early experiments, for the yield of ozone in liquid nitrogen-oxygen mixtures exposed to gamma radiation is employed to assess the degree of ozone explosion hazard expected at fusion facilities. The problem is investigated for the Compact Ignition Tokamak (CIT) as a particular example. 16 refs., 5 figs., 1 tab

Underwater television camera for monitoring inner side of pressure vessel

International Nuclear Information System (INIS)

Takayama, Kazuhiko.

1997-01-01

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

3D Laser Scanner for Underwater Manipulation

Directory of Open Access Journals (Sweden)

Albert Palomer

2018-04-01

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

Explosive simulants for testing explosive detection systems

Science.gov (United States)

Kury, John W.; Anderson, Brian L.

1999-09-28

Explosives simulants that include non-explosive components are disclosed that facilitate testing of equipment designed to remotely detect explosives. The simulants are non-explosive, non-hazardous materials that can be safely handled without any significant precautions. The simulants imitate real explosives in terms of mass density, effective atomic number, x-ray transmission properties, and physical form, including moldable plastics and emulsions/gels.

Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

DEFF Research Database (Denmark)

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

2015-01-01

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

Equipment and appliances for underwater operations. Pt. 2

International Nuclear Information System (INIS)

Krueger, P.

1976-01-01

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

Preliminary results for explosion bonding of beryllium to copper

International Nuclear Information System (INIS)

Butler, D.J.; Dombrowski, D.E.

1995-01-01

This program was undertaken to determine if explosive bonding is a viable technique for joining beryllium to copper substrates. The effort was a cursory attempt at trying to solve some of the problems associated with explosive bonding beryllium and should not be considered a comprehensive research effort. There are two issues that this program addressed. Can beryllium be explosive bonded to copper substrates and can the bonding take place without shattering the beryllium? Thirteen different explosive bonding iterations were completed using various thicknesses of beryllium that were manufactured with three different techniques

Screening sealed bottles for liquid explosives

Science.gov (United States)

Kumar, Sankaran; McMichael, W. Casey; Kim, Y.-W.; Sheldon, Alan G.; Magnuson, Erik E.; Ficke, L.; Chhoa, T. K.; Moeller, C. R.; Barrall, Geoffrey A.; Burnett, Lowell J.; Czipott, Peter V.; Pence, J. S.; Skvoretz, David C.

1997-01-01

A particularly disturbing development affecting transportation safety and security is the increasing use of terrorist devices which avoid detection by conventional means through the use of liquid explosives and flammables. The hazardous materials are generally hidden in wine or liquor bottles that cannot be opened routinely for inspection. This problem was highlighted by the liquid explosives threat which disrupted air traffic between the US an the Far East for an extended period in 1995. Quantum Magnetics has developed a Liquid Explosives Screening systems capable of scanning unopened bottles for liquid explosives. The system can be operated to detect specific explosives directly or to verify the labeled or bar-coded contents of the container. In this system, magnetic resonance (MR) is used to interrogate the liquid. MR produces an extremely rich data set and many characteristics of the MR response can be determined simultaneously. As a result, multiple MR signatures can be defined for any given set of liquids, and the signature complexity then selected according to the level of threat. The Quantum Magnetics Liquid Explosives Screening System is currently operational. Following extensive laboratory testing, a field trial of the system was carried out at the Los Angeles International Airport.

Injury rate in a helicopter underwater escape trainer (HUET) from 2005-2012.

Science.gov (United States)

Brooks, Christopher J; MacDonald, Conor V; Gibbs, Peter N A

2014-08-01

Helicopter underwater escape training (HUET) carries a potential for injury and this paper identifies the injury rate. A marine survival training school registry of all students trained between 2005-2012 in HUET and the coinciding accident records were examined. There were 8902 students trained in a helicopter underwater escape simulator for a total of 59,245 underwater escapes. There were 40 cases where only first-aid was required and 3 serious injuries (a laceration requiring 5 sutures, 1 dislocated shoulder, and 1 water aspiration requiring hospitalization). There were no deaths and no problems reported with using the Emergency Breathing System (EBS) or Air Pocket. Of the injuries, 11 were due to the student using a poor escape technique. The overall probability of injury was 0.74 per 1000 ascents. In HUET training, there is a very low injury rate with almost no significant severity. Although not scientifically proven, this would suggest that the low incident rate is due to good medical screening and the attention given by instructors to anxious students. Compared to other training such as diving, parachute jumping, and submarine escape training, the rate of injury was considerably lower.

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

International Nuclear Information System (INIS)

Drews, P.; Fuchs, K.

1990-01-01

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

Underwater cladding with laser beam and plasma arc welding

International Nuclear Information System (INIS)

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

1997-01-01

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

Underwater Gliders: A Review

Directory of Open Access Journals (Sweden)

Javaid Muhammad Yasar

2014-07-01

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

Underwater Object Segmentation Based on Optical Features

Directory of Open Access Journals (Sweden)

Zhe Chen

2018-01-01

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

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.

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

International Nuclear Information System (INIS)

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

Robust automatic control system of vessel descent-rise device for plant with distributed parameters “cable – towed underwater vehicle”

Science.gov (United States)

Chupina, K. V.; Kataev, E. V.; Khannanov, A. M.; Korshunov, V. N.; Sennikov, I. A.

2018-05-01

The paper is devoted to a problem of synthesis of the robust control system for a distributed parameters plant. The vessel descent-rise device has a heave compensation function for stabilization of the towed underwater vehicle on a set depth. A sea state code, parameters of the underwater vehicle and cable vary during underwater operations, the vessel heave is a stochastic process. It means that the plant and external disturbances have uncertainty. That is why it is necessary to use the robust theory for synthesis of an automatic control system, but without use of traditional methods of optimization, because this cable has distributed parameters. The offered technique has allowed one to design an effective control system for stabilization of immersion depth of the towed underwater vehicle for various degrees of sea roughness and to provide its robustness to deviations of parameters of the vehicle and cable’s length.

Hydrodynamic Coefficients Identification and Experimental Investigation for an Underwater Vehicle

Directory of Open Access Journals (Sweden)

Shaorong XIE

2014-02-01

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

4th Pacific Rim Underwater Acoustics Conference

CERN Document Server

Xu, Wen; Cheng, Qianliu; Zhao, Hangfang

2016-01-01

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

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

Science.gov (United States)

Cai, Wenyu; Zhang, Meiyan; Zheng, Yahong Rosa

2017-07-11

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.

Research topics in explosives - a look at explosives behaviors

International Nuclear Information System (INIS)

Maienschein, J L

2014-01-01

The behaviors of explosives under many conditions - e.g., sensitivity to inadvertent reactions, explosion, detonation - are controlled by the chemical and physical properties of the explosive materials. Several properties are considered for a range of improvised and conventional explosives. Here I compare these properties across a wide range of explosives to develop an understanding of explosive behaviors. For improvised explosives, which are generally heterogeneous mixtures of ingredients, a range of studies is identified as needed to more fully understand their behavior and properties. For conventional explosives, which are generally comprised of crystalline explosive molecules held together with a binder, I identify key material properties that determine overall sensitivity, including the extremely safe behavior of Insensitive High Explosives, and discuss an approach to predicting the sensitivity or insensitivity of an explosive.

The influence of underwater turbulence on optical phase measurements

Science.gov (United States)

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

2016-05-01

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

Optimal Node Placement in Underwater Wireless Sensor Networks

KAUST Repository

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

2013-01-01

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

Operational experience in underwater photogrammetry

Science.gov (United States)

Leatherdale, John D.; John Turner, D.

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

Evaluating the SCC resistance of underwater welds in sodium tetrathionate

International Nuclear Information System (INIS)

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

1997-01-01

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

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.

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.

Dynamic Failure of Composite and Sandwich Structures

CERN Document Server

Abrate, Serge; Rajapakse, Yapa D S

2013-01-01

This book presents a broad view of the current state of the art regarding the dynamic response of composite and sandwich structures subjected to impacts and explosions. Each chapter combines a thorough assessment of the literature with original contributions made by the authors.  The first section deals with fluid-structure interactions in marine structures.  The first chapter focuses on hull slamming and particularly cases in which the deformation of the structure affects the motion of the fluid during the water entry of flexible hulls. Chapter 2 presents an extensive series of tests underwater and in the air to determine the effects of explosions on composite and sandwich structures.  Full-scale structures were subjected to significant explosive charges, and such results are extremely rare in the open literature.  Chapter 3 describes a simple geometrical theory of diffraction for describing the interaction of an underwater blast wave with submerged structures. The second section addresses the problem of...

Micromachined fiber optic Fabry-Perot underwater acoustic probe

Science.gov (United States)

Wang, Fuyin; Shao, Zhengzheng; Hu, Zhengliang; Luo, Hong; Xie, Jiehui; Hu, Yongming

2014-08-01

One of the most important branches in the development trend of the traditional fiber optic physical sensor is the miniaturization of sensor structure. Miniature fiber optic sensor can realize point measurement, and then to develop sensor networks to achieve quasi-distributed or distributed sensing as well as line measurement to area monitoring, which will greatly extend the application area of fiber optic sensors. The development of MEMS technology brings a light path to address the problems brought by the procedure of sensor miniaturization. Sensors manufactured by MEMS technology possess the advantages of small volume, light weight, easy fabricated and low cost. In this paper, a fiber optic extrinsic Fabry-Perot interferometric underwater acoustic probe utilizing micromachined diaphragm collaborated with fiber optic technology and MEMS technology has been designed and implemented to actualize underwater acoustic sensing. Diaphragm with central embossment, where the embossment is used to anti-hydrostatic pressure which would largely deflect the diaphragm that induce interferometric fringe fading, has been made by double-sided etching of silicon on insulator. By bonding the acoustic-sensitive diaphragm as well as a cleaved fiber end in ferrule with an outer sleeve, an extrinsic Fabry-Perot interferometer has been constructed. The sensor has been interrogated by quadrature-point control method and tested in field-stable acoustic standing wave tube. Results have been shown that the recovered signal detected by the sensor coincided well with the corresponding transmitted signal and the sensitivity response was flat in frequency range from 10 Hz to 2kHz with the value about -154.6 dB re. 1/μPa. It has been manifest that the designed sensor could be used as an underwater acoustic probe.

Application of factor analysis to the explosive detection

International Nuclear Information System (INIS)

Park, Yong Joon; Song, Byung Chul; Im, Hee Jung; Kim, Won Ho; Cho, Jung Hwan

2005-01-01

The detection of explosive devices hidden in airline baggage is significant problem, particularly in view of the development of modern plastic explosives which can formed into various innocent-appearing shapes and which are sufficiently powerful that small quantities can destroy an aircraft in flight. Besides, the biggest difficulty occurs from long detection time required for the explosive detection system based on thermal neutron interrogation, which involves exposing baggage to slow neutrons having energy in the order of 0.025 eV. The elemental compositions of explosives can be determined by the Neutron Induced Prompt gamma Spectroscopy (NIPS) which has been installed in Korea Atomic Energy Research Institute as a tool for the detection of explosives in passenger baggage. In this work, the factor analysis has been applied to the NIPS system to increase the signal-to-noise ratio of the prompt gamma spectrum for the detection of explosive hidden in a passenger's baggage, especially for the noisy prompt gamma spectrum obtained with short measurement time

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

Single High Fidelity Geometric Data Sets for LCM - Model Requirements

Science.gov (United States)

2006-11-01

designed specifically to withstand severe underwater explosion (UNDEX) loading caused by the detonation of weapons such as bombs, missiles, mines and... Explosions ( BLEVEs ): The energy from a BLEVE is from a sudden change of phase of stored material. Tanks of liquids immersed in pool fires BLEVE when the...2.10.3 Summary of Data Requirements ....................................................... 46 2.11 Underwater Explosion

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.

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.

Filming Underwater in 3d Respecting Stereographic Rules

Science.gov (United States)

Rinaldi, R.; Hordosch, H.

2015-04-01

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

FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES

Directory of Open Access Journals (Sweden)

R. Rinaldi

2015-04-01

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

Low-contrast underwater living fish recognition using PCANet

Science.gov (United States)

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

2018-04-01

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

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

WODA technical guidance on underwater sound from dredging

NARCIS (Netherlands)

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

2016-01-01

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

Underwater laser imaging system (UWLIS)

Energy Technology Data Exchange (ETDEWEB)

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

1994-11-15

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

Construction Method of the Topographical Features Model for Underwater Terrain Navigation

Directory of Open Access Journals (Sweden)

Wang Lihui

2015-09-01

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

Consensus of multiple autonomous underwater vehicles with double independent Markovian switching topologies and timevarying delays

International Nuclear Information System (INIS)

Yan Zhe-Ping; Liu Yi-Bo; Zhou Jia-Jia; Zhang Wei; Wang Lu

2017-01-01

A new method in which the consensus algorithm is used to solve the coordinate control problems of leaderless multiple autonomous underwater vehicles (multi-AUVs) with double independent Markovian switching communication topologies and time-varying delays among the underwater sensors is investigated. This is accomplished by first dividing the communication topology into two different switching parts, i.e., velocity and position, to reduce the data capacity per data package sent between the multi-AUVs in the ocean. Then, the state feedback linearization is used to simplify and rewrite the complex nonlinear and coupled mathematical model of the AUVs into a double-integrator dynamic model. Consequently, coordinate control of the multi-AUVs is regarded as an approximating consensus problem with various time-varying delays and velocity and position topologies. Considering these factors, sufficient conditions of consensus control are proposed and analyzed and the stability of the multi-AUVs is proven by Lyapunov–Krasovskii theorem. Finally, simulation results that validate the theoretical results are presented. (paper)

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.

Analysis of ventilation systems subjected to explosive transients: far-field analysis

International Nuclear Information System (INIS)

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

1981-11-01

Progress in developing a far-field explosion simulation computer code is outlined. The term far-field implies that this computer code is suitable for modeling explosive transients in ventilation systems that are far removed from the explosive event and are rather insensitive to the particular characteristics of the explosive event. This type of analysis is useful when little detailed information is available and the explosive event is described parametrically. The code retains all the features of the TVENT code and allows completely compressible flow with inertia and choking effects. Problems that illustrate the capabilities and limitations of the code are described

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

Directory of Open Access Journals (Sweden)

A. GÖKDENİZ

2013-03-01

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

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

Science.gov (United States)

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

2015-12-23

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

Effects of light refraction on the accuracy of camera calibration and reconstruction in underwater motion analysis.

Science.gov (United States)

Kwon, Young-Hoo; Casebolt, Jeffrey B

2006-07-01

One of the most serious obstacles to accurate quantification of the underwater motion of a swimmer's body is image deformation caused by refraction. Refraction occurs at the water-air interface plane (glass) owing to the density difference. Camera calibration-reconstruction algorithms commonly used in aquatic research do not have the capability to correct this refraction-induced nonlinear image deformation and produce large reconstruction errors. The aim of this paper is to provide a thorough review of: the nature of the refraction-induced image deformation and its behaviour in underwater object-space plane reconstruction; the intrinsic shortcomings of the Direct Linear Transformation (DLT) method in underwater motion analysis; experimental conditions that interact with refraction; and alternative algorithms and strategies that can be used to improve the calibration-reconstruction accuracy. Although it is impossible to remove the refraction error completely in conventional camera calibration-reconstruction methods, it is possible to improve the accuracy to some extent by manipulating experimental conditions or calibration frame characteristics. Alternative algorithms, such as the localized DLT and the double-plane method are also available for error reduction. The ultimate solution for the refraction problem is to develop underwater camera calibration and reconstruction algorithms that have the capability to correct refraction.

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

Science.gov (United States)

2013-10-28

..., including non-cap sensitive slurry and water gel explosives. Blasting caps. Blasting gelatin. Blasting.... Explosive conitrates. Explosive gelatins. Explosive liquids. Explosive mixtures containing oxygen-releasing... powder. [[Page 64247

Study of archaeological underwater finds: deterioration and conservation

Science.gov (United States)

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

2010-09-01

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

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

KAUST Repository

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

2017-01-01

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

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.

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

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.

Digital sonar design in underwater acoustics principles and applications

CERN Document Server

Li, Qihu

2012-01-01

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

Underwater wireless optical communications: From system-level demonstrations to channel modelling

KAUST Repository

Oubei, Hassan M.

2018-01-09

In this paper, we discuss about recent experimental advances in underwater wireless optical communications (UWOC) over various underwater channel water types using different modulation schemes as well as modelling and describing the statistical properties of turbulence-induced fading in underwater wireless optical channels using laser beam intensity fluctuations measurements.

WODA Technical Guidance on Underwater Sound from Dredging.

Science.gov (United States)

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

2016-01-01

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

Survivability design for a hybrid underwater vehicle

Energy Technology Data Exchange (ETDEWEB)

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

2015-03-10

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

Survivability design for a hybrid underwater vehicle

International Nuclear Information System (INIS)

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

2015-01-01

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

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.

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.

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.

A bio-inspired electrocommunication system for small underwater robots.

Science.gov (United States)

Wang, Wei; Liu, Jindong; Xie, Guangming; Wen, Li; Zhang, Jianwei

2017-03-29

Weakly electric fishes (Gymnotid and Mormyrid) use an electric field to communicate efficiently (termed electrocommunication) in the turbid waters of confined spaces where other communication modalities fail. Inspired by this biological phenomenon, we design an artificial electrocommunication system for small underwater robots and explore the capabilities of such an underwater robotic communication system. An analytical model for electrocommunication is derived to predict the effect of the key parameters such as electrode distance and emitter current of the system on the communication performance. According to this model, a low-dissipation, and small-sized electrocommunication system is proposed and integrated into a small robotic fish. We characterize the communication performance of the robot in still water, flowing water, water with obstacles and natural water conditions. The results show that underwater robots are able to communicate electrically at a speed of around 1 k baud within about 3 m with a low power consumption (less than 1 W). In addition, we demonstrate that two leader-follower robots successfully achieve motion synchronization through electrocommunication in the three-dimensional underwater space, indicating that this bio-inspired electrocommunication system is a promising setup for the interaction of small underwater robots.

Underwater Shock Wave Research Applied to Therapeutic Device Developments

Science.gov (United States)

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

2013-07-01

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

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

Science.gov (United States)

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

2017-10-01

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

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

Underwater photogrammetry successful in Spain and France

International Nuclear Information System (INIS)

Anon.

1988-01-01

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

OPTICAL correlation identification technology applied in underwater laser imaging target identification

Science.gov (United States)

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

2012-01-01

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

Deep Learning Methods for Underwater Target Feature Extraction and Recognition

Directory of Open Access Journals (Sweden)

Gang Hu

2018-01-01

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

Munitions in the Underwater Environment: State of the Science and Knowledge Gaps

Science.gov (United States)

2010-06-01

the Munitions Items Disposition Action System ( MIDAS ). Munitions constituents (MCs) can be identified through the known munitions type. The MIDAS and...physical damage to the casing, adjacent or touching metals, and water or substrate qualities such as temperature, pH, or Redox potential. The...environments, little is known on modeling the fate of MCs in the underwater environment. One of the anticipated problems in predicting the fate and

Primary explosives

Energy Technology Data Exchange (ETDEWEB)

Matyas, Robert; Pachman, Jiri [Pardubice Univ. (Czech Republic). Faculty of Chemical Technology

2013-06-01

The first chapter provides background such as the basics of initiation and differences between requirements on primary explosives used in detonators and igniters. The authors then clarify the influence of physical characteristics on explosive properties, focusing on those properties required for primary explosives. Furthermore, the issue of sensitivity is discussed. All the chapters on particular groups of primary explosives are structured in the same way, including introduction, physical and chemical properties, explosive properties, preparation and documented use.

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.

Silent Localization of Underwater Sensors Using Magnetometers

Directory of Open Access Journals (Sweden)

Jonas Callmer

2010-01-01

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

Underwater Communications for Video Surveillance Systems at 2.4 GHz

Directory of Open Access Journals (Sweden)

Sandra Sendra

2016-10-01

Full Text Available Video surveillance is needed to control many activities performed in underwater environments. The use of wired media can be a problem since the material specially designed for underwater environments is very expensive. In order to transmit the images and videos wirelessly under water, three main technologies can be used: acoustic waves, which do not provide high bandwidth, optical signals, although the effect of light dispersion in water severely penalizes the transmitted signals and therefore, despite offering high transfer rates, the maximum distance is very small, and electromagnetic (EM waves, which can provide enough bandwidth for video delivery. In the cases where the distance between transmitter and receiver is short, the use of EM waves would be an interesting option since they provide high enough data transfer rates to transmit videos with high resolution. This paper presents a practical study of the behavior of EM waves at 2.4 GHz in freshwater underwater environments. First, we discuss the minimum requirements of a network to allow video delivery. From these results, we measure the maximum distance between nodes and the round trip time (RTT value depending on several parameters such as data transfer rate, signal modulations, working frequency, and water temperature. The results are statistically analyzed to determine their relation. Finally, the EM waves’ behavior is modeled by a set of equations. The results show that there are some combinations of working frequency, modulation, transfer rate and temperature that offer better results than others. Our work shows that short communication distances with high data transfer rates is feasible.

Underwater video enhancement using multi-camera super-resolution

Science.gov (United States)

Quevedo, E.; Delory, E.; Callicó, G. M.; Tobajas, F.; Sarmiento, R.

2017-12-01

Image spatial resolution is critical in several fields such as medicine, communications or satellite, and underwater applications. While a large variety of techniques for image restoration and enhancement has been proposed in the literature, this paper focuses on a novel Super-Resolution fusion algorithm based on a Multi-Camera environment that permits to enhance the quality of underwater video sequences without significantly increasing computation. In order to compare the quality enhancement, two objective quality metrics have been used: PSNR (Peak Signal-to-Noise Ratio) and the SSIM (Structural SIMilarity) index. Results have shown that the proposed method enhances the objective quality of several underwater sequences, avoiding the appearance of undesirable artifacts, with respect to basic fusion Super-Resolution algorithms.

Restoration and Enhancement of Underwater Images Based on Bright Channel Prior

Directory of Open Access Journals (Sweden)

Yakun Gao

2016-01-01

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

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.

Underwater inverse LIBS (iLIBS) for marine archaeology

Science.gov (United States)

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

2013-05-01

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

Remarks on the observability of single beacon underwater navigation

DEFF Research Database (Denmark)

Jouffroy, Jerome; Ross, Andrew

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

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

KAUST Repository

Oubei, Hassan M.

2017-12-13

Recent advances in underwater wireless optical communications necessitate a better understanding of the underwater channel. We propose the Weibull model to characterize the fading of salinity induced turbulent underwater wireless optical channels. The model shows an excellent agreement with the measured data under all channel conditions.

A Secure Communication Suite for Underwater Acoustic Sensor Networks

Directory of Open Access Journals (Sweden)

Angelica Lo Duca

2012-11-01

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

Underwater Acoustic Target Tracking: A Review

Science.gov (United States)

Han, Ying; Fan, Liying

2018-01-01

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

Afocal viewport optics for underwater imaging

Science.gov (United States)

Slater, Dan

2014-09-01

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

Underwater running device

International Nuclear Information System (INIS)

Kogure, Sumio; Matsuo, Takashiro; Yoshida, Yoji

1996-01-01

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

Smelling and Tasting Underwater.

Science.gov (United States)

Atema, Jelle

1980-01-01

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

Application of underwater radon measurements in geology

Energy Technology Data Exchange (ETDEWEB)

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

1988-01-01

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

Object detection from images obtained through underwater turbulence medium

Science.gov (United States)

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

2017-09-01

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

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...

Study on Explosive Forming of Aluminum Alloy

Directory of Open Access Journals (Sweden)

H Iyama

2016-09-01

Full Text Available Now, the aluminum alloy is often used as auto parts, for example, body, engine. For example, there are the body, a cylinder block, a piston, a connecting rod, interior, exterior parts, etc. These are practical used the characteristic of a light and strong aluminum alloy efficiently. However, although an aluminum alloy is lighter than steel, the elongation is smaller than that. Therefore, in press forming, some problems often occur. We have proposed use of explosive forming, in order to solve this problem. In the explosive forming, since a blank is formed at high speed, a strain rate effect becomes large and it can be made the elongation is larger. Then, in order to clarify this feature, we carried out experimental research and numerical analysis. In this paper, these contents will be discussed.

Remote Underwater Characterization System - Innovative Technology Summary Report

International Nuclear Information System (INIS)

Willis, W.D.

1999-01-01

Characterization and inspection of water-cooled and moderated nuclear reactors and fuel storage pools requires equipment capable of operating underwater. Similarly, the deactivation and decommissioning of older nuclear facilities often requires the facility owner to accurately characterize underwater structures and equipment which may have been sitting idle for years. The Remote Underwater Characterization System (RUCS) is a small, remotely operated submersible vehicle intended to serve multiple purposes in underwater nuclear operations. It is based on the commercially-available Scallop vehicle 1 , but has been modified by the Department of Energys Robotics Technology Development Program to add auto-depth control, and vehicle orientation and depth monitoring at the operator control panel. The RUCS is designed to provide visual and gamma radiation characterization, even in confined or limited access areas. It was demonstrated in August 1998 at the Idaho National Engineering and Environmental Laboratory (INEEL) as part of the INEEL Large Scale Demonstration and Deployment Project. During the demonstration it was compared in a ''head-to-head fashion with the baseline characterization technology. This paper summarizes the results of the demonstration and lessons learned; comparing and contrasting both technologies in the areas of cost, visual characterization, radiological characterization, and overall operations

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

Science.gov (United States)

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

2018-05-25

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

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

OpenAIRE

Kia, Chua; Arshad, Mohd Rizal

2006-01-01

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

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.

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

Science.gov (United States)

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

2017-08-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2017-08-15

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

Novel Particle Swarm Optimization and Its Application in Calibrating the Underwater Transponder Coordinates

OpenAIRE

Zheping Yan; Chao Deng; Benyin Li; Jiajia Zhou

2014-01-01

A novel improved particle swarm algorithm named competition particle swarm optimization (CPSO) is proposed to calibrate the Underwater Transponder coordinates. To improve the performance of the algorithm, TVAC algorithm is introduced into CPSO to present an extension competition particle swarm optimization (ECPSO). The proposed method is tested with a set of 10 standard optimization benchmark problems and the results are compared with those obtained through existing PSO algorithms, basic par...

Cardiovascular response during submaximal underwater treadmill exercise in stroke patients.

Science.gov (United States)

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

2014-10-01

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

Channel coding for underwater acoustic single-carrier CDMA communication system

Science.gov (United States)

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

2017-01-01

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

A Review of the Emerging Field of Underwater Mass Spectrometry

Directory of Open Access Journals (Sweden)

Emily Chua

2016-11-01

Full Text Available Mass spectrometers are versatile sensor systems, owing to their high sensitivity and ability to simultaneously measure multiple chemical species. Over the last two decades, traditional laboratory-based membrane inlet mass spectrometers have been adapted for underwater use. Underwater mass spectrometry has drastically improved our capability to monitor a broad suite of gaseous compounds (e.g., dissolved atmospheric gases, light hydrocarbons, and volatile organic compounds in the aquatic environment. Here we provide an overview of the progress made in the field of underwater mass spectrometry since its inception in the 1990s to the present. In particular, we discuss the approaches undertaken by various research groups in developing in situ mass spectrometers. We also provide examples to illustrate how underwater mass spectrometers have been used in the field. Finally, we present future trends in the field of in situ mass spectrometry. Most of these efforts are aimed at improving the quality and spatial and temporal scales of chemical measurements in the ocean. By providing up-to-date information on underwater mass spectrometry, this review offers guidance for researchers interested in adapting this technology as well as goals for future progress in the field.

Euclidean reconstruction of natural underwater scenes using optic imagery sequence

Science.gov (United States)

Hu, Han

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

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.

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

Generating Carbon Tubes and Films from Lead and Cadmium Wires During Underwater Spark Discharges

International Nuclear Information System (INIS)

Taka-aki Matsumoto

2000-01-01

In general, no nuclear reactions between charged particles would be possible in a low-energy region. However, many experimental data of nuclear transmutation with low energy were recently reported related to so-called cold fusion. This paper describes some kinds of low-energy nuclear reactions (LENRs), which could be induced during an underwater spark discharge (USD) with only(approx)120 V. The mechanisms of the extraordinary nuclear transmutation can be explained by the Nattoh model. The electron bonding of sparks, which was a special state of atomic clusters, was so strong that multibody nuclear reactions such as nuclear collapse[called electro-nuclear collapse (ENC)] could take place in the spark. Because of ENC, completely broken materials could be again regenerated as conventional elements. The film product was considered to be made by a spherical explosion of a small black hole and the tube by a rotational eruption of a small white hole, both of which resulted from ENC

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

DEFF Research Database (Denmark)

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

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

Collective Modular Underwater Robotic System for Long-Term Autonomous Operation

DEFF Research Database (Denmark)

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

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

Underwater Sensor Networks: A New Energy Efficient and Robust Architecture

NARCIS (Netherlands)

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

2012-01-01

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

Underwater methods for study of salmonids in the Intermountain West

Science.gov (United States)

Russell F. Thurow

1994-01-01

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

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

DEFF Research Database (Denmark)

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

2018-01-01

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

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.

Study of elastic waves with a camouflage explosion

Energy Technology Data Exchange (ETDEWEB)

Dunin, S.Z.; Nagornov, O.V.; Popov, E.A.

1982-01-01

Examination is made of the problem concerning the study of elastic waves with an explosion in a porous medium with consideration given to the effect of dilation. Investigation is made of the character of the study of elastic energy at various moments. An analysis is made of the spectral properties of the investigated seismic signal, the effect of strong parameters of the medium, porosity, and the coefficient of dilation on the magnitude of elastic energy, which is emitted during an explosion.

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.

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

Directory of Open Access Journals (Sweden)

Yueyue Deng

2013-01-01

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

Cooperative OFDM underwater acoustic communications

CERN Document Server

Cheng, Xilin; Cheng, Xiang

2016-01-01

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

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.

ULTRA: Underwater Localization for Transit and Reconnaissance Autonomy

Science.gov (United States)

Huntsberger, Terrance L.

2013-01-01

This software addresses the issue of underwater localization of unmanned vehicles and the inherent drift in their onboard sensors. The software gives a 2 to 3 factor of improvement over the state-of-the-art underwater localization algorithms. The software determines the localization (position, heading) of an AUV (autonomous underwater vehicle) in environments where there is no GPS signal. It accomplishes this using only the commanded position, onboard gyros/accelerometers, and the bathymetry of the bottom provided by an onboard sonar system. The software does not rely on an onboard bathymetry dataset, but instead incrementally determines the position of the AUV while mapping the bottom. In order to enable long-distance underwater navigation by AUVs, a localization method called ULTRA uses registration of the bathymetry data products produced by the onboard forward-looking sonar system for hazard avoidance during a transit to derive the motion and pose of the AUV in order to correct the DR (dead reckoning) estimates. The registration algorithm uses iterative point matching (IPM) combined with surface interpolation of the Iterative Closest Point (ICP) algorithm. This method was used previously at JPL for onboard unmanned ground vehicle localization, and has been optimized for efficient computational and memory use.

Underwater laser cladding and seal welding for INCONEL 52

International Nuclear Information System (INIS)

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

2007-01-01

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

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.

Safety aspects for underwater vehicles

Digital Repository Service at National Institute of Oceanography (India)

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

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

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

NARCIS (Netherlands)

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

2013-01-01

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

Defect detectability of eddy current testing for underwater laser beam welding

International Nuclear Information System (INIS)

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

2011-01-01

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

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

OpenAIRE

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

2015-01-01

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

Damage caused to houses and equipment by underground nuclear explosions; Degats dus aux explosions nucleaires souterraines sur les habitations et les equipements

Energy Technology Data Exchange (ETDEWEB)

Delort, F; Guerrini, C [Commissariat a l' Energie Atomique, Bruyeres-le-Chatel (France). Centre d' Etudes

1969-07-01

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) [French] Les degats sur diverses structures, constructions, habitations, equipements mecaniques et materiels electriques provoques par des explosions nucleaires souterraines dans le granite sont decrits. On a indique pour chaque type de materiel ou de construction, les distances limites correspondant a un degre de gravite de dommage observe. Ces distances ont ete reliees a un parametre caracterisant le mouvement du milieu, permettant ainsi de generaliser les resultats obtenus dans le granite, a differents milieux. Le probleme de la prevision des degats en zone lointaine a ete aborde. (auteurs)

General phenomenology of underground nuclear explosions; Phenomenologie generale des explosions nucleaires souterraines

Energy Technology Data Exchange (ETDEWEB)

Derlich, S; Supiot, F [Commissariat a l' Energie Atomique, Bruyeres-le-Chatel (France). Centre d' Etudes

1969-07-01

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) [French] On donne une description essentiellement qualitative des phenomenes lies aux explosions nucleaires souterraines (explosion d'un seul engin, d'engins en ligne et explosions simultanees). Dans un premier chapitre sont decrits les phenomenes communs aux explosions contenues et aux explosions formant un cratere (formation et propagation d'une onde de choc provoquant la vaporisation, la fusion et la fracturation du milieu). Le deuxieme chapitre decrit les phenomenes lies aux tirs contenus (formation d'une cavite et d'une cheminee). Le troisieme chapitre est consacre a la phenomenologie des tirs formant un cratere et decrit notamment le mecanisme de formation et les differents types de crateres en fonction de la profondeur d'explosion et de la nature du terrain. Les phenomenes aeriens lies aux explosions formant un cratere: onde de pression aerienne et focalisation a grande distance, nuages de poussieres, sont egalement abordes. (auteurs)

Extension and Validation of UNDEX Analysis Methods

National Research Council Canada - National Science Library

Donahue, L

2004-01-01

.... Adaptive grid schemes for underwater shock and bubble analysis, hydrostatic pressure and airwater/seafloor boundaries, underwater explosion profiles, and fluid-backed shapes were also implemented...

Applicability evaluation of eddy current testing for underwater laser beam welding

International Nuclear Information System (INIS)

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

2010-01-01

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

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

Directory of Open Access Journals (Sweden)

Muhammad Khalid

2017-01-01

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

Evaluation of Underwater Image Enhancement Algorithms under Different Environmental Conditions

Directory of Open Access Journals (Sweden)

Marino Mangeruga

2018-01-01

Full Text Available Underwater images usually suffer from poor visibility, lack of contrast and colour casting, mainly due to light absorption and scattering. In literature, there are many algorithms aimed to enhance the quality of underwater images through different approaches. Our purpose was to identify an algorithm that performs well in different environmental conditions. We have selected some algorithms from the state of the art and we have employed them to enhance a dataset of images produced in various underwater sites, representing different environmental and illumination conditions. These enhanced images have been evaluated through some quantitative metrics. By analysing the results of these metrics, we tried to understand which of the selected algorithms performed better than the others. Another purpose of our research was to establish if a quantitative metric was enough to judge the behaviour of an underwater image enhancement algorithm. We aim to demonstrate that, even if the metrics can provide an indicative estimation of image quality, they could lead to inconsistent or erroneous evaluations.

Study on underwater plasma arc cutting technology

International Nuclear Information System (INIS)

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

1980-01-01

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

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.

Computer simulation of explosion crater in dams with different buried depths of explosive

Science.gov (United States)

Zhang, Zhichao; Ye, Longzhen

2018-04-01

Based on multi-material ALE method, this paper conducted a computer simulation on the explosion crater in dams with different buried depths of explosive using LS-DYNA program. The results turn out that the crater size increases with the increase of buried depth of explosive at first, but closed explosion cavity rather than a visible crater is formed when the buried depth of explosive increases to some extent. The soil in the explosion cavity is taken away by the explosion products and the soil under the explosion cavity is compressed with its density increased. The research can provide some reference for the anti-explosion design of dams in the future.

Hydrodynamic design of an underwater hull cleaning robot and its evaluation

Directory of Open Access Journals (Sweden)

Man Hyung Lee

2012-12-01

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

Monterey Bay ambient noise profiles using underwater gliders

OpenAIRE

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

2013-01-01

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

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

Cutting method and device underwater

International Nuclear Information System (INIS)

Takano, Genta; Kamei, Hiromasa; Beppu, Seiji

1998-01-01

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

A thermal engine for underwater glider driven by ocean thermal energy

International Nuclear Information System (INIS)

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

2016-01-01

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

Summary of the guideline on underwater laser beam repair welding

International Nuclear Information System (INIS)

Ichikawa, Hiroya; Yoda, Masaki; Motora, Yuichi

2013-01-01

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

ROV-based Underwater Vision System for Intelligent Fish Ethology Research

Directory of Open Access Journals (Sweden)

Rui Nian

2013-09-01

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

Application of YAG laser processing in underwater welding and cutting

Energy Technology Data Exchange (ETDEWEB)

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

2002-09-01

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

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)

Optimum LED wavelength for underwater optical wireless communication at turbid water

Science.gov (United States)

Rosenkrantz, Etai; Arnon, Shlomi

2014-10-01

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

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

Digital Repository Service at National Institute of Oceanography (India)

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

Underwater 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.

Underwater nuclear power plant structure

International Nuclear Information System (INIS)

Severs, S.; Toll, H.V.

1982-01-01

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

Analysing deterioration of marble stones exposed to underwater conditions

Science.gov (United States)

Cámara, Beatriz; Álvarez de Buergo, Mónica; Bethencourt, Manuel; Freire-Lista, David; Fort, Rafael

2016-04-01

The peculiar conditions of the marine environment make the conservation of underwater archaeological sites an extremely complex procedure. This is due to the fact that the prevailing conditions in this environment promote the development of deterioration phenomena in submerged artefacts through the synergistic action of physical, chemical and biological factors. The objective of the present investigation was to determine how petrophysical properties of cultural heritage materials can be affected by being exposed to the specific underwater conditions of the sea bottom, and so, to evaluate how this can affect, in a long term, in their durability and evolution when they part of an archaeological site. For this purpose, two types of marble (the Italian Carrara and the Spanish Macael) were subjected to an experiment consisting of exposing stone materials for one and a half year to underwater conditions. The experimental test was located in an archaeological site in the Bay of Cadiz (southern Spain), Bajo del Chapitel (recognized as Cultural Interest), which includes remains of shipwrecks from different periods. In this site, samples were submerged to 12 m depth and placed in the sea bottom simulating the different positions in which underwater archaeological objects can be found (fully exposed, half buried and covered). Petrophysical characterisation involved determination of the apparent and bulk densities, water saturation (maximum water content a material may contain), open porosity (porosity accessible to water), chromatic parameters and ultrasonic velocity. Before measuring, samples were subjected to mechanical cleaning (in those samples with biological colonization) and to removal of salt deposits. Results showed significant differences in these petrophysical properties after underwater submersion, which were directly related to the type of underwater exposure condition. Comparative analysis of petrophysical properties, like the one conducted in this study

FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES

OpenAIRE

R. Rinaldi; H. Hordosch

2015-01-01

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

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.

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.

Development of underwater and hyperbaric medicine in Malaysia.

Science.gov (United States)

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

2006-12-01

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

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.

Understanding vented gas explosions

Energy Technology Data Exchange (ETDEWEB)

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

1998-12-31

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.

Actuated Recoil Absorbing Mounting System for use with an Underwater Gun

Science.gov (United States)

1998-03-31

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

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.

Explosive material treatment in particular the explosive compaction of powders

International Nuclear Information System (INIS)

Pruemmer, R.

1985-01-01

The constructive use of explosives in the last decades has led to new procedures in manufacturing techniques. The most important of these are explosive forming and cladding, the latter especially for the production of compound materials. The method of explosive compaction has the highest potential for further innovation. Almost theoretical densities are achievable in the green compacts as the pressure released by detonating explosives are very high. Also, the production of new conditions of materials (metastable high pressure phases) is possible. (orig.) [de

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

Science.gov (United States)

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

2014-10-01

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

On the Performance of the Underwater Acoustic Sensor Networks

Science.gov (United States)

2015-05-01

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

International Conference on Underwater Environment

CERN Document Server

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

2016-01-01

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

Underwater electric field detection system based on weakly electric fish

Science.gov (United States)

Xue, Wei; Wang, Tianyu; Wang, Qi

2018-04-01

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

Airborne lidar detection of an underwater thermal vent

Science.gov (United States)

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

2017-07-01

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

Underwater Shock Response Analysis of a Floating Vessel

Directory of Open Access Journals (Sweden)

J.E. van Aanhold

1998-01-01

Full Text Available The response of a surface vessel to underwater shock has been calculated using an explicit finite element analysis. The analysis model is two-dimensional and contains the floating steel structure, a large surrounding water volume and the free surface. The underwater shock is applied in the form of a plane shock wave and cavitation is considered in the analysis. Advanced computer graphics, in particular video animations, provide a powerful and indispensable means for the presentation and evaluation of the analysis results.

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

Directory of Open Access Journals (Sweden)

Kelly de Jesus

2015-01-01

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

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

Science.gov (United States)

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

2018-03-01

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

Surface Ship Shock Modeling and Simulation: Two-Dimensional Analysis

Directory of Open Access Journals (Sweden)

Young S. Shin

1998-01-01

Full Text Available The modeling and simulation of the response of a surface ship system to underwater explosion requires an understanding of many different subject areas. These include the process of underwater explosion events, shock wave propagation, explosion gas bubble behavior and bubble-pulse loading, bulk and local cavitation, free surface effect, fluid-structure interaction, and structural dynamics. This paper investigates the effects of fluid-structure interaction and cavitation on the response of a surface ship using USA-NASTRAN-CFA code. First, the one-dimensional Bleich-Sandler model is used to validate the approach, and second, the underwater shock response of a two-dimensional mid-section model of a surface ship is predicted with a surrounding fluid model using a constitutive equation of a bilinear fluid which does not allow transmission of negative pressures.

Explosive coalescence of magnetic islands and explosive particle acceleration

International Nuclear Information System (INIS)

Tajima, T.; Sakai, J.I.

1985-07-01

An explosive reconnection process associated with the nonlinear evolution of the coalescence instability is found through studies of the electromagnetic particle simulation and the magnetohydrodynamic particle simulation. The explosive coalescence is a process of magnetic collapse, in which we find the magnetic and electrostatic field energies and temperatures (ion temperature in the coalescing direction, in particular) explode toward the explosion time t 0 as (t 0 - t)/sup -8/3/, (t 0 - t) -4 , and (t 0 - t)/sup -8/3/, respectively for a canonical case. Single-peak, double-peak, and triple-peak structures of magnetic energy, temperature, and electrostatic energy, respectively, are observed on the simulation as overshoot amplitude oscillations and are theoretically explained. The heuristic model of Brunel and Tajima is extended to this explosive coalescence in order to extract the basic process. Since the explosive coalescence exhibits self-similarity, a temporal universality, we theoretically search for a self-similar solution to the two-fluid plasma equations

The Theseus Autonomous Underwater Vehicle: A Canadian Success Story

Science.gov (United States)

1997-04-01

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

75 FR 1085 - Commerce in Explosives; List of Explosive Materials (2009R-18T)

Science.gov (United States)

2010-01-08

... sensitive slurry and water gel explosives. Blasting caps. Blasting gelatin. Blasting powder. BTNEC [bis.... Explosive conitrates. Explosive gelatins. Explosive liquids. Explosive mixtures containing oxygen-releasing... powder. Fulminate of mercury. Fulminate of silver. Fulminating gold. Fulminating mercury. Fulminating...

75 FR 70291 - Commerce in Explosives; List of Explosive Materials (2010R-27T)

Science.gov (United States)

2010-11-17

..., including non-cap sensitive slurry and water gel explosives. Blasting caps. Blasting gelatin. Blasting.... Explosive conitrates. Explosive gelatins. Explosive liquids. Explosive mixtures containing oxygen-releasing... powder. Fulminate of mercury. Fulminate of silver. Fulminating gold. Fulminating mercury. Fulminating...

Underwater Welding Techniques

OpenAIRE

Esam F. Alajmi; Ahmad A. Alqenaei

2017-01-01

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

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

Directory of Open Access Journals (Sweden)

Inge Spangelo

1992-07-01

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

Tracking the position of the underwater robot for nuclear reactor inspection

International Nuclear Information System (INIS)

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

2003-01-01

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

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

KAUST Repository

Lu, Yimeng

2018-01-01

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

Explosive compaction of aluminum oxide modified by multiwall carbon nanotubes

Science.gov (United States)

Buzyurkin, A. E.; Kraus, E. I.; Lukyanov, Ya L.

2018-04-01

This paper presents experiments and numerical research on explosive compaction of aluminum oxide powder modified by multiwall carbon nanotubes (MWCNT) and modeling of the stress state behind the shock front at shock loading. The aim of this study was to obtain a durable low-porosity compact sample. The explosive compaction technology is used in this problem because the aluminum oxide is an extremely hard and refractory material. Therefore, its compaction by traditional methods requires special equipment and considerable expenses.

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

Science.gov (United States)

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

2016-01-01

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

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....

Experimental Measurements of Temporal Dispersion for Underwater Laser Communications and Imaging

Science.gov (United States)

Cochenour, Brandon Michael

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

An iterative method for the canard explosion in general planar systems

DEFF Research Database (Denmark)

Brøns, Morten

2012-01-01

The canard explosion is the change of amplitude and period of a limit cycle born in a Hopf bifurcation in a very narrow parameter interval. The phenomenon is well understood in singular perturbation problems where a small parameter controls the slow/fast dynamics. However, canard explosions are a...... equation, showing that the asymptotics of the method is correct, and on a templator model for a self-replicating system....

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

Directory of Open Access Journals (Sweden)

Kairong Hong

2017-12-01

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

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

Directory of Open Access Journals (Sweden)

Fabio Menna

2016-01-01

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

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

International Nuclear Information System (INIS)

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

2012-01-01

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

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.

Multi-layer protective armour for underwater shock wave mitigation

OpenAIRE

Ahmed Hawass; Hosam Mostafa; Ahmed Elbeih

2015-01-01

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

Underwater noise due to precipitation

DEFF Research Database (Denmark)

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

1989-01-01

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

Autonomous docking control of visual-servo type underwater vehicle system aiming at underwater automatic charging

International Nuclear Information System (INIS)

Yanou, Akira; Ohnishi, Shota; Ishiyama, Shintaro; Minami, Mamoru

2015-01-01

A visual-servo type remotely operated vehicle (ROV) system with binocular wide-angle lens was developed to survey submarine resources, decontaminate radiation from mud in dam lake and so on. This paper explores the experiments on regulator performance and underwater docking of the robot system utilizing Genetic Algorithm (GA) for real-time recognition of the robot's relative position and posture through 3D marker. The visual servoing performances have been verified as follows; (1) The stability performances of the proposed regulator system have been evaluated by exerting abrupt distrubane force while the ROV is controlled by visual servoing. (2) The proposed system can track time-variant desired target position in x-axis (front-back direction of the robot). (3) The underwater docking can be completed by switching visual servoing and docking modes based on the error threshold, and by giving time-varying desired target position and orientation to the controller as a desired pose. (author)

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.

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

Science.gov (United States)

Barat, Christian; Phlypo, Ronald

2010-12-01

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

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

Directory of Open Access Journals (Sweden)

Chua Kia

2005-09-01

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

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

Directory of Open Access Journals (Sweden)

Chua Kia

2008-11-01

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

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

Directory of Open Access Journals (Sweden)

Premalatha J.

2016-01-01

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

Strong tracking adaptive Kalman filters for underwater vehicle dead reckoning

Institute of Scientific and Technical Information of China (English)

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

2007-01-01

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

Steam explosion pretreatment of softwood: the effect of the explosive decompression on enzymatic digestibility.

Science.gov (United States)

Pielhop, Thomas; Amgarten, Janick; von Rohr, Philipp Rudolf; Studer, Michael H

2016-01-01

Steam explosion pretreatment has been examined in many studies for enhancing the enzymatic digestibility of lignocellulosic biomass and is currently the most common pretreatment method in commercial biorefineries. The information available about the effect of the explosive decompression on the biochemical conversion is, however, very limited, and no studies prove that the latter is actually enhanced by the explosion. Hence, it is of great value to discern between the effect of the explosion on the one hand and the steaming on the other hand, to identify their particular influences on enzymatic digestibility. The effect of the explosive decompression in the steam explosion pretreatment of spruce wood chips on their enzymatic cellulose digestibility was studied systematically. The explosion had a high influence on digestibility, improving it by up to 90 % compared to a steam pretreatment without explosion. Two factors were identified to be essentially responsible for the effect of the explosion on enzymatic digestibility: pretreatment severity and pressure difference of the explosion. A higher pretreatment severity can soften up and weaken the lignocellulose structure more, so that the explosion can better break up the biomass and decrease its particle size, which enhances its digestibility. In particular, increasing the pressure difference of the explosion leads to more defibration, a smaller particle size and a better digestibility. Though differences were found in the micro- and nanostructure of exploded and non-exploded biomass, the only influence of the explosion on digestibility was found to be the macroscopic particle size reduction. Steam explosion treatments with a high severity and a high pressure difference of the explosion lead to a comparatively high cellulose digestibility of the-typically very recalcitrant-softwood biomass. This is the first study to show that explosion can enhance the enzymatic digestibility of lignocellulosic biomass. If the

QFD-based conceptual design of an autonomous underwater robot

Directory of Open Access Journals (Sweden)

Thip Pasawang

2015-12-01

Full Text Available Autonomous underwater robots in the past few years have been designed according to the individual concepts and experiences of the researchers. To design a robot, which meets all the requirements of potential users, is an advanced work. Hence, a systematic design method that could include users’ preferences and requirements is needed. This paper presents the quality function deployment (QFD technique to design an autonomous underwater robot focusing on the Thai Navy military mission. Important user requirements extracted from the QFD method are the ability to record videos, operating at depth up to 10 meters, the ability to operate remotely with cable and safety concerns related to water leakages. Less important user requirements include beauty, using renewable energy, operating remotely with radio and ability to work during night time. The important design parameters derived from the user requirements are a low cost-controller, an autonomous control algorithm, a compass sensor and vertical gyroscope, and a depth sensor. Of low-importance ranked design parameters include the module design, use clean energy, a low noise electric motor, remote surveillance design, a pressure hull, and a beautiful hull form design. The study results show the feasibility of using QFD techniques to systematically design the autonomous underwater robot to meet user requirements. Mapping between the design and expected parameters and a conceptual drafting design of an autonomous underwater robot are also presented.

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

Directory of Open Access Journals (Sweden)

Gu Wenbin

2015-01-01

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

Performance evaluation of carbon black based electrodes for underwater ECG monitoring.

Science.gov (United States)

Reyes, Bersain A; Posada-Quintero, Hugo F; Bales, Justin R; Chon, Ki H

2014-01-01

Underwater electrocardiogram (ECG) monitoring currently uses Ag/AgCl electrodes and requires sealing of the electrodes to avoid water intrusion, but this procedure is time consuming and often results in severe irritations or even tearing of the skin. To alleviate these problems, our research team developed hydrophobic electrodes comprised of a mixture of carbon black powder (CB) and polydimethylsiloxane (PDMS) that provide all morphological waveforms without distortion of an ECG signal for dry and water-immersed conditions. Performance comparison of CB/PDMS electrodes to adhesive Ag/AgCl hydrogel electrodes was carried out in three different scenarios which included recordings from a dry surface, water immersion, and post-water immersion conditions. CB/PDMS electrodes were able to acquire ECG signals highly correlated with those from adhesive Ag/AgCl electrodes during all conditions. Statistical reduction in ECG amplitude (pelectrodes when compared to Ag/AgCl electrodes sealed with their waterproof adhesive tape. Besides this reduction readability of the recordings was not obscured and all morphological waveforms of the ECG signal were discernible. The advantages of our CB/PDMS electrodes are that they are reusable, can be fabricated economically, and most importantly, high-fidelity underwater ECG signals can be acquired without relying on the heavy use of waterproof sealing.

Pushing the Volcanic Explosivity Index to its limit and beyond: Constraints from exceptionally weak explosive eruptions at Kīlauea in 2008

Science.gov (United States)

Houghton, Bruce F.; Swanson, Don; Rausch, J.; Carey, R.J.; Fagents, S.A.; Orr, Tim R.

2013-01-01

Estimating the mass, volume, and dispersal of the deposits of very small and/or extremely weak explosive eruptions is difficult, unless they can be sampled on eruption. During explosive eruptions of Halema‘uma‘u Crater (Kīlauea, Hawaii) in 2008, we constrained for the first time deposits of bulk volumes as small as 9–300 m3 (1 × 104 to 8 × 105 kg) and can demonstrate that they show simple exponential thinning with distance from the vent. There is no simple fit for such products within classifications such as the Volcanic Explosivity Index (VEI). The VEI is being increasingly used as the measure of magnitude of explosive eruptions, and as an input for both hazard modeling and forecasting of atmospheric dispersal of tephra. The 2008 deposits demonstrate a problem for the use of the VEI, as originally defined, which classifies small, yet ballistic-producing, explosive eruptions at Kīlauea and other basaltic volcanoes as nonexplosive. We suggest a simple change to extend the scale in a fashion inclusive of such very small deposits, and to make the VEI more consistent with other magnitude scales such as the Richter scale for earthquakes. Eruptions of this magnitude constitute a significant risk at Kīlauea and elsewhere because of their high frequency and the growing number of “volcano tourists” visiting basaltic volcanoes.

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

DEFF Research Database (Denmark)

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

2015-01-01

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

Ocean Research Enabled by Underwater Gliders.

Science.gov (United States)

Rudnick, Daniel L

2016-01-01

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

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

Science.gov (United States)

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

2017-11-01

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

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

Directory of Open Access Journals (Sweden)

Mengkui Cui

2017-11-01

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

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.

Studies of the laser-induced fluorescence of explosives and explosive compositions.

Energy Technology Data Exchange (ETDEWEB)

Hargis, Philip Joseph, Jr. (,; .); Thorne, Lawrence R.; Phifer, Carol Celeste; Parmeter, John Ethan; Schmitt, Randal L.

2006-10-01

Continuing use of explosives by terrorists throughout the world has led to great interest in explosives detection technology, especially in technologies that have potential for standoff detection. This LDRD was undertaken in order to investigate the possible detection of explosive particulates at safe standoff distances in an attempt to identify vehicles that might contain large vehicle bombs (LVBs). The explosives investigated have included the common homogeneous or molecular explosives, 2,4,6-trinitrotoluene (TNT), pentaerythritol tetranitrate (PETN), cyclonite or hexogen (RDX), octogen (HMX), and the heterogeneous explosive, ammonium nitrate/fuel oil (ANFO), and its components. We have investigated standard excited/dispersed fluorescence, laser-excited prompt and delayed dispersed fluorescence using excitation wavelengths of 266 and 355 nm, the effects of polarization of the laser excitation light, and fluorescence imaging microscopy using 365- and 470-nm excitation. The four nitro-based, homogeneous explosives (TNT, PETN, RDX, and HMX) exhibit virtually no native fluorescence, but do exhibit quenching effects of varying magnitude when adsorbed on fluorescing surfaces. Ammonium nitrate and fuel oil mixtures fluoresce primarily due to the fuel oil, and, in some cases, due to the presence of hydrophobic coatings on ammonium nitrate prill or impurities in the ammonium nitrate itself. Pure ammonium nitrate shows no detectable fluorescence. These results are of scientific interest, but they provide little hope for the use of UV-excited fluorescence as a technique to perform safe standoff detection of adsorbed explosive particulates under real-world conditions with a useful degree of reliability.

Cluster protocols in Underwater Sensor Networks: a Research Review

Directory of Open Access Journals (Sweden)

K. Ovaliadis

2014-07-01

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

Automated gravity gradient tensor inversion for underwater object detection

International Nuclear Information System (INIS)

Wu, Lin; Tian, Jinwen

2010-01-01

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

The industrial research project: “Blu-Archeosys – Innovative Technologies and Advanced Systems as Support in Underwater Archaeology”

Directory of Open Access Journals (Sweden)

Salvatore Lorusso

2003-02-01

Full Text Available The reasons of the research about new technologies as support in naval and underwater archaeology or, more generally, in waters archaeology are various and described in this work, where the characteristics of the research project “BLU-ARCHEOSYS – Innovative Technologies and Advanced SYStems as Support in Underwater ARCHaeology” are illustrated. This industrial research project faces problems regarding innovative technologies and instruments in waters archaeology and it comprehends synergic steps and joined works among skilled professionals that have the competences to interpret qualitative and/or quantitative data within an artistic – historical and technical – historical study, also with the involvement of various public and private institutions. The BLUARCHEOSYS project has, in fact, the objective to create technologies that have a reply in underwater archaeology and contemporaneously in other sectors. In particular, starting from the methodological way that spans from the discovery in underwater or subaerial environment to the collocation of the objects in museums, the intent is to support the different methodological stages with specific tools and innovative technologies. The education project, presented to the Ministry with the research one, is articulated in the different branches of artistic-historical character, of the management, normative and operative character, and of the technical-diagnostic-material-preservative character. The professionals will have not only theoretical knowledge about standard and consolidated technologies, but they will be also experts about methodologies, in particular the diagnostic ones, that put in field the innovative tools evaluated in the project, with consequent competitive advantage in the working field, more and more demanding specific sector competences.

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…

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

Science.gov (United States)

2011-10-19

... slurry and water gel explosives. Blasting caps. Blasting gelatin. Blasting powder. BTNEC [bis.... Esters of nitro-substituted alcohols. Ethyl-tetryl. Explosive conitrates. Explosive gelatins. Explosive... silver. Fulminating gold. Fulminating mercury. Fulminating platinum. Fulminating silver. G Gelatinized...

77 FR 58410 - Commerce in Explosives; List of Explosive Materials (2012R-10T)

Science.gov (United States)

2012-09-20

... sensitive slurry and water gel explosives. Blasting caps. Blasting gelatin. Blasting powder. BTNEC [bis.... Esters of nitro-substituted alcohols. Ethyl-tetryl. Explosive conitrates. Explosive gelatins. Explosive.... Fulminate of silver. Fulminating gold. Fulminating mercury. Fulminating platinum. Fulminating silver. G...

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

Science.gov (United States)

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

2014-01-01

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

Synthesis and Development of Gold Polypyrrole Actuator for Underwater Application

Science.gov (United States)

Panda, S. K.; Bandopadhya, D.

2018-02-01

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

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

Underwater Time Service and Synchronization Based on Time Reversal Technique

Science.gov (United States)

Lu, Hao; Wang, Hai-bin; Aissa-El-Bey, Abdeldjalil; Pyndiah, Ramesh

2010-09-01

Real time service and synchronization are very important to many underwater systems. But the time service and synchronization in existence cannot work well due to the multi-path propagation and random phase fluctuation of signals in the ocean channel. The time reversal mirror technique can realize energy concentration through self-matching of the ocean channel and has very good spatial and temporal focusing properties. Based on the TRM technique, we present the Time Reversal Mirror Real Time service and synchronization (TRMRT) method which can bypass the processing of multi-path on the server side and reduce multi-path contamination on the client side. So TRMRT can improve the accuracy of time service. Furthermore, as an efficient and precise method of time service, TRMRT could be widely used in underwater exploration activities and underwater navigation and positioning systems.

Self-flowing underwater concrete mixtures for high rise structures

International Nuclear Information System (INIS)

Yousri, K.M.

2005-01-01

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

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

OpenAIRE

Young, Kenneth K.

1994-01-01

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

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

Science.gov (United States)

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

2017-05-04

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

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

Directory of Open Access Journals (Sweden)

Ning Li

2017-05-01

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

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

Science.gov (United States)

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

2018-03-01

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

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 ...

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.

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

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

Development of underwater camera using high-definition camera

International Nuclear Information System (INIS)

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

2012-01-01

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

Time-of-flight range imaging for underwater applications

Science.gov (United States)

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

2018-02-01

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

Reduced Attitude Control of a Robotic Underwater Vehicle

Directory of Open Access Journals (Sweden)

Bláha Lukáš

2017-01-01

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

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)

Underground nuclear explosions

Energy Technology Data Exchange (ETDEWEB)

Higgins, Gary H [Lawrence Radiation Laboratory, University of California, Livermore, CA (United States)

1970-05-01

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)

Study of underwater laser propulsion using different target materials.

Science.gov (United States)

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

2014-07-14

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

Environmental effects on underwater optical transmission

Science.gov (United States)

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

2017-05-01

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

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

Science.gov (United States)

Jabba Molinares, Daladier

2009-01-01

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

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

Science.gov (United States)

Schloesser, Donald W.

1986-01-01

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

Multi-dimensional simulations of core-collapse supernova explosions with CHIMERA

Science.gov (United States)

Messer, O. E. B.; Harris, J. A.; Hix, W. R.; Lentz, E. J.; Bruenn, S. W.; Mezzacappa, A.

2018-04-01

Unraveling the core-collapse supernova (CCSN) mechanism is a problem that remains essentially unsolved despite more than four decades of effort. Spherically symmetric models with otherwise high physical fidelity generally fail to produce explosions, and it is widely accepted that CCSNe are inherently multi-dimensional. Progress in realistic modeling has occurred recently through the availability of petascale platforms and the increasing sophistication of supernova codes. We will discuss our most recent work on understanding neutrino-driven CCSN explosions employing multi-dimensional neutrino-radiation hydrodynamics simulations with the Chimera code. We discuss the inputs and resulting outputs from these simulations, the role of neutrino radiation transport, and the importance of multi-dimensional fluid flows in shaping the explosions. We also highlight the production of 48Ca in long-running Chimera simulations.

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

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

Science.gov (United States)

Agoes Moelyadi, Mochammad; Bambang Riswandi, Bagus

2018-04-01

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

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

Science.gov (United States)

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

2018-02-01

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

Stellar explosion

International Nuclear Information System (INIS)

Suraud, E.

1987-01-01

What is the energy source and which physical processes are powerful enough to generate this explosion which scatters the star. The knowledge progress of very dense matter allows the scenario reconstitution. An instability in the star core which is developing during milliseconds is the cause of this explosion [fr

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)

Observations on military exploitation of explosives detection technologies

Science.gov (United States)

Faust, Anthony A.; de Ruiter, C. J.; Ehlerding, Anneli; McFee, John E.; Svinsås, Eirik; van Rheenen, Arthur D.

2011-06-01

Accurate and timely detection of explosives, energetic materials, and their associated compounds would provide valuable information to military commanders in a wide range of military operations: protection of fast moving convoys from mobile or static IED threats; more deliberate countermine and counter-IED operations during route or area clearance; and static roles such as hasty or deliberate checkpoints, critical infrastructure protection and support to public security. The detection of hidden explosive hazards is an extremely challenging problem, as evidenced by the fact that related research has been ongoing in many countries for at least seven decades and no general purpose solution has yet been found. Technologies investigated have spanned all major scientific fields, with emphasis on the physical sciences, life sciences, engineering, robotics, computer technology and mathematics. This paper will present a limited, operationally-focused overview of the current status of detection technologies. Emphasis will be on those technologies that directly detect the explosive hazard, as opposed to those that detect secondary properties of the threat, such as the casing, associated wires or electronics. Technologies that detect explosives include those based on nuclear radiation and terahertz radiation, as well as trace and biological detection techniques. Current research areas of the authors will be used to illustrate the practical applications.

SEATURTLE: Sustained Engagement Autonomous Tracking of Underwater RepTiLEs

OpenAIRE

Budd, Johnathan

2015-01-01

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

A Wide Area Risk Assessment Framework for Underwater Military Munitions Response

Science.gov (United States)

Holland, K. T.; Calantoni, J.

2017-12-01

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

Study on explosion field temperature testing system based on wireless data transmission

International Nuclear Information System (INIS)

Wang Xinling; Sun Yunqiang

2011-01-01

The accurate measurement of the transient temperature value produced by explosive blasting may provide the basis for distinguishing the types of the explosive, the power contrast of the explosive and the performance evaluation in the weapons research process. To solve the problems of the Universal Test System emplaced inconveniently and the stored testing system need to be recycled, it has designed the explosion field application in wireless sensor system of temperature measurement. The system based on PIC16F877A micro controller, CPLD complex programmable logic devices and nRF24L01 wireless transmission chip sensor. The system adopts the Tungsten-Rhenium Thermocouple as the temperature sensor, DS600 temperature sensor for cold temperature compensation. This system has arrangement convenient, high-speed data acquisition, trigger and working parameters of adjustable characteristics, has been successfully applied in a test system. (authors)

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

Directory of Open Access Journals (Sweden)

Somaiyeh MahmoudZadeh

2016-10-01

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

Fire and explosion hazards to flora and fauna from explosives.

Science.gov (United States)

Merrifield, R

2000-06-30

Deliberate or accidental initiation of explosives can produce a range of potentially damaging fire and explosion effects. Quantification of the consequences of such effects upon the surroundings, particularly on people and structures, has always been of paramount importance. Information on the effects on flora and fauna, however, is limited, with probably the weakest area lying with fragmentation of buildings and their effects on different small mammals. Information has been used here to gain an appreciation of the likely magnitude of the potential fire and explosion effects on flora and fauna. This is based on a number of broad assumptions and a variety of data sources including World War II bomb damage, experiments performed with animals 30-40 years ago, and more recent field trials on building break-up under explosive loading.

Point explosion in a medium with magnetic field and finite conductivity effects in the magnetohydrodynamic model

International Nuclear Information System (INIS)

Bergel'son, A.M.; Rajzer, Yu.P.; Surzhikov, S.T.

1991-01-01

Explosion in vacuum or in rarefied gas in the presence of magnetic field is a prototype of a series of natural cosmic and laboratory processes 'spherical' explosion is considered in MHD approximation. The problem, really two-dimensional in the case of uniform medium, is transformed to unidimensional one in result of corresponding angle averaging. These problems are solved with the use of the scheme of the second order accuracy of large particle method with introduction of artificial viscosity

Validation of Underwater Sensor Package Using Feature Based SLAM

Directory of Open Access Journals (Sweden)

Christopher Cain

2016-03-01

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

Validation of Underwater Sensor Package Using Feature Based SLAM

Science.gov (United States)

Cain, Christopher; Leonessa, Alexander

2016-01-01

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

Numerical study of the rising of the explosion clouds in different atmosphere

International Nuclear Information System (INIS)

Li Xiaoli; Zheng Yi; Chao Ying; Cao Yitang

2010-01-01

The rising of the explosion clouds in the uniform and normal atmosphere had been studied, 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 during the rising of the explosion clouds are provided, and the computational results indicates that the effects of the layered atmosphere mains the altitude of the cloud. (authors)

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.

Strong explosions impact on buildings representative of an industrial facility; Impact de fortes explosions sur les batiments representatifs d'une installation industrielle

Energy Technology Data Exchange (ETDEWEB)

Trelat, S

2006-12-15

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)

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

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

International Nuclear Information System (INIS)

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

1982-01-01

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

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.

The control and prevention of dust explosions

Energy Technology Data Exchange (ETDEWEB)

1982-01-01

Papers presented discussed: explosion characteristics and hybrid mixtures explosion characteristics and influencing factors, propagation of dust explosions in ducts, prevention of dust explosions, desensitization, explosion-proof type of construction, explosion pressure relief, optical flame barriers, slide-valves for explosion protection, Ventex explosion barrier valves, grinding and mixing plants, spray driers, dust explosions in silos, and explosion-proof bucket elevators. One paper has been abstracted separately.

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

Science.gov (United States)

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

2018-01-01

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

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

Science.gov (United States)

Kirwan, Seán

2010-12-01

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

Simulation of the behavior of pressurized underwater concrete

Directory of Open Access Journals (Sweden)

Ashraf Mohamed Heniegal

2015-06-01

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

Cognitive Routing in Software-Defined Underwater Acoustic Networks

Directory of Open Access Journals (Sweden)

Huma Ghafoor

2017-12-01

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

Multibeam 3D Underwater SLAM with Probabilistic Registration

Directory of Open Access Journals (Sweden)

Albert Palomer

2016-04-01

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

Underwater Electromagnetic Sensor Networks—Part I: Link Characterization

Directory of Open Access Journals (Sweden)

Gara Quintana-Díaz

2017-01-01

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

The Research of Optical Turbulence Model in Underwater Imaging System

Directory of Open Access Journals (Sweden)

Liying Sun

2014-01-01

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

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)

Explosive lower limb extension mechanics: An on-land vs. in-water exploratory comparison.

Science.gov (United States)

Guignard, Brice; Lauer, Jessy; Samozino, Pierre; Mourão, Luis; Vilas-Boas, João Paulo; Rouard, Annie Hélène

2017-12-08

During a horizontal underwater push-off, performance is strongly limited by the presence of water, inducing resistances due to its dense and viscous nature. At the same time, aquatic environments offer a support to the swimmer with the hydrostatic buoyancy counteracting the effects of gravity. Squat jump is a vertical terrestrial push-off with a maximal lower limb extension limited by the gravity force, which attracts the body to the ground. Following this observation, we characterized the effects of environment (water vs. air) on the mechanical characteristics of the leg push-off. Underwater horizontal wall push-off and vertical on-land squat jumps of two local swimmers were evaluated with force plates, synchronized with a lateral camera. To better understand the resistances of the aquatic movement, a quasi-steady Computational Fluid Dynamics (CFD) analysis was performed. The force-, velocity- and power-time curves presented similarities in both environments corresponding to a proximo-distal joints organization. In water, swimmers developed a three-step explosive rise of force, which the first one mainly related to the initiation of body movement. Drag increase, which was observed from the beginning to the end of the push-off, related to the continuous increase of body velocity with high values of drag coefficient (C D ) and frontal areas before take-off. Specifically, with velocity, frontal area was the main drag component to explain inter-individual differences, suggesting that the streamlined position of the lower limbs is decisive to perform an efficient push-off. This study motivates future CFD simulations under more ecological, unsteady conditions. Copyright © 2017 Elsevier Ltd. All rights reserved.

Experimental Study on Peak Pressure of Shock Waves in Quasi-Shallow Water

Directory of Open Access Journals (Sweden)

Zhenxiong Wang

2015-01-01

Full Text Available Based on the similarity laws of the explosion, this research develops similarity requirements of the small-scale experiments of underwater explosions and establishes a regression model for peak pressure of underwater shock waves under experimental condition. Small-scale experiments are carried out with two types of media at the bottom of the water and for different water depths. The peak pressure of underwater shock waves at different measuring points is acquired. A formula consistent with the similarity law of explosions is obtained and an analysis of the regression precision of the formula confirms its accuracy. Significance experiment indicates that the influence of distance between measuring points and charge on peak pressure of underwater shock wave is the greatest and that of water depth is the least within the range of geometric parameters. An analysis of data from experiments with different media at the bottom of the water reveals an influence on the peak pressure, as the peak pressure of a shock wave in a body of water with a bottom soft mud and rocks is about 1.33 times that of the case where the bottom material is only soft mud.

Numerical simulation of explosive magnetic cumulative generator EMG-720

Energy Technology Data Exchange (ETDEWEB)

Deryugin, Yu N; Zelenskij, D K; Kazakova, I F; Kargin, V I; Mironychev, P V; Pikar, A S; Popkov, N F; Ryaslov, E A; Ryzhatskova, E G [All-Russian Research Inst. of Experimental Physics, Sarov (Russian Federation)

1997-12-31

The paper discusses the methods and results of numerical simulations used in the development of a helical-coaxial explosive magnetic cumulative generator (EMG) with the stator up to 720 mm in diameter. In the process of designing, separate units were numerically modeled, as was the generator operation with a constant inductive-ohmic load. The 2-D processes of the armature acceleration by the explosion products were modeled as well as those of the formation of the sliding high-current contact between the armature and stator`s insulated turns. The problem of the armature integrity in the region of the detonation waves collision was numerically analyzed. 8 figs., 2 refs.

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

Directory of Open Access Journals (Sweden)

WONG, S.-L.

2018-05-01

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

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

Science.gov (United States)

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

2017-03-01

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

A study on vapor explosions

International Nuclear Information System (INIS)

Takagi, N.; Shoji, M.

1979-01-01

An experimental study was carried out for vapor explosions of molten tin falling in water. For various initial metal temperatures and subcooling of water, transient pressure of the explosions, relative frequency of the explosions and the position where the explosions occur were measured in detail. The influence of ambient pressure was also investigated. From the results, it was concluded that the vapor explosion is closely related to the collapse of a vapor film around the molten metal. (author)

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

Science.gov (United States)

2005-07-18

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

Morphologically intelligent underactuated robot for underwater hull cleaning

DEFF Research Database (Denmark)

Souto, Daniel; Faina, Andres; López-Peña, Fernando

2015-01-01

In this paper we discuss a new type of robot for underwater hull cleaning on ships with non-magnetic hulls. This robot is based on the concept that cleaning hulls regularly, without waiting to take them out of the water, will improve the efficiency of the ships and will permit a reduction...... in the use of the chemicals that are usually employed to prevent the growth of marine life on the hull and which are generally harmful to the environment. The robot described in this paper is an underactuated morphologically adapted robot that through an appropriate morphology and making use of the forces...... and constraints of the environment solves the most difficult problems that arise when moving along hulls. Some of these are changing planes, negotiating appendices, avoiding portholes, passing corners, and other elements. This greatly simplifies the control mechanisms that are required for its operation making...

Evolution of repetitive explosive instabilities in space and time

International Nuclear Information System (INIS)

Wilhelmsson, H.

1984-01-01

A nonlinear rate equation describing nonlinear, explosive type interaction of waves in plasmas is studied, assuming that amplitude saturation occurs due to nonlinear frequency shifts. Emphasis is put on the space dependence of the solution caused by the assumption of a given initial amplitude distribution in space. An analysis is given of the problem of repetitive peaks governed by the nonlinear rate equation for the time development of the amplitudes of plasma waves and by a Lorentzian shape distribution of the initial amplitudes. For the one-dimensional case, the peaks developed by explosive instability move in the direction of lower initial amplitude values, and the speed and the repetition rate of the peaks are determined. The possible forms of equilibria for the nonlinear rate equation in the explosive case are also studied, including, in addition to the quadratic nonlinearity, diffusion and linear damping effects. A solution to the nonlinear rate equation including diffusion is also given for the case where the quadratic nonlinearity represents recombination. (Auth.)

Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network

Directory of Open Access Journals (Sweden)

Gianluca Dini

2012-02-01

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

Underwater laser beam welding of Alloy 690

International Nuclear Information System (INIS)

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

2009-01-01

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

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

Science.gov (United States)

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

2017-06-22

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

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

Science.gov (United States)

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

2018-04-01

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

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

Directory of Open Access Journals (Sweden)

Yun Li

2017-01-01

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

A study on practical use of underwater abrasive water jet cutting

Science.gov (United States)

Yamaguchi, Hitoshi; Demura, Kenji

1993-09-01

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

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.

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.

Peaceful nuclear explosions

Energy Technology Data Exchange (ETDEWEB)

NONE

1975-07-01

Republic of Germany, India, Mexico, Sweden, Thailand, United Kingdom, USA and USSR. An additional 21 Member States sent observers. A summary of the technical papers follows: n general, statements on national programmes revealed continued interest in assessing the technical and economic feasibility of peaceful nuclear explosions and in evaluating the health and safety problems. In some cases the interest was qualified by the realization that factors such as high population densities and social attitudes make it improbable that the States concerned will be able to make any use of peaceful nuclear explosions domestically even if such explosions are shown to be technically and economically viable. Health and safety, phenomenology, applications, and projects all received attention in the technical papers presented by participants. The scope of the health and safety papers and the discussion which they generated reflected the considerable attention now being given to these aspects both within and outside of national programmes. (author)

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

Directory of Open Access Journals (Sweden)

Kong Xiangfeng

2016-01-01

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

Direct calibration of the yield of nuclear explosion

International Nuclear Information System (INIS)

Nakanishi, K.; Nikolayev, A.

1994-06-01

The determination of the power of underground nuclear explosions (UNE) is of great significance. The seismic method of UNE yield determination allows monitoring at large distances, but is less precise than local monitoring methods. A way is proposed to calibrate UNE based on the idea of the vibroseis method in which powerful vibrators are used to produce seismic waves in the UNE epicenter; UNE calibration is carried out by comparison of the vibroseis record with a UNE seismogram. Results of preliminary work on the problem are presented. It is based on experience with vibrosounding of the Earth as well as earthquakes and chemical and nuclear explosions wave field structure studies. It is concluded that UNE calibration with the aid of seismic vibrators is both possible and expedient

Underwater navigation using diffusion-based trajectory observers

DEFF Research Database (Denmark)

Jouffroy, Jerome; Opderbecke, Jan

2007-01-01

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

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

Science.gov (United States)

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

2017-12-01

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

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.

3D MODELING FOR UNDERWATER ARCHAEOLOGICAL DOCUMENTATION: METRIC VERIFICATIONS

Directory of Open Access Journals (Sweden)

S. D’Amelio

2015-04-01

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

Study of the algorithm of backtracking decoupling and adaptive extended Kalman filter based on the quaternion expanded to the state variable for underwater glider navigation.

Science.gov (United States)

Huang, Haoqian; Chen, Xiyuan; Zhou, Zhikai; Xu, Yuan; Lv, Caiping

2014-12-03

High accuracy attitude and position determination is very important for underwater gliders. The cross-coupling among three attitude angles (heading angle, pitch angle and roll angle) becomes more serious when pitch or roll motion occurs. This cross-coupling makes attitude angles inaccurate or even erroneous. Therefore, the high accuracy attitude and position determination becomes a difficult problem for a practical underwater glider. To solve this problem, this paper proposes backing decoupling and adaptive extended Kalman filter (EKF) based on the quaternion expanded to the state variable (BD-AEKF). The backtracking decoupling can eliminate effectively the cross-coupling among the three attitudes when pitch or roll motion occurs. After decoupling, the adaptive extended Kalman filter (AEKF) based on quaternion expanded to the state variable further smoothes the filtering output to improve the accuracy and stability of attitude and position determination. In order to evaluate the performance of the proposed BD-AEKF method, the pitch and roll motion are simulated and the proposed method performance is analyzed and compared with the traditional method. Simulation results demonstrate the proposed BD-AEKF performs better. Furthermore, for further verification, a new underwater navigation system is designed, and the three-axis non-magnetic turn table experiments and the vehicle experiments are done. The results show that the proposed BD-AEKF is effective in eliminating cross-coupling and reducing the errors compared with the conventional method.

Study of the Algorithm of Backtracking Decoupling and Adaptive Extended Kalman Filter Based on the Quaternion Expanded to the State Variable for Underwater Glider Navigation

Science.gov (United States)

Huang, Haoqian; Chen, Xiyuan; Zhou, Zhikai; Xu, Yuan; Lv, Caiping

2014-01-01

High accuracy attitude and position determination is very important for underwater gliders. The cross-coupling among three attitude angles (heading angle, pitch angle and roll angle) becomes more serious when pitch or roll motion occurs. This cross-coupling makes attitude angles inaccurate or even erroneous. Therefore, the high accuracy attitude and position determination becomes a difficult problem for a practical underwater glider. To solve this problem, this paper proposes backing decoupling and adaptive extended Kalman filter (EKF) based on the quaternion expanded to the state variable (BD-AEKF). The backtracking decoupling can eliminate effectively the cross-coupling among the three attitudes when pitch or roll motion occurs. After decoupling, the adaptive extended Kalman filter (AEKF) based on quaternion expanded to the state variable further smoothes the filtering output to improve the accuracy and stability of attitude and position determination. In order to evaluate the performance of the proposed BD-AEKF method, the pitch and roll motion are simulated and the proposed method performance is analyzed and compared with the traditional method. Simulation results demonstrate the proposed BD-AEKF performs better. Furthermore, for further verification, a new underwater navigation system is designed, and the three-axis non-magnetic turn table experiments and the vehicle experiments are done. The results show that the proposed BD-AEKF is effective in eliminating cross-coupling and reducing the errors compared with the conventional method. PMID:25479331

Explosive plugging of nuclear heat exchangers

International Nuclear Information System (INIS)

Crossland, B.; Bahrani, A.S.; Townsley, W.J.

1977-01-01

Explosive welding is a well established process for cladding one metal on another or for welding tubes to tubeplates or lap welding, etc. Recently, the process has been adapted to plugging of heat exchangers in conventional and nuclear power plant, where it has already been accepted especially in situations where the access is difficult and remote from the site of plugging. The paper describes the explosive plugging techniques developed in the Department of Mechanical and Industrial Engineering of The Queen's University of Belfast for the reheater and superheater of the PFR, and for the reheater of the AGR. For the PFR a point charge system has been used which causes a spherical expansion of the plug, which gives two zones of welding. Initially for the much larger plug required for the AGR it was proposed to use a parallel stand-off welding set-up, but it proved difficult or impossible to avoid a crevice. Consequently, a rim charge set-up has been developed which gives a circular ring expansion of the plug with two zones of welding. Besides the problem of the design of the plug and explosive charge geometry it has also been necessary to consider the distortion of holes adjoining the hole in which a plug is welded. Bunging of adjoining holes in order to reduce the distortion has also been investigated

The Interplay of Opacities and Rotation in Promoting the Explosion of Core-Collapse Supernovae

Science.gov (United States)

Vartanyan, David; Burrows, Adam; Radice, David

2018-01-01

For over five decades, the mechanism of explosion in core-collapse supernovae has been a central unsolved problem in astrophysics, challenging both our computational capabilities and our understanding of relevant physics. Current simulations often produce explosions, but they are at times underenergetic. The neutrino mechanism, wherein a fraction of emitted neutrinos is absorbed in the mantle of the star to reignite the stalled shock, remains the dominant model for reviving explosions in massive stars undergoing core collapse. We present here a diverse suite of 2D axisymmetric simulations produced by FORNAX, a highly parallelizable multidimensional supernova simulation code. We explore the effects of various corrections, including the many-body correction, to neutrino-matter opacities and the possible role of rotation in promoting explosion amongst various core-collapse progenitors.

On the Accuracy Potential in Underwater/Multimedia Photogrammetry.

Science.gov (United States)

Maas, Hans-Gerd

2015-07-24

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

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

Science.gov (United States)

2010-10-01

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

Spectral characteristics of the P codas of eurasian earthquakes and explosions

International Nuclear Information System (INIS)

Evernden, J.F.

1977-01-01

Spectral analysis of ''infinite velocity sum'' subarray beams at LASA for the P codas of 36 explosions and 23 earthquakes indicates the presence of 6 to 9 Hz energy well above noise level for large explosions and earthquakes. A discriminant (D), based on use of the full spectral bandwidth from 0.4 to 9 Hz, successfully discriminates all Eurasian explosions and shallow-focus earthquakes. The basic character and contrast in spectral composition of the source spectra of earthquakes and explosions is discussed. It is pointed out that the discriminant (D), when use is made of signals recorded in the range 60 0 to 90 0 , is as or more successful in discriminating events of near m/sub b/ 4.0 as those at and above m/sub b/ 6.0, and the basis for this success is clarified. It is suggested that proper use of P coda spectral discriminants appears capable of achieving identification essentially at the detection threshold of a network, while circumventing such problems as refined depths of focus, mixed events, etc

Explosion Clad for Upstream Oil and Gas Equipment

Science.gov (United States)

Banker, John G.; Massarello, Jack; Pauly, Stephane

2011-01-01

Today's upstream oil and gas facilities frequently involve the combination of high pressures, high temperatures, and highly corrosive environments, requiring equipment that is thick wall, corrosion resistant, and cost effective. When significant concentrations of CO2 and/or H2S and/or chlorides are present, corrosion resistant alloys (CRA) can become the material of choice for separator equipment, piping, related components, and line pipe. They can provide reliable resistance to both corrosion and hydrogen embrittlement. For these applications, the more commonly used CRA's are 316L, 317L and duplex stainless steels, alloy 825 and alloy 625, dependent upon the application and the severity of the environment. Titanium is also an exceptional choice from the technical perspective, but is less commonly used except for heat exchangers. Explosion clad offers significant savings by providing a relatively thin corrosion resistant alloy on the surface metallurgically bonded to a thick, lower cost, steel substrate for the pressure containment. Developed and industrialized in the 1960's the explosion cladding technology can be used for cladding the more commonly used nickel based and stainless steel CRA's as well as titanium. It has many years of proven experience as a reliable and highly robust clad manufacturing process. The unique cold welding characteristics of explosion cladding reduce problems of alloy sensitization and dissimilar metal incompatibility. Explosion clad materials have been used extensively in both upstream and downstream oil, gas and petrochemical facilities for well over 40 years. The explosion clad equipment has demonstrated excellent resistance to corrosion, embrittlement and disbonding. Factors critical to insure reliable clad manufacture and equipment design and fabrication are addressed.

Explosion Clad for Upstream Oil and Gas Equipment

International Nuclear Information System (INIS)

Banker, John G.; Massarello, Jack; Pauly, Stephane

2011-01-01

Today's upstream oil and gas facilities frequently involve the combination of high pressures, high temperatures, and highly corrosive environments, requiring equipment that is thick wall, corrosion resistant, and cost effective. When significant concentrations of CO 2 and/or H 2 S and/or chlorides are present, corrosion resistant alloys (CRA) can become the material of choice for separator equipment, piping, related components, and line pipe. They can provide reliable resistance to both corrosion and hydrogen embrittlement. For these applications, the more commonly used CRA's are 316L, 317L and duplex stainless steels, alloy 825 and alloy 625, dependent upon the application and the severity of the environment. Titanium is also an exceptional choice from the technical perspective, but is less commonly used except for heat exchangers. Explosion clad offers significant savings by providing a relatively thin corrosion resistant alloy on the surface metallurgically bonded to a thick, lower cost, steel substrate for the pressure containment. Developed and industrialized in the 1960's the explosion cladding technology can be used for cladding the more commonly used nickel based and stainless steel CRA's as well as titanium. It has many years of proven experience as a reliable and highly robust clad manufacturing process. The unique cold welding characteristics of explosion cladding reduce problems of alloy sensitization and dissimilar metal incompatibility. Explosion clad materials have been used extensively in both upstream and downstream oil, gas and petrochemical facilities for well over 40 years. The explosion clad equipment has demonstrated excellent resistance to corrosion, embrittlement and disbonding. Factors critical to insure reliable clad manufacture and equipment design and fabrication are addressed.

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